version: 66.11
glider: 190
mission: 6
dive: 596
start: 3 12 113 8 50 46
data:
$ID,190
$MISSION,6
$DIVE,596
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13733.595
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2694
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,120313,083804,2428.019,-3833.580,23,0.9,24,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-62.7
$GPS2,120313,085012,2427.976,-3833.660,14,1.6,14,-14.2
$SPEED_LIMITS,0.123,0.141
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,60.3,54481,-13.4,-7.101,-26.77
$D_GRID,980
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.78,-184.9,0.0,0.0,0,33,0.00,0.00,-9.70,0.000,2,0.000,0.000,136,1514,1454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.5,0.0,1,154,10.80,1.95,-97.88,0.000,4,0.327,0.116,2617,2582,3447,0,0,0,0,0,0,14.09,14.14,14.61
$GC,308,-0.78,-184.9,13.3,-7.8,28,315,0.00,2.05,0.00,0.000,6,0.000,0.110,2617,1520,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,619,-0.78,-184.9,41.5,-8.7,59,625,0.00,2.10,0.00,0.000,4,0.000,0.133,2617,458,3446,0,0,0,0,0,0,28.83,13.94,28.83
$GC,677,-0.75,-184.9,46.7,-8.8,65,686,0.00,1.95,0.00,0.000,6,0.000,0.074,2617,1525,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,989,-0.75,-184.9,71.2,-7.4,96,995,0.00,1.98,0.00,0.000,4,0.000,0.097,2617,2582,3446,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1088,-0.75,-184.9,78.2,-7.3,106,1095,0.00,2.05,0.00,0.000,6,0.000,0.108,2617,1532,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1397,-0.75,-184.9,102.3,-8.2,137,1406,0.00,2.15,0.00,0.000,4,0.000,0.132,2617,463,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1509,-0.73,-184.9,112.4,-9.7,148,1516,0.00,1.90,0.00,0.000,6,0.000,0.076,2617,1513,3446,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1819,-0.73,-184.9,143.0,-10.3,179,1825,0.00,2.10,0.00,0.000,4,0.000,0.129,2617,460,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1897,-0.70,-184.9,151.4,-10.6,187,1905,0.00,1.90,0.00,0.000,6,0.000,0.076,2617,1494,3446,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2208,-0.70,-184.9,179.1,-8.8,218,2215,0.00,2.03,0.00,0.000,4,0.000,0.100,2617,2576,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2257,-0.70,-184.9,183.4,-8.7,223,2265,0.00,2.08,0.00,0.000,6,0.000,0.107,2617,1507,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2568,-0.70,-184.9,209.4,-7.8,254,2575,0.00,2.08,0.00,0.000,4,0.000,0.132,2617,459,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2618,-0.70,-184.9,213.5,-8.5,259,2625,0.00,1.88,0.00,0.000,6,0.000,0.078,2618,1502,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2929,-0.70,-184.9,239.9,-9.1,290,2936,0.00,2.03,0.00,0.000,4,0.000,0.102,2617,2582,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2967,-0.70,-184.9,243.4,-8.7,294,2975,0.00,2.10,0.00,0.000,6,0.000,0.107,2617,1502,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3288,-0.70,-184.9,271.9,-8.6,310,3294,0.00,2.10,0.00,0.000,4,0.000,0.130,2618,460,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3448,-0.70,-184.9,283.8,-7.9,315,3453,0.00,1.88,0.00,0.000,6,0.000,0.079,2617,1472,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3771,-0.70,-184.9,304.7,-5.9,326,3776,0.00,2.05,0.00,0.000,4,0.000,0.132,2617,458,3447,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3808,-0.70,-184.9,306.4,-5.9,327,3813,0.00,1.85,0.00,0.000,6,0.000,0.080,2617,1471,3446,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4131,-0.70,-184.9,327.1,-6.9,338,4136,0.00,2.10,0.00,0.000,4,0.000,0.104,2617,2576,3446,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4218,-0.70,-184.9,334.1,-7.7,341,4224,0.00,2.15,0.00,0.000,6,0.000,0.111,2617,1472,3446,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4547,-0.70,-184.9,365.7,-10.3,352,4553,0.00,2.05,0.00,0.000,4,0.000,0.132,2617,463,3445,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4607,-0.70,-184.9,372.1,-10.5,354,4613,0.00,1.88,0.00,0.000,6,0.000,0.081,2617,1475,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4939,-0.70,-184.9,408.2,-10.8,365,4944,0.00,2.10,0.00,0.000,4,0.000,0.106,2617,2574,3444,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4986,-0.70,-184.9,411.4,-10.6,366,4995,0.00,2.17,0.00,0.000,6,0.000,0.111,2617,1479,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5299,-0.70,-184.9,441.3,-8.2,377,5304,0.00,2.03,0.00,0.000,4,0.000,0.132,2617,461,3443,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5406,-0.70,-184.9,448.2,-7.7,380,5415,0.00,1.90,0.00,0.000,6,0.000,0.080,2617,1473,3442,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5717,-0.70,-184.9,468.4,-6.1,391,5724,0.00,2.12,0.00,0.000,4,0.000,0.106,2617,2569,3442,0,0,0,0,0,0,28.83,13.75,28.83
$GC,5788,-0.72,-184.9,471.8,-5.9,393,5794,0.00,2.15,0.00,0.000,6,0.000,0.114,2617,1466,3441,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6110,-0.72,-184.9,492.1,-6.6,404,6116,0.00,2.12,0.00,0.000,4,0.000,0.106,2617,2575,3441,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6169,-0.72,-184.9,496.3,-7.0,406,6174,0.00,2.15,0.00,0.000,6,0.000,0.114,2617,1482,3441,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6497,-0.72,-184.9,524.4,-8.8,417,6503,0.00,2.08,0.00,0.000,4,0.000,0.136,2617,464,3439,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6536,-0.72,-184.9,527.1,-8.9,418,6543,0.00,1.95,0.00,0.000,6,0.000,0.083,2617,1500,3439,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6862,-0.75,-184.9,558.9,-9.9,429,6867,0.00,2.08,0.00,0.000,4,0.000,0.106,2617,2578,3438,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6947,-0.77,-184.9,567.7,-9.8,432,6954,0.00,2.10,0.00,0.000,6,0.000,0.114,2617,1518,3438,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7282,-0.79,-184.9,597.1,-8.6,443,7288,0.00,2.15,0.00,0.000,4,0.000,0.136,2617,457,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7367,-0.79,-184.9,604.3,-8.1,446,7373,0.00,1.98,0.00,0.000,6,0.000,0.083,2617,1509,3437,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7702,-0.81,-184.9,627.3,-6.9,457,7707,0.00,2.08,0.00,0.000,4,0.000,0.108,2617,2582,3436,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7777,-0.84,-184.9,631.0,-6.5,459,7785,0.00,2.12,0.00,0.000,6,0.000,0.113,2617,1508,3436,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8093,-0.86,-184.9,652.3,-6.8,470,8098,0.00,2.10,0.00,0.000,4,0.000,0.108,2617,2583,3435,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8178,-0.89,-184.9,658.5,-6.9,473,8184,0.08,2.12,0.00,0.000,6,0.088,0.115,2563,1517,3434,0,0,0,0,0,0,14.06,13.85,28.83
$GC,8510,-0.89,-184.9,686.5,-8.8,484,8516,0.00,2.15,0.00,0.000,4,0.000,0.138,2562,458,3434,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8638,-0.85,-184.9,698.3,-9.8,488,8645,0.15,1.95,0.00,0.000,6,0.247,0.083,2590,1520,3433,0,0,0,0,0,0,13.68,13.92,28.83
$GC,8961,-0.85,-184.9,729.3,-9.4,499,8966,0.00,2.15,0.00,0.000,4,0.000,0.140,2590,458,3432,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9027,-0.85,-184.9,735.1,-9.7,501,9034,0.00,1.98,0.00,0.000,6,0.000,0.083,2584,1498,3432,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9347,-0.85,-184.9,765.8,-9.1,512,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1502,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9649,-0.85,-184.9,791.6,-8.5,522,9654,0.00,2.12,0.00,0.000,4,0.000,0.141,2584,458,3430,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9727,-0.85,-184.9,796.6,-8.5,524,9735,0.00,1.98,0.00,0.000,6,0.000,0.083,2579,1499,3429,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10037,-0.85,-184.9,823.6,-8.1,535,10044,0.00,2.17,0.00,0.000,4,0.000,0.141,2579,458,3428,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10107,-0.85,-184.9,828.4,-8.2,537,10113,0.00,1.95,0.00,0.000,6,0.000,0.085,2580,1485,3428,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10427,-0.85,-184.9,853.5,-7.4,548,10433,0.00,2.15,0.00,0.000,4,0.000,0.112,2579,2573,3427,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10477,-0.85,-184.9,855.6,-7.3,549,10486,0.00,2.20,0.00,0.000,6,0.000,0.119,2579,1475,3427,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10787,-0.85,-184.9,880.3,-7.7,560,10793,0.00,2.10,0.00,0.000,4,0.000,0.142,2579,462,3426,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10877,-0.85,-184.9,888.0,-8.4,563,10885,0.00,1.92,0.00,0.000,6,0.000,0.086,2578,1477,3425,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11212,-0.85,-184.9,916.4,-8.7,574,11217,0.00,2.12,0.00,0.000,4,0.000,0.114,2577,2576,3424,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11256,-0.85,-184.9,919.1,-8.8,575,11265,0.00,2.22,0.00,0.000,6,0.000,0.119,2577,1472,3424,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11569,-0.85,-184.9,949.7,-9.5,586,11575,0.00,2.05,0.00,0.000,4,0.000,0.145,2577,461,3423,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11657,-0.85,-184.9,958.5,-9.7,589,11663,0.00,1.92,0.00,0.000,6,0.000,0.087,2577,1469,3422,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,11894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11894,begin apogee
$GC,11904,-0.25,0.0,981.4,-9.6,597,12095,0.73,0.00,183.30,1.828,4,0.200,0.000,2778,1521,2687,0,0,0,0,0,0,13.79,28.83,13.05
$STATE,12099,end apogee,CONTROL_FINISHED_OK
$STATE,12100,begin climb
$GC,12103,0.78,184.9,993.7,0.0,603,12309,1.12,2.08,191.88,1.802,4,0.133,0.115,3121,2577,1933,0,0,0,0,0,0,13.83,13.82,13.07
$GC,12448,0.78,184.9,978.8,7.6,615,12456,0.00,2.15,0.00,0.000,6,0.000,0.135,3126,1522,1920,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12774,0.76,184.9,951.8,8.4,626,12780,0.00,2.05,0.00,0.000,4,0.000,0.121,3127,2582,1917,0,0,0,0,0,0,28.83,14.01,28.83
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$STATE,23633,end climb,SURFACE_DEPTH_REACHED
$STATE,23633,begin surface coast
$FINISH,1.5,1.013616
$STATE,23667,end surface coast,CONTROL_FINISHED_OK
$STATE,23667,begin surface
$SM_CCo,23691,43.78,0.125,0,0,1265,350.04
$SM_GC,2.37,8.85,0.73,43.78,0.070,0.138,0.125,136,1520,1265,-8.47,0.48,350.04,0,0,0,0,0,0,14.16,13.81,14.17
$IRIDIUM_FIX,2420.48,-3832.57,120313,010131
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7542528
$24V_AH,13.1,249.188
$10V_AH,12.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.425,242.675,457.250,43.775,0.000,0.000,0.000,411.800,0.500,0.000,15.527,3380.535,16511.043,943.734,2747.015,868.329,0.000,2611.216,0.000,2278.588,0.000,0.540,0.000
$DEVICE_MAMPS,327.420,179.010,1828.350,124.695,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23728.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.030,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43340,1170
$CAP_FILE_SIZE,250597,0
$CFSIZE,260034560,172494848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,231.9,1
$GPS,120313,152735,2427.968,-3834.116,25,0.9,26,-14.2