version: 66.11
glider: 190
mission: 6
dive: 598
start: 3 12 113 22 31 20
data:
$ID,190
$MISSION,6
$DIVE,598
$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,-13736.205
$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,12
$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
$GPS1,120313,221829,2428.005,-3834.470,41,0.8,42,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-59.7
$GPS2,120313,223047,2427.975,-3834.439,18,0.8,18,-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,76.5,55767,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-9.82,0.000,2,0.000,0.000,140,1512,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.5,0.0,1,148,10.93,2.05,-91.32,0.000,4,0.334,0.122,2607,2584,3448,0,0,0,0,0,0,14.07,14.12,14.61
$GC,313,-0.78,-184.9,17.3,-7.0,28,319,0.00,2.05,0.00,0.000,6,0.000,0.109,2607,1522,3449,0,0,0,0,0,0,28.83,13.74,28.83
$GC,623,-0.78,-184.9,46.1,-9.2,59,630,0.00,2.12,0.00,0.000,4,0.000,0.132,2607,453,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,681,-0.74,-184.9,51.8,-9.7,65,691,0.00,1.98,0.00,0.000,6,0.000,0.077,2605,1521,3448,0,0,0,0,0,0,28.83,13.96,28.83
$GC,991,-0.74,-184.9,81.1,-9.7,96,999,0.00,2.15,0.00,0.000,4,0.000,0.129,2605,457,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1053,-0.70,-184.9,86.9,-9.9,102,1060,0.10,1.95,0.00,0.000,6,0.206,0.077,2643,1509,3448,0,0,0,0,0,0,13.68,13.85,28.83
$GC,1365,-0.72,-184.9,112.0,-7.6,133,1372,0.00,2.10,0.00,0.000,4,0.000,0.130,2644,458,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1496,-0.72,-184.9,121.5,-7.3,146,1503,0.00,1.90,0.00,0.000,6,0.000,0.075,2639,1494,3448,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1807,-0.74,-184.9,143.1,-6.8,177,1816,0.00,2.03,0.00,0.000,4,0.000,0.097,2637,2576,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1866,-0.76,-184.9,147.2,-6.6,183,1874,0.00,2.15,0.00,0.000,6,0.000,0.110,2637,1481,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2180,-0.78,-184.9,168.6,-7.0,214,2186,0.00,2.03,0.00,0.000,4,0.000,0.129,2637,460,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2267,-0.78,-184.9,175.2,-7.4,223,2273,0.00,1.88,0.00,0.000,6,0.000,0.076,2633,1499,3449,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2578,-0.81,-184.9,196.5,-7.5,254,2585,0.00,2.08,0.00,0.000,4,0.000,0.129,2634,460,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2626,-0.81,-184.9,200.4,-7.9,259,2633,0.00,1.88,0.00,0.000,6,0.000,0.076,2633,1480,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2936,-0.83,-184.9,226.6,-9.4,290,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1480,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-0.85,-184.9,259.6,-10.4,316,3262,0.12,2.08,0.00,0.000,4,0.131,0.096,2577,2573,3448,0,0,0,0,0,0,14.34,13.83,28.83
$GC,3317,-0.85,-184.9,265.9,-10.4,318,3322,0.00,2.10,0.00,0.000,6,0.000,0.107,2577,1484,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3647,-0.85,-184.9,298.1,-8.9,329,3652,0.00,2.03,0.00,0.000,4,0.000,0.125,2577,460,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3775,-0.81,-184.9,307.9,-8.2,333,3782,0.10,1.88,0.00,0.000,6,0.218,0.075,2602,1478,3448,0,0,0,0,0,0,13.56,13.89,28.83
$GC,4101,-0.81,-184.9,328.1,-5.7,344,4106,0.00,2.05,0.00,0.000,4,0.000,0.099,2595,2575,3447,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4165,-0.81,-184.9,332.0,-6.1,346,4172,0.00,2.15,0.00,0.000,6,0.000,0.107,2595,1479,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4489,-0.81,-184.9,354.2,-7.1,357,4494,0.00,2.03,0.00,0.000,4,0.000,0.126,2595,460,3448,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4556,-0.81,-184.9,358.8,-7.5,359,4562,0.00,1.90,0.00,0.000,6,0.000,0.076,2592,1488,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4876,-0.81,-184.9,384.4,-7.9,370,4882,0.00,2.08,0.00,0.000,4,0.000,0.103,2592,2580,3446,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4976,-0.81,-184.9,391.3,-7.9,373,4982,0.00,2.12,0.00,0.000,6,0.000,0.107,2592,1497,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5296,-0.81,-184.9,419.8,-8.8,384,5302,0.00,2.08,0.00,0.000,4,0.000,0.101,2592,2568,3445,0,0,0,0,0,0,28.83,13.73,28.83
$GC,5334,-0.81,-184.9,422.4,-8.9,385,5342,0.00,2.10,0.00,0.000,6,0.000,0.108,2592,1506,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5657,-0.81,-184.9,453.6,-9.8,396,5662,0.00,2.08,0.00,0.000,4,0.000,0.131,2592,461,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5745,-0.81,-184.9,462.9,-10.2,399,5753,0.00,1.95,0.00,0.000,6,0.000,0.080,2591,1506,3444,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6078,-0.81,-184.9,493.6,-8.9,410,6083,0.00,2.05,0.00,0.000,4,0.000,0.105,2590,2583,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6155,-0.81,-184.9,498.7,-8.6,412,6163,0.00,2.10,0.00,0.000,6,0.000,0.109,2590,1520,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6466,-0.81,-184.9,525.4,-7.7,423,6473,0.00,2.17,0.00,0.000,4,0.000,0.135,2590,455,3442,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6558,-0.81,-184.9,532.5,-7.8,426,6563,0.00,1.95,0.00,0.000,6,0.000,0.082,2585,1506,3442,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6886,-0.81,-184.9,556.4,-7.5,437,6892,0.00,2.08,0.00,0.000,4,0.000,0.106,2581,2574,3440,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6966,-0.81,-184.9,560.9,-7.5,439,6973,0.00,2.10,0.00,0.000,6,0.000,0.108,2581,1509,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7276,-0.81,-184.9,587.5,-8.5,450,7282,0.00,2.12,0.00,0.000,4,0.000,0.132,2581,454,3440,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7335,-0.81,-184.9,592.8,-8.9,452,7342,0.00,1.98,0.00,0.000,6,0.000,0.083,2579,1510,3439,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7670,-0.81,-184.9,621.7,-8.8,463,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1510,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7966,-0.81,-184.9,648.9,-9.4,473,7972,0.00,2.17,0.00,0.000,4,0.000,0.135,2579,458,3437,0,0,0,0,0,0,28.83,13.72,28.83
$GC,8037,-0.81,-184.9,654.8,-9.8,475,8043,0.12,1.95,0.00,0.000,6,0.262,0.083,2605,1506,3437,0,0,0,0,0,0,13.70,13.93,28.83
$GC,8359,-0.81,-184.9,686.1,-9.6,486,8364,0.00,2.08,0.00,0.000,4,0.000,0.109,2605,2579,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8415,-0.81,-184.9,691.6,-9.4,488,8422,0.00,2.15,0.00,0.000,6,0.000,0.116,2605,1500,3436,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8747,-0.81,-184.9,718.7,-7.5,499,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1500,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9046,-0.83,-184.9,737.4,-5.8,509,9052,0.00,2.15,0.00,0.000,4,0.000,0.138,2604,457,3434,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9096,-0.83,-184.9,739.1,-5.8,510,9104,0.00,2.00,0.00,0.000,6,0.000,0.086,2605,1509,3434,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9410,-0.86,-184.9,757.3,-5.9,521,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1508,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.86,-184.9,777.7,-7.4,531,9713,0.00,2.17,0.00,0.000,4,0.000,0.142,2605,451,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9755,-0.86,-184.9,780.1,-7.6,532,9763,0.00,2.00,0.00,0.000,6,0.000,0.086,2604,1497,3432,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10069,-0.88,-184.9,808.9,-9.1,543,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1497,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10368,-0.90,-184.9,837.1,-9.4,553,10373,0.00,2.15,0.00,0.000,4,0.000,0.142,2605,458,3430,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10444,-0.90,-184.9,843.0,-9.6,555,10453,0.00,2.00,0.00,0.000,6,0.000,0.089,2605,1494,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10761,-0.92,-184.9,874.1,-9.2,566,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1494,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11056,-0.94,-184.9,900.9,-8.7,576,11063,0.12,2.10,0.00,0.000,4,0.143,0.109,2556,2579,3427,0,0,0,0,0,0,14.26,13.90,28.83
$GC,11197,-0.94,-184.9,911.1,-8.5,580,11204,0.00,2.17,0.00,0.000,6,0.000,0.117,2556,1467,3427,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11506,-0.94,-184.9,937.9,-7.8,591,11513,0.00,2.08,0.00,0.000,4,0.000,0.142,2556,463,3426,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11677,-0.90,-184.9,949.2,-7.6,596,11684,0.00,1.85,0.00,0.000,6,0.000,0.091,2553,1452,3425,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11989,-0.90,-184.9,970.9,-6.5,607,11995,0.00,2.05,0.00,0.000,4,0.000,0.145,2553,457,3425,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12065,-0.88,-184.9,975.1,-6.8,609,12075,0.10,1.88,0.00,0.000,6,0.233,0.095,2580,1425,3424,0,0,0,0,0,0,13.59,13.80,28.83
$STATE,12132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12132,begin apogee
$GC,12141,-0.25,0.0,981.1,-6.8,612,12380,0.70,0.00,225.98,1.810,4,0.183,0.000,2779,1525,2695,0,0,0,0,1,0,13.81,28.83,12.75
$STATE,12381,end apogee,CONTROL_FINISHED_OK
$STATE,12381,begin climb
$GC,12387,0.78,184.9,990.8,0.0,620,12601,1.08,0.00,201.75,2.515,6,0.131,0.000,3117,1525,1940,0,0,0,0,1,0,13.85,28.83,12.74
$GC,12898,0.78,224.8,966.1,6.0,637,12954,0.00,2.22,47.05,1.777,4,0.000,0.160,3125,456,1771,0,0,0,0,0,0,28.83,14.10,13.21
$GC,13049,0.80,257.6,956.8,6.2,642,13093,0.00,2.03,36.35,1.756,6,0.000,0.098,3125,1543,1638,0,0,0,0,0,0,28.83,14.19,13.17
$GC,13406,0.81,267.2,933.0,6.8,654,13423,0.00,2.22,10.35,1.672,4,0.000,0.160,3133,462,1599,0,0,0,0,0,0,28.83,14.19,13.33
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$STATE,23699,end climb,SURFACE_DEPTH_REACHED
$STATE,23699,begin surface coast
$FINISH,1.6,1.025329
$STATE,23731,end surface coast,CONTROL_FINISHED_OK
$STATE,23731,begin surface
$SM_CCo,23758,36.60,0.129,0,0,1267,350.04
$SM_GC,2.48,8.93,2.20,36.60,0.081,0.132,0.129,142,1514,1267,-8.46,0.14,350.04,0,0,0,0,0,0,14.18,13.86,14.14
$IRIDIUM_FIX,2420.48,-3728.19,120313,151532
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.47
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.70
$XPDR_PINGS,3
$SC_FREEKB,7541760
$24V_AH,12.7,250.077
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,22.975,219.150,539.050,36.600,0.000,0.000,0.000,408.875,0.750,0.000,20.104,3362.480,16550.373,983.612,2726.942,894.263,0.000,2647.277,0.000,2263.067,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.938,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43299,1178
$CAP_FILE_SIZE,251293,0
$CFSIZE,260034560,172261376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.124,227.9,1
$GPS,130313,050904,2427.912,-3834.507,22,0.9,23,-14.2