version: 66.11
glider: 190
mission: 6
dive: 599
start: 3 13 113 5 24 42
data:
$ID,190
$MISSION,6
$DIVE,599
$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,-13737.461
$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,8
$R_STBD_OVSHOOT,14
$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
$GPS1,130313,050904,2427.912,-3834.507,22,0.9,23,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-60.7
$GPS2,130313,052411,2427.750,-3834.500,15,1.0,15,-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,65.9,55952,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-10.30,0.000,2,0.000,0.000,140,1511,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.4,0.0,1,147,10.68,2.05,-90.82,0.000,4,0.321,0.121,2616,2585,3449,0,0,0,0,0,0,14.06,14.12,14.60
$GC,333,-0.78,-184.9,18.3,-8.8,30,339,0.00,2.08,0.00,0.000,6,0.000,0.108,2618,1512,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,642,-0.78,-184.9,43.9,-8.8,61,650,0.00,2.10,0.00,0.000,4,0.000,0.132,2618,457,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,793,-0.78,-184.9,57.8,-9.4,76,800,0.00,1.92,0.00,0.000,6,0.000,0.075,2617,1506,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1100,-0.78,-184.9,83.2,-8.0,107,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1506,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-0.78,-184.9,106.6,-7.5,137,1409,0.00,2.10,0.00,0.000,4,0.000,0.125,2618,460,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1561,-0.75,-184.9,119.3,-8.2,153,1569,0.00,1.90,0.00,0.000,6,0.000,0.073,2618,1495,3449,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1872,-0.75,-184.9,143.9,-8.3,184,1879,0.00,2.05,0.00,0.000,4,0.000,0.125,2618,459,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1961,-0.73,-184.9,151.6,-8.3,193,1969,0.00,1.85,0.00,0.000,6,0.000,0.073,2618,1471,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2271,-0.73,-184.9,174.3,-6.6,224,2278,0.00,2.08,0.00,0.000,4,0.000,0.099,2617,2581,3449,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2417,-0.73,-184.9,183.5,-6.4,238,2423,0.00,2.12,0.00,0.000,6,0.000,0.108,2618,1478,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2724,-0.73,-184.9,207.2,-8.2,269,2731,0.00,2.03,0.00,0.000,4,0.000,0.129,2618,459,3449,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2752,-0.73,-184.9,209.8,-8.5,272,2760,0.00,1.90,0.00,0.000,6,0.000,0.073,2618,1494,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3064,-0.73,-184.9,238.4,-9.5,303,3071,0.00,2.05,0.00,0.000,4,0.000,0.099,2618,2582,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3153,-0.75,-184.9,247.1,-9.8,312,3160,0.00,2.10,0.00,0.000,6,0.000,0.109,2617,1507,3449,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3487,-0.75,-184.9,278.9,-9.5,325,3493,0.00,2.05,0.00,0.000,4,0.000,0.101,2619,2581,3449,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3561,-0.75,-184.9,284.3,-9.2,327,3571,0.00,2.10,0.00,0.000,6,0.000,0.109,2618,1512,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3874,-0.75,-184.9,312.2,-8.0,338,3879,0.00,2.10,0.00,0.000,4,0.000,0.131,2617,454,3448,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3962,-0.75,-184.9,319.1,-7.6,341,3970,0.00,1.95,0.00,0.000,6,0.000,0.076,2618,1509,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4298,-0.75,-184.9,341.2,-6.6,352,4303,0.00,2.05,0.00,0.000,4,0.000,0.103,2618,2580,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4383,-0.75,-184.9,347.2,-6.6,355,4389,0.00,2.10,0.00,0.000,6,0.000,0.112,2617,1518,3447,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4713,-0.75,-184.9,372.8,-8.5,366,4719,0.00,2.15,0.00,0.000,4,0.000,0.134,2618,462,3446,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4883,-0.75,-184.9,387.3,-9.9,371,4891,0.00,1.90,0.00,0.000,6,0.000,0.079,2618,1488,3446,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5193,-0.75,-184.9,422.8,-11.0,382,5199,0.00,2.10,0.00,0.000,4,0.000,0.105,2618,2575,3445,0,0,0,0,0,0,28.83,13.72,28.83
$GC,5314,-0.78,-184.9,435.2,-10.3,386,5320,0.00,2.10,0.00,0.000,6,0.000,0.112,2618,1503,3444,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5646,-0.80,-184.9,463.4,-7.6,397,5653,0.00,2.08,0.00,0.000,4,0.000,0.129,2618,458,3444,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5704,-0.80,-184.9,467.6,-7.2,399,5709,0.00,1.98,0.00,0.000,6,0.000,0.081,2618,1535,3443,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6037,-0.82,-184.9,484.1,-4.0,410,6042,0.00,2.00,0.00,0.000,4,0.000,0.103,2620,2581,3443,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6144,-0.85,-184.9,487.5,-3.9,413,6150,0.00,2.05,0.00,0.000,6,0.000,0.111,2618,1529,3443,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6457,-0.87,-184.9,504.0,-5.9,424,6462,0.00,2.03,0.00,0.000,4,0.000,0.106,2618,2584,3442,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6562,-0.89,-184.9,510.4,-6.9,427,6571,0.00,2.17,0.00,0.000,6,0.000,0.112,2618,1486,3441,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6874,-0.91,-184.9,540.7,-10.1,438,6880,0.12,2.05,0.00,0.000,4,0.131,0.131,2560,460,3441,0,0,0,0,0,0,14.33,13.83,28.83
$GC,6963,-0.91,-184.9,551.4,-11.5,441,6971,0.00,1.92,0.00,0.000,6,0.000,0.083,2555,1486,3440,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7298,-0.91,-184.9,590.4,-11.7,452,7303,0.00,2.10,0.00,0.000,4,0.000,0.134,2555,456,3439,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7423,-0.87,-184.9,604.5,-11.7,456,7430,0.10,1.90,0.00,0.000,6,0.224,0.082,2577,1467,3439,0,0,0,0,0,0,13.54,13.79,28.83
$GC,7748,-0.87,-184.9,634.4,-8.3,467,7753,0.00,2.05,0.00,0.000,4,0.000,0.135,2580,459,3438,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7913,-0.85,-184.9,646.2,-7.8,472,7921,0.00,1.88,0.00,0.000,6,0.000,0.082,2578,1447,3437,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8226,-0.85,-184.9,668.5,-6.5,483,8231,0.00,2.03,0.00,0.000,4,0.000,0.135,2578,458,3437,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8393,-0.82,-184.9,679.2,-7.2,488,8402,0.08,1.77,0.00,0.000,6,0.220,0.081,2596,1404,3436,0,0,0,0,0,0,13.53,13.79,28.83
$GC,8709,-0.82,-184.9,705.0,-8.6,499,8714,0.00,1.92,0.00,0.000,4,0.000,0.137,2597,456,3435,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8783,-0.82,-184.9,711.0,-9.3,501,8791,0.00,1.77,0.00,0.000,6,0.000,0.084,2593,1389,3434,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9096,-0.82,-184.9,746.9,-11.4,512,9101,0.00,2.30,0.00,0.000,4,0.000,0.108,2592,2582,3434,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9143,-0.82,-184.9,750.2,-11.3,513,9151,0.00,2.42,0.00,0.000,6,0.000,0.116,2592,1369,3434,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9455,-0.82,-184.9,782.9,-9.3,524,9460,0.00,2.35,0.00,0.000,4,0.000,0.109,2591,2582,3432,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9594,-0.82,-184.9,792.3,-7.8,528,9602,0.00,2.50,0.00,0.000,6,0.000,0.120,2590,1337,3432,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9904,-0.82,-184.9,813.6,-6.0,539,9910,0.00,1.80,0.00,0.000,4,0.000,0.143,2590,466,3429,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10074,-0.82,-184.9,822.9,-6.2,544,10081,0.00,1.60,0.00,0.000,6,0.000,0.086,2587,1312,3430,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10387,-0.82,-184.9,843.1,-6.5,555,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1312,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10685,-0.82,-184.9,864.4,-7.3,565,10691,0.00,1.80,0.00,0.000,4,0.000,0.145,2587,457,3428,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10843,-0.82,-184.9,876.6,-8.2,570,10850,0.00,1.60,0.00,0.000,6,0.000,0.086,2585,1290,3427,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11165,-0.82,-184.9,904.0,-8.5,581,11171,0.00,1.73,0.00,0.000,4,0.000,0.147,2585,458,3427,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11283,-0.82,-184.9,914.8,-9.0,585,11291,0.00,1.58,0.00,0.000,6,0.000,0.090,2582,1279,3426,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11617,-0.82,-184.9,942.1,-7.9,596,11623,0.00,1.73,0.00,0.000,4,0.000,0.149,2582,461,3425,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11724,-0.82,-184.9,949.3,-7.9,599,11733,0.00,1.50,0.00,0.000,6,0.000,0.092,2579,1238,3424,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12037,-0.82,-184.9,973.1,-7.0,610,12042,0.00,2.60,0.00,0.000,4,0.000,0.104,2579,2589,3424,0,0,0,0,0,0,28.83,13.94,28.83
$GC,12114,-0.82,-184.9,977.1,-6.8,612,12122,0.00,2.70,0.00,0.000,6,0.000,0.118,2579,1221,3423,0,0,0,0,0,0,28.83,13.96,28.83
$STATE,12151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12151,begin apogee
$GC,12160,-0.25,0.0,981.3,-6.8,614,12351,0.73,0.00,182.95,1.877,4,0.180,0.000,2785,1527,2688,0,0,0,0,0,0,13.82,28.83,13.06
$STATE,12357,end apogee,CONTROL_FINISHED_OK
$STATE,12357,begin climb
$GC,12361,0.78,184.9,989.6,0.0,620,12565,1.08,2.05,192.75,1.819,4,0.122,0.116,3120,2584,1936,0,0,0,0,0,0,13.89,13.85,13.08
$GC,12615,0.75,194.4,979.8,6.9,629,12634,0.00,2.12,7.65,1.523,6,0.000,0.131,3128,1521,1903,0,0,0,0,0,0,28.83,13.86,13.12
$GC,12938,0.72,198.4,955.8,7.0,640,12944,0.00,2.22,1.73,0.171,4,0.000,0.162,3136,460,1883,0,0,0,0,0,0,28.83,14.00,14.04
$GC,13088,0.69,211.6,946.4,6.8,645,13114,0.17,2.05,20.85,1.723,6,0.259,0.094,3097,1564,1831,0,0,0,0,0,0,13.85,14.11,13.35
$GC,13424,0.73,273.4,926.5,5.5,657,13500,0.00,2.33,67.68,1.779,4,0.000,0.163,3101,458,1571,0,0,0,0,0,0,28.83,14.06,13.17
$GC,13524,0.76,315.4,920.9,6.0,660,13576,0.00,2.17,46.83,1.736,6,0.000,0.094,3099,1607,1407,0,0,0,0,0,0,28.83,14.11,13.12
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$STATE,22783,end climb,SURFACE_DEPTH_REACHED
$STATE,22783,begin surface coast
$FINISH,1.6,1.012920
$STATE,22818,end surface coast,CONTROL_FINISHED_OK
$STATE,22818,begin surface
$SM_CCo,22842,8.65,0.132,0,0,1264,350.04
$SM_GC,2.41,8.88,0.73,8.65,0.067,0.129,0.132,144,1520,1264,-8.46,0.37,350.04,0,0,0,0,0,0,14.15,13.84,14.09
$IRIDIUM_FIX,2420.48,-3835.89,130313,050530
$TT8_MAMPS,0.023968,0.023968
$HUMID,62.52
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.50
$XPDR_PINGS,4
$SC_FREEKB,7541376
$24V_AH,13.1,250.509
$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,22.375,202.775,535.400,8.650,0.000,0.000,0.000,522.500,1.000,0.000,16.564,3276.107,15899.706,931.786,2786.737,845.911,0.000,2670.485,0.000,2221.290,0.000,0.541,0.000
$DEVICE_MAMPS,321.300,162.945,1876.545,131.580,0.000,0.000,0.000,166.770,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.954,0.000,0.000,0.000
$MEM,344880
$DATA_FILE_SIZE,43326,1129
$CAP_FILE_SIZE,241385,0
$CFSIZE,260034560,172158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,226.1,1
$GPS,130313,114701,2427.535,-3835.012,40,0.9,41,-14.2