version: 66.11
glider: 190
mission: 6
dive: 604
start: 3 14 113 14 47 22
data:
$ID,190
$MISSION,6
$DIVE,604
$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,-13743.944
$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,22
$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
$GPS1,140313,143434,2427.494,-3835.843,35,0.8,35,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-60.4
$GPS2,140313,144648,2427.445,-3835.901,17,1.1,17,-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,86.8,58377,-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,22,-0.78,-184.9,0.0,0.0,0,34,0.00,0.00,-9.75,0.000,2,0.000,0.000,139,1513,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.4,0.0,1,156,10.57,2.12,-101.07,0.000,4,0.318,0.152,2614,458,3447,0,0,0,0,0,0,14.01,13.94,14.59
$GC,393,-0.74,-184.9,22.0,-9.3,36,400,0.00,1.95,0.00,0.000,6,0.000,0.080,2609,1518,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,701,-0.74,-184.9,47.5,-8.6,67,707,0.00,2.10,0.00,0.000,4,0.000,0.133,2609,459,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,810,-0.71,-184.9,57.4,-9.0,78,818,0.12,1.92,0.00,0.000,6,0.246,0.080,2635,1495,3447,0,0,0,0,0,0,13.74,13.93,28.83
$GC,1119,-0.71,-184.9,83.0,-8.6,109,1128,0.00,2.10,0.00,0.000,4,0.000,0.132,2636,459,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1251,-0.71,-184.9,94.7,-9.3,122,1258,0.00,1.88,0.00,0.000,6,0.000,0.079,2633,1480,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1561,-0.71,-184.9,121.9,-8.2,153,1568,0.00,2.05,0.00,0.000,4,0.000,0.132,2632,458,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1679,-0.71,-184.9,131.9,-8.4,165,1688,0.00,1.83,0.00,0.000,6,0.000,0.076,2632,1453,3447,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1990,-0.71,-184.9,156.0,-7.5,196,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1449,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.71,-184.9,179.2,-7.5,227,2307,0.00,2.00,0.00,0.000,4,0.000,0.127,2632,457,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2480,-0.71,-184.9,193.2,-8.2,245,2489,0.00,1.80,0.00,0.000,6,0.000,0.074,2631,1430,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2791,-0.73,-184.9,218.6,-8.9,276,2798,0.00,2.15,0.00,0.000,4,0.000,0.100,2631,2578,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2890,-0.76,-184.9,227.3,-9.0,286,2897,0.00,2.17,0.00,0.000,6,0.000,0.109,2632,1445,3448,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3200,-0.78,-184.9,255.3,-8.9,313,3206,0.00,2.15,0.00,0.000,4,0.000,0.099,2632,2578,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3349,-0.80,-184.9,267.0,-7.7,318,3356,0.00,2.28,0.00,0.000,6,0.000,0.109,2632,1422,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3685,-0.83,-184.9,287.7,-5.3,329,3691,0.00,1.95,0.00,0.000,4,0.000,0.133,2631,463,3447,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3850,-0.83,-184.9,295.4,-5.2,334,3858,0.00,1.73,0.00,0.000,6,0.000,0.078,2632,1393,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4165,-0.85,-184.9,313.2,-6.0,345,4172,0.12,1.90,0.00,0.000,4,0.130,0.129,2569,455,3446,0,0,0,0,0,0,14.32,13.84,28.83
$GC,4240,-0.85,-184.9,318.3,-7.2,347,4251,0.12,1.70,0.00,0.000,6,0.261,0.077,2594,1370,3446,0,0,0,0,0,0,13.65,13.95,28.83
$GC,4556,-0.85,-184.9,349.4,-10.2,358,4561,0.00,2.30,0.00,0.000,4,0.000,0.099,2589,2579,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4680,-0.85,-184.9,362.0,-10.5,362,4688,0.00,2.33,0.00,0.000,6,0.000,0.109,2589,1393,3445,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5003,-0.85,-184.9,395.4,-9.7,373,5008,0.00,1.88,0.00,0.000,4,0.000,0.130,2590,458,3444,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5040,-0.85,-184.9,398.2,-9.5,374,5048,0.00,1.75,0.00,0.000,6,0.000,0.076,2584,1396,3444,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5363,-0.85,-184.9,426.7,-8.3,385,5369,0.00,1.90,0.00,0.000,4,0.000,0.128,2584,452,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5430,-0.85,-184.9,431.8,-8.3,387,5437,0.00,1.73,0.00,0.000,6,0.000,0.076,2580,1376,3443,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5752,-0.85,-184.9,456.8,-7.4,398,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1376,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6053,-0.85,-184.9,479.2,-7.3,408,6058,0.00,1.85,0.00,0.000,4,0.000,0.130,2579,458,3441,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6131,-0.85,-184.9,484.0,-7.6,410,6139,0.00,1.67,0.00,0.000,6,0.000,0.076,2578,1365,3441,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6441,-0.85,-184.9,511.1,-8.5,421,6448,0.00,2.35,0.00,0.000,4,0.000,0.102,2571,2574,3441,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6521,-0.85,-184.9,516.2,-8.5,423,6529,0.00,2.38,0.00,0.000,6,0.000,0.112,2571,1358,3440,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6831,-0.85,-184.9,545.0,-8.7,434,6837,0.00,2.38,0.00,0.000,4,0.000,0.102,2565,2577,3439,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6881,-0.85,-184.9,547.5,-8.7,435,6890,0.12,2.38,0.00,0.000,6,0.218,0.112,2596,1360,3439,0,0,0,0,0,0,13.89,13.95,28.83
$GC,7194,-0.85,-184.9,574.4,-8.1,446,7199,0.00,1.83,0.00,0.000,4,0.000,0.137,2596,458,3438,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7252,-0.85,-184.9,579.3,-8.1,448,7257,0.00,1.70,0.00,0.000,6,0.000,0.080,2592,1377,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7583,-0.85,-184.9,604.9,-7.8,459,7588,0.00,2.30,0.00,0.000,4,0.000,0.106,2590,2582,3437,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7680,-0.85,-184.9,612.0,-7.8,462,7688,0.00,2.40,0.00,0.000,6,0.000,0.113,2590,1378,3436,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8003,-0.85,-184.9,638.6,-8.1,473,8009,0.00,1.88,0.00,0.000,4,0.000,0.135,2590,454,3436,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8031,-0.85,-184.9,641.2,-8.2,474,8037,0.00,1.75,0.00,0.000,6,0.000,0.081,2585,1387,3439,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8361,-0.85,-184.9,668.1,-8.2,485,8368,0.00,2.33,0.00,0.000,4,0.000,0.106,2579,2574,3435,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8422,-0.85,-184.9,672.7,-8.0,487,8428,0.00,2.33,0.00,0.000,6,0.000,0.114,2579,1386,3434,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8751,-0.85,-184.9,697.5,-7.4,498,8757,0.00,1.90,0.00,0.000,4,0.000,0.137,2579,458,3434,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8861,-0.85,-184.9,704.4,-7.6,501,8869,0.00,1.73,0.00,0.000,6,0.000,0.081,2575,1379,3432,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9171,-0.85,-184.9,728.3,-7.2,512,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1379,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-0.85,-184.9,751.9,-8.4,522,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1378,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9773,-0.85,-184.9,779.3,-9.5,532,9778,0.00,1.85,0.00,0.000,4,0.000,0.138,2575,459,3430,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9801,-0.85,-184.9,782.3,-9.6,533,9808,0.00,1.73,0.00,0.000,6,0.000,0.083,2570,1373,3428,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10133,-0.85,-184.9,814.8,-9.9,544,10138,0.00,1.88,0.00,0.000,4,0.000,0.140,2571,458,3428,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10171,-0.85,-184.9,817.8,-10.0,545,10178,0.08,1.73,0.00,0.000,6,0.233,0.083,2584,1369,3428,0,0,0,0,0,0,13.57,13.80,28.83
$GC,10495,-0.85,-184.9,846.9,-8.3,556,10500,0.00,2.33,0.00,0.000,4,0.000,0.110,2581,2575,3427,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10591,-0.85,-184.9,854.0,-7.9,559,10597,0.00,2.38,0.00,0.000,6,0.000,0.118,2581,1364,3427,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10915,-0.85,-184.9,877.1,-6.5,570,10920,0.00,1.83,0.00,0.000,4,0.000,0.141,2581,457,3426,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11003,-0.85,-184.9,883.0,-6.7,573,11008,0.00,1.75,0.00,0.000,6,0.000,0.086,2579,1389,3425,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11335,-0.85,-184.9,905.6,-7.0,584,11340,0.00,2.33,0.00,0.000,4,0.000,0.114,2579,2580,3424,0,0,0,0,0,0,28.83,13.92,28.83
$GC,11422,-0.85,-184.9,912.0,-7.1,587,11428,0.00,2.38,0.00,0.000,6,0.000,0.121,2579,1386,3423,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11751,-0.85,-184.9,938.1,-8.4,598,11757,0.00,1.90,0.00,0.000,4,0.000,0.143,2579,465,3423,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11790,-0.85,-184.9,940.7,-8.5,599,11797,0.00,1.77,0.00,0.000,6,0.000,0.086,2577,1392,3422,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12113,-0.85,-184.9,972.1,-10.1,610,12118,0.00,2.30,0.00,0.000,4,0.000,0.114,2572,2581,3422,0,0,0,0,0,0,28.83,13.94,28.83
$STATE,12197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12197,begin apogee
$GC,12208,-0.25,0.0,981.4,-10.4,613,12398,0.75,0.00,183.85,1.854,4,0.210,0.000,2779,1516,2687,0,0,0,0,0,0,13.81,28.83,13.06
$STATE,12404,end apogee,CONTROL_FINISHED_OK
$STATE,12405,begin climb
$GC,12408,0.78,184.9,994.8,0.0,619,12612,1.12,2.08,193.38,1.834,4,0.133,0.113,3121,2573,1938,0,0,0,0,0,0,13.80,13.79,13.06
$GC,12743,0.79,204.2,984.2,6.6,631,12770,0.00,2.12,20.27,1.720,6,0.000,0.135,3127,1522,1856,0,0,0,0,0,0,28.83,13.88,13.19
$GC,13075,0.79,204.2,959.2,8.0,642,13081,0.00,2.15,0.00,0.000,4,0.000,0.158,3136,458,1842,0,0,0,0,0,0,28.83,14.01,28.83
$GC,13112,0.77,204.2,956.7,8.1,643,13119,0.00,2.03,0.00,0.000,6,0.000,0.091,3136,1539,1842,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13435,0.75,204.2,926.5,9.4,654,13441,0.00,2.25,0.00,0.000,4,0.000,0.161,3143,456,1840,0,0,0,0,0,0,28.83,13.95,28.83
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$STATE,24250,end climb,SURFACE_DEPTH_REACHED
$STATE,24250,begin surface coast
$FINISH,1.6,1.025736
$STATE,24271,end surface coast,CONTROL_FINISHED_OK
$STATE,24271,begin surface
$SM_CCo,24295,10.45,0.132,0,0,1265,350.04
$SM_GC,2.30,8.93,0.75,10.45,0.070,0.148,0.132,139,1519,1265,-8.48,0.31,350.04,0,0,0,0,0,0,14.18,13.87,14.12
$IRIDIUM_FIX,2420.48,-3835.89,140313,080805
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.18
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.60
$XPDR_PINGS,3
$SC_FREEKB,7539456
$24V_AH,13.1,252.653
$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,22.825,237.600,527.150,10.450,0.000,0.000,0.000,414.050,0.750,0.000,19.042,3447.919,16920.756,959.610,2812.517,889.010,0.000,2660.416,0.000,2337.626,0.000,0.539,0.000
$DEVICE_MAMPS,318.240,160.650,1854.360,131.580,0.000,0.000,0.000,162.945,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24333.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.887,0.000,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,46655,1189
$CAP_FILE_SIZE,254550,0
$CFSIZE,260034560,171569152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,254.7,1
$GPS,140313,213353,2427.472,-3836.589,35,0.9,36,-14.2