version: 66.11
glider: 190
mission: 6
dive: 605
start: 3 14 113 21 46 45
data:
$ID,190
$MISSION,6
$DIVE,605
$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,-13745.298
$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
$GPS1,140313,213353,2427.472,-3836.589,35,0.9,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-59.0
$GPS2,140313,214611,2427.393,-3836.663,18,1.0,18,-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,89.6,59653,-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,-9.90,0.000,2,0.000,0.000,137,1515,1494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.5,0.0,1,154,11.05,2.12,-95.18,0.000,4,0.340,0.157,2618,457,3449,0,0,0,0,0,0,14.07,13.95,14.60
$GC,352,-0.74,-184.9,22.6,-9.1,32,358,0.00,1.95,0.00,0.000,6,0.000,0.078,2618,1530,3449,0,0,0,0,0,0,28.83,14.01,28.83
$GC,659,-0.74,-184.9,53.1,-10.5,63,666,0.00,2.15,0.00,0.000,4,0.000,0.130,2618,453,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,688,-0.74,-184.9,56.3,-10.4,66,695,0.00,1.95,0.00,0.000,6,0.000,0.078,2618,1507,3448,0,0,0,0,0,0,28.83,13.92,28.83
$GC,999,-0.74,-184.9,86.4,-9.2,97,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1507,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.74,-184.9,111.7,-7.2,128,1316,0.00,2.10,0.00,0.000,4,0.000,0.126,2618,453,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1489,-0.72,-184.9,123.9,-6.6,146,1496,0.00,1.92,0.00,0.000,6,0.000,0.073,2618,1512,3448,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1798,-0.72,-184.9,145.9,-8.6,177,1810,0.00,2.10,0.00,0.000,4,0.000,0.126,2619,462,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1870,-0.72,-184.9,152.5,-9.7,184,1877,0.00,1.90,0.00,0.000,6,0.000,0.075,2618,1503,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2180,-0.72,-184.9,183.5,-9.9,215,2187,0.00,2.08,0.00,0.000,4,0.000,0.125,2618,457,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2299,-0.72,-184.9,195.7,-10.0,227,2306,0.00,1.88,0.00,0.000,6,0.000,0.074,2618,1472,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2610,-0.72,-184.9,225.5,-9.1,258,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1472,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2919,-0.72,-184.9,250.2,-7.2,289,2927,0.00,2.05,0.00,0.000,4,0.000,0.126,2618,455,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3018,-0.72,-184.9,256.6,-7.1,292,3024,0.00,1.88,0.00,0.000,6,0.000,0.075,2618,1463,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3344,-0.72,-184.9,276.5,-5.7,303,3349,0.00,2.10,0.00,0.000,4,0.000,0.100,2618,2574,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3478,-0.72,-184.9,283.3,-5.7,307,3487,0.00,2.15,0.00,0.000,6,0.000,0.107,2618,1472,3448,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3790,-0.72,-184.9,305.1,-7.2,318,3795,0.00,2.05,0.00,0.000,4,0.000,0.132,2618,451,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3909,-0.72,-184.9,315.3,-8.5,322,3915,0.00,1.90,0.00,0.000,6,0.000,0.078,2618,1469,3447,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4240,-0.72,-184.9,347.0,-10.1,333,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1469,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4539,-0.72,-184.9,378.0,-10.2,343,4545,0.00,2.05,0.00,0.000,4,0.000,0.129,2618,463,3447,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4608,-0.72,-184.9,384.0,-10.1,345,4615,0.00,1.83,0.00,0.000,6,0.000,0.079,2616,1446,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4929,-0.72,-184.9,413.2,-8.4,356,4935,0.00,2.15,0.00,0.000,4,0.000,0.101,2618,2589,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5028,-0.74,-184.9,420.6,-8.2,359,5035,0.00,2.22,0.00,0.000,6,0.000,0.109,2618,1455,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5354,-0.77,-184.9,446.0,-7.6,370,5359,0.00,2.00,0.00,0.000,4,0.000,0.134,2618,457,3444,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5439,-0.77,-184.9,453.2,-7.8,373,5446,0.00,1.85,0.00,0.000,6,0.000,0.080,2618,1445,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5774,-0.79,-184.9,480.5,-8.8,384,5779,0.00,2.15,0.00,0.000,4,0.000,0.104,2618,2574,3443,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5818,-0.81,-184.9,483.2,-8.8,385,5826,0.00,2.22,0.00,0.000,6,0.000,0.112,2618,1443,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6133,-0.83,-184.9,514.5,-9.6,396,6138,0.00,1.98,0.00,0.000,4,0.000,0.129,2618,457,3442,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6250,-0.83,-184.9,525.8,-9.4,400,6256,0.00,1.85,0.00,0.000,6,0.000,0.080,2618,1441,3443,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6582,-0.85,-184.9,553.4,-8.2,411,6588,0.00,2.17,0.00,0.000,4,0.000,0.104,2618,2579,3441,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6659,-0.87,-184.9,557.9,-8.0,413,6667,0.00,2.28,0.00,0.000,6,0.000,0.116,2618,1437,3440,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6969,-0.87,-184.9,581.9,-7.0,424,6975,0.00,2.00,0.00,0.000,4,0.000,0.137,2618,446,3440,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7018,-0.87,-184.9,584.1,-6.9,425,7026,0.00,1.90,0.00,0.000,6,0.000,0.083,2616,1446,3440,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7331,-0.87,-184.9,606.4,-6.9,436,7336,0.00,2.17,0.00,0.000,4,0.000,0.106,2618,2578,3439,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7438,-0.90,-184.9,612.6,-6.9,439,7448,0.08,2.20,0.00,0.000,6,0.086,0.113,2570,1465,3437,0,0,0,0,0,0,13.94,13.82,28.83
$GC,7753,-0.90,-184.9,639.9,-8.9,450,7758,0.00,2.05,0.00,0.000,4,0.000,0.138,2570,455,3437,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7889,-0.87,-184.9,651.7,-9.9,454,7896,0.00,1.88,0.00,0.000,6,0.000,0.084,2565,1448,3436,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8201,-0.87,-184.9,685.0,-10.3,465,8207,0.00,2.17,0.00,0.000,4,0.000,0.106,2561,2578,3436,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8248,-0.87,-184.9,688.0,-10.2,466,8257,0.00,2.22,0.00,0.000,6,0.000,0.110,2561,1450,3436,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8560,-0.87,-184.9,719.4,-8.9,477,8567,0.00,2.00,0.00,0.000,4,0.000,0.133,2561,457,3435,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8650,-0.84,-184.9,727.2,-8.6,480,8656,0.17,1.83,0.00,0.000,6,0.239,0.082,2597,1448,3434,0,0,0,0,0,0,13.71,13.93,28.83
$GC,8984,-0.84,-184.9,747.6,-5.7,491,8989,0.00,2.17,0.00,0.000,4,0.000,0.111,2592,2581,3433,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9048,-0.84,-184.9,750.5,-5.3,493,9055,0.00,2.28,0.00,0.000,6,0.000,0.121,2592,1446,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9373,-0.84,-184.9,766.9,-5.7,504,9378,0.00,2.00,0.00,0.000,4,0.000,0.137,2592,457,3432,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9430,-0.84,-184.9,771.1,-6.5,506,9436,0.00,1.85,0.00,0.000,6,0.000,0.085,2592,1445,3431,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9759,-0.84,-184.9,798.7,-9.5,517,9766,0.00,2.20,0.00,0.000,4,0.000,0.109,2592,2569,3430,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9808,-0.84,-184.9,801.6,-9.8,518,9816,0.00,2.25,0.00,0.000,6,0.000,0.116,2592,1442,3430,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10120,-0.84,-184.9,839.0,-11.8,529,10126,0.00,2.00,0.00,0.000,4,0.000,0.142,2592,453,3429,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10209,-0.84,-184.9,849.9,-12.0,532,10215,0.00,1.88,0.00,0.000,6,0.000,0.090,2592,1435,3429,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10540,-0.84,-184.9,885.0,-9.8,543,10545,0.00,2.17,0.00,0.000,4,0.000,0.104,2592,2580,3427,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10588,-0.84,-184.9,887.5,-9.4,544,10596,0.00,2.28,0.00,0.000,6,0.000,0.111,2592,1436,3427,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10899,-0.84,-184.9,913.2,-7.1,555,10905,0.00,2.03,0.00,0.000,4,0.000,0.144,2592,458,3426,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10939,-0.84,-184.9,915.3,-7.0,556,10945,0.00,1.88,0.00,0.000,6,0.000,0.091,2592,1436,3426,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11262,-0.84,-184.9,936.4,-6.1,567,11267,0.00,2.17,0.00,0.000,4,0.000,0.105,2591,2582,3425,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11359,-0.84,-184.9,941.8,-6.1,570,11366,0.00,2.20,0.00,0.000,6,0.000,0.112,2592,1454,3424,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11682,-0.84,-184.9,963.6,-6.9,581,11688,0.00,2.03,0.00,0.000,4,0.000,0.139,2592,456,3423,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11728,-0.84,-184.9,965.9,-7.1,582,11736,0.00,1.92,0.00,0.000,6,0.000,0.086,2591,1463,3423,0,0,0,0,0,0,28.83,13.86,28.83
$STATE,11915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11915,begin apogee
$GC,11925,-0.25,0.0,981.8,-7.7,589,12116,0.68,0.00,184.57,1.832,4,0.178,0.000,2784,1520,2689,0,0,0,0,0,0,13.80,28.83,13.05
$STATE,12121,end apogee,CONTROL_FINISHED_OK
$STATE,12121,begin climb
$GC,12126,0.78,184.9,990.9,0.0,595,12330,1.12,2.20,193.23,1.843,4,0.141,0.146,3119,457,1940,0,0,0,0,0,0,13.71,13.64,13.06
$GC,12469,0.75,184.9,973.8,7.6,607,12477,0.00,2.00,0.00,0.000,6,0.000,0.086,3119,1518,1925,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12794,0.77,208.6,951.5,6.5,618,12826,0.00,2.03,24.60,1.718,4,0.000,0.119,3119,2573,1835,0,0,0,0,0,0,28.83,14.22,13.32
$GC,12988,0.77,212.2,939.2,7.0,624,12998,0.00,2.05,0.00,0.000,6,0.000,0.131,3127,1553,1830,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13303,0.78,224.6,916.9,6.8,635,13328,0.00,2.20,17.23,1.695,4,0.000,0.151,3135,461,1772,0,0,0,0,0,0,28.83,14.17,13.38
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$STATE,24026,end climb,SURFACE_DEPTH_REACHED
$STATE,24026,begin surface coast
$FINISH,1.6,1.000606
$STATE,24063,end surface coast,CONTROL_FINISHED_OK
$STATE,24063,begin surface
$SM_CCo,24087,37.38,0.125,0,0,1265,350.04
$SM_GC,2.38,8.95,0.75,37.38,0.074,0.140,0.125,144,1513,1265,-8.48,0.25,350.04,0,0,0,0,0,0,14.14,13.86,14.17
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.59
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,5
$SC_FREEKB,7539072
$24V_AH,13.0,253.053
$10V_AH,12.1,0.000
$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,22.625,230.700,473.075,37.375,0.000,0.000,0.000,414.075,1.250,0.000,19.591,3454.371,16743.807,960.036,2810.687,881.434,0.000,2660.859,0.000,2335.744,0.000,0.541,0.000
$DEVICE_MAMPS,340.425,174.420,1842.885,124.695,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24123.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.855,0.000,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,46680,1187
$CAP_FILE_SIZE,252579,0
$CFSIZE,260034560,171458560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098,267.3,1
$GPS,150313,043005,2427.752,-3836.931,27,0.8,28,-14.2