version: 66.11
glider: 190
mission: 6
dive: 606
start: 3 15 113 4 42 56
data:
$ID,190
$MISSION,6
$DIVE,606
$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,-13746.653
$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,13
$R_STBD_OVSHOOT,18
$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
$GPS1,150313,043005,2427.752,-3836.931,27,0.8,28,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-62.1
$GPS2,150313,044223,2427.749,-3836.921,13,1.9,13,-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,99.0,59947,-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,-10.30,0.000,2,0.000,0.000,143,1512,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.5,0.0,1,155,11.00,2.12,-94.15,0.000,4,0.340,0.157,2611,454,3448,0,0,0,0,0,0,14.01,13.94,14.59
$GC,291,-0.73,-184.9,15.1,-10.8,26,297,0.00,1.95,0.00,0.000,6,0.000,0.080,2605,1520,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,600,-0.73,-184.9,46.5,-6.7,57,608,0.00,2.10,0.00,0.000,4,0.000,0.131,2605,460,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,669,-0.70,-184.9,52.0,-8.2,64,676,0.10,1.95,0.00,0.000,6,0.210,0.079,2635,1508,3448,0,0,0,0,0,0,13.69,13.89,28.83
$GC,980,-0.70,-184.9,77.8,-8.6,95,986,0.00,2.08,0.00,0.000,4,0.000,0.130,2636,456,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1098,-0.70,-184.9,88.1,-8.6,107,1106,0.00,1.90,0.00,0.000,6,0.000,0.076,2632,1480,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1409,-0.70,-184.9,114.1,-8.7,138,1416,0.00,2.05,0.00,0.000,4,0.000,0.129,2632,465,3449,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1569,-0.70,-184.9,128.9,-9.0,154,1576,0.00,1.83,0.00,0.000,6,0.000,0.076,2632,1452,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1880,-0.70,-184.9,151.2,-6.7,185,1887,0.00,1.95,0.00,0.000,4,0.000,0.129,2632,462,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1988,-0.70,-184.9,159.0,-7.3,196,1996,0.00,1.80,0.00,0.000,6,0.000,0.075,2632,1437,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2302,-0.72,-184.9,180.0,-6.8,227,2309,0.00,2.15,0.00,0.000,4,0.000,0.098,2632,2581,3449,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2371,-0.74,-184.9,184.8,-6.6,234,2377,0.00,2.22,0.00,0.000,6,0.000,0.109,2631,1432,3449,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2680,-0.74,-184.9,208.6,-8.1,265,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1432,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.74,-184.9,235.6,-8.6,296,2996,0.00,2.17,0.00,0.000,4,0.000,0.094,2631,2583,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3058,-0.77,-184.9,241.3,-7.8,303,3066,0.00,2.22,0.00,0.000,6,0.000,0.108,2631,1445,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3379,-0.79,-184.9,266.3,-7.5,321,3385,0.00,1.95,0.00,0.000,4,0.000,0.130,2631,462,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3438,-0.79,-184.9,270.9,-7.5,323,3444,0.00,1.83,0.00,0.000,6,0.000,0.074,2631,1454,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3773,-0.82,-184.9,295.3,-7.5,334,3779,0.00,2.15,0.00,0.000,4,0.000,0.099,2631,2585,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3868,-0.84,-184.9,302.1,-7.5,337,3874,0.00,2.20,0.00,0.000,6,0.000,0.109,2631,1458,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4189,-0.86,-184.9,328.8,-8.3,348,4195,0.12,1.98,0.00,0.000,4,0.126,0.130,2575,458,3447,0,0,0,0,0,0,14.40,13.85,28.83
$GC,4219,-0.86,-184.9,331.5,-8.5,349,4225,0.00,1.83,0.00,0.000,6,0.000,0.076,2569,1456,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4549,-0.86,-184.9,363.3,-9.6,360,4554,0.00,2.03,0.00,0.000,4,0.000,0.128,2569,448,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4630,-0.83,-184.9,369.2,-9.6,362,4637,0.15,1.83,0.00,0.000,6,0.246,0.078,2600,1446,3446,0,0,0,0,0,0,13.69,13.95,28.83
$GC,4941,-0.83,-184.9,397.6,-8.2,373,4947,0.00,2.17,0.00,0.000,4,0.000,0.103,2592,2582,3445,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5017,-0.83,-184.9,402.0,-7.7,375,5026,0.00,2.25,0.00,0.000,6,0.000,0.111,2592,1449,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5330,-0.83,-184.9,425.6,-6.8,386,5335,0.00,1.98,0.00,0.000,4,0.000,0.129,2592,461,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5377,-0.83,-184.9,427.7,-6.8,387,5386,0.00,1.85,0.00,0.000,6,0.000,0.077,2592,1452,3444,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5690,-0.83,-184.9,449.7,-6.6,398,5695,0.00,2.00,0.00,0.000,4,0.000,0.130,2592,462,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5767,-0.83,-184.9,454.1,-7.1,400,5776,0.00,1.83,0.00,0.000,6,0.000,0.078,2592,1430,3443,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6078,-0.83,-184.9,481.6,-9.0,411,6084,0.00,2.22,0.00,0.000,4,0.000,0.105,2590,2575,3444,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6158,-0.83,-184.9,487.0,-9.1,413,6166,0.00,2.28,0.00,0.000,6,0.000,0.115,2590,1433,3442,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6469,-0.83,-184.9,518.8,-9.7,424,6474,0.00,1.98,0.00,0.000,4,0.000,0.132,2590,461,3441,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6598,-0.83,-184.9,530.3,-9.6,428,6605,0.00,1.77,0.00,0.000,6,0.000,0.077,2586,1411,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6918,-0.83,-184.9,559.6,-8.7,439,6924,0.00,2.25,0.00,0.000,4,0.000,0.105,2580,2569,3440,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6997,-0.83,-184.9,564.7,-8.5,441,7006,0.00,2.30,0.00,0.000,6,0.000,0.112,2580,1416,3441,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7310,-0.83,-184.9,589.9,-7.3,452,7315,0.00,1.92,0.00,0.000,4,0.000,0.132,2580,461,3440,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7368,-0.83,-184.9,594.4,-7.4,454,7374,0.00,1.80,0.00,0.000,6,0.000,0.080,2579,1419,3439,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7699,-0.83,-184.9,617.8,-7.1,465,7706,0.00,2.22,0.00,0.000,4,0.000,0.106,2577,2583,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7777,-0.83,-184.9,621.9,-6.9,467,7787,0.00,2.33,0.00,0.000,6,0.000,0.116,2577,1420,3437,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8088,-0.83,-184.9,647.3,-8.0,478,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1421,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8390,-0.83,-184.9,674.3,-9.4,488,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1420,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8688,-0.83,-184.9,704.8,-10.4,498,8694,0.00,2.28,0.00,0.000,4,0.000,0.104,2571,2574,3435,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8758,-0.83,-184.9,710.9,-10.4,500,8764,0.00,2.28,0.00,0.000,6,0.000,0.115,2571,1433,3435,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9078,-0.83,-184.9,745.1,-10.2,511,9085,0.10,2.00,0.00,0.000,4,0.245,0.137,2596,460,3434,0,0,0,0,0,0,14.12,13.81,28.83
$GC,9127,-0.83,-184.9,748.0,-10.1,512,9135,0.00,1.85,0.00,0.000,6,0.000,0.082,2591,1434,3433,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9440,-0.83,-184.9,775.6,-7.5,523,9445,0.00,2.17,0.00,0.000,4,0.000,0.108,2592,2576,3433,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9528,-0.83,-184.9,781.4,-6.6,526,9534,0.00,2.28,0.00,0.000,6,0.000,0.116,2592,1434,3432,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9863,-0.83,-184.9,799.4,-5.0,537,9869,0.00,1.98,0.00,0.000,4,0.000,0.138,2592,463,3431,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9908,-0.83,-184.9,800.9,-5.0,538,9916,0.00,1.85,0.00,0.000,6,0.000,0.085,2592,1436,3430,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10220,-0.83,-184.9,818.6,-5.9,549,10226,0.00,2.22,0.00,0.000,4,0.000,0.112,2592,2581,3430,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10278,-0.83,-184.9,822.3,-6.0,551,10284,0.00,2.28,0.00,0.000,6,0.000,0.118,2592,1446,3429,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10611,-0.83,-184.9,846.3,-7.8,562,10616,0.00,2.03,0.00,0.000,4,0.000,0.142,2592,455,3428,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10790,-0.83,-184.9,862.3,-9.0,568,10795,0.00,1.80,0.00,0.000,6,0.000,0.085,2591,1414,3427,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11121,-0.83,-184.9,891.6,-8.9,579,11126,0.00,2.25,0.00,0.000,4,0.000,0.113,2591,2579,3426,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11218,-0.83,-184.9,898.8,-8.1,582,11225,0.00,2.33,0.00,0.000,6,0.000,0.119,2592,1420,3426,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11538,-0.83,-184.9,923.4,-7.1,593,11545,0.00,2.28,0.00,0.000,4,0.000,0.112,2591,2573,3425,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11589,-0.83,-184.9,925.3,-6.9,594,11596,0.00,2.25,0.00,0.000,6,0.000,0.120,2591,1437,3425,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11902,-0.83,-184.9,945.6,-6.0,605,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1437,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12198,-0.83,-184.9,964.5,-6.8,615,12205,0.00,2.25,0.00,0.000,4,0.000,0.112,2591,2569,3423,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12329,-0.83,-184.9,973.5,-7.5,619,12334,0.00,2.25,0.00,0.000,6,0.000,0.122,2591,1453,3420,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,12404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12404,begin apogee
$GC,12413,-0.25,0.0,981.0,-8.1,622,12682,0.68,0.00,257.52,1.532,4,0.190,0.000,2781,1525,2691,0,0,0,0,0,0,13.81,28.83,13.19
$STATE,12684,end apogee,CONTROL_FINISHED_OK
$STATE,12684,begin climb
$GC,12688,0.78,184.9,998.4,0.0,631,12894,1.10,2.08,195.02,1.856,4,0.133,0.118,3115,2575,1939,0,0,0,0,0,0,13.81,13.78,13.05
$GC,13034,0.80,228.2,987.5,6.0,643,13085,0.00,2.15,45.88,1.789,6,0.000,0.138,3125,1524,1762,0,0,0,0,0,0,28.83,13.85,13.15
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$STATE,24196,end climb,SURFACE_DEPTH_REACHED
$STATE,24197,begin surface coast
$FINISH,1.7,1.019616
$STATE,24218,end surface coast,CONTROL_FINISHED_OK
$STATE,24218,begin surface
$SM_CCo,24243,26.10,0.126,0,0,1264,350.04
$SM_GC,2.77,8.80,2.12,26.10,0.067,0.119,0.126,146,1519,1264,-8.46,0.45,350.04,0,0,0,0,0,0,14.12,13.90,14.14
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.82
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.80
$XPDR_PINGS,5
$SC_FREEKB,7538688
$24V_AH,13.1,253.481
$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
$DEVICE_SECS,22.900,251.750,569.550,26.100,0.000,0.000,0.000,418.175,1.250,0.000,14.474,3438.666,16851.082,1022.439,2792.887,890.826,0.000,2719.979,0.000,2328.726,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24269.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.961,0.000,0.000,0.000
$MEM,344916
$DATA_FILE_SIZE,46653,1205
$CAP_FILE_SIZE,254661,0
$CFSIZE,260034560,171339776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,250.6,1
$GPS,150313,112853,2427.427,-3837.473,38,0.8,39,-14.2