version: 66.11
glider: 190
mission: 6
dive: 609
start: 3 16 113 1 36 54
data:
$ID,190
$MISSION,6
$DIVE,609
$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,-13750.618
$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,9
$R_STBD_OVSHOOT,10
$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
$GPS1,160313,012329,2427.364,-3839.085,39,0.9,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-63.9
$GPS2,160313,013620,2427.309,-3839.207,23,1.0,23,-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,97.5,63884,-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,-9.70,0.000,2,0.000,0.000,134,1509,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.7,0.0,1,154,11.05,2.10,-94.88,0.000,4,0.340,0.154,2615,462,3448,0,0,0,0,0,0,14.05,13.93,14.59
$GC,309,-0.74,-184.9,18.0,-8.1,28,315,0.00,1.95,0.00,0.000,6,0.000,0.078,2612,1529,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,619,-0.74,-184.9,42.3,-8.5,59,625,0.00,2.15,0.00,0.000,4,0.000,0.130,2612,454,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,717,-0.71,-184.9,51.5,-9.4,69,726,0.08,1.95,0.00,0.000,6,0.225,0.079,2629,1503,3448,0,0,0,0,0,0,13.72,13.94,28.83
$GC,1027,-0.71,-184.9,79.9,-9.6,100,1035,0.00,2.05,0.00,0.000,4,0.000,0.099,2626,2577,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1107,-0.71,-184.9,87.4,-9.4,108,1115,0.00,2.08,0.00,0.000,6,0.000,0.109,2623,1519,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1417,-0.71,-184.9,118.8,-9.7,139,1425,0.00,2.12,0.00,0.000,4,0.000,0.131,2626,463,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1478,-0.71,-184.9,124.3,-9.2,145,1487,0.00,1.95,0.00,0.000,6,0.000,0.077,2623,1537,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1789,-0.71,-184.9,148.2,-6.6,176,1795,0.00,1.98,0.00,0.000,4,0.000,0.099,2621,2585,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1867,-0.71,-184.9,153.7,-6.9,184,1875,0.00,2.08,0.00,0.000,6,0.000,0.109,2621,1526,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2177,-0.71,-184.9,173.7,-7.4,215,2185,0.00,2.15,0.00,0.000,4,0.000,0.130,2621,453,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2311,-0.71,-184.9,184.7,-9.0,228,2318,0.00,1.98,0.00,0.000,6,0.000,0.077,2618,1526,3448,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2617,-0.71,-184.9,213.3,-8.9,259,2625,0.00,2.00,0.00,0.000,4,0.000,0.098,2618,2576,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2708,-0.71,-184.9,221.1,-8.5,268,2715,0.00,2.05,0.00,0.000,6,0.000,0.109,2618,1518,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3019,-0.71,-184.9,245.5,-7.2,299,3025,0.00,2.10,0.00,0.000,4,0.000,0.132,2618,459,3447,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3096,-0.71,-184.9,250.0,-7.4,305,3105,0.00,1.98,0.00,0.000,6,0.000,0.076,2618,1521,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3409,-0.71,-184.9,271.0,-5.9,316,3414,0.00,2.00,0.00,0.000,4,0.000,0.099,2618,2575,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3457,-0.71,-184.9,272.6,-5.9,317,3465,0.00,2.05,0.00,0.000,6,0.000,0.106,2618,1525,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3770,-0.71,-184.9,292.1,-6.3,328,3775,0.00,2.03,0.00,0.000,4,0.000,0.099,2618,2583,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3906,-0.71,-184.9,300.0,-6.6,332,3915,0.00,2.12,0.00,0.000,6,0.000,0.107,2617,1500,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4217,-0.71,-184.9,324.2,-7.6,343,4223,0.00,2.10,0.00,0.000,4,0.000,0.131,2618,463,3447,0,0,0,0,0,0,28.83,13.75,28.83
$GC,4267,-0.71,-184.9,326.5,-7.5,344,4275,0.00,1.90,0.00,0.000,6,0.000,0.077,2618,1489,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4577,-0.71,-184.9,352.3,-7.9,355,4583,0.00,2.10,0.00,0.000,4,0.000,0.101,2618,2577,3446,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4616,-0.71,-184.9,354.7,-7.9,356,4624,0.00,2.15,0.00,0.000,6,0.000,0.108,2616,1487,3446,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4939,-0.71,-184.9,379.5,-7.6,367,4944,0.00,2.05,0.00,0.000,4,0.000,0.132,2618,458,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5036,-0.71,-184.9,386.7,-8.0,370,5044,0.00,1.92,0.00,0.000,6,0.000,0.076,2618,1487,3444,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5359,-0.71,-184.9,413.6,-8.3,381,5365,0.00,2.08,0.00,0.000,4,0.000,0.103,2618,2580,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5436,-0.71,-184.9,418.7,-8.3,383,5445,0.00,2.17,0.00,0.000,6,0.000,0.109,2618,1481,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5749,-0.74,-184.9,446.9,-8.6,394,5754,0.00,2.05,0.00,0.000,4,0.000,0.134,2618,457,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5856,-0.74,-184.9,454.7,-8.7,397,5865,0.00,1.90,0.00,0.000,6,0.000,0.078,2618,1470,3443,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6171,-0.76,-184.9,482.7,-8.5,408,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1469,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.78,-184.9,508.5,-8.6,418,6474,0.00,2.05,0.00,0.000,4,0.000,0.132,2618,454,3441,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6587,-0.78,-184.9,518.8,-8.6,422,6593,0.00,1.88,0.00,0.000,6,0.000,0.080,2618,1457,3440,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6919,-0.78,-184.9,544.1,-7.4,433,6924,0.00,2.15,0.00,0.000,4,0.000,0.104,2618,2575,3440,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7057,-0.80,-184.9,552.6,-7.1,437,7065,0.00,2.17,0.00,0.000,6,0.000,0.111,2618,1475,3440,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7373,-0.83,-184.9,577.0,-7.5,448,7378,0.00,2.08,0.00,0.000,4,0.000,0.135,2618,454,3439,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7436,-0.83,-184.9,581.4,-7.5,450,7444,0.00,1.92,0.00,0.000,6,0.000,0.080,2618,1472,3439,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7759,-0.85,-184.9,605.5,-7.5,461,7765,0.00,2.12,0.00,0.000,4,0.000,0.105,2618,2575,3437,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7836,-0.88,-184.9,609.8,-7.4,463,7845,0.00,2.20,0.00,0.000,6,0.000,0.112,2618,1463,3437,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8148,-0.91,-184.9,635.1,-8.2,474,8154,0.12,2.08,0.00,0.000,4,0.128,0.136,2560,455,3437,0,0,0,0,0,0,14.33,13.79,28.83
$GC,8197,-0.91,-184.9,637.9,-8.5,475,8207,0.00,1.90,0.00,0.000,6,0.000,0.080,2554,1469,3436,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8507,-0.91,-184.9,669.6,-9.7,486,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1469,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8809,-0.91,-184.9,697.1,-8.8,496,8814,0.00,2.08,0.00,0.000,4,0.000,0.135,2553,456,3434,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8887,-0.88,-184.9,702.5,-8.9,498,8895,0.10,1.90,0.00,0.000,6,0.215,0.082,2581,1459,3434,0,0,0,0,0,0,13.59,13.82,28.83
$GC,9200,-0.88,-184.9,728.7,-7.7,509,9206,0.00,2.05,0.00,0.000,4,0.000,0.137,2581,458,3433,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9258,-0.88,-184.9,733.5,-7.7,511,9264,0.00,1.85,0.00,0.000,6,0.000,0.082,2578,1448,3433,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9587,-0.88,-184.9,758.5,-7.6,522,9593,0.00,2.20,0.00,0.000,4,0.000,0.108,2577,2573,3432,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9617,-0.88,-184.9,760.7,-7.6,523,9623,0.00,2.28,0.00,0.000,6,0.000,0.114,2577,1432,3432,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9949,-0.88,-184.9,787.0,-8.0,534,9954,0.00,1.98,0.00,0.000,4,0.000,0.139,2577,454,3431,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10047,-0.88,-184.9,794.9,-8.6,537,10053,0.00,1.85,0.00,0.000,6,0.000,0.083,2574,1429,3430,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10369,-0.88,-184.9,823.1,-8.6,548,10375,0.00,2.22,0.00,0.000,4,0.000,0.112,2568,2581,3429,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10416,-0.88,-184.9,825.6,-8.6,549,10425,0.00,2.33,0.00,0.000,6,0.000,0.116,2569,1425,3429,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10729,-0.88,-184.9,853.4,-8.5,560,10734,0.00,1.98,0.00,0.000,4,0.000,0.142,2569,458,3428,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10856,-0.85,-184.9,864.3,-9.1,564,10864,0.00,1.85,0.00,0.000,6,0.000,0.086,2566,1418,3427,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11179,-0.85,-184.9,893.2,-9.1,575,11184,0.12,2.00,0.00,0.000,4,0.245,0.145,2601,459,3426,0,0,0,0,0,0,13.81,13.85,28.83
$GC,11256,-0.85,-184.9,898.8,-9.2,577,11264,0.00,1.83,0.00,0.000,6,0.000,0.093,2597,1397,3426,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11568,-0.85,-184.9,930.2,-9.8,588,11573,0.00,2.28,0.00,0.000,4,0.000,0.109,2592,2575,3425,0,0,0,0,0,0,28.83,13.91,28.83
$GC,11667,-0.85,-184.9,939.2,-10.0,591,11673,0.00,2.30,0.00,0.000,6,0.000,0.113,2592,1420,3424,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11987,-0.85,-184.9,972.6,-10.1,602,11993,0.00,2.00,0.00,0.000,4,0.000,0.144,2592,458,3422,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12050,-0.85,-184.9,978.7,-10.1,604,12055,0.00,1.83,0.00,0.000,6,0.000,0.093,2592,1410,3423,0,0,0,0,0,0,28.83,13.97,28.83
$STATE,12074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12074,begin apogee
$GC,12083,-0.25,0.0,981.6,-10.0,605,12274,0.65,0.00,183.43,1.825,4,0.178,0.000,2778,1521,2688,0,0,0,0,0,0,13.78,28.83,13.09
$STATE,12279,end apogee,CONTROL_FINISHED_OK
$STATE,12279,begin climb
$GC,12283,0.78,184.9,993.2,0.0,611,12490,1.12,2.25,193.38,1.860,4,0.141,0.154,3114,457,1937,0,0,0,0,0,0,13.73,13.65,13.07
$GC,12589,0.76,184.9,978.0,8.4,622,12597,0.00,2.00,0.00,0.000,6,0.000,0.090,3114,1511,1925,0,0,0,0,0,0,28.83,13.92,28.83
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$STATE,23578,end climb,SURFACE_DEPTH_REACHED
$STATE,23578,begin surface coast
$FINISH,1.6,0.999725
$STATE,23609,end surface coast,CONTROL_FINISHED_OK
$STATE,23609,begin surface
$SM_CCo,23634,30.83,0.130,0,0,1265,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.30
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.60
$XPDR_PINGS,4
$SC_FREEKB,7537536
$24V_AH,13.1,254.732
$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
$DEVICE_SECS,22.975,236.625,488.400,30.825,0.000,0.000,0.000,438.100,1.000,0.000,25.001,3356.815,16496.215,958.531,2761.413,850.911,0.000,2648.505,0.000,2257.991,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23673.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.915,0.000,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,43371,1165
$CAP_FILE_SIZE,249954,0
$CFSIZE,260034560,170999808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,255.3,1
$GPS,160313,081234,2427.257,-3839.656,26,1.0,27,-14.2