version: 66.11
glider: 190
mission: 6
dive: 610
start: 3 16 113 8 25 9
data:
$ID,190
$MISSION,6
$DIVE,610
$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,-13751.971
$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,15
$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
$GPS1,160313,081234,2427.257,-3839.656,26,1.0,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-64.9
$GPS2,160313,082435,2427.209,-3839.717,17,1.1,17,-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,90.2,64761,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.78,-184.9,0.0,0.0,0,37,0.00,0.00,-10.32,0.000,2,0.000,0.000,139,1516,1503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.78,-184.9,2.5,0.0,1,157,10.93,2.12,-95.10,0.000,4,0.336,0.157,2616,461,3448,0,0,0,0,0,0,14.02,13.95,14.62
$GC,298,-0.75,-184.9,15.2,-10.2,27,306,0.00,1.95,0.00,0.000,6,0.000,0.076,2612,1514,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,612,-0.75,-184.9,40.3,-8.3,58,619,0.00,2.15,0.00,0.000,4,0.000,0.132,2612,454,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,658,-0.72,-184.9,45.1,-9.9,63,666,0.00,2.00,0.00,0.000,6,0.000,0.080,2609,1522,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,972,-0.72,-184.9,75.5,-8.7,94,979,0.00,2.17,0.00,0.000,4,0.000,0.131,2609,452,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1018,-0.70,-184.9,80.0,-9.4,99,1026,0.12,1.98,0.00,0.000,6,0.200,0.078,2642,1511,3449,0,0,0,0,0,0,13.61,13.82,28.83
$GC,1328,-0.72,-184.9,105.1,-8.4,130,1336,0.00,2.05,0.00,0.000,4,0.000,0.102,2639,2575,3448,0,0,0,0,0,0,28.83,13.70,28.83
$GC,1398,-0.74,-184.9,110.8,-8.3,137,1406,0.00,2.10,0.00,0.000,6,0.000,0.109,2639,1510,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1708,-0.77,-184.9,139.0,-9.5,168,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1510,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2023,-0.79,-184.9,165.1,-7.2,199,2029,0.00,2.05,0.00,0.000,4,0.000,0.097,2639,2582,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2059,-0.81,-184.9,168.0,-6.9,203,2067,0.00,2.08,0.00,0.000,6,0.000,0.109,2638,1527,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2369,-0.84,-184.9,191.1,-7.7,234,2377,0.12,2.15,0.00,0.000,4,0.125,0.130,2581,458,3449,0,0,0,0,0,0,14.45,13.84,28.83
$GC,2520,-0.80,-184.9,204.8,-9.1,249,2528,0.12,1.92,0.00,0.000,6,0.246,0.075,2607,1514,3449,0,0,0,0,0,0,13.66,13.87,28.83
$GC,2828,-0.80,-184.9,232.6,-9.2,280,2836,0.00,2.03,0.00,0.000,4,0.000,0.098,2605,2575,3449,0,0,0,0,0,0,28.83,13.66,28.83
$GC,2869,-0.80,-184.9,236.5,-9.5,284,2876,0.00,2.10,0.00,0.000,6,0.000,0.106,2605,1505,3449,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3200,-0.80,-184.9,268.1,-9.6,305,3205,0.00,2.10,0.00,0.000,4,0.000,0.132,2605,457,3449,0,0,0,0,0,0,28.83,13.72,28.83
$GC,3237,-0.80,-184.9,270.9,-9.7,306,3244,0.00,1.98,0.00,0.000,6,0.000,0.075,2605,1518,3449,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3559,-0.80,-184.9,299.0,-7.8,317,3565,0.00,2.03,0.00,0.000,4,0.000,0.099,2605,2573,3448,0,0,0,0,0,0,28.83,13.61,28.83
$GC,3599,-0.80,-184.9,301.1,-7.5,318,3605,0.00,2.10,0.00,0.000,6,0.000,0.108,2605,1502,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3919,-0.80,-184.9,325.4,-7.7,329,3925,0.00,2.12,0.00,0.000,4,0.000,0.131,2605,461,3448,0,0,0,0,0,0,28.83,13.61,28.83
$GC,4008,-0.80,-184.9,332.8,-8.2,332,4015,0.00,1.92,0.00,0.000,6,0.000,0.077,2604,1494,3448,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4340,-0.80,-184.9,363.4,-10.0,343,4345,0.00,2.08,0.00,0.000,4,0.000,0.129,2604,460,3447,0,0,0,0,0,0,28.83,13.66,28.83
$GC,4377,-0.80,-184.9,366.4,-10.0,344,4384,0.00,1.95,0.00,0.000,6,0.000,0.080,2604,1498,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4699,-0.80,-184.9,400.2,-10.2,355,4705,0.00,2.12,0.00,0.000,4,0.000,0.131,2605,464,3446,0,0,0,0,0,0,28.83,13.54,28.83
$GC,4769,-0.80,-184.9,406.4,-10.4,357,4775,0.00,1.90,0.00,0.000,6,0.000,0.079,2604,1479,3446,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5089,-0.80,-184.9,437.5,-9.1,368,5095,0.00,2.12,0.00,0.000,4,0.000,0.103,2604,2576,3445,0,0,0,0,0,0,28.83,13.60,28.83
$GC,5118,-0.80,-184.9,440.2,-9.0,369,5125,0.00,2.20,0.00,0.000,6,0.000,0.110,2604,1461,3445,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5450,-0.80,-184.9,466.4,-7.7,380,5455,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,457,3444,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5497,-0.80,-184.9,468.7,-7.6,381,5506,0.00,1.90,0.00,0.000,6,0.000,0.078,2605,1469,3444,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5809,-0.80,-184.9,492.3,-7.1,392,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1469,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6108,-0.80,-184.9,513.8,-7.5,402,6115,0.00,2.08,0.00,0.000,4,0.000,0.132,2604,463,3442,0,0,0,0,0,0,28.83,13.45,28.83
$GC,6230,-0.80,-184.9,523.8,-8.4,406,6235,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1444,3442,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6559,-0.80,-184.9,553.9,-9.5,417,6565,0.00,2.20,0.00,0.000,4,0.000,0.105,2605,2574,3441,0,0,0,0,0,0,28.83,13.58,28.83
$GC,6618,-0.80,-184.9,559.6,-9.6,419,6625,0.00,2.22,0.00,0.000,6,0.000,0.112,2605,1454,3441,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6950,-0.80,-184.9,592.3,-9.8,430,6955,0.00,2.05,0.00,0.000,4,0.000,0.137,2604,457,3440,0,0,0,0,0,0,28.83,13.70,28.83
$GC,7008,-0.80,-184.9,598.3,-9.8,432,7015,0.00,1.88,0.00,0.000,6,0.000,0.081,2604,1456,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7339,-0.80,-184.9,626.4,-7.9,443,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1456,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7640,-0.80,-184.9,644.8,-5.6,453,7646,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,461,3437,0,0,0,0,0,0,28.83,13.56,28.83
$GC,7768,-0.80,-184.9,651.2,-5.3,457,7775,0.00,1.88,0.00,0.000,6,0.000,0.081,2604,1451,3437,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8089,-0.80,-184.9,673.1,-7.6,468,8095,0.00,2.20,0.00,0.000,4,0.000,0.106,2604,2572,3436,0,0,0,0,0,0,28.83,13.57,28.83
$GC,8130,-0.80,-184.9,675.5,-7.8,469,8136,0.00,2.22,0.00,0.000,6,0.000,0.115,2604,1439,3436,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8450,-0.80,-184.9,708.0,-10.7,480,8455,0.00,2.03,0.00,0.000,4,0.000,0.140,2604,455,3436,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8538,-0.80,-184.9,718.0,-11.1,483,8545,0.00,1.85,0.00,0.000,6,0.000,0.082,2604,1435,3435,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8870,-0.80,-184.9,752.4,-9.9,494,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1435,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,-0.80,-184.9,777.4,-7.6,504,9175,0.00,2.05,0.00,0.000,4,0.000,0.138,2604,461,3433,0,0,0,0,0,0,28.83,13.46,28.83
$GC,9237,-0.80,-184.9,781.5,-7.1,506,9244,0.00,1.85,0.00,0.000,6,0.000,0.083,2604,1432,3432,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9561,-0.83,-184.9,801.7,-6.0,517,9566,0.00,2.03,0.00,0.000,4,0.000,0.141,2604,461,3431,0,0,0,0,0,0,28.83,13.66,28.83
$GC,9628,-0.83,-184.9,805.4,-6.1,519,9635,0.00,1.85,0.00,0.000,6,0.000,0.086,2605,1420,3431,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9949,-0.85,-184.9,827.0,-7.2,530,9955,0.00,2.28,0.00,0.000,4,0.000,0.111,2604,2580,3430,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10029,-0.87,-184.9,831.6,-7.5,532,10036,0.00,2.28,0.00,0.000,6,0.000,0.113,2604,1418,3430,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10339,-0.89,-184.9,858.8,-8.7,543,10345,0.00,2.00,0.00,0.000,4,0.000,0.141,2604,461,3429,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10488,-0.89,-184.9,872.0,-8.8,548,10495,0.00,1.80,0.00,0.000,6,0.000,0.086,2604,1402,3428,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10821,-0.92,-184.9,900.5,-8.4,559,10826,0.00,2.30,0.00,0.000,4,0.000,0.110,2604,2576,3427,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10898,-0.94,-184.9,905.1,-8.2,561,10907,0.08,2.33,0.00,0.000,6,0.103,0.113,2566,1409,3427,0,0,0,0,0,0,13.88,13.78,28.83
$GC,11210,-0.94,-184.9,932.2,-8.1,572,11215,0.00,1.95,0.00,0.000,4,0.000,0.134,2566,455,3425,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11257,-0.94,-184.9,934.6,-8.0,573,11266,0.00,1.83,0.00,0.000,6,0.000,0.082,2560,1411,3426,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11570,-0.94,-184.9,960.3,-7.8,584,11575,0.00,2.28,0.00,0.000,4,0.000,0.109,2553,2576,3425,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11630,-0.94,-184.9,964.9,-7.8,586,11635,0.00,2.33,0.00,0.000,6,0.000,0.119,2552,1409,3424,0,0,0,0,0,0,28.83,13.89,28.83
$STATE,11835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11835,begin apogee
$GC,11845,-0.25,0.0,982.3,-8.4,593,12036,0.80,0.00,184.98,1.850,4,0.188,0.000,2778,1520,2691,0,0,0,0,0,0,13.76,28.83,13.03
$STATE,12037,end apogee,CONTROL_FINISHED_OK
$STATE,12037,begin climb
$GC,12041,0.78,184.9,991.7,0.0,599,12251,1.12,2.05,194.77,1.880,4,0.123,0.105,3121,2583,1933,0,0,0,0,0,0,13.78,13.77,13.04
$GC,12291,0.75,210.3,983.0,6.4,608,12323,0.00,2.15,27.05,1.745,6,0.000,0.121,3130,1520,1837,0,0,0,0,0,0,28.83,13.69,13.07
$GC,12643,0.73,210.3,956.9,7.5,620,12648,0.00,2.08,0.00,0.000,4,0.000,0.119,3130,2580,1820,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12811,0.71,210.3,945.8,7.6,625,12820,0.12,2.10,0.00,0.000,6,0.241,0.132,3106,1540,1819,0,0,0,0,0,0,13.81,13.94,28.83
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$STATE,23991,end climb,SURFACE_DEPTH_REACHED
$STATE,23991,begin surface coast
$FINISH,1.7,1.001125
$STATE,24023,end surface coast,CONTROL_FINISHED_OK
$STATE,24023,begin surface
$SM_CCo,24047,17.50,0.132,0,0,1265,350.04
$SM_GC,2.56,8.93,0.73,17.50,0.069,0.129,0.132,143,1517,1265,-8.47,0.31,350.04,0,0,0,0,0,0,14.14,13.87,14.12
$IRIDIUM_FIX,2418.11,-3835.89,160313,010157
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.49
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,6
$SC_FREEKB,7537280
$24V_AH,13.0,255.112
$10V_AH,12.0,0.000
$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,22.775,229.075,515.375,17.500,0.000,0.000,0.000,395.500,1.500,0.000,19.186,3317.552,16948.027,944.242,2721.955,842.277,0.000,2610.168,0.000,2268.163,0.000,0.540,0.000
$DEVICE_MAMPS,335.835,158.355,1879.605,132.345,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12069.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.426,0.000,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,43320,1175
$CAP_FILE_SIZE,221833,0
$CFSIZE,260034560,170913792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,278.0,1
$GPS,160313,150734,2427.432,-3840.165,30,0.9,30,-14.2