version: 66.11
glider: 190
mission: 6
dive: 481
start: 2 7 113 15 20 39
data:
$ID,190
$MISSION,6
$DIVE,481
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,160
$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,-13520.962
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,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,2990
$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
$GPS1,070213,150835,2443.818,-3815.400,32,0.8,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-66.4
$GPS2,070213,152005,2443.854,-3815.456,18,0.9,18,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,179.5,43314,-16.4,-7.174,-28.86
$D_GRID,990
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.88,0.000,2,0.000,0.000,135,1517,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,144,11.38,2.08,-85.93,0.000,4,0.355,0.159,2612,454,3627,0,0,0,0,0,0,14.14,14.08,14.68
$GC,255,-0.82,-155.7,13.8,-10.0,23,263,0.00,1.95,0.00,0.000,6,0.000,0.083,2606,1516,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,566,-0.84,-155.7,43.0,-9.4,54,573,0.00,2.08,0.00,0.000,4,0.000,0.138,2606,456,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,686,-0.84,-155.7,55.0,-10.1,66,693,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1506,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,996,-0.87,-155.7,82.9,-9.0,97,1004,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,458,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1104,-0.87,-155.7,93.1,-9.3,108,1113,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1473,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1415,-0.90,-155.7,121.2,-10.0,139,1423,0.00,2.03,0.00,0.000,4,0.000,0.134,2605,456,3627,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1584,-0.90,-155.7,138.4,-10.0,156,1593,0.00,1.80,0.00,0.000,6,0.000,0.078,2605,1449,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1897,-0.94,-155.7,168.3,-9.7,187,1903,0.00,1.90,0.00,0.000,4,0.000,0.132,2604,458,3628,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2039,-0.96,-155.7,181.6,-9.2,201,2046,0.00,1.67,0.00,0.000,6,0.000,0.077,2605,1419,3628,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2346,-1.00,-155.7,209.2,-9.3,232,2354,0.12,1.88,0.00,0.000,4,0.134,0.133,2549,464,3628,0,0,0,0,0,0,14.54,13.97,28.83
$GC,2479,-0.97,-155.7,223.6,-11.2,245,2486,0.00,1.65,0.00,0.000,6,0.000,0.078,2548,1393,3628,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2807,-0.97,-155.7,256.5,-9.4,274,2813,0.12,1.83,0.00,0.000,4,0.252,0.130,2584,456,3628,0,0,0,0,0,0,14.21,14.07,28.83
$GC,2865,-0.97,-155.7,262.2,-9.4,276,2872,0.00,1.65,0.00,0.000,6,0.000,0.078,2580,1378,3628,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3199,-0.99,-155.7,291.4,-8.8,287,3205,0.00,1.77,0.00,0.000,4,0.000,0.132,2579,458,3628,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3354,-0.99,-155.7,305.6,-9.5,292,3357,0.00,1.60,0.00,0.000,6,0.000,0.076,2577,1349,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3671,-1.01,-155.7,333.5,-8.4,303,3676,0.00,1.75,0.00,0.000,4,0.000,0.134,2577,453,3627,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3825,-1.01,-155.7,346.5,-8.7,308,3832,0.00,1.58,0.00,0.000,6,0.000,0.079,2577,1328,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4150,-1.04,-155.7,373.4,-8.3,319,4156,0.00,1.73,0.00,0.000,4,0.000,0.136,2577,458,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4275,-1.04,-155.7,384.3,-9.1,323,4278,0.00,1.52,0.00,0.000,6,0.000,0.078,2577,1304,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4591,-1.06,-155.7,416.9,-10.8,334,4596,0.00,1.62,0.00,0.000,4,0.000,0.136,2577,459,3624,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4716,-1.06,-155.7,430.9,-11.7,338,4719,0.00,1.48,0.00,0.000,6,0.000,0.080,2577,1278,3624,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5031,-1.09,-155.7,468.1,-11.5,349,5037,0.12,1.60,0.00,0.000,4,0.139,0.133,2517,457,3623,0,0,0,0,0,0,14.52,14.04,28.83
$GC,5148,-1.06,-155.7,483.5,-12.8,353,5156,0.10,1.45,0.00,0.000,6,0.238,0.080,2540,1263,3622,0,0,0,0,0,0,13.95,14.33,28.83
$GC,5482,-1.06,-155.7,517.3,-9.5,364,5488,0.00,2.42,0.00,0.000,4,0.000,0.103,2540,2577,3621,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5547,-1.06,-155.7,522.4,-9.0,366,5555,0.00,2.60,0.00,0.000,6,0.000,0.118,2539,1245,3621,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5868,-1.06,-155.7,550.5,-8.4,377,5875,0.00,1.55,0.00,0.000,4,0.000,0.138,2540,453,3620,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5908,-1.06,-155.7,553.1,-8.4,378,5914,0.00,1.45,0.00,0.000,6,0.000,0.080,2539,1250,3620,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6228,-1.06,-155.7,582.8,-9.5,389,6235,0.00,1.60,0.00,0.000,4,0.000,0.139,2539,454,3619,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6267,-1.06,-155.7,586.0,-9.7,390,6270,0.00,1.42,0.00,0.000,6,0.000,0.083,2539,1244,3619,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6580,-1.06,-155.7,619.5,-10.5,401,6585,0.00,1.55,0.00,0.000,4,0.000,0.142,2539,462,3618,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6658,-1.06,-155.7,626.3,-10.9,403,6661,0.00,1.40,0.00,0.000,6,0.000,0.082,2539,1232,3617,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6960,-1.06,-155.7,660.0,-10.3,413,6967,0.00,2.53,0.00,0.000,4,0.000,0.109,2536,2573,3616,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7008,-1.06,-155.7,663.0,-10.2,414,7017,0.00,2.65,0.00,0.000,6,0.000,0.119,2536,1220,3616,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7319,-1.06,-155.7,697.1,-10.7,425,7326,0.00,1.52,0.00,0.000,4,0.000,0.142,2536,459,3614,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7370,-1.06,-155.7,700.6,-10.8,426,7377,0.00,1.38,0.00,0.000,6,0.000,0.083,2536,1224,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7679,-1.06,-155.7,736.5,-10.7,437,7687,0.00,2.58,0.00,0.000,4,0.000,0.109,2536,2571,3612,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7718,-1.06,-155.7,739.5,-10.5,438,7727,0.00,2.67,0.00,0.000,6,0.000,0.119,2536,1210,3613,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8040,-1.06,-155.7,772.7,-9.9,449,8047,0.00,1.50,0.00,0.000,4,0.000,0.145,2536,463,3611,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8108,-1.06,-155.7,778.6,-9.8,451,8111,0.00,1.38,0.00,0.000,6,0.000,0.084,2536,1217,3611,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8421,-1.06,-155.7,808.2,-9.0,462,8426,0.00,2.58,0.00,0.000,4,0.000,0.109,2536,2572,3609,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8489,-1.06,-155.7,813.4,-8.8,464,8496,0.00,2.67,0.00,0.000,6,0.000,0.121,2536,1214,3609,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8810,-1.06,-155.7,843.8,-9.4,475,8816,0.00,2.58,0.00,0.000,4,0.000,0.109,2536,2572,3607,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8850,-1.06,-155.7,846.4,-9.3,476,8856,0.00,2.65,0.00,0.000,6,0.000,0.122,2536,1213,3607,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9170,-1.06,-155.7,877.3,-9.5,487,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1213,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-1.06,-155.7,906.9,-10.0,497,9477,0.00,2.62,0.00,0.000,4,0.000,0.112,2536,2577,3604,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9538,-1.06,-155.7,912.9,-10.1,499,9547,0.00,2.72,0.00,0.000,6,0.000,0.122,2536,1213,3605,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9860,-1.06,-155.7,947.0,-10.5,510,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1213,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10161,-1.06,-155.7,978.3,-10.3,520,10167,0.00,2.65,0.00,0.000,4,0.000,0.112,2536,2577,3602,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10258,-1.06,-155.7,987.5,-10.2,523,10266,0.00,2.72,0.00,0.000,6,0.000,0.122,2536,1219,3602,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,10277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10277,begin apogee
$GC,10285,-0.23,0.0,990.5,-10.1,524,10447,1.00,0.00,155.32,1.816,4,0.209,0.000,2810,1518,2986,0,0,0,0,0,0,13.70,28.83,12.98
$STATE,10452,end apogee,CONTROL_FINISHED_OK
$STATE,10453,begin climb
$GC,10456,0.84,155.7,1001.6,0.0,529,10629,1.08,2.03,161.15,1.802,4,0.104,0.115,3163,2577,2351,0,0,0,0,0,0,14.16,14.12,13.06
$GC,10778,0.81,189.2,999.9,6.1,540,10821,0.00,2.12,35.55,1.754,6,0.000,0.136,3171,1516,2215,0,0,0,0,0,0,28.83,14.24,13.21
$GC,11124,0.77,189.2,972.8,7.9,552,11129,0.12,2.03,0.00,0.000,4,0.301,0.121,3140,2582,2205,0,0,0,0,0,0,14.14,14.33,28.83
$GC,11199,0.73,189.2,968.2,7.8,554,11208,0.00,2.10,0.00,0.000,6,0.000,0.132,3148,1524,2203,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11514,0.71,206.1,945.5,6.6,565,11540,0.00,1.98,18.12,1.713,4,0.000,0.116,3148,2577,2142,0,0,0,0,0,0,28.83,14.40,13.34
$GC,11693,0.70,215.1,933.2,6.9,571,11703,0.17,2.03,4.93,1.338,6,0.292,0.136,3117,1546,2113,0,0,0,0,0,0,14.05,14.24,13.26
$GC,12012,0.72,261.7,914.3,5.7,582,12073,0.00,2.03,56.40,1.750,4,0.000,0.118,3117,2576,1918,0,0,0,0,0,0,28.83,14.22,13.22
$GC,12232,0.76,280.8,901.6,6.6,589,12261,0.00,2.03,20.42,1.685,6,0.000,0.140,3124,1571,1839,0,0,0,0,0,0,28.83,14.16,13.28
$GC,12575,0.79,280.8,875.8,7.4,601,12581,0.00,1.90,0.00,0.000,4,0.000,0.123,3124,2576,1831,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12775,0.81,280.8,861.7,7.9,607,12783,0.00,1.92,0.00,0.000,6,0.000,0.141,3131,1590,1829,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13085,0.83,280.8,833.7,8.7,618,13090,0.00,1.88,0.00,0.000,4,0.000,0.122,3131,2580,1828,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13296,0.83,280.8,814.2,9.3,625,13302,0.00,1.88,0.00,0.000,6,0.000,0.139,3138,1636,1827,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,21950,end climb,SURFACE_DEPTH_REACHED
$STATE,21950,begin surface coast
$FINISH,1.5,1.004463
$STATE,21975,end surface coast,CONTROL_FINISHED_OK
$STATE,21975,begin surface
$SM_CCo,21999,1.45,0.157,0,0,1561,350.04
$SM_GC,3.35,8.98,2.12,1.45,0.080,0.130,0.157,142,1521,1561,-8.54,0.40,350.04,0,0,0,0,0,0,14.23,13.95,14.14
$IRIDIUM_FIX,2434.69,-3818.10,070213,080855
$TT8_MAMPS,0.024717,0.024717
$HUMID,61.14
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,20.60
$XPDR_PINGS,2
$SC_FREEKB,7586208
$24V_AH,13.0,204.095
$10V_AH,11.5,0.000
$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,23.550,188.700,519.025,1.450,0.000,0.000,0.000,397.750,0.500,0.000,19.395,3186.354,15286.077,887.779,2601.038,720.510,0.000,2458.374,0.000,2165.607,0.000,0.541,0.000
$DEVICE_MAMPS,354.960,159.120,1816.110,156.825,0.000,0.000,0.000,162.180,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.009,0.000,0.000,0.000
$MEM,344956
$DATA_FILE_SIZE,39972,1081
$CAP_FILE_SIZE,232780,0
$CFSIZE,260034560,185520128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,308.9,1
$GPS,070213,212834,2443.372,-3815.558,28,1.1,28,-14.1