version: 66.11
glider: 190
mission: 6
dive: 483
start: 2 8 113 4 36 26
data:
$ID,190
$MISSION,6
$DIVE,483
$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,-13523.478
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,080213,042435,2442.743,-3815.058,34,0.8,34,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-65.9
$GPS2,080213,043553,2442.750,-3815.161,19,0.9,19,-14.1
$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,177.2,41305,-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,-10.85,0.000,2,0.000,0.000,137,1511,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,144,11.38,2.05,-87.62,0.000,4,0.356,0.155,2614,456,3624,0,0,0,0,0,0,14.09,14.12,14.66
$GC,245,-0.84,-155.7,11.2,-9.7,22,253,0.00,1.92,0.00,0.000,6,0.000,0.083,2612,1513,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,555,-0.87,-155.7,37.9,-8.5,53,564,0.00,2.10,0.00,0.000,4,0.000,0.137,2612,463,3625,0,0,0,0,0,0,28.83,13.94,28.83
$GC,686,-0.87,-155.7,50.6,-10.2,66,693,0.00,1.85,0.00,0.000,6,0.000,0.083,2609,1500,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,996,-0.90,-155.7,78.0,-8.5,97,1004,0.00,2.05,0.00,0.000,4,0.000,0.137,2608,458,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1137,-0.90,-155.7,89.8,-8.8,111,1143,0.00,1.80,0.00,0.000,6,0.000,0.080,2608,1472,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1446,-0.93,-155.7,116.8,-9.4,142,1453,0.00,2.00,0.00,0.000,4,0.000,0.136,2605,462,3626,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1598,-0.93,-155.7,132.4,-10.9,157,1606,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1452,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1906,-0.97,-155.7,166.8,-11.7,188,1913,0.00,1.95,0.00,0.000,4,0.000,0.136,2605,457,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2014,-0.97,-155.7,179.9,-11.8,199,2023,0.00,1.77,0.00,0.000,6,0.000,0.080,2605,1423,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2329,-1.01,-155.7,206.3,-6.8,230,2336,0.12,2.12,0.00,0.000,4,0.135,0.097,2540,2577,3626,0,0,0,0,0,0,14.51,14.18,28.83
$GC,2396,-1.01,-155.7,211.5,-7.4,237,2405,0.00,2.20,0.00,0.000,6,0.000,0.116,2541,1431,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2706,-1.01,-155.7,236.8,-8.6,268,2713,0.00,1.88,0.00,0.000,4,0.000,0.135,2541,453,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2945,-0.97,-155.7,261.4,-10.7,286,2952,0.10,1.73,0.00,0.000,6,0.225,0.080,2569,1411,3626,0,0,0,0,0,0,13.93,14.23,28.83
$GC,3280,-0.97,-155.7,296.8,-11.4,297,3286,0.00,1.85,0.00,0.000,4,0.000,0.132,2569,460,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3455,-0.97,-155.7,318.6,-12.2,303,3461,0.00,1.67,0.00,0.000,6,0.000,0.080,2566,1385,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3786,-0.97,-155.7,353.5,-9.7,314,3791,0.00,1.77,0.00,0.000,4,0.000,0.132,2566,460,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3944,-0.97,-155.7,367.8,-9.5,319,3951,0.00,1.65,0.00,0.000,6,0.000,0.080,2565,1367,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4266,-0.97,-155.7,395.7,-8.6,330,4272,0.00,1.77,0.00,0.000,4,0.000,0.135,2565,466,3624,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4454,-0.97,-155.7,413.3,-10.0,336,4457,0.00,1.58,0.00,0.000,6,0.000,0.081,2562,1337,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4771,-0.99,-155.7,448.0,-11.2,347,4776,0.00,1.73,0.00,0.000,4,0.000,0.137,2562,453,3622,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4846,-0.99,-155.7,454.9,-11.5,349,4854,0.00,1.58,0.00,0.000,6,0.000,0.082,2558,1322,3622,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5157,-0.99,-155.7,491.1,-10.6,360,5163,0.00,2.35,0.00,0.000,4,0.000,0.106,2553,2577,3621,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5225,-0.99,-155.7,496.9,-10.1,362,5232,0.00,2.45,0.00,0.000,6,0.000,0.116,2553,1321,3621,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5546,-0.99,-155.7,527.8,-9.1,373,5552,0.00,1.70,0.00,0.000,4,0.000,0.136,2553,457,3620,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5626,-0.99,-155.7,533.5,-9.4,375,5634,0.00,1.58,0.00,0.000,6,0.000,0.084,2550,1324,3619,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5936,-0.99,-155.7,563.7,-9.1,386,5942,0.00,1.70,0.00,0.000,4,0.000,0.138,2550,464,3619,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6047,-0.99,-155.7,572.2,-9.4,389,6054,0.00,1.50,0.00,0.000,6,0.000,0.085,2549,1291,3619,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6356,-0.99,-155.7,602.8,-9.2,400,6363,0.00,1.65,0.00,0.000,4,0.000,0.136,2550,456,3617,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6465,-0.99,-155.7,611.5,-9.5,403,6468,0.00,1.50,0.00,0.000,6,0.000,0.085,2549,1273,3614,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6768,-0.99,-155.7,641.1,-9.3,413,6773,0.00,1.58,0.00,0.000,4,0.000,0.141,2549,460,3615,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6886,-0.99,-155.7,652.7,-9.7,417,6893,0.00,1.42,0.00,0.000,6,0.000,0.086,2549,1244,3615,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7217,-0.99,-155.7,682.8,-9.2,428,7222,0.00,1.58,0.00,0.000,4,0.000,0.142,2549,466,3613,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7315,-0.99,-155.7,691.4,-9.5,431,7318,0.00,1.40,0.00,0.000,6,0.000,0.086,2549,1231,3613,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7629,-0.99,-155.7,721.2,-9.3,442,7635,0.00,1.55,0.00,0.000,4,0.000,0.143,2549,462,3612,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7718,-0.99,-155.7,730.4,-10.2,445,7725,0.00,1.38,0.00,0.000,6,0.000,0.086,2549,1210,3611,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8049,-0.99,-155.7,764.2,-10.2,456,8055,0.00,1.50,0.00,0.000,4,0.000,0.145,2549,462,3610,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8158,-0.99,-155.7,773.7,-10.4,459,8168,0.00,1.35,0.00,0.000,6,0.000,0.087,2549,1197,3609,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8468,-0.99,-155.7,805.3,-9.3,470,8475,0.00,1.50,0.00,0.000,4,0.000,0.146,2549,460,3608,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8538,-0.99,-155.7,810.9,-9.3,472,8544,0.00,1.33,0.00,0.000,6,0.000,0.086,2549,1182,3608,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8858,-0.99,-155.7,840.9,-8.9,483,8865,0.00,2.67,0.00,0.000,4,0.000,0.112,2549,2567,3606,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8957,-1.01,-155.7,848.6,-8.7,486,8965,0.00,2.75,0.00,0.000,6,0.000,0.123,2549,1178,3605,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9279,-1.01,-155.7,878.3,-9.1,497,9285,0.00,2.70,0.00,0.000,4,0.000,0.112,2549,2581,3605,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9357,-1.04,-155.7,883.7,-9.0,499,9367,0.00,2.75,0.00,0.000,6,0.000,0.124,2549,1193,3604,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9669,-1.04,-155.7,914.4,-9.4,510,9675,0.00,2.65,0.00,0.000,4,0.000,0.111,2549,2574,3603,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9788,-1.06,-155.7,925.7,-9.4,514,9795,0.00,2.70,0.00,0.000,6,0.000,0.125,2549,1223,3603,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10120,-1.06,-155.7,957.2,-9.5,525,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1223,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10418,-1.08,-155.7,985.0,-9.1,535,10425,0.00,2.65,0.00,0.000,4,0.000,0.112,2549,2575,3599,0,0,0,0,0,0,28.83,13.84,28.83
$STATE,10475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10475,begin apogee
$GC,10486,-0.23,0.0,990.3,-8.9,537,10645,0.95,0.00,154.00,1.828,4,0.213,0.000,2806,1514,2987,0,0,0,0,0,0,13.66,28.83,13.00
$STATE,10649,end apogee,CONTROL_FINISHED_OK
$STATE,10650,begin climb
$GC,10653,0.84,155.7,1000.1,0.0,542,10825,1.10,2.05,161.23,1.802,4,0.118,0.116,3159,2579,2354,0,0,0,0,0,0,14.14,14.11,13.06
$GC,11036,0.82,198.6,994.4,5.8,555,11087,0.00,2.08,45.42,1.764,6,0.000,0.136,3166,1521,2180,0,0,0,0,0,0,28.83,14.15,13.19
$GC,11396,0.79,210.9,969.1,6.8,568,11414,0.00,2.15,13.27,1.682,4,0.000,0.156,3175,454,2125,0,0,0,0,0,0,28.83,14.35,13.33
$GC,11549,0.75,213.6,959.2,7.1,572,11554,0.17,1.92,0.00,0.000,6,0.288,0.096,3136,1532,2119,0,0,0,0,0,0,14.09,14.38,28.83
$GC,11870,0.77,241.6,938.2,6.3,583,11908,0.00,2.00,33.45,1.749,4,0.000,0.112,3136,2575,1999,0,0,0,0,0,0,28.83,14.35,13.30
$GC,12118,0.78,252.6,922.4,6.8,591,12135,0.00,2.05,12.45,1.661,6,0.000,0.139,3143,1555,1958,0,0,0,0,0,0,28.83,14.15,13.34
$GC,12458,0.79,275.2,898.5,6.5,603,12488,0.00,2.28,25.30,1.730,4,0.000,0.176,3152,456,1862,0,0,0,0,0,0,28.83,14.31,13.35
$GC,12632,0.79,275.2,886.2,7.4,609,12637,0.00,2.08,0.00,0.000,6,0.000,0.099,3152,1591,1853,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12960,0.79,275.2,861.3,7.9,620,12965,0.00,1.88,0.00,0.000,4,0.000,0.123,3151,2576,1850,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13160,0.79,275.2,845.5,8.9,626,13167,0.00,1.90,0.00,0.000,6,0.000,0.140,3158,1609,1850,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13468,0.79,275.2,813.8,10.0,637,13474,0.00,1.90,0.00,0.000,4,0.000,0.124,3158,2576,1849,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13538,0.79,275.2,807.7,10.2,639,13545,0.00,1.92,0.00,0.000,6,0.000,0.140,3165,1615,1849,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13857,0.79,275.2,774.7,9.7,650,13859,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1615,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14159,0.79,275.2,750.3,7.4,660,14164,0.00,1.88,0.00,0.000,4,0.000,0.123,3165,2581,1847,0,0,0,0,0,0,28.83,14.16,28.83
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$STATE,23110,end climb,SURFACE_DEPTH_REACHED
$STATE,23110,begin surface coast
$FINISH,1.6,1.001730
$STATE,23126,end surface coast,CONTROL_FINISHED_OK
$STATE,23127,begin surface
$SM_CCo,23151,20.10,0.126,0,0,1560,350.04
$SM_GC,2.30,8.80,1.95,20.10,0.068,0.080,0.126,144,1524,1560,-8.52,-0.51,350.04,0,0,0,0,0,0,14.31,14.21,14.26
$IRIDIUM_FIX,2434.69,-3814.76,070213,212146
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.66
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,7585440
$24V_AH,13.0,204.860
$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,23.150,194.725,481.475,20.100,0.000,0.000,0.000,378.125,0.000,0.000,20.527,3383.551,16083.061,913.227,2711.175,744.349,0.000,2523.597,0.000,2279.159,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,175.950,1827.585,126.225,0.000,0.000,0.000,167.535,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23181.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.123,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43374,1153
$CAP_FILE_SIZE,244506,0
$CFSIZE,260034560,185282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,324.5,1
$GPS,080213,110404,2442.944,-3815.385,41,1.0,41,-14.1