version: 66.11
glider: 190
mission: 6
dive: 488
start: 2 9 113 13 43 26
data:
$ID,190
$MISSION,6
$DIVE,488
$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,-13529.765
$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,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
$GPS1,090213,133152,2442.856,-3814.318,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-60.7
$GPS2,090213,134253,2442.917,-3814.373,17,1.1,17,-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,165.1,41724,-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,-11.10,0.000,2,0.000,0.000,141,1514,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.6,0.0,1,136,11.18,2.12,-80.53,0.000,4,0.347,0.165,2612,460,3626,0,0,0,0,0,0,14.07,14.03,14.67
$GC,236,-0.84,-155.7,15.9,-11.0,21,245,0.00,1.92,0.00,0.000,6,0.000,0.083,2607,1515,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,546,-0.87,-155.7,46.4,-10.9,52,554,0.00,2.10,0.00,0.000,4,0.000,0.138,2607,462,3626,0,0,0,0,0,0,28.83,13.90,28.83
$GC,657,-0.87,-155.7,58.3,-10.3,63,664,0.00,1.88,0.00,0.000,6,0.000,0.081,2605,1495,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,968,-0.90,-155.7,90.0,-10.3,94,975,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,455,3626,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1108,-0.90,-155.7,106.1,-11.6,108,1115,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1488,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1416,-0.93,-155.7,140.2,-9.8,139,1424,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,460,3627,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1456,-0.93,-155.7,144.2,-10.0,143,1464,0.00,1.83,0.00,0.000,6,0.000,0.077,2605,1468,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1767,-0.96,-155.7,171.6,-8.7,174,1776,0.00,2.05,0.00,0.000,4,0.000,0.101,2605,2579,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1877,-1.00,-155.7,181.1,-8.8,185,1886,0.12,2.08,0.00,0.000,6,0.132,0.113,2550,1491,3626,0,0,0,0,0,0,14.24,14.07,28.83
$GC,2187,-1.00,-155.7,212.4,-10.2,216,2194,0.00,2.00,0.00,0.000,4,0.000,0.136,2550,460,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2387,-0.96,-155.7,233.6,-10.6,236,2395,0.12,1.80,0.00,0.000,6,0.269,0.079,2577,1472,3627,0,0,0,0,0,0,13.96,14.21,28.83
$GC,2718,-0.98,-155.7,263.9,-9.2,259,2723,0.00,1.98,0.00,0.000,4,0.000,0.132,2577,458,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2885,-0.98,-155.7,278.6,-9.8,264,2893,0.00,1.77,0.00,0.000,6,0.000,0.075,2572,1441,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3199,-1.01,-155.7,307.4,-8.2,275,3204,0.00,1.90,0.00,0.000,4,0.000,0.132,2572,458,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3317,-1.01,-155.7,317.7,-8.7,279,3323,0.00,1.73,0.00,0.000,6,0.000,0.078,2568,1418,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3646,-1.01,-155.7,345.1,-8.6,290,3653,0.00,1.88,0.00,0.000,4,0.000,0.130,2567,458,3625,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3797,-1.01,-155.7,359.4,-9.8,295,3803,0.00,1.67,0.00,0.000,6,0.000,0.080,2565,1392,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4126,-1.01,-155.7,389.9,-9.3,306,4133,0.00,1.83,0.00,0.000,4,0.000,0.131,2565,459,3625,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4227,-1.01,-155.7,399.1,-10.0,309,4233,0.00,1.62,0.00,0.000,6,0.000,0.079,2562,1365,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4546,-1.01,-155.7,431.3,-9.5,320,4553,0.00,1.77,0.00,0.000,4,0.000,0.133,2562,464,3623,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4595,-1.01,-155.7,434.2,-9.5,321,4603,0.00,1.62,0.00,0.000,6,0.000,0.080,2557,1364,3622,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4908,-1.01,-155.7,465.4,-9.4,332,4913,0.00,1.77,0.00,0.000,4,0.000,0.136,2557,455,3622,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4966,-1.01,-155.7,471.6,-9.8,334,4973,0.00,1.62,0.00,0.000,6,0.000,0.082,2553,1351,3622,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5296,-1.01,-155.7,504.1,-9.9,345,5303,0.00,1.75,0.00,0.000,4,0.000,0.136,2553,462,3621,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5426,-1.01,-155.7,516.5,-10.4,349,5433,0.00,1.58,0.00,0.000,6,0.000,0.083,2553,1330,3621,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5748,-1.01,-155.7,547.9,-9.3,360,5753,0.00,2.33,0.00,0.000,4,0.000,0.107,2552,2577,3620,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5785,-1.01,-155.7,550.7,-9.4,361,5793,0.00,2.45,0.00,0.000,6,0.000,0.120,2552,1328,3620,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6107,-1.01,-155.7,579.4,-8.5,372,6113,0.00,1.70,0.00,0.000,4,0.000,0.139,2553,469,3619,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6257,-1.01,-155.7,593.1,-9.3,377,6264,0.00,1.52,0.00,0.000,6,0.000,0.084,2552,1309,3618,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6587,-1.01,-155.7,622.1,-8.8,388,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1309,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6887,-1.01,-155.7,649.8,-9.4,398,6893,0.00,1.70,0.00,0.000,4,0.000,0.138,2552,457,3615,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6985,-1.01,-155.7,659.1,-10.2,401,6992,0.00,1.55,0.00,0.000,6,0.000,0.083,2552,1308,3615,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7307,-1.01,-155.7,694.7,-11.1,412,7313,0.00,1.70,0.00,0.000,4,0.000,0.139,2552,459,3614,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7356,-1.01,-155.7,698.1,-11.2,413,7364,0.00,1.55,0.00,0.000,6,0.000,0.085,2552,1303,3614,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7666,-1.01,-155.7,735.6,-11.5,424,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1303,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7966,-1.01,-155.7,766.1,-9.5,434,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1303,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8267,-1.01,-155.7,789.2,-7.2,444,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1303,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,-1.01,-155.7,810.1,-7.1,454,8573,0.00,2.42,0.00,0.000,4,0.000,0.110,2552,2565,3608,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8636,-1.03,-155.7,814.4,-7.2,456,8643,0.00,2.50,0.00,0.000,6,0.000,0.124,2552,1308,3608,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8959,-1.05,-155.7,843.5,-9.5,467,8964,0.00,1.73,0.00,0.000,4,0.000,0.148,2552,462,3607,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8996,-1.05,-155.7,846.4,-9.7,468,9003,0.00,1.58,0.00,0.000,6,0.000,0.086,2552,1314,3607,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9319,-1.07,-155.7,883.2,-11.7,479,9324,0.00,2.42,0.00,0.000,4,0.000,0.114,2552,2570,3606,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9395,-1.10,-155.7,890.0,-11.6,481,9404,0.00,2.50,0.00,0.000,6,0.000,0.123,2552,1316,3605,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9711,-1.12,-155.7,927.2,-10.9,492,9716,0.00,2.45,0.00,0.000,4,0.000,0.114,2552,2573,3604,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9766,-1.14,-155.7,933.2,-10.3,494,9773,0.00,2.47,0.00,0.000,6,0.000,0.125,2552,1333,3604,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10100,-1.17,-155.7,963.1,-8.5,505,10107,0.12,2.42,0.00,0.000,4,0.154,0.114,2500,2570,3602,0,0,0,0,0,0,14.35,13.91,28.83
$GC,10146,-1.17,-155.7,965.6,-8.5,506,10154,0.00,2.47,0.00,0.000,6,0.000,0.124,2500,1333,3602,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,10393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10393,begin apogee
$GC,10402,-0.23,0.0,990.0,-8.9,515,10563,1.15,0.00,155.45,1.813,4,0.223,0.000,2806,1514,2988,0,0,0,0,0,0,13.67,28.83,12.97
$STATE,10568,end apogee,CONTROL_FINISHED_OK
$STATE,10568,begin climb
$GC,10571,0.84,155.7,997.8,0.0,520,10743,1.08,2.05,160.70,1.799,4,0.099,0.119,3162,2583,2355,0,0,0,0,0,0,14.16,14.10,13.06
$GC,10941,0.81,197.3,990.3,5.9,533,10991,0.00,2.15,44.33,1.759,6,0.000,0.142,3170,1512,2183,0,0,0,0,0,0,28.83,14.20,13.20
$GC,11293,0.80,236.7,968.5,5.9,545,11340,0.00,2.20,41.90,1.750,4,0.000,0.174,3178,456,2019,0,0,0,0,0,0,28.83,14.19,13.24
$GC,11512,0.76,239.4,954.8,7.1,551,11521,0.12,2.00,0.00,0.000,6,0.260,0.103,3144,1533,2010,0,0,0,0,0,0,14.02,14.27,28.83
$GC,11825,0.77,252.5,933.2,6.8,562,11852,0.00,2.00,16.88,1.693,4,0.000,0.125,3144,2570,1952,0,0,0,0,0,0,28.83,14.41,13.35
$GC,11962,0.77,252.5,923.9,7.7,566,11971,0.00,2.03,0.00,0.000,6,0.000,0.135,3152,1546,1948,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12272,0.77,252.5,894.1,9.5,577,12278,0.00,2.00,0.00,0.000,4,0.000,0.123,3152,2572,1947,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12485,0.77,252.5,872.6,10.3,584,12491,0.00,1.98,0.00,0.000,6,0.000,0.139,3159,1574,1945,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12815,0.77,252.5,841.0,9.3,595,12820,0.00,1.92,0.00,0.000,4,0.000,0.124,3159,2574,1945,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12861,0.77,252.5,838.3,9.1,596,12871,0.00,1.92,0.00,0.000,6,0.000,0.134,3166,1609,1944,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13174,0.77,252.5,811.7,7.6,607,13179,0.00,2.30,0.00,0.000,4,0.000,0.151,3175,463,1944,0,0,0,0,0,0,28.83,13.91,28.83
$GC,13271,0.75,252.5,804.9,7.7,610,13279,0.17,2.17,0.00,0.000,6,0.262,0.089,3134,1630,1943,0,0,0,0,0,0,13.93,14.25,28.83
$GC,13596,0.76,276.5,783.4,6.4,621,13629,0.00,2.38,25.17,1.635,4,0.000,0.161,3143,457,1855,0,0,0,0,0,0,28.83,14.34,13.37
$GC,13775,0.76,276.5,769.9,7.8,627,13780,0.00,2.22,0.00,0.000,6,0.000,0.093,3143,1661,1849,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,22492,end climb,SURFACE_DEPTH_REACHED
$STATE,22492,begin surface coast
$FINISH,1.6,1.025689
$STATE,22517,end surface coast,CONTROL_FINISHED_OK
$STATE,22517,begin surface
$SM_CCo,22601,0.00,0.000,0,0,1487,368.69
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$IRIDIUM_FIX,2432.32,-3813.30,090213,070747
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.41
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,5
$SC_FREEKB,7583520
$24V_AH,13.0,206.842
$10V_AH,12.5,0.000
$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,23.500,184.025,523.275,0.000,0.000,0.000,0.000,370.950,1.250,0.000,18.239,3219.188,15868.763,883.935,2572.223,703.391,0.000,2429.245,0.000,2143.726,0.000,0.542,0.000
$DEVICE_MAMPS,347.310,174.420,1813.050,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.917,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,40001,1091
$CAP_FILE_SIZE,232142,0
$CFSIZE,260034560,184745984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,305.1,1
$GPS,090213,200128,2442.278,-3813.954,39,0.8,39,-14.0