version: 66.11
glider: 190
mission: 6
dive: 489
start: 2 9 113 20 13 26
data:
$ID,190
$MISSION,6
$DIVE,489
$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,-13531.021
$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,27
$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
$GPS1,090213,200128,2442.278,-3813.954,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-62.4
$GPS2,090213,201254,2442.379,-3814.045,16,1.3,16,-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,179.5,40794,-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,-10.88,0.000,2,0.000,0.000,138,1527,1722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,146,11.40,2.12,-89.97,0.000,4,0.357,0.156,2614,457,3627,0,0,0,0,0,0,14.14,14.11,14.69
$GC,310,-0.84,-155.7,18.5,-5.3,28,317,0.00,1.90,0.00,0.000,6,0.000,0.084,2608,1511,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,619,-0.84,-155.7,50.8,-10.2,59,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1511,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-0.87,-155.7,79.0,-10.5,89,928,0.00,2.10,0.00,0.000,4,0.000,0.138,2608,455,3626,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1051,-0.87,-155.7,92.1,-9.5,102,1058,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1510,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1360,-0.90,-155.7,121.2,-9.4,133,1368,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,458,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1410,-0.90,-155.7,126.5,-10.5,138,1417,0.00,1.90,0.00,0.000,6,0.000,0.082,2602,1502,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1719,-0.93,-155.7,157.1,-9.4,169,1728,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,458,3626,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1829,-0.93,-155.7,167.3,-9.1,180,1837,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1481,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2141,-0.98,-155.7,194.7,-8.7,211,2147,0.00,2.03,0.00,0.000,4,0.000,0.136,2605,452,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2271,-0.98,-155.7,206.8,-9.2,224,2278,0.00,1.83,0.00,0.000,6,0.000,0.079,2606,1460,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2579,-1.01,-155.7,233.1,-8.0,255,2587,0.12,2.08,0.00,0.000,4,0.136,0.104,2547,2572,3627,0,0,0,0,0,0,14.54,14.09,28.83
$GC,2639,-1.01,-155.7,238.3,-8.9,261,2648,0.00,2.12,0.00,0.000,6,0.000,0.113,2549,1470,3627,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2959,-1.01,-155.7,267.4,-9.2,281,2966,0.00,1.95,0.00,0.000,4,0.000,0.129,2549,465,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3069,-1.01,-155.7,275.9,-9.4,284,3077,0.00,1.80,0.00,0.000,6,0.000,0.083,2549,1460,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3379,-1.01,-155.7,304.0,-8.2,295,3385,0.00,1.98,0.00,0.000,4,0.000,0.135,2549,460,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3428,-1.01,-155.7,306.7,-8.3,296,3436,0.00,1.83,0.00,0.000,6,0.000,0.089,2545,1453,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3740,-1.01,-155.7,334.6,-8.6,307,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1454,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4039,-1.01,-155.7,361.7,-9.2,317,4046,0.00,1.98,0.00,0.000,4,0.000,0.140,2549,458,3625,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4118,-1.01,-155.7,367.7,-9.7,319,4128,0.00,1.80,0.00,0.000,6,0.000,0.090,2549,1438,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4430,-1.01,-155.7,402.7,-11.0,330,4435,0.00,1.95,0.00,0.000,4,0.000,0.144,2549,453,3624,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4558,-1.01,-155.7,416.7,-11.7,334,4566,0.00,1.77,0.00,0.000,6,0.000,0.090,2548,1413,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4880,-1.01,-155.7,451.8,-10.5,345,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1413,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-1.01,-155.7,480.9,-9.5,355,5185,0.00,1.90,0.00,0.000,4,0.000,0.144,2549,462,3622,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5309,-1.01,-155.7,492.8,-9.9,359,5316,0.00,1.73,0.00,0.000,6,0.000,0.091,2548,1402,3622,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5629,-1.01,-155.7,524.2,-9.6,370,5635,0.00,1.88,0.00,0.000,4,0.000,0.143,2549,464,3621,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5728,-1.01,-155.7,533.4,-10.0,373,5735,0.00,1.73,0.00,0.000,6,0.000,0.090,2548,1394,3621,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6051,-1.01,-155.7,565.3,-9.6,384,6056,0.00,1.88,0.00,0.000,4,0.000,0.146,2548,456,3620,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6178,-1.01,-155.7,577.8,-10.5,388,6185,0.00,1.70,0.00,0.000,6,0.000,0.090,2548,1373,3619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6500,-1.01,-155.7,611.4,-10.4,399,6506,0.00,2.25,0.00,0.000,4,0.000,0.106,2541,2576,3618,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6548,-1.01,-155.7,614.6,-10.5,400,6557,0.00,2.35,0.00,0.000,6,0.000,0.115,2541,1370,3617,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6860,-1.01,-155.7,648.1,-10.1,411,6865,0.00,1.80,0.00,0.000,4,0.000,0.140,2541,456,3616,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6979,-1.01,-155.7,660.6,-10.4,415,6986,0.00,1.67,0.00,0.000,6,0.000,0.088,2540,1360,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7309,-1.01,-155.7,692.1,-9.6,426,7315,0.00,1.83,0.00,0.000,4,0.000,0.145,2540,454,3614,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7379,-1.01,-155.7,698.1,-9.7,428,7385,0.00,1.65,0.00,0.000,6,0.000,0.090,2540,1349,3614,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7699,-1.01,-155.7,729.2,-9.5,439,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1349,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8000,-1.01,-155.7,758.9,-10.1,449,8007,0.00,1.77,0.00,0.000,4,0.000,0.145,2539,453,3611,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8138,-1.01,-155.7,771.9,-10.9,453,8141,0.00,1.65,0.00,0.000,6,0.000,0.089,2540,1345,3610,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8440,-1.01,-155.7,804.4,-9.6,463,8446,0.00,1.80,0.00,0.000,4,0.000,0.147,2540,462,3608,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8488,-1.01,-155.7,807.3,-9.6,464,8496,0.00,1.62,0.00,0.000,6,0.000,0.090,2540,1335,3609,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8799,-1.01,-155.7,837.7,-9.1,475,8806,0.00,2.38,0.00,0.000,4,0.000,0.112,2540,2573,3607,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8879,-1.01,-155.7,842.7,-8.7,477,8888,0.00,2.45,0.00,0.000,6,0.000,0.118,2540,1332,3608,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9189,-1.01,-155.7,871.9,-8.9,488,9195,0.00,1.73,0.00,0.000,4,0.000,0.138,2540,462,3607,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9219,-1.01,-155.7,874.6,-9.0,489,9225,0.00,1.60,0.00,0.000,6,0.000,0.086,2540,1333,3606,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9550,-1.01,-155.7,904.9,-9.3,500,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1333,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9849,-1.01,-155.7,933.9,-9.8,510,9855,0.00,2.40,0.00,0.000,4,0.000,0.112,2540,2570,3604,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9928,-1.01,-155.7,939.7,-9.7,512,9937,0.00,2.45,0.00,0.000,6,0.000,0.125,2540,1345,3603,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10240,-1.01,-155.7,972.3,-9.8,523,10246,0.00,1.80,0.00,0.000,4,0.000,0.145,2540,461,3602,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10288,-1.01,-155.7,975.4,-9.9,524,10297,0.00,1.67,0.00,0.000,6,0.000,0.096,2539,1345,3602,0,0,0,0,0,0,28.83,14.05,28.83
$STATE,10445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10455,-0.23,0.0,992.7,-9.6,530,10616,0.95,0.00,155.02,1.838,4,0.194,0.000,2807,1518,2984,0,0,0,0,0,0,13.71,28.83,12.98
$STATE,10621,end apogee,CONTROL_FINISHED_OK
$STATE,10621,begin climb
$GC,10624,0.84,155.7,1002.8,0.0,535,10796,1.08,2.05,160.35,1.802,4,0.099,0.122,3164,2577,2355,0,0,0,0,0,0,14.17,14.10,13.07
$GC,11027,0.80,183.5,994.1,6.3,549,11063,0.00,2.10,29.73,1.737,6,0.000,0.145,3172,1516,2237,0,0,0,0,0,0,28.83,14.21,13.23
$GC,11375,0.76,184.3,968.4,7.1,561,11383,0.17,2.15,0.00,0.000,4,0.296,0.164,3141,456,2225,0,0,0,0,0,0,14.09,14.14,28.83
$GC,11604,0.73,195.6,953.9,6.8,568,11623,0.00,1.98,12.55,1.663,6,0.000,0.101,3141,1515,2189,0,0,0,0,0,0,28.83,14.29,13.34
$GC,11945,0.74,201.2,928.7,7.0,580,11952,0.00,2.03,1.48,0.177,4,0.000,0.128,3141,2579,2166,0,0,0,0,0,0,28.83,14.28,14.21
$GC,12155,0.71,201.2,913.3,7.4,587,12161,0.00,2.08,0.00,0.000,6,0.000,0.138,3149,1538,2173,0,0,0,0,0,0,28.83,14.13,28.83
$GC,12488,0.69,201.2,888.7,7.5,598,12494,0.12,2.00,0.00,0.000,4,0.311,0.116,3118,2582,2173,0,0,0,0,0,0,14.04,14.23,28.83
$GC,12554,0.69,201.2,884.4,7.3,600,12561,0.00,2.05,0.00,0.000,6,0.000,0.130,3126,1546,2173,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12877,0.71,226.0,862.6,6.4,611,12915,0.00,2.05,32.45,1.723,4,0.000,0.127,3126,2586,2063,0,0,0,0,0,0,28.83,14.36,13.33
$GC,13064,0.71,227.1,850.8,7.1,617,13073,0.00,2.05,0.00,0.000,6,0.000,0.139,3134,1562,2053,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13375,0.71,227.1,827.1,7.2,628,13382,0.00,1.98,0.00,0.000,4,0.000,0.124,3134,2572,2051,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13597,0.71,227.1,811.4,7.4,635,13602,0.00,1.95,0.00,0.000,6,0.000,0.139,3141,1584,2051,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13915,0.71,227.1,784.3,8.5,646,13921,0.00,1.95,0.00,0.000,4,0.000,0.122,3141,2580,2050,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,22771,end climb,SURFACE_DEPTH_REACHED
$STATE,22771,begin surface coast
$FINISH,1.6,1.025814
$STATE,22793,end surface coast,CONTROL_FINISHED_OK
$STATE,22793,begin surface
$SM_CCo,22877,0.00,0.000,0,0,1430,382.67
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.72
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7583136
$24V_AH,13.0,207.237
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.100,190.950,538.500,0.000,0.000,0.000,0.000,395.625,0.250,0.000,17.400,3285.509,15939.511,941.337,2676.791,703.343,0.000,2548.027,0.000,2228.021,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.029,0.000,0.000,0.000
$MEM,344984
$DATA_FILE_SIZE,43367,1126
$CAP_FILE_SIZE,236187,0
$CFSIZE,260034560,184627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,331.0,1
$GPS,100213,023606,2442.459,-3814.051,41,1.2,41,-14.0