version: 66.11
glider: 190
mission: 6
dive: 493
start: 2 10 113 22 1 17
data:
$ID,190
$MISSION,6
$DIVE,493
$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,-13536.052
$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,12
$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
$GPS1,100213,214905,2441.805,-3813.660,37,0.9,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-62.6
$GPS2,100213,220044,2441.898,-3813.718,22,1.3,22,-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,174.7,39978,-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,-10.60,0.000,2,0.000,0.000,137,1510,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,144,11.38,2.12,-83.18,0.000,4,0.354,0.163,2614,458,3626,0,0,0,0,0,0,14.09,13.97,14.69
$GC,274,-0.84,-155.7,19.2,-11.3,25,284,0.00,1.95,0.00,0.000,6,0.000,0.081,2609,1520,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,585,-0.87,-155.7,48.3,-9.4,56,593,0.00,2.12,0.00,0.000,4,0.000,0.139,2608,457,3626,0,0,0,0,0,0,28.83,13.93,28.83
$GC,705,-0.87,-155.7,60.0,-9.7,68,713,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1497,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1016,-0.90,-155.7,88.5,-9.2,99,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1495,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1327,-0.93,-155.7,117.4,-9.7,130,1333,0.00,2.03,0.00,0.000,4,0.000,0.103,2605,2584,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1458,-0.97,-155.7,130.0,-9.9,143,1464,0.00,2.12,0.00,0.000,6,0.000,0.116,2605,1487,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1766,-1.01,-155.7,158.3,-8.8,174,1773,0.12,2.05,0.00,0.000,4,0.132,0.103,2549,2584,3627,0,0,0,0,0,0,14.53,14.16,28.83
$GC,1934,-1.01,-155.7,174.2,-10.0,191,1943,0.00,2.20,0.00,0.000,6,0.000,0.116,2549,1469,3627,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2247,-1.01,-155.7,207.5,-11.1,222,2253,0.00,1.98,0.00,0.000,4,0.000,0.135,2550,457,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2426,-0.97,-155.7,228.4,-11.5,240,2433,0.00,1.77,0.00,0.000,6,0.000,0.080,2549,1457,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2735,-0.97,-155.7,259.2,-9.6,265,2742,0.00,1.98,0.00,0.000,4,0.000,0.133,2549,462,3627,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2785,-0.97,-155.7,262.2,-9.7,266,2793,0.00,1.75,0.00,0.000,6,0.000,0.080,2549,1434,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3095,-0.97,-155.7,293.7,-9.4,277,3102,0.00,1.92,0.00,0.000,4,0.000,0.133,2549,463,3627,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3185,-0.97,-155.7,302.6,-9.7,280,3191,0.00,1.73,0.00,0.000,6,0.000,0.081,2549,1417,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3516,-0.97,-155.7,334.2,-9.7,291,3521,0.00,1.85,0.00,0.000,4,0.000,0.135,2549,461,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3584,-0.97,-155.7,340.3,-9.9,293,3591,0.00,1.73,0.00,0.000,6,0.000,0.080,2549,1409,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3906,-0.97,-155.7,373.0,-9.8,304,3912,0.00,1.85,0.00,0.000,4,0.000,0.135,2549,461,3625,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4013,-0.97,-155.7,382.3,-10.2,307,4024,0.00,1.70,0.00,0.000,6,0.000,0.081,2549,1397,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4326,-0.97,-155.7,413.6,-9.3,318,4331,0.00,1.83,0.00,0.000,4,0.000,0.136,2549,460,3624,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4385,-0.97,-155.7,419.5,-9.5,320,4391,0.00,1.65,0.00,0.000,6,0.000,0.083,2548,1372,3624,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4715,-0.97,-155.7,448.2,-8.7,331,4721,0.00,1.80,0.00,0.000,4,0.000,0.137,2548,465,3623,0,0,0,0,0,0,28.83,13.96,28.83
$GC,4825,-0.97,-155.7,456.7,-9.3,334,4833,0.00,1.60,0.00,0.000,6,0.000,0.084,2548,1353,3622,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5135,-0.97,-155.7,486.5,-9.1,345,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1353,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5436,-0.97,-155.7,514.4,-9.3,355,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1353,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5734,-0.97,-155.7,544.3,-10.0,365,5742,0.00,1.77,0.00,0.000,4,0.000,0.138,2548,464,3620,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5784,-0.97,-155.7,547.4,-10.0,366,5793,0.12,1.62,0.00,0.000,6,0.265,0.085,2573,1354,3619,0,0,0,0,0,0,14.00,14.27,28.83
$GC,6099,-1.01,-155.7,578.3,-9.0,377,6105,0.00,1.77,0.00,0.000,4,0.000,0.140,2573,458,3618,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6134,-1.03,-155.7,581.0,-9.0,378,6142,0.00,1.62,0.00,0.000,6,0.000,0.083,2567,1347,3618,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6459,-1.06,-155.7,610.0,-8.8,389,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1347,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6755,-1.09,-155.7,638.1,-9.6,399,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1347,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7056,-1.11,-155.7,667.7,-9.9,409,7063,0.12,2.35,0.00,0.000,4,0.145,0.106,2510,2589,3614,0,0,0,0,0,0,14.51,14.09,28.83
$GC,7123,-1.11,-155.7,674.0,-10.1,411,7131,0.00,2.50,0.00,0.000,6,0.000,0.118,2510,1325,3614,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7445,-1.11,-155.7,709.2,-10.3,422,7451,0.00,1.67,0.00,0.000,4,0.000,0.133,2510,466,3613,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7536,-1.08,-155.7,718.9,-10.6,425,7543,0.08,1.55,0.00,0.000,6,0.259,0.083,2537,1319,3612,0,0,0,0,0,0,13.80,14.14,28.83
$GC,7868,-1.08,-155.7,749.1,-8.8,436,7873,0.00,1.73,0.00,0.000,4,0.000,0.143,2537,458,3611,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7965,-1.08,-155.7,757.3,-9.0,439,7972,0.00,1.58,0.00,0.000,6,0.000,0.085,2536,1316,3610,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8285,-1.08,-155.7,786.0,-8.7,450,8291,0.00,1.73,0.00,0.000,4,0.000,0.144,2536,463,3608,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8345,-1.08,-155.7,791.6,-9.1,452,8351,0.00,1.50,0.00,0.000,6,0.000,0.089,2536,1282,3608,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8676,-1.08,-155.7,823.1,-9.7,463,8681,0.00,1.65,0.00,0.000,4,0.000,0.140,2536,464,3607,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8713,-1.08,-155.7,826.2,-9.9,464,8717,0.00,1.52,0.00,0.000,6,0.000,0.086,2539,1288,3607,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9028,-1.08,-155.7,859.7,-10.7,475,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1288,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9325,-1.08,-155.7,893.8,-11.4,485,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1288,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9626,-1.08,-155.7,928.1,-11.3,495,9632,0.00,2.47,0.00,0.000,4,0.000,0.107,2536,2580,3604,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9687,-1.08,-155.7,934.3,-10.8,497,9692,0.00,2.58,0.00,0.000,6,0.000,0.125,2536,1273,3604,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10016,-1.08,-155.7,966.7,-9.2,508,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1272,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10312,begin apogee
$GC,10322,-0.23,0.0,991.2,-7.7,518,10547,0.98,0.00,217.65,1.500,4,0.197,0.000,2808,1525,2990,0,0,0,0,0,0,13.67,28.83,13.16
$STATE,10549,end apogee,CONTROL_FINISHED_OK
$STATE,10549,begin climb
$GC,10552,0.84,155.7,1001.1,0.0,525,10728,1.08,2.03,160.77,1.779,4,0.102,0.112,3163,2584,2348,0,0,0,0,0,0,14.19,14.13,13.07
$GC,10960,0.79,155.7,982.3,8.8,538,10967,0.00,2.08,0.00,0.000,6,0.000,0.134,3171,1522,2338,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11270,0.74,155.7,956.7,7.2,549,11276,0.15,2.12,0.00,0.000,4,0.298,0.153,3141,454,2336,0,0,0,0,0,0,14.04,14.16,28.83
$GC,11508,0.72,195.8,941.7,5.9,557,11555,0.00,2.00,41.58,1.750,6,0.000,0.094,3142,1534,2189,0,0,0,0,0,0,28.83,14.27,13.28
$GC,11867,0.75,247.0,920.8,5.6,569,11927,0.00,2.22,54.33,1.731,4,0.000,0.158,3150,456,1977,0,0,0,0,0,0,28.83,14.16,13.21
$GC,12097,0.76,258.1,907.2,6.8,576,12115,0.00,2.05,12.35,1.611,6,0.000,0.094,3150,1563,1936,0,0,0,0,0,0,28.83,14.26,13.28
$GC,12441,0.76,258.1,881.6,7.5,588,12446,0.00,2.20,0.00,0.000,4,0.000,0.157,3158,455,1924,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12650,0.76,258.1,864.7,8.2,595,12656,0.00,2.05,0.00,0.000,6,0.000,0.088,3158,1586,1923,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12978,0.76,258.1,836.9,8.6,606,12984,0.00,1.90,0.00,0.000,4,0.000,0.116,3158,2581,1920,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13206,0.76,258.1,818.3,9.0,613,13216,0.12,1.98,0.00,0.000,6,0.283,0.143,3139,1606,1920,0,0,0,0,0,0,13.97,14.11,28.83
$GC,13521,0.76,258.1,789.6,8.7,624,13526,0.00,1.88,0.00,0.000,4,0.000,0.125,3139,2583,1920,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13556,0.76,258.1,787.0,8.7,625,13563,0.00,1.90,0.00,0.000,6,0.000,0.135,3146,1641,1919,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13877,0.76,258.1,757.1,9.1,636,13884,0.00,2.45,0.00,0.000,4,0.000,0.166,3154,460,1919,0,0,0,0,0,0,28.83,13.89,28.83
$GC,13908,0.76,258.1,754.2,9.2,637,13914,0.00,2.22,0.00,0.000,6,0.000,0.096,3154,1672,1921,0,0,0,0,0,0,28.83,14.15,28.83
$GC,14237,0.76,258.1,724.4,8.9,648,14244,0.00,2.53,0.00,0.000,4,0.000,0.162,3163,462,1918,0,0,0,0,0,0,28.83,13.86,28.83
$GC,14440,0.76,258.1,708.7,8.6,654,14446,0.00,2.30,0.00,0.000,6,0.000,0.095,3162,1697,1918,0,0,0,0,0,0,28.83,14.15,28.83
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$STATE,22858,end climb,SURFACE_DEPTH_REACHED
$STATE,22858,begin surface coast
$FINISH,1.5,1.010993
$STATE,22902,end surface coast,CONTROL_FINISHED_OK
$STATE,22902,begin surface
$SM_CCo,22926,8.70,0.132,0,0,1561,350.04
$SM_GC,3.54,9.05,0.68,8.70,0.081,0.135,0.132,146,1519,1561,-8.52,0.40,350.04,0,0,0,0,0,0,14.25,14.07,14.15
$IRIDIUM_FIX,2434.69,-3811.43,100213,151546
$TT8_MAMPS,0.024717,0.024717
$HUMID,60.15
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,7581600
$24V_AH,13.1,208.816
$10V_AH,12.2,0.000
$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,23.775,167.900,558.500,8.700,0.000,0.000,0.000,400.225,0.750,0.000,23.004,3257.315,16063.435,916.534,2648.428,737.438,0.000,2504.219,0.000,2203.820,0.000,0.541,0.000
$DEVICE_MAMPS,354.195,166.005,1779.390,131.580,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.976,0.000,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,43342,1116
$CAP_FILE_SIZE,233636,0
$CFSIZE,260034560,184193024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,336.3,1
$GPS,110213,042458,2441.985,-3813.514,37,0.8,37,-14.0