version: 66.11
glider: 190
mission: 6
dive: 494
start: 2 11 113 4 36 41
data:
$ID,190
$MISSION,6
$DIVE,494
$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,-13537.308
$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,10
$R_STBD_OVSHOOT,13
$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
$GPS1,110213,042458,2441.985,-3813.514,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-64.5
$GPS2,110213,043608,2442.035,-3813.559,23,1.0,23,-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,176.7,40265,-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,-10.68,0.000,2,0.000,0.000,144,1516,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.6,0.0,1,144,10.90,2.12,-84.95,0.000,4,0.334,0.166,2618,462,3626,0,0,0,0,0,0,14.09,14.03,14.69
$GC,294,-0.84,-155.7,19.4,-9.5,27,303,0.00,1.95,0.00,0.000,6,0.000,0.083,2618,1527,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,606,-0.88,-155.7,50.2,-9.8,58,613,0.00,2.10,0.00,0.000,4,0.000,0.137,2618,459,3626,0,0,0,0,0,0,28.83,13.98,28.83
$GC,647,-0.88,-155.7,54.5,-10.8,62,654,0.00,1.90,0.00,0.000,6,0.000,0.081,2618,1526,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,956,-0.92,-155.7,81.4,-9.3,93,964,0.00,2.10,0.00,0.000,4,0.000,0.135,2619,459,3626,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1024,-0.92,-155.7,88.3,-10.0,100,1033,0.00,1.90,0.00,0.000,6,0.000,0.077,2618,1508,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1336,-0.96,-155.7,116.6,-9.2,131,1344,0.12,2.08,0.00,0.000,4,0.138,0.133,2559,457,3626,0,0,0,0,0,0,14.47,13.93,28.83
$GC,1459,-0.92,-155.7,130.1,-11.5,143,1466,0.15,1.88,0.00,0.000,6,0.262,0.083,2586,1498,3626,0,0,0,0,0,0,13.94,14.20,28.83
$GC,1770,-0.92,-155.7,157.9,-8.6,174,1776,0.00,2.03,0.00,0.000,4,0.000,0.108,2579,2582,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1856,-0.95,-155.7,166.1,-9.4,183,1864,0.00,2.12,0.00,0.000,6,0.000,0.117,2579,1493,3627,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2166,-0.97,-155.7,197.2,-10.2,214,2173,0.00,2.03,0.00,0.000,4,0.000,0.137,2580,450,3626,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2225,-0.97,-155.7,203.7,-10.9,220,2233,0.00,1.88,0.00,0.000,6,0.000,0.080,2577,1492,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2536,-0.99,-155.7,235.5,-10.0,251,2543,0.00,2.05,0.00,0.000,4,0.000,0.136,2576,459,3627,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2647,-0.99,-155.7,246.6,-10.0,262,2654,0.00,1.83,0.00,0.000,6,0.000,0.080,2570,1479,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2958,-1.01,-155.7,273.2,-8.1,275,2964,0.00,2.00,0.00,0.000,4,0.000,0.135,2570,456,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3016,-1.01,-155.7,278.4,-8.5,277,3023,0.00,1.80,0.00,0.000,6,0.000,0.081,2566,1455,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3346,-1.01,-155.7,307.5,-9.5,288,3352,0.00,2.08,0.00,0.000,4,0.000,0.104,2558,2566,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3436,-1.01,-155.7,316.5,-9.9,291,3442,0.00,2.15,0.00,0.000,6,0.000,0.119,2558,1450,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3765,-1.01,-155.7,352.4,-11.0,302,3772,0.00,1.95,0.00,0.000,4,0.000,0.135,2558,456,3627,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3895,-1.01,-155.7,365.7,-11.0,306,3902,0.00,1.80,0.00,0.000,6,0.000,0.080,2553,1448,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4217,-1.01,-155.7,394.0,-7.7,317,4223,0.00,2.10,0.00,0.000,4,0.000,0.104,2550,2578,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4275,-1.01,-155.7,398.3,-7.3,319,4282,0.00,2.17,0.00,0.000,6,0.000,0.119,2550,1460,3625,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4607,-1.01,-155.7,422.7,-8.0,330,4612,0.00,1.95,0.00,0.000,4,0.000,0.136,2550,456,3624,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4684,-1.01,-155.7,428.1,-8.7,332,4692,0.00,1.83,0.00,0.000,6,0.000,0.082,2549,1460,3624,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4995,-1.01,-155.7,461.6,-10.8,343,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1460,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5295,-1.01,-155.7,496.2,-11.5,353,5303,0.00,1.98,0.00,0.000,4,0.000,0.136,2549,460,3622,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5334,-1.01,-155.7,499.5,-11.5,354,5342,0.00,1.80,0.00,0.000,6,0.000,0.083,2549,1450,3621,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5656,-1.01,-155.7,533.6,-9.7,365,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1451,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5956,-1.01,-155.7,560.3,-8.5,375,5962,0.00,2.12,0.00,0.000,4,0.000,0.109,2549,2570,3620,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6016,-1.01,-155.7,565.2,-8.2,377,6023,0.00,2.17,0.00,0.000,6,0.000,0.121,2549,1459,3619,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6347,-1.01,-155.7,592.7,-8.4,388,6352,0.00,1.98,0.00,0.000,4,0.000,0.139,2549,456,3618,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6405,-1.01,-155.7,598.0,-8.6,390,6412,0.00,1.85,0.00,0.000,6,0.000,0.084,2549,1471,3618,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6739,-1.01,-155.7,627.2,-9.1,401,6745,0.00,2.03,0.00,0.000,4,0.000,0.139,2549,450,3617,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6855,-1.01,-155.7,639.2,-10.1,405,6863,0.00,1.80,0.00,0.000,6,0.000,0.085,2549,1439,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7186,-1.01,-155.7,673.2,-10.7,416,7192,0.00,1.98,0.00,0.000,4,0.000,0.139,2548,455,3614,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7307,-1.01,-155.7,686.7,-11.2,420,7312,0.00,1.77,0.00,0.000,6,0.000,0.086,2549,1432,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7635,-1.01,-155.7,721.0,-10.2,431,7642,0.00,1.95,0.00,0.000,4,0.000,0.138,2549,459,3613,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7776,-1.01,-155.7,733.5,-10.4,435,7784,0.00,1.75,0.00,0.000,6,0.000,0.086,2549,1415,3612,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8085,-1.01,-155.7,765.1,-9.4,446,8092,0.00,1.92,0.00,0.000,4,0.000,0.142,2549,457,3611,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8215,-1.01,-155.7,777.1,-9.9,450,8223,0.00,1.70,0.00,0.000,6,0.000,0.086,2549,1384,3608,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8538,-1.03,-155.7,807.2,-9.0,461,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1384,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,-1.05,-155.7,834.4,-9.2,471,8842,0.00,2.30,0.00,0.000,4,0.000,0.113,2549,2582,3607,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8885,-1.08,-155.7,837.1,-9.0,472,8894,0.00,2.38,0.00,0.000,6,0.000,0.116,2548,1372,3607,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9198,-1.10,-155.7,867.9,-9.5,483,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1371,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9497,-1.12,-155.7,896.8,-9.6,493,9503,0.00,2.33,0.00,0.000,4,0.000,0.115,2549,2575,3605,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9556,-1.15,-155.7,902.4,-9.5,495,9562,0.00,2.35,0.00,0.000,6,0.000,0.118,2549,1387,3605,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9890,-1.17,-155.7,934.2,-9.8,506,9892,0.12,0.00,0.00,0.000,6,0.158,0.000,2508,1388,3604,0,0,0,0,0,0,14.40,28.83,28.83
$GC,10186,-1.17,-155.7,966.2,-10.6,516,10192,0.00,1.88,0.00,0.000,4,0.000,0.145,2508,463,3602,0,0,0,0,0,0,28.83,13.68,28.83
$GC,10227,-1.17,-155.7,969.6,-10.7,517,10232,0.00,1.75,0.00,0.000,6,0.000,0.096,2503,1388,3602,0,0,0,0,0,0,28.83,13.93,28.83
$STATE,10423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10423,begin apogee
$GC,10433,-0.23,0.0,992.1,-10.6,524,10604,1.15,0.00,161.50,2.484,4,0.223,0.000,2809,1524,2991,0,0,0,0,1,0,13.70,28.83,12.67
$STATE,10609,end apogee,CONTROL_FINISHED_OK
$STATE,10609,begin climb
$GC,10613,0.84,155.7,1005.2,0.0,530,10795,1.05,0.00,169.77,2.504,6,0.110,0.000,3156,1525,2355,0,0,0,0,1,0,14.07,28.83,12.72
$GC,11108,0.83,219.9,995.9,5.1,547,11187,0.00,2.25,73.60,1.809,4,0.000,0.172,3164,456,2089,0,0,0,0,0,0,28.83,14.07,13.14
$GC,11336,0.79,219.9,980.3,7.4,554,11344,0.00,1.98,0.00,0.000,6,0.000,0.102,3164,1517,2081,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11671,0.78,242.8,958.6,6.4,565,11704,0.00,2.08,24.15,1.772,4,0.000,0.129,3163,2580,1994,0,0,0,0,0,0,28.83,14.38,13.33
$GC,11766,0.76,262.3,952.6,6.6,568,11794,0.10,2.12,22.65,1.751,6,0.263,0.144,3142,1524,1918,0,0,0,0,0,0,14.10,14.25,13.27
$GC,12116,0.77,279.5,928.6,6.6,580,12146,0.00,2.10,18.67,1.736,4,0.000,0.131,3142,2586,1844,0,0,0,0,0,0,28.83,14.38,13.34
$GC,12299,0.77,279.5,915.6,7.3,586,12305,0.00,2.08,0.00,0.000,6,0.000,0.140,3150,1541,1840,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12631,0.77,279.5,891.4,7.6,597,12636,0.00,2.00,0.00,0.000,4,0.000,0.125,3149,2579,1838,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12765,0.77,279.5,881.8,8.0,601,12774,0.00,2.05,0.00,0.000,6,0.000,0.141,3156,1562,1837,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13077,0.77,279.5,853.6,8.8,612,13083,0.00,1.98,0.00,0.000,4,0.000,0.127,3157,2579,1836,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13215,0.77,279.5,842.6,9.2,616,13225,0.00,2.00,0.00,0.000,6,0.000,0.142,3164,1587,1836,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13527,0.77,279.5,813.3,9.1,627,13533,0.00,1.95,0.00,0.000,4,0.000,0.127,3162,2586,1835,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13616,0.77,279.5,805.0,9.1,630,13624,0.10,1.98,0.00,0.000,6,0.243,0.142,3144,1600,1835,0,0,0,0,0,0,13.93,14.06,28.83
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$STATE,22924,end climb,SURFACE_DEPTH_REACHED
$STATE,22924,begin surface coast
$FINISH,1.6,1.010794
$STATE,22954,end surface coast,CONTROL_FINISHED_OK
$STATE,22954,begin surface
$SM_CCo,23039,0.00,0.000,0,0,1532,357.40
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.93
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,4
$SC_FREEKB,7581216
$24V_AH,12.7,209.274
$10V_AH,12.4,0.000
$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,22.900,187.200,526.350,0.000,0.000,0.000,0.000,372.650,1.000,0.000,24.087,3288.521,16095.178,934.062,2648.413,728.508,0.000,2521.339,0.000,2220.848,0.000,0.541,0.000
$DEVICE_MAMPS,334.305,172.125,2503.845,0.000,0.000,0.000,0.000,166.005,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.000,0.000,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43277,1135
$CAP_FILE_SIZE,239112,0
$CFSIZE,260034560,184078336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.122,316.1,1
$GPS,110213,110158,2441.852,-3813.774,36,0.9,36,-14.0