version: 66.11
glider: 190
mission: 6
dive: 496
start: 2 11 113 17 55 43
data:
$ID,190
$MISSION,6
$DIVE,496
$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,-13539.821
$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,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
$GPS1,110213,174357,2441.857,-3812.995,40,1.7,43,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-66.1
$GPS2,110213,175511,2441.896,-3813.043,16,1.0,16,-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,180.3,40139,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-11.15,0.000,2,0.000,0.000,139,1526,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.5,0.0,1,145,11.07,2.10,-86.05,0.000,4,0.343,0.161,2611,454,3626,0,0,0,0,0,0,14.06,14.08,14.68
$GC,247,-0.82,-155.7,13.2,-8.4,22,254,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1531,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,556,-0.84,-155.7,42.5,-9.4,53,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1531,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.87,-155.7,70.8,-9.3,83,864,0.00,2.12,0.00,0.000,4,0.000,0.137,2605,464,3626,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1036,-0.87,-155.7,89.2,-10.1,101,1045,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1510,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1348,-0.91,-155.7,119.0,-9.6,132,1354,0.00,2.08,0.00,0.000,4,0.000,0.137,2605,453,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1436,-0.91,-155.7,128.0,-10.2,141,1445,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1513,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1747,-0.94,-155.7,155.3,-8.9,172,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1513,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.98,-155.7,184.3,-9.2,203,2064,0.00,1.98,0.00,0.000,4,0.000,0.101,2605,2567,3625,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2117,-1.02,-155.7,189.7,-9.1,209,2125,0.15,2.05,0.00,0.000,6,0.121,0.115,2542,1497,3627,0,0,0,0,0,0,14.28,14.07,28.83
$GC,2427,-1.02,-155.7,222.5,-10.5,240,2434,0.00,2.00,0.00,0.000,4,0.000,0.135,2543,459,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2516,-0.98,-155.7,232.2,-10.9,249,2526,0.10,1.88,0.00,0.000,6,0.230,0.082,2567,1496,3627,0,0,0,0,0,0,13.89,14.19,28.83
$GC,2846,-0.98,-155.7,260.2,-8.1,274,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1496,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-0.98,-155.7,285.5,-8.7,284,3152,0.00,2.03,0.00,0.000,4,0.000,0.132,2568,461,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3237,-0.98,-155.7,294.1,-9.4,287,3243,0.00,1.88,0.00,0.000,6,0.000,0.080,2562,1504,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3566,-0.98,-155.7,325.9,-9.8,298,3572,0.00,2.05,0.00,0.000,4,0.000,0.132,2562,455,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3635,-0.98,-155.7,332.3,-10.3,300,3643,0.00,1.88,0.00,0.000,6,0.000,0.080,2555,1492,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3957,-0.98,-155.7,366.9,-10.7,311,3964,0.00,2.03,0.00,0.000,4,0.000,0.132,2555,452,3625,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4005,-0.98,-155.7,370.3,-10.8,312,4014,0.00,1.90,0.00,0.000,6,0.000,0.082,2553,1493,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4317,-0.98,-155.7,404.6,-10.0,323,4323,0.00,2.00,0.00,0.000,4,0.000,0.135,2553,456,3625,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4355,-0.98,-155.7,407.6,-10.0,324,4363,0.00,1.85,0.00,0.000,6,0.000,0.083,2552,1471,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4676,-0.98,-155.7,439.3,-9.4,335,4683,0.00,2.08,0.00,0.000,4,0.000,0.110,2552,2570,3623,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4727,-0.98,-155.7,442.1,-9.4,336,4734,0.00,2.12,0.00,0.000,6,0.000,0.117,2552,1478,3623,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5036,-0.98,-155.7,472.4,-9.0,347,5043,0.00,2.00,0.00,0.000,4,0.000,0.136,2552,459,3623,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5127,-0.98,-155.7,481.0,-9.4,350,5132,0.00,1.83,0.00,0.000,6,0.000,0.083,2549,1463,3622,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5457,-0.98,-155.7,511.9,-9.5,361,5462,0.00,1.98,0.00,0.000,4,0.000,0.135,2549,457,3621,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5565,-0.98,-155.7,520.8,-9.8,364,5574,0.00,1.80,0.00,0.000,6,0.000,0.082,2549,1442,3621,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5877,-0.98,-155.7,553.0,-9.7,375,5883,0.00,1.92,0.00,0.000,4,0.000,0.138,2549,459,3620,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5955,-0.98,-155.7,559.4,-10.3,377,5965,0.00,1.80,0.00,0.000,6,0.000,0.083,2549,1435,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6267,-0.98,-155.7,593.9,-10.5,388,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1435,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.98,-155.7,624.1,-9.8,398,6573,0.00,1.95,0.00,0.000,4,0.000,0.139,2549,459,3617,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6626,-0.98,-155.7,630.4,-10.1,400,6633,0.00,1.77,0.00,0.000,6,0.000,0.083,2549,1428,3617,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6957,-0.98,-155.7,660.3,-8.8,411,6963,0.00,1.90,0.00,0.000,4,0.000,0.140,2549,459,3615,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7076,-0.98,-155.7,671.4,-9.3,415,7084,0.00,1.75,0.00,0.000,6,0.000,0.084,2549,1412,3614,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7408,-0.98,-155.7,701.0,-9.1,426,7413,0.00,1.90,0.00,0.000,4,0.000,0.139,2550,456,3613,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7505,-0.98,-155.7,709.9,-9.6,429,7512,0.00,1.75,0.00,0.000,6,0.000,0.083,2549,1405,3613,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7827,-0.98,-155.7,741.7,-9.7,440,7833,0.00,1.88,0.00,0.000,4,0.000,0.141,2549,459,3612,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7895,-0.98,-155.7,748.0,-10.1,442,7901,0.00,1.70,0.00,0.000,6,0.000,0.086,2549,1382,3611,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8216,-0.98,-155.7,783.4,-11.0,453,8222,0.00,2.28,0.00,0.000,4,0.000,0.112,2549,2568,3609,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8256,-0.98,-155.7,786.6,-11.1,454,8263,0.00,2.33,0.00,0.000,6,0.000,0.114,2549,1376,3609,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8579,-1.00,-155.7,822.0,-10.7,465,8584,0.00,1.83,0.00,0.000,4,0.000,0.133,2549,457,3608,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8655,-1.00,-155.7,828.5,-10.6,467,8658,0.00,1.70,0.00,0.000,6,0.000,0.080,2549,1381,3608,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8958,-1.02,-155.7,859.6,-9.3,477,8964,0.00,1.83,0.00,0.000,4,0.000,0.133,2549,456,3607,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9106,-1.02,-155.7,874.2,-9.8,482,9112,0.00,1.65,0.00,0.000,6,0.000,0.080,2549,1358,3606,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9440,-1.04,-155.7,903.8,-8.9,493,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1358,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9736,-1.06,-155.7,931.5,-9.5,503,9743,0.00,2.35,0.00,0.000,4,0.000,0.110,2549,2572,3604,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9836,-1.10,-155.7,939.8,-9.3,506,9844,0.00,2.45,0.00,0.000,6,0.000,0.131,2549,1356,3602,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10159,-1.12,-155.7,969.9,-9.1,517,10165,0.00,1.80,0.00,0.000,4,0.000,0.142,2549,458,3603,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10195,-1.12,-155.7,972.8,-9.1,518,10203,0.00,1.67,0.00,0.000,6,0.000,0.086,2549,1356,3602,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,10392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10392,begin apogee
$GC,10402,-0.23,0.0,992.4,-9.0,525,10563,0.93,0.00,155.25,1.837,4,0.200,0.000,2807,1530,2986,0,0,0,0,0,0,13.68,28.83,13.01
$STATE,10569,end apogee,CONTROL_FINISHED_OK
$STATE,10569,begin climb
$GC,10572,0.84,155.7,1003.1,0.0,530,10738,1.08,0.00,161.23,1.808,6,0.116,0.000,3159,1530,2355,0,0,0,0,0,0,14.12,28.83,13.07
$GC,11050,0.84,230.1,993.9,4.8,547,11138,0.00,2.20,78.57,1.786,4,0.000,0.161,3167,461,2044,0,0,0,0,0,0,28.83,14.07,13.14
$GC,11309,0.81,230.1,976.5,8.0,555,11318,0.00,2.00,0.00,0.000,6,0.000,0.096,3167,1534,2035,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11624,0.78,230.1,949.5,8.3,566,11630,0.00,1.95,0.00,0.000,4,0.000,0.118,3167,2584,2032,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11750,0.76,230.1,939.0,8.8,570,11757,0.12,2.10,0.00,0.000,6,0.256,0.145,3142,1534,2031,0,0,0,0,0,0,13.98,14.12,28.83
$GC,12074,0.76,230.1,910.8,8.4,581,12079,0.00,2.00,0.00,0.000,4,0.000,0.126,3141,2576,2030,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12310,0.76,230.1,890.3,8.5,589,12316,0.00,2.00,0.00,0.000,6,0.000,0.137,3148,1574,2029,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12643,0.76,230.1,863.5,7.7,600,12649,0.00,1.92,0.00,0.000,4,0.000,0.123,3148,2583,2028,0,0,0,0,0,0,28.83,14.17,28.83
$GC,12880,0.76,230.1,845.7,7.3,608,12886,0.00,1.95,0.00,0.000,6,0.000,0.136,3155,1606,2027,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13214,0.77,253.6,824.1,6.4,619,13241,0.00,1.90,23.12,1.668,4,0.000,0.123,3155,2582,1952,0,0,0,0,0,0,28.83,14.42,13.36
$GC,13431,0.77,253.6,809.6,7.5,626,13439,0.00,1.90,0.00,0.000,6,0.000,0.137,3162,1629,1944,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13740,0.77,253.6,782.4,8.7,637,13748,0.00,1.85,0.00,0.000,4,0.000,0.122,3162,2580,1943,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13879,0.77,253.6,771.4,9.2,641,13888,0.12,1.90,0.00,0.000,6,0.286,0.135,3143,1637,1942,0,0,0,0,0,0,13.96,14.09,28.83
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$STATE,23054,end climb,SURFACE_DEPTH_REACHED
$STATE,23054,begin surface coast
$FINISH,1.6,1.011622
$STATE,23108,end surface coast,CONTROL_FINISHED_OK
$STATE,23108,begin surface
$SM_CCo,23132,34.38,0.125,0,0,1561,350.04
$SM_GC,2.65,8.88,0.73,34.38,0.076,0.139,0.125,148,1520,1561,-8.52,0.42,350.04,0,0,0,0,0,0,14.21,14.02,14.23
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.15
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7580448
$24V_AH,13.0,210.023
$10V_AH,12.0,0.000
$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
$DEVICE_SECS,22.875,176.650,471.025,34.375,0.000,0.000,0.000,378.775,0.500,0.000,16.894,3379.700,16079.342,898.753,2705.061,764.180,0.000,2503.729,0.000,2283.792,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.099,0.000,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43337,1153
$CAP_FILE_SIZE,242931,7
$CFSIZE,260034560,183853056
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,34,0,1,0
$CURRENT,0.111,322.4,1
$GPS,120213,002305,2441.840,-3812.933,28,0.9,28,-14.0