version: 66.11
glider: 190
mission: 6
dive: 497
start: 2 12 113 0 36 56
data:
$ID,190
$MISSION,6
$DIVE,497
$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,-13541.078
$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,16
$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
$GPS1,120213,002305,2441.840,-3812.933,28,0.9,28,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-63.3
$GPS2,120213,003623,2441.891,-3812.946,19,1.0,19,-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,164.8,40158,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.84,-155.7,0.0,0.0,0,36,0.00,0.00,-10.98,0.000,2,0.000,0.000,147,1517,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,146,11.15,2.08,-84.78,0.000,4,0.347,0.155,2612,459,3626,0,0,0,0,0,0,14.04,14.04,14.68
$GC,236,-0.84,-155.7,11.0,-8.7,21,246,0.00,1.95,0.00,0.000,6,0.000,0.083,2606,1522,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,548,-0.86,-155.7,39.6,-9.7,52,555,0.00,2.10,0.00,0.000,4,0.000,0.138,2605,459,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,607,-0.86,-155.7,45.7,-10.2,58,615,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1514,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,917,-0.89,-155.7,75.6,-9.7,89,925,0.00,2.10,0.00,0.000,4,0.000,0.136,2605,459,3627,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1071,-0.91,-155.7,91.3,-10.7,104,1078,0.00,1.83,0.00,0.000,6,0.000,0.080,2609,1489,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1378,-0.94,-155.7,121.6,-9.7,135,1385,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,458,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1530,-0.96,-155.7,136.5,-10.2,150,1537,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1462,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1837,-0.99,-155.7,163.1,-8.5,181,1847,0.12,1.98,0.00,0.000,4,0.140,0.135,2551,460,3627,0,0,0,0,0,0,14.50,13.92,28.83
$GC,2007,-0.96,-155.7,180.0,-10.0,198,2015,0.00,1.75,0.00,0.000,6,0.000,0.080,2549,1425,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2318,-0.96,-155.7,209.6,-10.4,229,2326,0.12,1.88,0.00,0.000,4,0.260,0.132,2578,458,3627,0,0,0,0,0,0,14.22,14.02,28.83
$GC,2396,-0.96,-155.7,217.7,-10.1,237,2406,0.00,1.75,0.00,0.000,6,0.000,0.079,2575,1423,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2707,-0.96,-155.7,247.2,-9.5,268,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1423,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3008,-0.98,-155.7,277.1,-10.2,280,3014,0.00,1.85,0.00,0.000,4,0.000,0.130,2574,458,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3187,-0.98,-155.7,296.1,-10.6,286,3193,0.00,1.73,0.00,0.000,6,0.000,0.079,2569,1421,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3518,-0.98,-155.7,329.5,-10.3,297,3523,0.00,1.88,0.00,0.000,4,0.000,0.132,2569,458,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3676,-0.98,-155.7,346.1,-11.2,302,3682,0.00,1.70,0.00,0.000,6,0.000,0.080,2566,1399,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3998,-0.98,-155.7,378.5,-9.5,313,4003,0.00,1.83,0.00,0.000,4,0.000,0.135,2566,458,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4136,-0.98,-155.7,389.8,-9.4,317,4146,0.00,1.65,0.00,0.000,6,0.000,0.080,2561,1373,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4447,-0.98,-155.7,417.7,-8.3,328,4453,0.00,1.80,0.00,0.000,4,0.000,0.135,2561,458,3624,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4497,-0.98,-155.7,420.3,-8.3,329,4507,0.00,1.62,0.00,0.000,6,0.000,0.081,2556,1366,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4807,-0.98,-155.7,450.0,-9.1,340,4813,0.00,1.80,0.00,0.000,4,0.000,0.137,2556,456,3624,0,0,0,0,0,0,28.83,13.96,28.83
$GC,4856,-0.98,-155.7,453.0,-9.1,341,4865,0.00,1.65,0.00,0.000,6,0.000,0.083,2553,1361,3623,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5167,-0.98,-155.7,484.9,-9.9,352,5174,0.00,1.77,0.00,0.000,4,0.000,0.139,2553,464,3623,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5246,-0.98,-155.7,491.2,-10.1,354,5254,0.00,1.60,0.00,0.000,6,0.000,0.084,2550,1339,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5558,-0.98,-155.7,526.0,-10.7,365,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1340,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,-0.98,-155.7,559.1,-11.2,375,5864,0.00,1.75,0.00,0.000,4,0.000,0.141,2550,462,3620,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5897,-0.98,-155.7,562.7,-11.4,376,5905,0.00,1.58,0.00,0.000,6,0.000,0.086,2549,1330,3620,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6218,-0.98,-155.7,599.1,-10.8,387,6225,0.00,2.35,0.00,0.000,4,0.000,0.112,2549,2577,3619,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6266,-0.98,-155.7,602.1,-10.6,388,6275,0.00,2.45,0.00,0.000,6,0.000,0.124,2549,1327,3619,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6578,-0.98,-155.7,634.7,-9.3,399,6584,0.00,1.73,0.00,0.000,4,0.000,0.144,2549,460,3617,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6697,-0.98,-155.7,645.8,-9.3,403,6705,0.00,1.55,0.00,0.000,6,0.000,0.086,2549,1305,3616,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7029,-0.98,-155.7,673.5,-8.3,414,7034,0.00,1.73,0.00,0.000,4,0.000,0.145,2549,457,3618,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7087,-0.98,-155.7,678.9,-8.7,416,7094,0.00,1.55,0.00,0.000,6,0.000,0.086,2549,1298,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7417,-0.98,-155.7,708.9,-9.4,427,7425,0.00,1.67,0.00,0.000,4,0.000,0.144,2549,462,3613,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7497,-0.98,-155.7,714.9,-9.8,429,7506,0.00,1.50,0.00,0.000,6,0.000,0.087,2549,1285,3613,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7807,-0.98,-155.7,749.5,-10.7,440,7813,0.00,2.45,0.00,0.000,4,0.000,0.109,2548,2567,3613,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7876,-0.98,-155.7,755.9,-10.7,442,7883,0.00,2.53,0.00,0.000,6,0.000,0.118,2549,1287,3611,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8198,-0.98,-155.7,790.5,-10.2,453,8203,0.00,1.65,0.00,0.000,4,0.000,0.136,2548,459,3610,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8227,-0.98,-155.7,793.5,-10.1,454,8233,0.00,1.50,0.00,0.000,6,0.000,0.080,2549,1292,3608,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8558,-0.98,-155.7,822.4,-8.2,465,8564,0.00,2.42,0.00,0.000,4,0.000,0.106,2549,2573,3608,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8647,-1.01,-155.7,829.2,-7.5,468,8653,0.00,2.53,0.00,0.000,6,0.000,0.121,2549,1297,3608,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8981,-1.03,-155.7,853.4,-7.3,479,8988,0.00,2.47,0.00,0.000,4,0.000,0.109,2549,2580,3607,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9027,-1.05,-155.7,855.6,-7.3,480,9035,0.00,2.50,0.00,0.000,6,0.000,0.117,2549,1311,3606,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9337,-1.05,-155.7,882.6,-8.6,491,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1311,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9639,-1.07,-155.7,910.5,-9.6,501,9644,0.00,2.45,0.00,0.000,4,0.000,0.110,2549,2573,3604,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9686,-1.09,-155.7,913.4,-9.7,502,9695,0.00,2.47,0.00,0.000,6,0.000,0.118,2549,1319,3604,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10001,-1.11,-155.7,946.4,-10.0,513,10007,0.00,2.42,0.00,0.000,4,0.000,0.110,2549,2573,3603,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10046,-1.14,-155.7,949.6,-10.1,514,10055,0.00,2.45,0.00,0.000,6,0.000,0.118,2549,1330,3603,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10360,-1.16,-155.7,983.2,-10.2,525,10365,0.00,1.75,0.00,0.000,4,0.000,0.139,2549,453,3601,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10437,-1.16,-155.7,989.4,-10.2,527,10445,0.00,1.60,0.00,0.000,6,0.000,0.085,2548,1328,3601,0,0,0,0,0,0,28.83,14.05,28.83
$STATE,10474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10474,begin apogee
$GC,10482,-0.23,0.0,995.6,-10.4,529,10709,0.93,0.00,216.38,1.524,4,0.194,0.000,2808,1519,2988,0,0,0,0,0,0,13.71,28.83,13.18
$STATE,10711,end apogee,CONTROL_FINISHED_OK
$STATE,10711,begin climb
$GC,10714,0.84,155.7,1011.9,0.0,536,10886,1.08,2.03,161.65,1.807,4,0.108,0.112,3160,2582,2353,0,0,0,0,0,0,14.18,14.14,13.07
$GC,11119,0.81,185.4,1005.3,6.2,550,11155,0.00,2.08,31.05,1.750,6,0.000,0.134,3168,1518,2234,0,0,0,0,0,0,28.83,14.25,13.25
$GC,11457,0.77,185.4,980.4,7.4,561,11463,0.00,2.12,0.00,0.000,4,0.000,0.155,3174,459,2221,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11642,0.71,185.4,966.7,7.5,567,11648,0.22,1.95,0.00,0.000,6,0.291,0.094,3125,1532,2220,0,0,0,0,0,0,13.98,14.37,28.83
$GC,11971,0.73,212.0,945.7,6.3,578,12005,0.00,2.00,28.83,1.760,4,0.000,0.113,3125,2576,2120,0,0,0,0,0,0,28.83,14.39,13.33
$GC,12177,0.73,212.2,930.8,7.2,585,12184,0.00,2.05,0.00,0.000,6,0.000,0.142,3132,1555,2111,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12511,0.73,212.2,906.2,7.6,596,12517,0.00,1.98,0.00,0.000,4,0.000,0.128,3132,2574,2109,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12646,0.73,212.2,896.6,7.9,600,12654,0.00,2.05,0.00,0.000,6,0.000,0.145,3140,1566,2108,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12959,0.73,212.2,870.3,7.8,611,12964,0.00,1.95,0.00,0.000,4,0.000,0.125,3139,2575,2108,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13178,0.73,212.2,854.2,7.7,618,13184,0.00,1.92,0.00,0.000,6,0.000,0.142,3147,1597,2107,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13498,0.73,212.2,829.4,7.5,629,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1597,2109,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22314,end climb,SURFACE_DEPTH_REACHED
$STATE,22314,begin surface coast
$FINISH,1.6,1.011653
$STATE,22336,end surface coast,CONTROL_FINISHED_OK
$STATE,22336,begin surface
$SM_CCo,22360,-0.15,0.000,0,0,1564,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.47
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7580064
$24V_AH,13.1,210.438
$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
$DEVICE_SECS,23.175,186.275,580.550,0.000,0.000,0.000,0.000,451.075,0.000,0.000,19.964,3126.768,15641.816,972.901,2631.779,750.003,0.000,2602.108,0.000,2131.722,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.865,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,40016,1085
$CAP_FILE_SIZE,233872,0
$CFSIZE,260034560,183754752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,311.2,1
$GPS,120213,065104,2441.303,-3812.426,40,0.9,40,-14.0