version: 66.11
glider: 190
mission: 6
dive: 498
start: 2 12 113 7 3 2
data:
$ID,190
$MISSION,6
$DIVE,498
$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,-13542.335
$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,5
$R_STBD_OVSHOOT,18
$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
$GPS1,120213,065104,2441.303,-3812.426,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-64.5
$GPS2,120213,070229,2441.315,-3812.444,19,1.0,19,-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,184.0,39256,-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,-10.90,0.000,2,0.000,0.000,138,1531,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,144,11.23,2.12,-86.85,0.000,4,0.347,0.158,2616,452,3625,0,0,0,0,0,0,14.09,14.09,14.66
$GC,285,-0.84,-155.7,17.3,-11.2,26,293,0.00,1.95,0.00,0.000,6,0.000,0.083,2610,1516,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,595,-0.86,-155.7,44.4,-8.5,57,604,0.00,2.15,0.00,0.000,4,0.000,0.140,2610,452,3625,0,0,0,0,0,0,28.83,13.92,28.83
$GC,676,-0.86,-155.7,52.1,-9.9,65,684,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1502,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,986,-0.89,-155.7,81.3,-9.3,96,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1502,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1296,-0.91,-155.7,111.3,-9.5,127,1303,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,448,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1354,-0.91,-155.7,117.4,-10.3,133,1364,0.00,1.92,0.00,0.000,6,0.000,0.081,2605,1497,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1666,-0.94,-155.7,148.5,-9.8,164,1673,0.00,2.05,0.00,0.000,4,0.000,0.136,2605,447,3626,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1754,-0.94,-155.7,158.1,-10.5,173,1763,0.00,1.92,0.00,0.000,6,0.000,0.077,2605,1498,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2065,-0.98,-155.7,187.9,-9.3,204,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1498,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-1.02,-155.7,214.7,-8.7,234,2374,0.12,2.05,0.00,0.000,4,0.140,0.133,2550,453,3626,0,0,0,0,0,0,14.53,13.97,28.83
$GC,2490,-0.99,-155.7,226.8,-10.0,246,2496,0.00,1.83,0.00,0.000,6,0.000,0.078,2549,1476,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2807,-0.99,-155.7,255.8,-8.6,274,2813,0.00,1.98,0.00,0.000,4,0.000,0.132,2549,455,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2865,-0.99,-155.7,261.1,-8.8,276,2872,0.00,1.83,0.00,0.000,6,0.000,0.079,2549,1462,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3196,-0.99,-155.7,288.9,-8.9,287,3203,0.00,1.98,0.00,0.000,4,0.000,0.134,2549,449,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3274,-0.99,-155.7,295.1,-9.7,289,3284,0.00,1.85,0.00,0.000,6,0.000,0.080,2549,1455,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3585,-0.99,-155.7,330.4,-10.9,300,3592,0.00,1.98,0.00,0.000,4,0.000,0.135,2549,453,3626,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3706,-0.99,-155.7,344.3,-11.6,304,3712,0.00,1.75,0.00,0.000,6,0.000,0.082,2549,1419,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4035,-0.99,-155.7,376.9,-9.2,315,4043,0.00,1.90,0.00,0.000,4,0.000,0.136,2549,459,3625,0,0,0,0,0,0,28.83,13.96,28.83
$GC,4135,-0.99,-155.7,385.5,-9.4,318,4142,0.00,1.73,0.00,0.000,6,0.000,0.083,2549,1411,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4455,-0.99,-155.7,416.5,-9.9,329,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1411,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4755,-0.99,-155.7,449.1,-11.2,339,4763,0.00,1.90,0.00,0.000,4,0.000,0.137,2549,456,3622,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4825,-0.99,-155.7,456.2,-11.6,341,4832,0.00,1.73,0.00,0.000,6,0.000,0.084,2549,1407,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5145,-0.99,-155.7,492.8,-10.8,352,5152,0.00,1.90,0.00,0.000,4,0.000,0.138,2549,450,3622,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5185,-0.99,-155.7,496.0,-10.7,353,5192,0.00,1.75,0.00,0.000,6,0.000,0.086,2549,1406,3621,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5505,-0.99,-155.7,529.3,-10.0,364,5512,0.00,1.90,0.00,0.000,4,0.000,0.140,2549,455,3622,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5595,-0.99,-155.7,538.6,-10.4,367,5603,0.00,1.73,0.00,0.000,6,0.000,0.087,2549,1392,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5927,-0.99,-155.7,571.1,-9.9,378,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1392,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6225,-0.99,-155.7,600.5,-9.6,388,6232,0.00,1.88,0.00,0.000,4,0.000,0.142,2549,455,3618,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6366,-0.99,-155.7,612.0,-9.6,392,6374,0.00,1.70,0.00,0.000,6,0.000,0.088,2549,1377,3617,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6675,-0.99,-155.7,640.6,-8.4,403,6683,0.00,1.85,0.00,0.000,4,0.000,0.143,2549,455,3616,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6784,-0.99,-155.7,648.7,-8.7,406,6792,0.00,1.67,0.00,0.000,6,0.000,0.090,2549,1360,3615,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7096,-0.99,-155.7,679.8,-9.9,417,7102,0.00,1.80,0.00,0.000,4,0.000,0.145,2549,456,3614,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7215,-0.99,-155.7,692.3,-10.4,421,7222,0.00,1.65,0.00,0.000,6,0.000,0.090,2549,1345,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7546,-0.99,-155.7,725.8,-10.2,432,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1345,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7846,-0.99,-155.7,756.0,-9.9,442,7852,0.00,1.80,0.00,0.000,4,0.000,0.146,2550,458,3611,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7906,-0.99,-155.7,762.1,-10.0,444,7912,0.00,1.62,0.00,0.000,6,0.000,0.090,2549,1334,3611,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8235,-0.99,-155.7,793.5,-9.2,455,8243,0.00,1.77,0.00,0.000,4,0.000,0.146,2550,456,3609,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8355,-0.99,-155.7,804.9,-9.5,459,8363,0.00,1.60,0.00,0.000,6,0.000,0.091,2549,1315,3609,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8690,-1.01,-155.7,834.6,-8.9,470,8696,0.00,2.45,0.00,0.000,4,0.000,0.119,2549,2581,3607,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8734,-1.03,-155.7,837.1,-8.8,471,8743,0.00,2.50,0.00,0.000,6,0.000,0.119,2549,1305,3607,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9050,-1.05,-155.7,867.3,-9.3,482,9055,0.00,1.67,0.00,0.000,4,0.000,0.135,2549,455,3606,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9144,-1.05,-155.7,876.6,-10.1,485,9147,0.00,1.55,0.00,0.000,6,0.000,0.083,2549,1304,3608,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9457,-1.05,-155.7,908.7,-10.2,496,9463,0.00,1.73,0.00,0.000,4,0.000,0.139,2549,452,3604,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9566,-1.05,-155.7,918.2,-10.5,499,9574,0.00,1.52,0.00,0.000,6,0.000,0.085,2549,1280,3604,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9879,-1.07,-155.7,952.2,-10.4,510,9886,0.00,2.47,0.00,0.000,4,0.000,0.112,2549,2572,3603,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9917,-1.10,-155.7,955.2,-10.4,511,9924,0.00,2.62,0.00,0.000,6,0.000,0.135,2549,1268,3603,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10239,-1.12,-155.7,988.4,-10.1,522,10245,0.00,1.65,0.00,0.000,4,0.000,0.149,2549,449,3602,0,0,0,0,0,0,28.83,13.80,28.83
$STATE,10263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10263,begin apogee
$GC,10274,-0.23,0.0,991.4,-10.1,523,10434,0.95,0.00,155.00,1.825,4,0.216,0.000,2806,1518,2988,0,0,0,0,0,0,13.68,28.83,13.01
$STATE,10438,end apogee,CONTROL_FINISHED_OK
$STATE,10438,begin climb
$GC,10441,0.84,155.7,1002.8,0.0,528,10613,1.10,2.05,160.57,1.795,4,0.112,0.119,3162,2580,2354,0,0,0,0,0,0,14.14,14.11,13.08
$GC,10844,0.81,189.9,996.0,6.1,542,10890,0.00,2.10,36.38,1.742,6,0.000,0.144,3170,1514,2207,0,0,0,0,0,0,28.83,14.19,13.25
$GC,11193,0.77,189.9,969.1,7.8,554,11199,0.12,2.12,0.00,0.000,4,0.288,0.163,3151,455,2199,0,0,0,0,0,0,14.19,14.16,28.83
$GC,11322,0.74,189.9,959.6,7.9,558,11329,0.00,2.03,0.00,0.000,6,0.000,0.098,3151,1536,2197,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11647,0.71,189.9,933.6,7.7,569,11652,0.12,1.98,0.00,0.000,4,0.303,0.114,3120,2581,2195,0,0,0,0,0,0,14.09,14.27,28.83
$GC,11835,0.72,194.2,920.6,7.0,575,11841,0.00,2.05,0.00,0.000,6,0.000,0.142,3128,1548,2194,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12156,0.74,238.8,900.1,5.8,586,12212,0.00,2.05,51.17,1.729,4,0.000,0.126,3127,2580,2010,0,0,0,0,0,0,28.83,14.26,13.26
$GC,12382,0.76,270.6,886.1,6.2,594,12422,0.00,2.03,34.85,1.688,6,0.000,0.143,3134,1572,1884,0,0,0,0,0,0,28.83,14.09,13.24
$GC,12732,0.77,288.3,863.5,6.6,606,12755,0.00,2.30,17.65,1.624,4,0.000,0.174,3142,457,1811,0,0,0,0,0,0,28.83,14.31,13.33
$GC,12917,0.77,288.3,850.7,7.5,611,12922,0.00,2.10,0.00,0.000,6,0.000,0.098,3142,1611,1802,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13234,0.77,288.3,824.9,8.1,622,13240,0.00,2.40,0.00,0.000,4,0.000,0.171,3151,457,1801,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13385,0.77,288.3,812.0,8.7,627,13392,0.00,2.17,0.00,0.000,6,0.000,0.099,3150,1646,1801,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13717,0.77,288.3,783.6,8.7,638,13722,0.00,1.80,0.00,0.000,4,0.000,0.125,3150,2583,1799,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13865,0.77,288.3,770.5,8.6,643,13871,0.00,1.88,0.00,0.000,6,0.000,0.139,3157,1656,1799,0,0,0,0,0,0,28.83,14.02,28.83
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$STATE,22348,end climb,SURFACE_DEPTH_REACHED
$STATE,22348,begin surface coast
$FINISH,1.6,1.009514
$STATE,22379,end surface coast,CONTROL_FINISHED_OK
$STATE,22380,begin surface
$SM_CCo,22405,7.32,0.132,0,0,1562,350.04
$SM_GC,3.25,8.85,1.98,7.32,0.067,0.082,0.132,146,1529,1562,-8.52,-0.42,350.04,0,0,0,0,0,0,14.23,14.18,14.14
$IRIDIUM_FIX,2432.32,-3744.38,120213,000037
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.15
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,3
$SC_FREEKB,7579680
$24V_AH,13.0,210.829
$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,22.975,194.975,528.125,7.325,0.000,0.000,0.000,389.750,0.750,0.000,20.029,3229.715,15593.450,903.966,2621.729,737.525,0.000,2481.202,0.000,2187.366,0.000,0.540,0.000
$DEVICE_MAMPS,347.310,174.420,1825.290,131.580,0.000,0.000,0.000,165.240,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.949,0.000,0.000,0.000
$MEM,344876
$DATA_FILE_SIZE,39979,1100
$CAP_FILE_SIZE,238818,0
$CFSIZE,260034560,183640064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,320.4,1
$GPS,120213,131758,2441.107,-3812.817,37,0.9,37,-14.0