version: 66.11
glider: 190
mission: 6
dive: 502
start: 2 13 113 12 26 12
data:
$ID,190
$MISSION,6
$DIVE,502
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,-13547.366
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,17
$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,2694
$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
$GPS1,130213,121059,2441.999,-3813.871,41,0.8,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-67.1
$GPS2,130213,122542,2442.025,-3813.910,21,0.8,21,-14.0
$SPEED_LIMITS,0.123,0.130
$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,156.1,40169,-16.1,-7.101,-28.69
$D_GRID,980
$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,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.77,0.000,2,0.000,0.000,138,1518,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,11.25,2.08,-84.65,0.000,4,0.356,0.151,2577,463,3329,0,0,0,0,0,0,14.09,14.02,14.69
$GC,285,-0.84,-155.7,16.8,-9.5,26,292,0.00,1.90,0.00,0.000,6,0.000,0.076,2571,1519,3330,0,0,0,0,0,0,28.83,14.16,28.83
$GC,595,-0.80,-155.7,44.2,-8.8,57,604,0.15,2.08,0.00,0.000,4,0.255,0.132,2607,458,3330,0,0,0,0,0,0,13.99,13.98,28.83
$GC,647,-0.76,-155.7,48.9,-9.4,62,654,0.00,1.92,0.00,0.000,6,0.000,0.081,2605,1526,3330,0,0,0,0,0,0,28.83,14.21,28.83
$GC,955,-0.76,-155.7,75.4,-8.5,93,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1526,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1254,-0.76,-155.7,101.1,-8.5,123,1263,0.00,2.12,0.00,0.000,4,0.000,0.132,2605,458,3330,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1389,-0.73,-155.7,113.1,-9.5,136,1395,0.00,1.90,0.00,0.000,6,0.000,0.080,2604,1516,3330,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1696,-0.73,-155.7,139.0,-8.3,167,1703,0.00,2.05,0.00,0.000,4,0.000,0.133,2605,456,3330,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1794,-0.73,-155.7,147.3,-8.3,177,1804,0.00,1.88,0.00,0.000,6,0.000,0.078,2605,1491,3330,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2105,-0.73,-155.7,169.9,-7.6,208,2113,0.00,2.03,0.00,0.000,4,0.000,0.131,2605,456,3330,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2196,-0.73,-155.7,176.8,-7.7,217,2204,0.00,1.83,0.00,0.000,6,0.000,0.079,2605,1475,3330,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2506,-0.73,-155.7,199.9,-7.6,248,2513,0.00,1.98,0.00,0.000,4,0.000,0.132,2605,460,3330,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2657,-0.73,-155.7,211.7,-7.7,263,2664,0.00,1.75,0.00,0.000,6,0.000,0.078,2604,1458,3330,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2965,-0.73,-155.7,233.5,-6.8,294,2973,0.00,1.95,0.00,0.000,4,0.000,0.132,2604,464,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3098,-0.73,-155.7,242.9,-7.3,307,3105,0.00,1.73,0.00,0.000,6,0.000,0.077,2605,1436,3329,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3415,-0.73,-155.7,265.6,-7.4,325,3423,0.00,1.92,0.00,0.000,4,0.000,0.132,2605,461,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3545,-0.73,-155.7,275.5,-8.2,329,3551,0.00,1.70,0.00,0.000,6,0.000,0.079,2604,1411,3329,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3865,-0.73,-155.7,304.2,-8.9,340,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1411,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-0.73,-155.7,331.2,-8.8,350,4172,0.00,2.17,0.00,0.000,4,0.000,0.102,2605,2572,3327,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4194,-0.73,-155.7,333.6,-8.6,351,4201,0.00,2.25,0.00,0.000,6,0.000,0.116,2604,1411,3328,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4528,-0.73,-155.7,357.6,-6.8,362,4533,0.00,1.83,0.00,0.000,4,0.000,0.135,2604,459,3327,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4739,-0.73,-155.7,371.1,-6.3,369,4745,0.00,1.67,0.00,0.000,6,0.000,0.082,2605,1383,3327,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5068,-0.73,-155.7,390.9,-6.2,380,5074,0.00,1.83,0.00,0.000,4,0.000,0.135,2605,463,3326,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5195,-0.73,-155.7,399.2,-6.9,384,5201,0.00,1.62,0.00,0.000,6,0.000,0.082,2605,1365,3325,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5515,-0.73,-155.7,424.7,-8.1,395,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1365,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.76,-155.7,450.4,-8.7,405,5823,0.00,1.80,0.00,0.000,4,0.000,0.135,2605,462,3324,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5954,-0.76,-155.7,461.5,-9.3,409,5962,0.00,1.62,0.00,0.000,6,0.000,0.081,2604,1355,3323,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6270,-0.78,-155.7,490.4,-8.6,420,6275,0.00,1.75,0.00,0.000,4,0.000,0.136,2605,456,3323,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6363,-0.78,-155.7,498.4,-8.8,423,6370,0.00,1.60,0.00,0.000,6,0.000,0.083,2605,1339,3322,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6686,-0.78,-155.7,525.8,-8.1,434,6691,0.00,1.73,0.00,0.000,4,0.000,0.138,2605,457,3321,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6824,-0.78,-155.7,535.8,-8.3,438,6832,0.00,1.55,0.00,0.000,6,0.000,0.083,2604,1315,3320,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7139,-0.80,-155.7,559.7,-6.9,449,7145,0.00,2.40,0.00,0.000,4,0.000,0.108,2605,2584,3319,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7206,-0.82,-155.7,563.5,-6.6,451,7211,0.00,2.47,0.00,0.000,6,0.000,0.119,2605,1305,3319,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7528,-0.84,-155.7,585.2,-6.7,462,7533,0.00,1.67,0.00,0.000,4,0.000,0.140,2604,455,3316,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7695,-0.84,-155.7,596.1,-7.3,467,7704,0.00,1.52,0.00,0.000,6,0.000,0.083,2605,1298,3318,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8008,-0.87,-155.7,620.6,-7.7,478,8013,0.00,2.40,0.00,0.000,4,0.000,0.107,2605,2573,3317,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8115,-0.89,-155.7,627.5,-7.7,481,8123,0.00,2.47,0.00,0.000,6,0.000,0.120,2605,1318,3316,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8429,-0.92,-155.7,656.8,-9.5,492,8434,0.00,2.40,0.00,0.000,4,0.000,0.107,2604,2579,3312,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8535,-0.95,-155.7,664.7,-8.9,495,8544,0.08,2.42,0.00,0.000,6,0.099,0.119,2553,1342,3315,0,0,0,0,0,0,14.08,13.90,28.83
$GC,8847,-0.95,-155.7,696.4,-9.6,506,8852,0.00,1.73,0.00,0.000,4,0.000,0.142,2553,459,3314,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8975,-0.91,-155.7,708.4,-10.0,510,8983,0.00,1.58,0.00,0.000,6,0.000,0.085,2549,1327,3313,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9295,-0.91,-155.7,738.5,-8.8,521,9302,0.00,2.38,0.00,0.000,4,0.000,0.108,2542,2567,3312,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9344,-0.91,-155.7,741.1,-8.8,522,9353,0.10,2.42,0.00,0.000,6,0.213,0.119,2570,1334,3312,0,0,0,0,0,0,13.72,13.89,28.83
$GC,9659,-0.91,-155.7,767.1,-7.8,533,9665,0.00,1.75,0.00,0.000,4,0.000,0.141,2571,457,3311,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9764,-0.91,-155.7,774.3,-8.0,536,9772,0.00,1.60,0.00,0.000,6,0.000,0.083,2565,1329,3310,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10076,-0.91,-155.7,800.5,-8.0,547,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1329,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10375,-0.91,-155.7,823.9,-7.6,557,10382,0.00,1.75,0.00,0.000,4,0.000,0.142,2566,459,3308,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10505,-0.91,-155.7,833.8,-8.2,561,10512,0.00,1.58,0.00,0.000,6,0.000,0.085,2561,1318,3308,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10825,-0.91,-155.7,860.1,-7.9,572,10831,0.00,1.73,0.00,0.000,4,0.000,0.142,2561,463,3307,0,0,0,0,0,0,28.83,13.73,28.83
$GC,10923,-0.91,-155.7,867.7,-8.3,575,10927,0.00,1.55,0.00,0.000,6,0.000,0.083,2555,1306,3306,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11237,-0.91,-155.7,895.4,-8.9,586,11242,0.00,2.40,0.00,0.000,4,0.000,0.112,2553,2570,3305,0,0,0,0,0,0,28.83,13.92,28.83
$GC,11266,-0.91,-155.7,898.1,-8.8,587,11272,0.00,2.53,0.00,0.000,6,0.000,0.122,2553,1297,3305,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11600,-0.91,-155.7,927.6,-9.0,598,11605,0.00,1.70,0.00,0.000,4,0.000,0.147,2553,456,3306,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11747,-0.88,-155.7,941.8,-9.6,603,11753,0.10,1.55,0.00,0.000,6,0.263,0.088,2578,1288,3304,0,0,0,0,0,0,13.56,14.00,28.83
$GC,12080,-0.88,-155.7,969.6,-8.2,614,12085,0.00,2.50,0.00,0.000,4,0.000,0.115,2576,2574,3303,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12175,-0.88,-155.7,976.6,-7.8,617,12183,0.00,2.60,0.00,0.000,6,0.000,0.126,2577,1288,3303,0,0,0,0,0,0,28.83,13.82,28.83
$STATE,12222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12222,begin apogee
$GC,12231,-0.25,0.0,981.2,-7.7,619,12393,0.75,0.00,156.10,1.825,4,0.215,0.000,2781,1517,2689,0,0,0,0,0,0,13.65,28.83,12.99
$STATE,12399,end apogee,CONTROL_FINISHED_OK
$STATE,12399,begin climb
$GC,12402,0.90,155.7,987.9,0.0,624,12577,1.23,2.05,164.43,1.819,4,0.140,0.119,3159,2584,2059,0,0,0,0,0,0,14.11,14.10,13.04
$GC,12606,0.87,184.4,980.9,6.2,631,12645,0.00,2.12,31.35,1.727,6,0.000,0.138,3166,1527,1937,0,0,0,0,0,0,28.83,14.11,13.13
$GC,12949,0.84,184.4,950.3,8.4,643,12955,0.00,2.03,0.00,0.000,4,0.000,0.125,3167,2576,1923,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13026,0.82,184.4,945.3,8.4,645,13035,0.12,2.08,0.00,0.000,6,0.269,0.135,3142,1532,1923,0,0,0,0,0,0,13.99,14.19,28.83
$GC,13339,0.82,186.6,921.3,7.0,656,13344,0.00,1.98,0.00,0.000,4,0.000,0.116,3141,2581,1921,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13437,0.82,189.8,915.0,7.0,659,13442,0.00,2.08,0.00,0.000,6,0.000,0.145,3149,1550,1921,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,24473,end climb,SURFACE_DEPTH_REACHED
$STATE,24474,begin surface coast
$FINISH,1.5,0.000000
$STATE,24496,end surface coast,CONTROL_FINISHED_OK
$STATE,24496,begin surface
$SM_CCo,24521,38.80,0.125,0,0,1265,350.04
$SM_GC,2.51,9.02,1.95,38.80,0.082,0.081,0.125,144,1526,1265,-8.46,-0.48,350.04,0,0,0,0,0,0,14.27,14.19,14.23
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.42
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7578272
$24V_AH,13.0,212.525
$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,23.300,203.275,441.350,38.800,0.000,0.000,0.000,510.125,0.500,0.000,22.682,3529.648,17172.342,918.963,2928.391,847.546,0.000,2710.397,0.000,2365.755,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,151.470,1825.290,125.460,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.135,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,46672,1217
$CAP_FILE_SIZE,259269,0
$CFSIZE,260034560,183123968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,310.9,1
$GPS,130213,191658,2441.888,-3813.422,40,0.8,40,-14.0