version: 66.11
glider: 190
mission: 6
dive: 476
start: 2 6 113 7 22 13
data:
$ID,190
$MISSION,6
$DIVE,476
$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,-13514.671
$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
$GPS1,060213,071029,2446.530,-3817.173,37,1.0,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-64.4
$GPS2,060213,072141,2446.586,-3817.151,15,1.2,15,-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,207.3,48314,-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,-11.05,0.000,2,0.000,0.000,141,1515,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,144,11.18,2.12,-83.18,0.000,4,0.350,0.159,2613,454,3626,0,0,0,0,0,0,14.09,14.01,14.69
$GC,336,-0.84,-155.7,23.6,-9.3,31,344,0.00,1.95,0.00,0.000,6,0.000,0.084,2607,1518,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,648,-0.86,-155.7,58.2,-11.8,62,654,0.00,2.08,0.00,0.000,4,0.000,0.136,2607,459,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,726,-0.86,-155.7,66.0,-10.0,70,734,0.00,1.88,0.00,0.000,6,0.000,0.079,2605,1500,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1037,-0.89,-155.7,96.4,-10.4,101,1045,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,453,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1179,-0.89,-155.7,111.7,-10.8,115,1186,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1476,3625,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1487,-0.91,-155.7,139.0,-8.2,146,1494,0.00,2.00,0.00,0.000,4,0.000,0.135,2605,463,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1567,-0.91,-155.7,145.8,-8.4,154,1574,0.00,1.75,0.00,0.000,6,0.000,0.078,2605,1450,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1878,-0.95,-155.7,165.6,-6.0,185,1885,0.00,1.92,0.00,0.000,4,0.000,0.134,2605,459,3627,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2077,-0.97,-155.7,179.9,-7.5,205,2085,0.00,1.70,0.00,0.000,6,0.000,0.076,2605,1407,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2388,-1.01,-155.7,204.2,-8.9,236,2395,0.12,1.83,0.00,0.000,4,0.134,0.132,2544,459,3627,0,0,0,0,0,0,14.52,14.05,28.83
$GC,2536,-0.97,-155.7,221.8,-12.6,251,2544,0.10,1.67,0.00,0.000,6,0.223,0.080,2569,1382,3626,0,0,0,0,0,0,13.93,14.22,28.83
$GC,2866,-0.97,-155.7,262.3,-12.6,278,2872,0.00,1.80,0.00,0.000,4,0.000,0.133,2569,461,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3004,-0.97,-155.7,277.9,-13.1,282,3008,0.00,1.62,0.00,0.000,6,0.000,0.077,2566,1368,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3307,-0.97,-155.7,313.0,-10.0,292,3312,0.00,1.77,0.00,0.000,4,0.000,0.133,2566,453,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3414,-0.97,-155.7,321.8,-9.8,295,3418,0.00,1.60,0.00,0.000,6,0.000,0.077,2564,1344,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3717,-0.97,-155.7,349.5,-8.4,305,3722,0.00,1.73,0.00,0.000,4,0.000,0.135,2564,463,3623,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3825,-0.97,-155.7,357.3,-8.6,308,3833,0.00,1.55,0.00,0.000,6,0.000,0.079,2558,1326,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4137,-0.97,-155.7,387.6,-9.5,319,4143,0.00,1.70,0.00,0.000,4,0.000,0.133,2559,457,3624,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4305,-0.97,-155.7,402.9,-10.2,324,4313,0.00,1.52,0.00,0.000,6,0.000,0.079,2554,1306,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4617,-0.97,-155.7,433.4,-8.8,335,4623,0.00,1.65,0.00,0.000,4,0.000,0.136,2555,465,3623,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4665,-0.97,-155.7,436.0,-8.8,336,4673,0.00,1.48,0.00,0.000,6,0.000,0.080,2553,1285,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4976,-0.97,-155.7,465.8,-9.3,347,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1285,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,-0.97,-155.7,496.0,-10.6,357,5282,0.00,1.62,0.00,0.000,4,0.000,0.137,2552,461,3621,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5314,-0.97,-155.7,499.5,-10.8,358,5318,0.00,1.48,0.00,0.000,6,0.000,0.081,2553,1277,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5627,-0.97,-155.7,536.7,-11.9,369,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1277,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5927,-0.97,-155.7,569.6,-10.6,379,5933,0.00,1.62,0.00,0.000,4,0.000,0.140,2553,459,3618,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6005,-0.97,-155.7,575.8,-10.4,381,6008,0.00,1.48,0.00,0.000,6,0.000,0.083,2553,1271,3618,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6308,-0.97,-155.7,604.3,-8.3,391,6313,0.00,1.58,0.00,0.000,4,0.000,0.142,2553,459,3617,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6375,-0.97,-155.7,609.4,-8.4,393,6378,0.00,1.45,0.00,0.000,6,0.000,0.083,2553,1251,3618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6687,-0.97,-155.7,635.7,-8.3,404,6694,0.00,2.50,0.00,0.000,4,0.000,0.108,2552,2566,3616,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6737,-0.97,-155.7,637.9,-8.2,405,6747,0.00,2.58,0.00,0.000,6,0.000,0.122,2553,1256,3616,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7047,-0.97,-155.7,665.6,-8.4,416,7054,0.00,1.58,0.00,0.000,4,0.000,0.140,2552,460,3615,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7217,-0.97,-155.7,679.8,-9.5,421,7227,0.00,1.42,0.00,0.000,6,0.000,0.086,2552,1235,3614,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7527,-0.97,-155.7,710.0,-9.2,432,7534,0.00,2.55,0.00,0.000,4,0.000,0.111,2552,2570,3612,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7576,-0.97,-155.7,712.9,-9.3,433,7586,0.00,2.67,0.00,0.000,6,0.000,0.122,2552,1216,3612,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7888,-0.97,-155.7,744.1,-9.6,444,7894,0.00,1.52,0.00,0.000,4,0.000,0.148,2552,457,3612,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8007,-0.97,-155.7,756.1,-10.0,448,8014,0.00,1.40,0.00,0.000,6,0.000,0.086,2552,1220,3611,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8338,-0.97,-155.7,787.1,-9.1,459,8345,0.00,1.55,0.00,0.000,4,0.000,0.148,2552,457,3610,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8397,-0.97,-155.7,792.7,-9.1,461,8403,0.00,1.38,0.00,0.000,6,0.000,0.086,2552,1205,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8727,-0.97,-155.7,820.7,-8.5,472,8734,0.00,2.62,0.00,0.000,4,0.000,0.113,2552,2566,3608,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8798,-0.99,-155.7,825.8,-8.6,474,8804,0.00,2.67,0.00,0.000,6,0.000,0.125,2552,1191,3608,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9120,-1.02,-155.7,854.6,-8.7,485,9125,0.00,1.50,0.00,0.000,4,0.000,0.151,2552,457,3606,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9188,-1.02,-155.7,860.0,-8.8,487,9194,0.00,1.33,0.00,0.000,6,0.000,0.087,2552,1188,3606,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9511,-1.04,-155.7,888.5,-8.5,498,9516,0.00,2.67,0.00,0.000,4,0.000,0.115,2552,2576,3604,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9588,-1.06,-155.7,893.6,-8.6,500,9595,0.00,2.75,0.00,0.000,6,0.000,0.125,2552,1185,3604,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9900,-1.09,-155.7,923.0,-9.3,511,9906,0.00,1.48,0.00,0.000,4,0.000,0.153,2552,465,3603,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9976,-1.09,-155.7,929.1,-9.8,513,9979,0.00,1.35,0.00,0.000,6,0.000,0.089,2552,1196,3603,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10278,-1.09,-155.7,961.5,-10.3,523,10284,0.00,2.65,0.00,0.000,4,0.000,0.114,2552,2578,3602,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10356,-1.11,-155.7,967.5,-10.2,525,10365,0.00,2.75,0.00,0.000,6,0.000,0.127,2552,1196,3602,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,10574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10574,begin apogee
$GC,10583,-0.23,0.0,992.5,-10.6,533,10745,0.93,0.00,155.88,1.820,4,0.200,0.000,2810,1524,2986,0,0,0,0,0,0,13.71,28.83,13.00
$STATE,10749,end apogee,CONTROL_FINISHED_OK
$STATE,10749,begin climb
$GC,10753,0.84,155.7,1004.2,0.0,538,10924,1.08,2.03,161.05,1.808,4,0.108,0.116,3159,2585,2355,0,0,0,0,0,0,14.15,14.11,13.06
$GC,11154,0.81,182.1,996.8,6.3,552,11191,0.00,2.12,28.00,1.739,6,0.000,0.140,3166,1522,2242,0,0,0,0,0,0,28.83,14.18,13.26
$GC,11504,0.77,182.1,969.6,7.8,564,11510,0.00,2.17,0.00,0.000,4,0.000,0.171,3174,460,2234,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11624,0.72,182.1,959.9,8.1,568,11631,0.17,1.98,0.00,0.000,6,0.277,0.097,3129,1533,2233,0,0,0,0,0,0,13.97,14.31,28.83
$GC,11959,0.73,191.5,936.5,6.9,579,11966,0.00,2.03,3.05,0.929,4,0.000,0.122,3128,2578,2208,0,0,0,0,0,0,28.83,14.40,13.32
$GC,12195,0.74,207.6,920.8,6.7,587,12226,0.00,2.03,25.83,1.743,6,0.000,0.135,3136,1557,2143,0,0,0,0,0,0,28.83,14.15,13.33
$GC,12536,0.76,241.1,898.5,6.1,599,12577,0.00,2.00,36.05,1.741,4,0.000,0.124,3136,2573,2004,0,0,0,0,0,0,28.83,14.31,13.29
$GC,12785,0.76,246.2,882.8,7.0,607,12794,0.00,2.03,0.00,0.000,6,0.000,0.136,3144,1570,1993,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13096,0.76,246.2,858.9,7.4,618,13102,0.00,1.95,0.00,0.000,4,0.000,0.122,3144,2577,1993,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13256,0.76,246.2,847.1,7.8,623,13262,0.00,1.98,0.00,0.000,6,0.000,0.137,3151,1589,1992,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13576,0.76,246.2,822.6,7.2,634,13582,0.00,1.92,0.00,0.000,4,0.000,0.122,3151,2576,1991,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13706,0.76,246.2,814.1,7.2,638,13713,0.00,1.92,0.00,0.000,6,0.000,0.137,3158,1614,1991,0,0,0,0,0,0,28.83,14.04,28.83
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$STATE,22785,end climb,SURFACE_DEPTH_REACHED
$STATE,22785,begin surface coast
$FINISH,1.5,1.001915
$STATE,22816,end surface coast,CONTROL_FINISHED_OK
$STATE,22816,begin surface
$SM_CCo,22839,15.85,0.126,0,0,1561,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,59.37
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7588128
$24V_AH,13.0,202.138
$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
$DEVICE_SECS,22.800,185.250,490.925,15.850,0.000,0.000,0.000,380.300,0.500,0.000,16.443,3324.864,15892.309,894.722,2689.637,712.217,0.000,2489.967,0.000,2261.554,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.963,0.000,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,43294,1128
$CAP_FILE_SIZE,241238,0
$CFSIZE,260034560,186052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,355.0,1
$GPS,060213,134435,2445.851,-3816.969,40,1.0,40,-14.1