version: 66.11
glider: 190
mission: 6
dive: 477
start: 2 6 113 13 56 9
data:
$ID,190
$MISSION,6
$DIVE,477
$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,-13515.929
$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,19
$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
$GPS1,060213,134435,2445.851,-3816.969,40,1.0,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-65.5
$GPS2,060213,135536,2445.840,-3816.948,19,1.1,19,-14.1
$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,191.9,46930,-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,-10.90,0.000,2,0.000,0.000,143,1511,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.6,0.0,1,144,11.38,2.10,-84.95,0.000,4,0.357,0.161,2614,457,3625,0,0,0,0,0,0,14.11,14.09,14.69
$GC,294,-0.84,-155.7,19.7,-10.3,27,303,0.00,1.98,0.00,0.000,6,0.000,0.083,2607,1534,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,606,-0.86,-155.7,51.5,-10.3,58,613,0.00,2.10,0.00,0.000,4,0.000,0.136,2607,456,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,665,-0.86,-155.7,57.9,-10.6,64,673,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1505,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,976,-0.89,-155.7,87.5,-9.2,95,983,0.00,2.03,0.00,0.000,4,0.000,0.136,2605,459,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1134,-0.89,-155.7,103.7,-9.5,111,1143,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1487,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1446,-0.93,-155.7,132.7,-9.5,142,1453,0.00,1.98,0.00,0.000,4,0.000,0.136,2605,458,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1487,-0.93,-155.7,136.6,-9.6,146,1493,0.00,1.83,0.00,0.000,6,0.000,0.079,2605,1476,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1796,-0.96,-155.7,165.5,-9.9,177,1804,0.00,2.03,0.00,0.000,4,0.000,0.099,2605,2577,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1845,-1.01,-155.7,170.4,-9.7,182,1853,0.10,2.10,0.00,0.000,6,0.078,0.111,2549,1485,3626,0,0,0,0,0,0,14.19,14.04,28.83
$GC,2156,-1.01,-155.7,206.0,-12.1,213,2163,0.00,1.98,0.00,0.000,4,0.000,0.135,2549,460,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2184,-1.01,-155.7,209.8,-12.2,216,2193,0.00,1.83,0.00,0.000,6,0.000,0.081,2548,1465,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2494,-1.01,-155.7,243.0,-9.4,247,2503,0.00,2.08,0.00,0.000,4,0.000,0.101,2548,2573,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2605,-1.01,-155.7,251.2,-8.9,256,2613,0.00,2.17,0.00,0.000,6,0.000,0.112,2549,1448,3626,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2914,-1.01,-155.7,278.4,-8.2,267,2922,0.00,1.95,0.00,0.000,4,0.000,0.135,2549,462,3627,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3066,-0.98,-155.7,292.0,-9.2,272,3071,0.00,1.73,0.00,0.000,6,0.000,0.081,2549,1436,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3394,-0.98,-155.7,323.2,-9.9,283,3402,0.00,2.12,0.00,0.000,4,0.000,0.105,2549,2572,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3433,-0.98,-155.7,326.1,-9.8,284,3442,0.00,2.22,0.00,0.000,6,0.000,0.113,2549,1429,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3756,-0.98,-155.7,359.6,-10.1,295,3762,0.00,1.88,0.00,0.000,4,0.000,0.134,2546,456,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3884,-0.98,-155.7,372.5,-10.8,299,3891,0.00,1.75,0.00,0.000,6,0.000,0.080,2548,1422,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4206,-0.98,-155.7,405.6,-10.1,310,4212,0.00,1.88,0.00,0.000,4,0.000,0.134,2549,459,3624,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4325,-0.98,-155.7,418.6,-10.8,314,4331,0.00,1.67,0.00,0.000,6,0.000,0.082,2548,1387,3623,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4656,-0.98,-155.7,452.7,-10.2,325,4661,0.00,1.83,0.00,0.000,4,0.000,0.137,2548,457,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4784,-0.98,-155.7,466.0,-11.1,329,4790,0.00,1.67,0.00,0.000,6,0.000,0.082,2549,1377,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5105,-0.98,-155.7,501.1,-10.7,340,5111,0.00,1.80,0.00,0.000,4,0.000,0.137,2548,463,3621,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5215,-0.98,-155.7,511.6,-11.4,343,5223,0.00,1.62,0.00,0.000,6,0.000,0.084,2549,1363,3621,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5525,-0.98,-155.7,546.2,-9.7,354,5531,0.00,1.80,0.00,0.000,4,0.000,0.139,2548,458,3620,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5615,-0.98,-155.7,554.6,-9.4,357,5621,0.00,1.60,0.00,0.000,6,0.000,0.086,2548,1332,3619,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5944,-0.98,-155.7,580.9,-7.9,368,5951,0.00,1.73,0.00,0.000,4,0.000,0.140,2548,460,3618,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6044,-0.98,-155.7,589.2,-9.1,371,6051,0.00,1.58,0.00,0.000,6,0.000,0.085,2548,1322,3618,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6366,-0.98,-155.7,623.8,-11.1,382,6371,0.00,1.70,0.00,0.000,4,0.000,0.142,2548,459,3618,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6424,-0.98,-155.7,631.0,-11.6,384,6431,0.00,1.55,0.00,0.000,6,0.000,0.086,2548,1310,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6756,-0.98,-155.7,668.9,-11.5,395,6762,0.00,1.70,0.00,0.000,4,0.000,0.142,2548,461,3615,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6845,-0.98,-155.7,679.5,-11.6,398,6851,0.00,1.52,0.00,0.000,6,0.000,0.085,2549,1299,3615,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7176,-0.98,-155.7,712.1,-9.4,409,7181,0.00,1.67,0.00,0.000,4,0.000,0.142,2548,462,3616,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7234,-0.98,-155.7,717.9,-9.4,411,7242,0.00,1.52,0.00,0.000,6,0.000,0.084,2545,1293,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7565,-0.98,-155.7,746.3,-8.6,422,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1293,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,-0.98,-155.7,773.5,-9.2,432,7871,0.00,1.65,0.00,0.000,4,0.000,0.144,2548,461,3611,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7943,-0.98,-155.7,779.5,-9.6,434,7947,0.00,1.50,0.00,0.000,6,0.000,0.084,2548,1282,3610,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8246,-0.98,-155.7,810.1,-9.5,444,8252,0.00,1.67,0.00,0.000,4,0.000,0.144,2548,459,3609,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8353,-0.98,-155.7,819.0,-9.8,447,8357,0.00,1.50,0.00,0.000,6,0.000,0.086,2548,1265,3608,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8655,-0.98,-155.7,850.0,-9.6,457,8662,0.00,1.62,0.00,0.000,4,0.000,0.144,2548,461,3607,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8735,-0.98,-155.7,856.0,-9.8,459,8743,0.00,1.45,0.00,0.000,6,0.000,0.086,2548,1248,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9045,-0.98,-155.7,886.9,-9.1,470,9051,0.00,1.60,0.00,0.000,4,0.000,0.146,2548,457,3605,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9153,-0.98,-155.7,895.3,-9.3,473,9157,0.00,1.40,0.00,0.000,6,0.000,0.085,2545,1216,3605,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9456,-0.98,-155.7,923.4,-8.6,483,9461,0.00,1.55,0.00,0.000,4,0.000,0.146,2545,459,3603,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9544,-0.98,-155.7,931.8,-9.2,486,9551,0.12,1.38,0.00,0.000,6,0.269,0.087,2571,1201,3603,0,0,0,0,0,0,13.87,14.17,28.83
$GC,9879,-1.01,-155.7,959.3,-8.6,497,9885,0.00,1.52,0.00,0.000,4,0.000,0.152,2571,450,3602,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9944,-1.04,-155.7,964.7,-8.8,499,9950,0.00,1.35,0.00,0.000,6,0.000,0.086,2568,1185,3600,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,10202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10202,begin apogee
$GC,10211,-0.23,0.0,990.1,-9.8,508,10372,0.85,0.00,155.27,1.819,4,0.190,0.000,2810,1519,2987,0,0,0,0,0,0,13.74,28.83,13.02
$STATE,10376,end apogee,CONTROL_FINISHED_OK
$STATE,10376,begin climb
$GC,10380,0.84,155.7,1002.4,0.0,513,10551,1.08,2.03,160.60,1.808,4,0.106,0.114,3162,2579,2354,0,0,0,0,0,0,14.15,14.10,13.06
$GC,10589,0.90,363.2,1009.2,0.6,521,10822,0.00,2.15,220.73,1.783,6,0.000,0.138,3169,1516,1503,0,0,0,0,0,0,28.83,14.14,13.09
$GC,11130,0.90,363.2,962.1,9.9,539,11137,0.00,2.15,0.00,0.000,4,0.000,0.171,3178,461,1487,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11311,0.90,363.2,942.8,10.8,545,11318,0.00,1.98,0.00,0.000,6,0.000,0.096,3177,1536,1487,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11643,0.90,363.2,907.1,10.7,556,11649,0.00,1.95,0.00,0.000,4,0.000,0.119,3178,2584,1487,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11810,0.90,363.2,890.6,11.0,561,11819,0.00,2.03,0.00,0.000,6,0.000,0.138,3182,1566,1486,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12121,0.90,363.2,855.6,10.3,572,12127,0.00,1.95,0.00,0.000,4,0.000,0.119,3182,2578,1486,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12200,0.90,363.2,849.4,10.3,574,12208,0.00,2.00,0.00,0.000,6,0.000,0.140,3189,1584,1486,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12512,0.90,363.2,816.9,9.6,585,12518,0.00,2.28,0.00,0.000,4,0.000,0.168,3197,458,1485,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12649,0.90,363.2,804.8,10.1,589,12658,0.00,2.17,0.00,0.000,6,0.000,0.096,3197,1626,1484,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12962,0.90,363.2,772.9,9.8,600,12968,0.00,1.80,0.00,0.000,4,0.000,0.118,3197,2580,1484,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13059,0.90,363.2,763.6,10.2,603,13066,0.00,1.90,0.00,0.000,6,0.000,0.137,3204,1637,1484,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13382,0.90,363.2,728.9,10.7,614,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1637,1484,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20707,end climb,SURFACE_DEPTH_REACHED
$STATE,20707,begin surface coast
$FINISH,1.5,1.025550
$STATE,20738,end surface coast,CONTROL_FINISHED_OK
$STATE,20738,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.08
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.80
$XPDR_PINGS,4
$SC_FREEKB,7587744
$24V_AH,13.0,202.545
$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
$DEVICE_SECS,23.025,163.325,536.600,0.000,0.000,0.000,0.000,368.950,1.000,0.000,19.771,2994.252,14494.901,899.175,2435.820,642.576,0.000,2379.899,0.000,2009.450,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.061,0.000,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,40048,1032
$CAP_FILE_SIZE,216312,0
$CFSIZE,260034560,185970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,321.0,1
$GPS,060213,194434,2445.136,-3816.883,41,0.8,41,-14.1