version: 66.11
glider: 190
mission: 6
dive: 479
start: 2 7 113 2 34 39
data:
$ID,190
$MISSION,6
$DIVE,479
$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,-13518.444
$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,9
$R_STBD_OVSHOOT,15
$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
$GPS1,070213,022223,2444.805,-3816.086,40,1.0,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-63.8
$GPS2,070213,023406,2444.785,-3816.107,21,1.0,21,-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,185.9,44994,-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,-11.02,0.000,2,0.000,0.000,140,1520,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.6,0.0,1,144,11.23,2.10,-85.20,0.000,4,0.351,0.159,2612,463,3627,0,0,0,0,0,0,14.11,14.09,14.69
$GC,234,-0.84,-155.7,12.0,-9.8,21,244,0.00,1.98,0.00,0.000,6,0.000,0.083,2605,1531,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,545,-0.86,-155.7,45.7,-10.9,52,553,0.00,2.12,0.00,0.000,4,0.000,0.136,2605,460,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,615,-0.86,-155.7,53.7,-11.9,59,623,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1501,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,927,-0.88,-155.7,82.8,-9.3,90,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1501,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-0.92,-155.7,110.7,-8.4,121,1243,0.00,2.05,0.00,0.000,4,0.000,0.134,2605,456,3626,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1334,-0.92,-155.7,119.4,-8.7,131,1343,0.00,1.92,0.00,0.000,6,0.000,0.079,2605,1507,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1647,-0.95,-155.7,144.3,-8.0,162,1653,0.00,2.05,0.00,0.000,4,0.000,0.134,2605,458,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1704,-0.95,-155.7,149.7,-8.8,168,1713,0.00,1.88,0.00,0.000,6,0.000,0.076,2605,1501,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2015,-0.99,-155.7,175.7,-9.1,199,2023,0.12,2.05,0.00,0.000,4,0.135,0.133,2550,459,3628,0,0,0,0,0,0,14.43,13.96,28.83
$GC,2096,-0.96,-155.7,184.9,-12.0,207,2103,0.12,1.80,0.00,0.000,6,0.269,0.081,2577,1469,3627,0,0,0,0,0,0,13.98,14.22,28.83
$GC,2409,-0.98,-155.7,216.3,-9.8,238,2416,0.00,1.98,0.00,0.000,4,0.000,0.132,2577,450,3628,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2548,-0.98,-155.7,230.6,-10.0,252,2554,0.00,1.75,0.00,0.000,6,0.000,0.076,2574,1447,3628,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2875,-1.00,-155.7,262.3,-9.9,277,2883,0.00,1.92,0.00,0.000,4,0.000,0.129,2574,463,3628,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2935,-1.00,-155.7,268.5,-10.0,279,2942,0.00,1.77,0.00,0.000,6,0.000,0.079,2568,1437,3628,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3266,-1.00,-155.7,301.9,-10.1,290,3272,0.00,1.88,0.00,0.000,4,0.000,0.130,2568,458,3627,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3394,-1.00,-155.7,314.0,-10.1,294,3402,0.00,1.73,0.00,0.000,6,0.000,0.076,2565,1416,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3717,-1.00,-155.7,343.4,-8.5,305,3723,0.00,1.85,0.00,0.000,4,0.000,0.132,2565,452,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3754,-1.00,-155.7,346.0,-8.5,306,3757,0.00,1.73,0.00,0.000,6,0.000,0.078,2561,1406,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4067,-1.00,-155.7,374.6,-9.0,317,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1407,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,-1.00,-155.7,403.9,-10.3,327,4373,0.00,2.12,0.00,0.000,4,0.000,0.100,2553,2568,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4415,-1.00,-155.7,407.0,-10.3,328,4424,0.00,2.28,0.00,0.000,6,0.000,0.113,2553,1391,3624,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4728,-1.00,-155.7,442.9,-10.9,339,4733,0.00,1.77,0.00,0.000,4,0.000,0.130,2554,457,3623,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4865,-1.00,-155.7,456.6,-11.4,343,4873,0.00,1.67,0.00,0.000,6,0.000,0.081,2553,1385,3623,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5178,-1.00,-155.7,492.3,-10.7,354,5183,0.00,2.20,0.00,0.000,4,0.000,0.106,2549,2568,3622,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5215,-1.00,-155.7,495.3,-10.6,355,5223,0.00,2.30,0.00,0.000,6,0.000,0.115,2550,1381,3621,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5536,-1.00,-155.7,527.2,-8.9,366,5543,0.00,1.80,0.00,0.000,4,0.000,0.135,2550,462,3621,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5597,-1.00,-155.7,532.6,-9.0,368,5604,0.00,1.65,0.00,0.000,6,0.000,0.081,2549,1377,3620,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5927,-1.00,-155.7,560.8,-8.5,379,5933,0.00,1.80,0.00,0.000,4,0.000,0.137,2549,462,3619,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6006,-1.00,-155.7,566.4,-9.0,381,6014,0.00,1.65,0.00,0.000,6,0.000,0.081,2549,1371,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6317,-1.00,-155.7,596.8,-9.5,392,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1371,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6616,-1.00,-155.7,629.9,-11.7,402,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1372,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6917,-1.00,-155.7,666.5,-12.2,412,6924,0.00,1.83,0.00,0.000,4,0.000,0.138,2549,457,3616,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7007,-1.00,-155.7,677.6,-12.3,415,7013,0.00,1.62,0.00,0.000,6,0.000,0.084,2549,1349,3615,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7338,-1.00,-155.7,711.9,-9.6,426,7343,0.00,1.75,0.00,0.000,4,0.000,0.142,2549,459,3614,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7446,-1.00,-155.7,720.6,-9.6,429,7454,0.00,1.60,0.00,0.000,6,0.000,0.084,2549,1338,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7756,-1.00,-155.7,749.1,-8.4,440,7764,0.00,2.35,0.00,0.000,4,0.000,0.110,2549,2566,3611,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7837,-1.02,-155.7,754.2,-8.4,442,7845,0.00,2.38,0.00,0.000,6,0.000,0.119,2549,1352,3611,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8146,-1.02,-155.7,784.8,-9.8,453,8153,0.00,1.77,0.00,0.000,4,0.000,0.142,2549,460,3610,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8216,-1.02,-155.7,790.9,-10.0,455,8223,0.00,1.60,0.00,0.000,6,0.000,0.084,2549,1342,3610,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8536,-1.02,-155.7,824.5,-10.2,466,8543,0.00,2.35,0.00,0.000,4,0.000,0.111,2549,2568,3608,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8596,-1.05,-155.7,830.3,-9.9,468,8604,0.00,2.40,0.00,0.000,6,0.000,0.120,2549,1348,3608,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8931,-1.07,-155.7,860.7,-8.8,479,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1348,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9226,-1.09,-155.7,885.6,-8.2,489,9233,0.00,1.77,0.00,0.000,4,0.000,0.143,2549,462,3606,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9257,-1.09,-155.7,888.2,-8.2,490,9263,0.00,1.62,0.00,0.000,6,0.000,0.086,2549,1348,3606,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9586,-1.09,-155.7,915.7,-8.5,501,9593,0.00,2.35,0.00,0.000,4,0.000,0.112,2549,2565,3603,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9686,-1.12,-155.7,923.4,-8.6,504,9693,0.00,2.38,0.00,0.000,6,0.000,0.122,2549,1368,3603,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10011,-1.14,-155.7,955.1,-10.0,515,10016,0.00,1.83,0.00,0.000,4,0.000,0.147,2549,460,3602,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10075,-1.14,-155.7,961.6,-10.3,517,10083,0.00,1.67,0.00,0.000,6,0.000,0.087,2549,1364,3602,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,10363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10363,begin apogee
$GC,10372,-0.23,0.0,992.5,-10.3,527,10534,0.95,0.00,155.57,1.816,4,0.203,0.000,2811,1514,2988,0,0,0,0,0,0,13.68,28.83,13.00
$STATE,10538,end apogee,CONTROL_FINISHED_OK
$STATE,10538,begin climb
$GC,10541,0.84,155.7,1004.2,0.0,532,10713,1.08,2.05,161.12,1.800,4,0.110,0.116,3160,2583,2354,0,0,0,0,0,0,14.15,14.11,13.07
$GC,10801,0.84,263.6,1007.6,3.8,541,10920,0.00,2.15,114.18,1.776,6,0.000,0.139,3166,1520,1914,0,0,0,0,0,0,28.83,14.20,13.10
$GC,11222,0.84,263.6,970.5,9.3,555,11229,0.00,2.05,0.00,0.000,4,0.000,0.123,3166,2577,1895,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11312,0.84,263.6,961.7,9.6,558,11319,0.00,2.10,0.00,0.000,6,0.000,0.145,3174,1526,1895,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11646,0.84,263.6,931.1,9.2,569,11652,0.00,2.00,0.00,0.000,4,0.000,0.122,3174,2585,1893,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11692,0.84,263.6,928.2,9.2,570,11700,0.00,2.12,0.00,0.000,6,0.000,0.145,3179,1532,1892,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12006,0.82,263.6,897.3,9.5,581,12012,0.00,2.00,0.00,0.000,4,0.000,0.124,3179,2576,1892,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12082,0.80,263.6,891.6,9.5,583,12092,0.15,2.08,0.00,0.000,6,0.293,0.142,3155,1547,1891,0,0,0,0,0,0,13.96,14.14,28.83
$GC,12396,0.80,263.6,862.5,8.4,594,12401,0.00,1.95,0.00,0.000,4,0.000,0.122,3155,2576,1891,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12522,0.80,263.6,852.5,8.3,598,12529,0.00,2.03,0.00,0.000,6,0.000,0.136,3162,1567,1890,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12842,0.80,263.6,825.8,8.1,609,12850,0.00,1.98,0.00,0.000,4,0.000,0.120,3162,2575,1890,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12993,0.80,263.6,813.0,8.6,614,12999,0.00,1.98,0.00,0.000,6,0.000,0.136,3169,1595,1886,0,0,0,0,0,0,28.83,13.86,28.83
$GC,13325,0.80,263.6,784.7,8.7,625,13331,0.00,1.90,0.00,0.000,4,0.000,0.118,3169,2569,1885,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,21772,end climb,SURFACE_DEPTH_REACHED
$STATE,21772,begin surface coast
$FINISH,1.5,1.025755
$STATE,21806,end surface coast,CONTROL_FINISHED_OK
$STATE,21806,begin surface
$SM_CCo,21828,5.12,0.136,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.60
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,3
$SC_FREEKB,7586976
$24V_AH,13.0,203.312
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.250,185.500,504.450,5.125,0.000,0.000,0.000,404.075,0.750,0.000,21.955,3122.340,15249.327,898.599,2536.542,718.983,0.000,2449.727,0.000,2078.805,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344964
$DATA_FILE_SIZE,40021,1084
$CAP_FILE_SIZE,229588,0
$CFSIZE,260034560,185737216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,332.3,1
$GPS,070213,084004,2444.192,-3815.897,44,0.9,44,-14.1