version: 66.11
glider: 190
mission: 6
dive: 491
start: 2 10 113 8 41 37
data:
$ID,190
$MISSION,6
$DIVE,491
$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,-13533.538
$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,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,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
$GPS1,100213,083022,2441.976,-3814.295,36,0.8,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-57.7
$GPS2,100213,084107,2441.966,-3814.430,20,1.4,20,-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,160.9,39962,-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,-11.10,0.000,2,0.000,0.000,146,1518,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,147,10.35,2.12,-91.10,0.000,4,0.306,0.158,2613,457,3626,0,0,0,0,0,0,13.95,14.02,14.66
$GC,229,-0.84,-155.7,10.6,-8.2,20,238,0.00,1.95,0.00,0.000,6,0.000,0.081,2607,1521,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,541,-0.86,-155.7,34.8,-6.9,51,548,0.00,2.00,0.00,0.000,4,0.000,0.105,2605,2595,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,602,-0.89,-155.7,38.7,-6.3,57,610,0.00,2.08,0.00,0.000,6,0.000,0.116,2605,1525,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,911,-0.92,-155.7,59.6,-5.8,88,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1526,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.94,-155.7,84.7,-8.8,119,1227,0.00,2.10,0.00,0.000,4,0.000,0.142,2605,465,3626,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1271,-0.94,-155.7,89.1,-9.1,124,1278,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1536,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1581,-0.96,-155.7,112.8,-8.1,155,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1536,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-1.00,-155.7,140.5,-9.2,186,1898,0.12,0.00,0.00,0.000,6,0.140,0.000,2551,1538,3627,0,0,0,0,0,0,14.53,28.83,28.83
$GC,2201,-1.00,-155.7,171.5,-9.4,217,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1538,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-1.00,-155.7,200.7,-9.8,248,2518,0.00,2.10,0.00,0.000,4,0.000,0.127,2551,455,3628,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2642,-0.96,-155.7,214.9,-10.9,261,2651,0.12,1.92,0.00,0.000,6,0.274,0.077,2576,1534,3628,0,0,0,0,0,0,13.97,14.26,28.83
$GC,2953,-0.98,-155.7,243.8,-8.7,292,2960,0.00,2.08,0.00,0.000,4,0.000,0.131,2576,459,3628,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3019,-0.98,-155.7,249.9,-8.8,299,3028,0.00,1.90,0.00,0.000,6,0.000,0.078,2569,1518,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3331,-0.98,-155.7,275.4,-8.4,310,3337,0.00,2.08,0.00,0.000,4,0.000,0.132,2570,453,3628,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3398,-0.98,-155.7,281.0,-8.8,312,3407,0.00,1.90,0.00,0.000,6,0.000,0.079,2565,1503,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3721,-0.98,-155.7,312.1,-9.7,323,3727,0.00,2.03,0.00,0.000,4,0.000,0.132,2565,459,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3818,-0.98,-155.7,321.7,-10.5,326,3825,0.00,1.88,0.00,0.000,6,0.000,0.079,2558,1494,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4141,-0.98,-155.7,356.1,-10.5,337,4146,0.00,2.03,0.00,0.000,4,0.000,0.132,2558,454,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4278,-0.98,-155.7,369.2,-10.9,341,4288,0.00,1.83,0.00,0.000,6,0.000,0.080,2552,1461,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4590,-0.98,-155.7,403.8,-10.6,352,4596,0.00,1.98,0.00,0.000,4,0.000,0.134,2553,460,3625,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4700,-0.98,-155.7,414.2,-11.4,355,4709,0.00,1.75,0.00,0.000,6,0.000,0.083,2549,1428,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5010,-0.98,-155.7,452.3,-11.6,366,5016,0.00,1.92,0.00,0.000,4,0.000,0.136,2549,459,3623,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5090,-0.98,-155.7,459.6,-11.8,368,5098,0.00,1.73,0.00,0.000,6,0.000,0.085,2549,1412,3623,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5400,-0.98,-155.7,495.6,-10.2,379,5407,0.00,1.90,0.00,0.000,4,0.000,0.138,2549,458,3622,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5449,-0.98,-155.7,498.6,-10.1,380,5457,0.00,1.75,0.00,0.000,6,0.000,0.083,2549,1414,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5761,-0.98,-155.7,528.5,-8.8,391,5767,0.00,1.85,0.00,0.000,4,0.000,0.137,2550,459,3621,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5858,-0.98,-155.7,536.8,-9.1,394,5865,0.00,1.73,0.00,0.000,6,0.000,0.083,2550,1401,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6181,-0.98,-155.7,568.5,-10.0,405,6186,0.00,1.85,0.00,0.000,4,0.000,0.139,2549,456,3620,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6228,-0.98,-155.7,571.8,-10.3,406,6237,0.00,1.70,0.00,0.000,6,0.000,0.083,2549,1388,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6540,-0.98,-155.7,606.9,-10.7,417,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1388,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,-0.98,-155.7,638.8,-10.5,427,6847,0.00,1.85,0.00,0.000,4,0.000,0.140,2549,456,3616,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6948,-0.98,-155.7,648.1,-10.3,430,6952,0.00,1.65,0.00,0.000,6,0.000,0.083,2549,1361,3616,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7252,-0.98,-155.7,677.9,-9.1,440,7257,0.00,1.80,0.00,0.000,4,0.000,0.142,2550,456,3615,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7318,-0.98,-155.7,683.6,-9.3,442,7326,0.00,1.65,0.00,0.000,6,0.000,0.085,2549,1352,3614,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7640,-0.98,-155.7,713.2,-8.7,453,7647,0.00,2.33,0.00,0.000,4,0.000,0.111,2549,2572,3613,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7690,-0.98,-155.7,715.8,-8.7,454,7698,0.00,2.40,0.00,0.000,6,0.000,0.122,2549,1343,3613,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8000,-0.98,-155.7,744.9,-9.1,465,8007,0.00,1.75,0.00,0.000,4,0.000,0.142,2549,461,3611,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8038,-0.98,-155.7,747.9,-9.1,466,8046,0.00,1.62,0.00,0.000,6,0.000,0.087,2549,1348,3611,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8361,-0.98,-155.7,778.1,-9.5,477,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1348,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,-0.98,-155.7,807.1,-9.9,487,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1346,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8961,-0.98,-155.7,837.1,-9.8,497,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1348,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,-0.98,-155.7,865.3,-9.2,507,9266,0.00,2.33,0.00,0.000,4,0.000,0.105,2544,2573,3606,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9351,-1.00,-155.7,873.0,-8.6,510,9356,0.00,2.40,0.00,0.000,6,0.000,0.116,2544,1341,3606,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9680,-1.00,-155.7,899.1,-7.4,521,9687,0.00,2.40,0.00,0.000,4,0.000,0.109,2540,2578,3604,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9729,-1.00,-155.7,901.0,-7.2,522,9738,0.00,2.40,0.00,0.000,6,0.000,0.116,2540,1358,3604,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10041,-1.00,-155.7,924.4,-7.3,533,10047,0.00,2.33,0.00,0.000,4,0.000,0.111,2539,2582,3603,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10078,-1.00,-155.7,926.5,-7.3,534,10087,0.00,2.42,0.00,0.000,6,0.000,0.116,2539,1355,3602,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10401,-1.00,-155.7,952.0,-8.0,545,10407,0.00,1.77,0.00,0.000,4,0.000,0.140,2540,460,3601,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10449,-1.00,-155.7,954.7,-8.3,546,10457,0.00,1.67,0.00,0.000,6,0.000,0.085,2539,1365,3602,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10760,-1.00,-155.7,983.7,-9.0,557,10767,0.00,2.33,0.00,0.000,4,0.000,0.109,2539,2568,3599,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10830,-1.00,-155.7,989.0,-8.8,559,10836,0.00,2.40,0.00,0.000,6,0.000,0.127,2540,1370,3599,0,0,0,0,0,0,28.83,13.76,28.83
$STATE,10847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10847,begin apogee
$GC,10855,-0.23,0.0,991.5,-8.8,560,11017,0.98,0.00,155.77,1.822,4,0.203,0.000,2809,1520,2984,0,0,0,0,0,0,13.69,28.83,12.95
$STATE,11021,end apogee,CONTROL_FINISHED_OK
$STATE,11022,begin climb
$GC,11026,0.84,155.7,1001.2,0.0,565,11198,1.08,2.03,160.90,1.799,4,0.106,0.113,3161,2578,2350,0,0,0,0,0,0,14.15,14.12,13.04
$GC,11318,0.81,196.1,999.6,5.9,575,11367,0.00,2.10,43.22,1.751,6,0.000,0.130,3169,1520,2186,0,0,0,0,0,0,28.83,14.21,13.15
$GC,11690,0.78,210.6,972.6,6.7,588,11710,0.00,2.08,15.15,1.671,4,0.000,0.122,3169,2581,2125,0,0,0,0,0,0,28.83,14.40,13.29
$GC,11864,0.74,213.6,960.6,7.1,593,11870,0.20,2.03,0.00,0.000,6,0.317,0.134,3134,1534,2114,0,0,0,0,0,0,14.02,14.23,28.83
$GC,12192,0.77,260.9,941.1,5.7,604,12251,0.00,2.05,53.88,1.740,4,0.000,0.115,3134,2579,1923,0,0,0,0,0,0,28.83,14.24,13.21
$GC,12379,0.78,280.5,930.3,6.6,610,12408,0.00,2.08,21.88,1.685,6,0.000,0.138,3141,1548,1840,0,0,0,0,0,0,28.83,14.17,13.25
$GC,12724,0.79,281.6,905.1,7.1,622,12729,0.00,1.95,0.00,0.000,4,0.000,0.115,3141,2582,1827,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12901,0.79,281.6,891.3,7.8,628,12907,0.00,1.98,0.00,0.000,6,0.000,0.134,3148,1584,1825,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13233,0.79,281.6,864.9,8.1,639,13239,0.00,1.92,0.00,0.000,4,0.000,0.123,3148,2585,1824,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13401,0.79,281.6,852.2,8.5,644,13408,0.00,1.92,0.00,0.000,6,0.000,0.126,3155,1606,1824,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,23504,end climb,SURFACE_DEPTH_REACHED
$STATE,23504,begin surface coast
$FINISH,1.6,1.025545
$STATE,23540,end surface coast,CONTROL_FINISHED_OK
$STATE,23540,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.19
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.20
$XPDR_PINGS,5
$SC_FREEKB,7582368
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$10V_AH,12.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344964
$DATA_FILE_SIZE,43358,1188
$CAP_FILE_SIZE,245674,0
$CFSIZE,260034560,184406016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.119,341.9,1
$GPS,100213,151604,2442.448,-3813.619,32,0.8,32,-14.0