version: 66.11
glider: 190
mission: 6
dive: 21
start: 9 21 112 0 16 34
data:
$ID,190
$MISSION,6
$DIVE,21
$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,500
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,120
$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,0.0099999998
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-12055.219
$T_RSLEEP,2
$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,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,12
$MINV_10V,12
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,210912,000559,2505.400,-3802.112,38,1.0,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.4
$GPS2,210912,001605,2505.396,-3802.094,18,1.1,19,-13.9
$SPEED_LIMITS,0.114,0.203
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-3802.000
$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,200.1,128522,-13.1,-6.600,-17.98
$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,20,-0.62,-116.8,0.0,0.0,0,56,0.00,0.00,-33.55,0.000,2,0.000,0.000,144,1800,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.62,-116.8,2.1,-3.4,3,123,12.75,1.85,-44.28,0.000,4,0.438,0.112,2678,2850,3718,0,0,0,0,0,0,14.54,14.69,14.90
$GC,349,-0.56,-116.8,28.2,-10.8,31,357,0.12,1.83,0.00,0.000,6,0.250,0.083,2705,1789,3718,0,0,0,0,0,0,14.71,14.76,28.83
$GC,657,-0.52,-116.8,60.1,-10.1,62,662,0.00,1.80,0.00,0.000,4,0.000,0.083,2701,2854,3719,0,0,0,0,0,0,28.83,14.81,28.83
$GC,753,-0.52,-116.8,67.7,-7.6,71,760,0.00,1.83,0.00,0.000,6,0.000,0.083,2701,1788,3719,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1059,-0.50,-116.8,91.8,-8.2,102,1065,0.00,1.90,0.00,0.000,4,0.000,0.109,2701,728,3720,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1095,-0.48,-116.8,94.6,-8.5,105,1103,0.12,1.77,0.00,0.000,6,0.262,0.067,2732,1794,3720,0,0,0,0,0,0,14.80,14.87,28.83
$GC,1403,-0.51,-116.8,114.2,-6.3,136,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1793,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-0.55,-116.8,136.4,-8.0,166,1707,0.00,1.80,0.00,0.000,4,0.000,0.084,2728,2850,3721,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1768,-0.60,-116.8,141.5,-8.5,172,1775,0.00,1.80,0.00,0.000,6,0.000,0.083,2728,1790,3721,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2075,-0.65,-116.8,165.8,-6.5,203,2081,0.12,1.85,0.00,0.000,4,0.141,0.107,2668,728,3721,0,0,0,0,0,0,14.92,14.88,28.83
$GC,2158,-0.60,-116.8,173.0,-9.2,211,2164,0.12,1.80,0.00,0.000,6,0.276,0.067,2696,1798,3720,0,0,0,0,0,0,14.81,14.88,28.83
$GC,2472,-0.60,-116.8,192.3,-6.3,242,2477,0.00,1.88,0.00,0.000,4,0.000,0.110,2696,730,3720,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2524,-0.60,-116.8,196.0,-7.1,247,2529,0.00,1.80,0.00,0.000,6,0.000,0.068,2693,1798,3720,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2837,-0.60,-116.8,221.0,-8.3,278,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1798,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-0.60,-116.8,243.8,-6.8,308,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1798,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-0.60,-116.8,265.1,-7.1,324,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1799,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3736,-0.60,-116.8,287.0,-7.2,334,3741,0.00,1.90,0.00,0.000,4,0.000,0.110,2693,728,3715,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3782,-0.60,-116.8,289.4,-7.2,335,3787,0.00,1.77,0.00,0.000,6,0.000,0.069,2689,1796,3715,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4099,-0.60,-116.8,313.8,-7.1,346,4104,0.00,1.77,0.00,0.000,4,0.000,0.090,2688,2850,3715,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4150,-0.60,-116.8,315.9,-6.9,347,4155,0.00,1.80,0.00,0.000,6,0.000,0.087,2688,1783,3714,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4463,-0.60,-116.8,338.5,-6.9,358,4468,0.00,1.85,0.00,0.000,4,0.000,0.116,2688,724,3712,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4538,-0.60,-116.8,343.2,-7.2,360,4544,0.00,1.77,0.00,0.000,6,0.000,0.072,2688,1791,3712,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4857,-0.60,-116.8,364.2,-6.1,371,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1791,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5156,-0.60,-116.8,383.5,-6.7,381,5161,0.00,1.88,0.00,0.000,4,0.000,0.116,2687,727,3709,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5237,-0.60,-116.8,388.1,-7.2,383,5242,0.00,1.80,0.00,0.000,6,0.000,0.073,2687,1792,3709,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5549,-0.61,-116.8,412.9,-7.6,394,5554,0.00,1.80,0.00,0.000,4,0.000,0.093,2687,2855,3708,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5595,-0.63,-116.8,415.2,-7.5,395,5601,0.00,1.83,0.00,0.000,6,0.000,0.090,2688,1790,3708,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5914,-0.65,-116.8,440.3,-7.5,406,5919,0.00,1.88,0.00,0.000,4,0.000,0.119,2688,726,3706,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5970,-0.67,-116.8,443.1,-7.6,407,5978,0.00,1.77,0.00,0.000,6,0.000,0.075,2688,1790,3705,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6277,-0.69,-116.8,466.4,-6.6,418,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1789,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6577,-0.70,-116.8,485.7,-6.3,428,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1790,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6877,-0.72,-116.8,503.6,-6.0,438,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1790,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7177,-0.75,-116.8,523.7,-7.1,448,7183,0.12,1.88,0.00,0.000,4,0.153,0.115,2630,728,3701,0,0,0,0,0,0,15.02,14.97,28.83
$GC,7214,-0.75,-116.8,527.0,-7.8,449,7220,0.00,1.80,0.00,0.000,6,0.000,0.075,2626,1789,3701,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7543,-0.70,-116.8,563.3,-10.8,460,7549,0.12,1.80,0.00,0.000,4,0.283,0.093,2659,2847,3700,0,0,0,0,0,0,14.90,14.99,28.83
$GC,7655,-0.70,-116.8,571.4,-9.0,463,7661,0.00,1.83,0.00,0.000,6,0.000,0.094,2661,1788,3700,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7968,-0.70,-116.8,600.3,-8.5,474,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1787,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,-0.70,-116.8,624.2,-7.6,484,8273,0.00,1.88,0.00,0.000,4,0.000,0.122,2661,725,3697,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8339,-0.70,-116.8,629.1,-7.7,486,8344,0.00,1.85,0.00,0.000,6,0.000,0.080,2661,1792,3697,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8662,-0.70,-116.8,651.0,-6.3,497,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1791,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8962,-0.70,-116.8,670.9,-6.8,507,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1792,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9261,-0.70,-116.8,694.5,-8.3,517,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1792,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,-0.70,-116.8,721.2,-8.8,527,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1792,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,-0.70,-116.8,746.0,-8.0,537,9866,0.00,1.90,0.00,0.000,4,0.000,0.122,2661,728,3691,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9912,-0.70,-116.8,748.7,-8.0,538,9917,0.00,1.83,0.00,0.000,6,0.000,0.080,2661,1793,3691,0,0,0,0,0,0,28.83,14.98,28.83
$GC,10225,-0.70,-116.8,773.9,-7.6,549,10230,0.00,1.90,0.00,0.000,4,0.000,0.125,2661,732,3691,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10260,-0.70,-116.8,776.5,-7.7,550,10266,0.00,1.85,0.00,0.000,6,0.000,0.083,2661,1789,3690,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10588,-0.70,-116.8,802.4,-7.9,561,10590,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1790,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10888,-0.70,-116.8,827.6,-8.6,571,10893,0.00,1.83,0.00,0.000,4,0.000,0.103,2661,2848,3688,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10964,-0.70,-116.8,832.9,-8.6,573,10970,0.00,1.85,0.00,0.000,6,0.000,0.099,2661,1787,3687,0,0,0,0,0,0,28.83,14.95,28.83
$GC,11284,-0.70,-116.8,862.4,-8.9,584,11289,0.00,1.90,0.00,0.000,4,0.000,0.129,2661,723,3687,0,0,0,0,0,0,28.83,14.92,28.83
$GC,11334,-0.70,-116.8,865.4,-8.9,585,11339,0.00,1.83,0.00,0.000,6,0.000,0.086,2661,1791,3687,0,0,0,0,0,0,28.83,14.96,28.83
$GC,11647,-0.70,-116.8,893.4,-8.2,596,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1791,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11947,-0.70,-116.8,917.0,-7.7,606,11952,0.00,1.92,0.00,0.000,4,0.000,0.129,2661,724,3685,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12033,-0.70,-116.8,922.3,-8.1,608,12039,0.00,1.83,0.00,0.000,6,0.000,0.086,2661,1790,3684,0,0,0,0,0,0,28.83,14.95,28.83
$GC,12339,-0.70,-116.8,947.5,-7.4,619,12344,0.00,1.83,0.00,0.000,4,0.000,0.110,2661,2847,3683,0,0,0,0,0,0,28.83,14.94,28.83
$GC,12381,-0.72,-116.8,949.7,-7.3,620,12386,0.00,1.85,0.00,0.000,6,0.000,0.106,2661,1782,3683,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12704,-0.73,-116.8,972.9,-6.9,631,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1782,3682,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12971,begin apogee
$GC,12975,-0.19,0.0,990.4,-6.6,640,13087,0.52,0.00,104.65,2.130,6,0.207,0.000,2820,1478,3234,0,0,0,0,0,0,14.87,28.83,13.51
$STATE,13089,end apogee,CONTROL_FINISHED_OK
$STATE,13089,begin climb
$GC,13090,0.62,116.8,992.5,0.0,643,13215,0.82,2.12,112.88,2.067,4,0.132,0.141,3091,421,2753,0,0,0,0,0,0,14.19,14.03,13.41
$GC,13441,0.61,191.1,989.0,3.7,655,13522,0.00,1.88,71.93,2.059,6,0.000,0.082,3091,1484,2453,0,0,0,0,0,0,28.83,14.61,13.50
$GC,13849,0.57,191.1,961.8,6.9,669,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1486,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14150,0.53,191.6,941.6,6.6,679,14155,0.00,1.85,0.00,0.000,4,0.000,0.104,3092,2544,2437,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,26765,end climb,SURFACE_DEPTH_REACHED
$STATE,26765,begin surface coast
$FINISH,0.7,1.024619
$STATE,26787,end surface coast,CONTROL_FINISHED_OK
$STATE,26787,begin surface
$SM_CCo,26865,0.00,0.000,0,0,1813,350.29
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$TT8_MAMPS,0.023968,0.023968
$HUMID,47.91
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7761952
$TM_FREEKB,7735936
$24V_AH,13.4,13.655
$10V_AH,13.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.525,164.975,423.125,0.000,0.000,0.000,0.000,373.225,0.000,0.000,20.238,4181.383,18933.900,644.847,3501.063,199.055,0.000,2565.281,0.000,2902.148,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.359,13.336,0.000,0.000
$MEM,344976
$DATA_FILE_SIZE,46578,1324
$CAP_FILE_SIZE,287432,0
$CFSIZE,260034560,252518400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.101, 20.9,1
$GPS,210912,074535,2503.563,-3801.776,39,0.9,39,-13.9