version: 66.11
glider: 190
mission: 6
dive: 245
start: 12 4 112 14 57 30
data:
$ID,190
$MISSION,6
$DIVE,245
$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,480
$T_MISSION,610
$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,150
$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,-13106.166
$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,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$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,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
$GPS1,041212,144359,2444.849,-3835.962,40,0.9,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-62.3
$GPS2,041212,145659,2444.864,-3836.000,16,1.1,16,-14.1
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpSW
$TGT_LATLONG,2356.000,-3830.000
$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,190.0,91065,-11.8,-6.875,-16.86
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-12.07,0.000,2,0.000,0.000,138,1426,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.1,0.0,1,149,11.50,1.73,-88.80,0.000,4,0.364,0.164,2680,553,3587,0,0,0,0,0,0,14.26,14.36,14.73
$GC,235,-0.60,-146.0,10.3,-9.3,20,240,0.00,1.58,0.00,0.000,6,0.000,0.082,2675,1441,3588,0,0,0,0,0,0,28.83,14.42,28.83
$GC,549,-0.58,-146.0,35.3,-8.2,51,554,0.00,1.60,0.00,0.000,4,0.000,0.104,2675,2323,3588,0,0,0,0,0,0,28.83,14.42,28.83
$GC,626,-0.56,-146.0,41.3,-8.1,58,634,0.12,1.67,0.00,0.000,6,0.226,0.119,2706,1439,3586,0,0,0,0,0,0,14.32,14.38,28.83
$GC,932,-0.56,-146.0,64.7,-8.1,89,937,0.00,1.60,0.00,0.000,4,0.000,0.102,2705,2323,3588,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1031,-0.61,-146.0,72.3,-8.1,98,1038,0.00,1.65,0.00,0.000,6,0.000,0.118,2705,1449,3588,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1338,-0.65,-146.0,97.0,-7.8,129,1343,0.00,1.62,0.00,0.000,4,0.000,0.100,2705,2323,3588,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1544,-0.70,-146.0,111.3,-7.1,149,1550,0.12,1.70,0.00,0.000,6,0.132,0.116,2644,1416,3588,0,0,0,0,0,0,14.47,14.33,28.83
$GC,1861,-0.70,-146.0,140.6,-9.8,180,1866,0.00,1.62,0.00,0.000,4,0.000,0.136,2647,556,3588,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1966,-0.66,-146.0,151.2,-9.6,190,1972,0.12,1.52,0.00,0.000,6,0.256,0.083,2680,1428,3588,0,0,0,0,0,0,14.31,14.49,28.83
$GC,2282,-0.69,-146.0,175.3,-7.3,221,2288,0.00,1.70,0.00,0.000,4,0.000,0.136,2676,553,3588,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2357,-0.70,-146.0,180.8,-7.3,228,2362,0.00,1.52,0.00,0.000,6,0.000,0.081,2676,1402,3588,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2673,-0.72,-146.0,198.8,-5.3,259,2678,0.00,1.65,0.00,0.000,4,0.000,0.135,2675,553,3588,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2783,-0.74,-146.0,205.0,-5.9,269,2790,0.00,1.45,0.00,0.000,6,0.000,0.080,2675,1375,3588,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3090,-0.77,-146.0,224.5,-6.8,300,3095,0.00,1.58,0.00,0.000,4,0.000,0.135,2675,547,3588,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3215,-0.79,-146.0,234.5,-7.9,312,3221,0.08,1.42,0.00,0.000,6,0.098,0.078,2628,1353,3587,0,0,0,0,0,0,14.48,14.50,28.83
$GC,3539,-0.79,-146.0,265.6,-10.0,334,3544,0.00,1.75,0.00,0.000,4,0.000,0.096,2625,2323,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3621,-0.79,-146.0,271.6,-9.8,336,3626,0.00,1.83,0.00,0.000,6,0.000,0.119,2625,1346,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3937,-0.76,-146.0,299.1,-7.5,347,3942,0.00,1.77,0.00,0.000,4,0.000,0.098,2621,2323,3586,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4056,-0.73,-146.0,305.5,-6.8,350,4063,0.12,1.80,0.00,0.000,6,0.227,0.117,2653,1350,3586,0,0,0,0,0,0,14.40,14.49,28.83
$GC,4362,-0.75,-146.0,327.6,-7.3,361,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1346,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.77,-146.0,352.4,-8.5,371,4665,0.00,1.52,0.00,0.000,4,0.000,0.135,2653,539,3584,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4833,-0.77,-146.0,366.7,-9.3,376,4839,0.00,1.45,0.00,0.000,6,0.000,0.080,2650,1359,3583,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5147,-0.79,-146.0,395.3,-8.2,387,5153,0.00,1.75,0.00,0.000,4,0.000,0.103,2649,2323,3581,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5200,-0.82,-146.0,397.9,-8.1,388,5205,0.00,1.83,0.00,0.000,6,0.000,0.120,2649,1350,3581,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5515,-0.84,-146.0,421.8,-6.9,399,5520,0.00,1.52,0.00,0.000,4,0.000,0.138,2649,544,3580,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5618,-0.84,-146.0,428.5,-7.0,402,5623,0.00,1.42,0.00,0.000,6,0.000,0.085,2649,1343,3580,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5943,-0.86,-146.0,451.8,-7.3,413,5949,0.12,1.80,0.00,0.000,4,0.138,0.100,2584,2330,3578,0,0,0,0,0,0,14.67,14.51,28.83
$GC,6049,-0.84,-146.0,459.7,-8.1,416,6056,0.12,1.88,0.00,0.000,6,0.246,0.120,2614,1334,3578,0,0,0,0,0,0,14.35,14.48,28.83
$GC,6377,-0.81,-146.0,488.4,-8.6,427,6382,0.00,1.83,0.00,0.000,4,0.000,0.103,2607,2328,3577,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6496,-0.78,-146.0,496.1,-8.1,430,6503,0.12,1.83,0.00,0.000,6,0.236,0.119,2638,1350,3577,0,0,0,0,0,0,14.37,14.46,28.83
$GC,6803,-0.76,-146.0,518.1,-6.4,441,6809,0.00,1.80,0.00,0.000,4,0.000,0.104,2632,2325,3575,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6897,-0.76,-146.0,524.5,-6.4,444,6902,0.00,1.83,0.00,0.000,6,0.000,0.122,2632,1355,3575,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7232,-0.76,-146.0,550.4,-8.4,455,7237,0.00,1.52,0.00,0.000,4,0.000,0.139,2633,554,3573,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7416,-0.74,-146.0,568.3,-9.8,461,7421,0.00,1.42,0.00,0.000,6,0.000,0.087,2632,1340,3572,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7751,-0.74,-146.0,601.0,-9.8,472,7756,0.00,1.80,0.00,0.000,4,0.000,0.106,2632,2320,3571,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7848,-0.76,-146.0,609.8,-9.4,475,7853,0.00,1.85,0.00,0.000,6,0.000,0.124,2631,1339,3571,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8179,-0.77,-146.0,638.0,-8.2,486,8185,0.00,1.52,0.00,0.000,4,0.000,0.140,2631,542,3569,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8292,-0.77,-146.0,646.2,-8.3,489,8297,0.00,1.42,0.00,0.000,6,0.000,0.090,2632,1329,3569,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8605,-0.77,-146.0,672.1,-7.8,500,8610,0.00,1.85,0.00,0.000,4,0.000,0.111,2631,2323,3568,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8703,-0.78,-146.0,679.2,-7.8,503,8708,0.00,1.85,0.00,0.000,6,0.000,0.127,2631,1343,3567,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9034,-0.80,-146.0,708.6,-9.1,514,9039,0.00,1.83,0.00,0.000,4,0.000,0.110,2631,2320,3566,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9097,-0.82,-146.0,714.5,-9.1,516,9103,0.00,1.85,0.00,0.000,6,0.000,0.125,2631,1359,3566,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9434,-0.83,-146.0,744.1,-8.7,527,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1359,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,-0.85,-146.0,768.7,-8.1,537,9737,0.00,1.80,0.00,0.000,4,0.000,0.108,2631,2321,3563,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9814,-0.87,-146.0,773.4,-7.7,539,9820,0.00,1.88,0.00,0.000,6,0.000,0.126,2631,1359,3562,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10130,-0.88,-146.0,799.2,-7.7,550,10135,0.00,1.55,0.00,0.000,4,0.000,0.144,2631,557,3562,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10287,-0.88,-146.0,811.2,-7.8,555,10292,0.00,1.40,0.00,0.000,6,0.000,0.088,2634,1330,3562,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10618,-0.90,-146.0,833.9,-6.8,566,10624,0.00,1.52,0.00,0.000,4,0.000,0.144,2631,552,3560,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10691,-0.90,-146.0,838.8,-7.1,568,10696,0.00,1.38,0.00,0.000,6,0.000,0.089,2631,1309,3560,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11017,-0.91,-146.0,863.6,-8.0,579,11024,0.12,1.88,0.00,0.000,4,0.161,0.099,2581,2325,3558,0,0,0,0,0,0,14.57,14.43,28.83
$GC,11227,-0.89,-146.0,881.3,-9.8,585,11233,0.00,1.88,0.00,0.000,6,0.000,0.118,2580,1339,3558,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11535,-0.85,-146.0,918.1,-11.5,596,11541,0.12,1.85,0.00,0.000,4,0.252,0.102,2608,2327,3557,0,0,0,0,0,0,14.26,14.41,28.83
$GC,11631,-0.82,-146.0,928.1,-10.6,599,11636,0.00,1.88,0.00,0.000,6,0.000,0.118,2608,1348,3556,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11967,-0.80,-146.0,962.2,-10.0,610,11972,0.00,1.83,0.00,0.000,4,0.000,0.107,2605,2322,3555,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12114,-0.78,-146.0,973.6,-9.1,614,12122,0.12,1.85,0.00,0.000,6,0.236,0.120,2636,1355,3555,0,0,0,0,0,0,14.26,14.36,28.83
$STATE,12298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12298,begin apogee
$GC,12304,-0.23,0.0,990.7,-8.0,621,12453,0.57,0.00,137.75,1.864,4,0.184,0.000,2808,1639,2982,0,0,0,0,0,0,14.29,28.83,13.34
$STATE,12455,end apogee,CONTROL_FINISHED_OK
$STATE,12455,begin climb
$GC,12457,0.63,146.0,998.2,0.0,626,12613,0.82,1.83,145.18,1.828,4,0.107,0.148,3093,753,2390,0,0,0,0,0,0,14.13,14.07,13.26
$GC,12841,0.57,146.0,983.7,7.2,638,12848,0.00,1.62,0.00,0.000,6,0.000,0.098,3093,1640,2375,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13150,0.52,154.6,961.2,6.6,649,13157,0.12,1.77,1.62,0.161,4,0.294,0.150,3068,758,2356,0,0,0,0,0,0,14.26,14.38,14.42
$GC,13386,0.51,194.2,948.3,5.6,656,13440,0.00,1.62,47.00,1.786,6,0.000,0.099,3068,1650,2192,0,0,0,0,0,0,28.83,14.47,13.61
$GC,13759,0.52,231.1,925.0,5.7,669,13801,0.00,1.85,37.78,1.748,4,0.000,0.158,3069,751,2042,0,0,0,0,0,0,28.83,14.31,13.62
$GC,13865,0.53,264.0,919.7,5.8,672,13910,0.00,1.67,34.92,1.724,6,0.000,0.098,3069,1638,1905,0,0,0,0,0,0,28.83,14.32,13.51
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$STATE,24514,end climb,SURFACE_DEPTH_REACHED
$STATE,24515,begin surface coast
$FINISH,1.3,1.015476
$STATE,24537,end surface coast,CONTROL_FINISHED_OK
$STATE,24537,begin surface
$SM_CCo,24618,0.00,0.000,0,0,1523,359.86
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$TT8_MAMPS,0.023968,0.023968
$HUMID,54.76
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.90
$XPDR_PINGS,3
$SC_FREEKB,7676224
$TM_FREEKB,5319488
$24V_AH,13.3,103.071
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.575,177.050,500.950,0.000,0.000,0.000,0.000,460.275,0.750,0.000,18.098,4470.687,15628.678,722.083,3964.875,589.761,0.000,2935.661,0.000,3324.244,0.000,0.542,0.000
$DEVICE_MAMPS,364.140,164.475,1863.540,0.000,0.000,0.000,0.000,179.775,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24568.000,6200.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.703,13.329,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,43413,1204
$CAP_FILE_SIZE,297802,0
$CFSIZE,260034560,216297472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015, 83.1,1
$GPS,041212,214904,2442.554,-3836.035,35,0.8,36,-14.2