version: 66.11
glider: 190
mission: 6
dive: 274
start: 12 13 112 9 5 31
data:
$ID,190
$MISSION,6
$DIVE,274
$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,610.797
$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,-13147.436
$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,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,2.0999999
$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
$GPS1,131212,084729,2406.013,-3807.477,37,0.8,38,-14.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-55.1
$GPS2,131212,090459,2405.942,-3807.678,16,0.9,16,-14.1
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,84.8,82781,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.63,-146.0,0.0,0.0,0,56,0.00,0.00,-29.77,0.000,2,0.000,0.000,135,1450,1279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.63,-146.0,2.2,-3.3,3,185,10.85,1.60,-104.30,0.000,4,0.333,0.129,2675,2326,3585,0,0,0,0,0,0,14.33,14.38,14.77
$GC,274,-0.60,-146.0,11.0,-9.0,24,279,0.00,1.67,0.00,0.000,6,0.000,0.118,2675,1441,3585,0,0,0,0,0,0,28.83,14.32,28.83
$GC,588,-0.58,-146.0,39.9,-9.1,55,593,0.00,1.65,0.00,0.000,4,0.000,0.101,2675,2325,3585,0,0,0,0,0,0,28.83,14.35,28.83
$GC,675,-0.58,-146.0,47.8,-9.4,63,682,0.00,1.70,0.00,0.000,6,0.000,0.117,2675,1437,3584,0,0,0,0,0,0,28.83,14.26,28.83
$GC,982,-0.58,-146.0,71.0,-7.3,94,987,0.00,1.62,0.00,0.000,4,0.000,0.099,2675,2324,3584,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1119,-0.60,-146.0,79.4,-5.9,107,1126,0.00,1.65,0.00,0.000,6,0.000,0.116,2675,1452,3584,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1427,-0.60,-146.0,102.2,-8.1,138,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1452,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1727,-0.63,-146.0,127.0,-9.1,168,1732,0.00,1.73,0.00,0.000,4,0.000,0.134,2675,556,3584,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1898,-0.63,-146.0,141.7,-8.5,184,1905,0.00,1.58,0.00,0.000,6,0.000,0.077,2675,1462,3584,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2206,-0.66,-146.0,164.8,-6.7,215,2211,0.00,1.73,0.00,0.000,4,0.000,0.132,2675,549,3584,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2335,-0.66,-146.0,173.5,-6.8,227,2343,0.00,1.52,0.00,0.000,6,0.000,0.077,2674,1424,3584,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2641,-0.69,-146.0,195.4,-7.7,258,2646,0.00,1.65,0.00,0.000,4,0.000,0.132,2675,555,3584,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2786,-0.69,-146.0,208.0,-9.0,272,2791,0.00,1.45,0.00,0.000,6,0.000,0.078,2675,1372,3584,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3100,-0.72,-146.0,234.9,-8.2,303,3105,0.00,1.73,0.00,0.000,4,0.000,0.096,2675,2321,3582,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3244,-0.75,-146.0,246.0,-7.3,317,3250,0.00,1.75,0.00,0.000,6,0.000,0.116,2675,1399,3582,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3578,-0.79,-146.0,269.5,-6.7,332,3584,0.12,1.60,0.00,0.000,4,0.136,0.132,2611,557,3582,0,0,0,0,0,0,14.68,14.31,28.83
$GC,3813,-0.75,-146.0,286.9,-8.3,339,3819,0.10,1.42,0.00,0.000,6,0.216,0.080,2647,1365,3580,0,0,0,0,0,0,14.28,14.49,28.83
$GC,4130,-0.75,-146.0,314.1,-8.7,350,4135,0.00,1.52,0.00,0.000,4,0.000,0.135,2647,560,3580,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4193,-0.75,-146.0,320.2,-9.1,352,4198,0.00,1.42,0.00,0.000,6,0.000,0.078,2645,1364,3580,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4529,-0.75,-146.0,350.8,-9.2,363,4534,0.00,1.52,0.00,0.000,4,0.000,0.133,2645,559,3579,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4621,-0.75,-146.0,359.7,-9.3,366,4626,0.00,1.38,0.00,0.000,6,0.000,0.078,2645,1338,3578,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4957,-0.75,-146.0,387.2,-8.0,377,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1337,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5255,-0.75,-146.0,409.3,-7.1,387,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1338,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5554,-0.75,-146.0,429.6,-6.5,397,5560,0.00,1.77,0.00,0.000,4,0.000,0.099,2645,2319,3574,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5638,-0.77,-146.0,433.6,-6.4,399,5643,0.00,1.85,0.00,0.000,6,0.000,0.117,2645,1330,3575,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5954,-0.79,-146.0,455.7,-7.0,410,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1330,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.79,-146.0,480.1,-8.7,420,6258,0.00,1.83,0.00,0.000,4,0.000,0.100,2645,2326,3572,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6406,-0.82,-146.0,493.8,-9.0,425,6411,0.00,1.88,0.00,0.000,6,0.000,0.119,2645,1337,3572,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6742,-0.82,-146.0,525.0,-9.4,436,6747,0.00,1.83,0.00,0.000,4,0.000,0.103,2645,2325,3568,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6957,-0.84,-146.0,544.4,-8.8,443,6963,0.00,1.98,0.00,0.000,6,0.000,0.119,2645,1291,3569,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7293,-0.84,-146.0,573.4,-8.4,454,7298,0.00,1.42,0.00,0.000,4,0.000,0.140,2645,558,3568,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7320,-0.84,-146.0,573.4,-8.4,454,7327,0.00,1.35,0.00,0.000,6,0.000,0.080,2645,1318,3568,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7627,-0.84,-146.0,599.6,-7.5,465,7632,0.00,1.83,0.00,0.000,4,0.000,0.103,2645,2319,3567,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7781,-0.86,-146.0,610.4,-7.1,470,7786,0.00,1.83,0.00,0.000,6,0.000,0.121,2645,1355,3567,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8116,-0.89,-146.0,633.7,-6.9,481,8118,0.12,0.00,0.00,0.000,6,0.137,0.000,2591,1356,3565,0,0,0,0,0,0,14.68,28.83,28.83
$GC,8415,-0.89,-146.0,658.2,-8.5,491,8421,0.00,1.77,0.00,0.000,4,0.000,0.105,2588,2320,3563,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8462,-0.89,-146.0,661.1,-8.6,492,8467,0.00,1.80,0.00,0.000,6,0.000,0.121,2589,1374,3563,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8782,-0.85,-146.0,692.5,-9.7,503,8787,0.00,1.75,0.00,0.000,4,0.000,0.105,2583,2324,3562,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8830,-0.81,-146.0,695.8,-9.7,504,8837,0.15,1.77,0.00,0.000,6,0.223,0.119,2622,1392,3562,0,0,0,0,0,0,14.26,14.35,28.83
$GC,9152,-0.81,-146.0,723.3,-7.7,515,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1392,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9451,-0.81,-146.0,742.9,-6.2,525,9456,0.00,1.70,0.00,0.000,4,0.000,0.104,2618,2318,3560,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9529,-0.81,-146.0,746.8,-6.1,527,9534,0.00,1.77,0.00,0.000,6,0.000,0.123,2618,1393,3560,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9849,-0.81,-146.0,767.5,-6.5,538,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1393,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10148,-0.81,-146.0,787.6,-6.8,548,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1393,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10448,-0.81,-146.0,807.2,-6.5,558,10453,0.00,1.75,0.00,0.000,4,0.000,0.109,2618,2317,3554,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10505,-0.81,-146.0,809.2,-6.4,559,10511,0.00,1.75,0.00,0.000,6,0.000,0.126,2619,1414,3555,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10813,-0.81,-146.0,829.1,-6.1,570,10818,0.00,1.67,0.00,0.000,4,0.000,0.146,2618,556,3554,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10847,-0.81,-146.0,831.4,-6.1,571,10852,0.00,1.58,0.00,0.000,6,0.000,0.091,2618,1423,3554,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11182,-0.81,-146.0,854.6,-7.4,582,11187,0.00,1.67,0.00,0.000,4,0.000,0.115,2618,2325,3552,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11230,-0.81,-146.0,857.2,-7.5,583,11236,0.00,1.75,0.00,0.000,6,0.000,0.129,2618,1425,3552,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11551,-0.81,-146.0,885.8,-9.2,594,11556,0.00,1.70,0.00,0.000,4,0.000,0.116,2618,2320,3552,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11604,-0.81,-146.0,888.9,-9.1,595,11609,0.00,1.70,0.00,0.000,6,0.000,0.129,2618,1446,3552,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11917,-0.81,-146.0,921.0,-9.8,606,11922,0.00,1.67,0.00,0.000,4,0.000,0.117,2618,2320,3550,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11984,-0.81,-146.0,927.0,-9.6,608,11989,0.00,1.65,0.00,0.000,6,0.000,0.128,2618,1468,3549,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12314,-0.81,-146.0,957.7,-9.0,619,12319,0.00,1.60,0.00,0.000,4,0.000,0.117,2618,2320,3548,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12391,-0.81,-146.0,963.1,-8.5,621,12396,0.00,1.62,0.00,0.000,6,0.000,0.129,2618,1487,3548,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,12710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12710,begin apogee
$GC,12716,-0.23,0.0,990.3,-8.1,632,12862,0.65,0.00,137.68,1.835,4,0.184,0.000,2811,1646,2986,0,0,0,0,0,0,14.18,28.83,13.24
$STATE,12864,end apogee,CONTROL_FINISHED_OK
$STATE,12864,begin climb
$GC,12866,0.63,146.0,998.7,0.0,637,13025,0.80,1.73,146.60,1.825,4,0.106,0.118,3092,2519,2388,0,0,0,0,0,0,14.11,14.07,13.20
$GC,13033,0.68,372.4,1001.6,-0.4,642,13271,0.00,1.75,230.10,1.796,6,0.000,0.132,3097,1640,1467,0,0,0,0,0,0,28.83,14.01,13.20
$GC,13585,0.71,372.4,957.4,8.2,661,13590,0.00,1.67,0.00,0.000,4,0.000,0.116,3097,2529,1449,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13618,0.73,372.4,954.6,8.2,662,13623,0.00,1.70,0.00,0.000,6,0.000,0.123,3104,1644,1449,0,0,0,0,0,0,28.83,14.41,28.83
$GC,13954,0.73,372.4,928.2,7.7,673,13959,0.00,1.67,0.00,0.000,4,0.000,0.122,3104,2523,1447,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14017,0.73,372.4,923.0,7.7,675,14023,0.00,1.65,0.00,0.000,6,0.000,0.132,3109,1670,1447,0,0,0,0,0,0,28.83,14.45,28.83
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$STATE,23949,end climb,SURFACE_DEPTH_REACHED
$STATE,23949,begin surface coast
$FINISH,1.2,1.012627
$STATE,23980,end surface coast,CONTROL_FINISHED_OK
$STATE,23980,begin surface
$SM_CCo,24003,92.55,0.127,0,0,499,610.80
$SM_GC,2.06,8.68,0.40,92.55,0.073,0.169,0.127,141,1439,499,-8.53,0.31,610.80,0,0,0,0,0,0,14.52,14.26,14.41
$IRIDIUM_FIX,2356.84,-3810.10,131212,090944
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.60
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,7665056
$TM_FREEKB,5032192
$24V_AH,13.2,116.000
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.900,167.375,562.725,92.550,0.000,0.000,0.000,453.075,0.000,0.000,18.277,4123.353,15839.695,845.203,3764.761,556.251,0.000,2970.274,0.000,3089.486,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.948,13.297,0.000,0.000
$MEM,344880
$DATA_FILE_SIZE,43324,1187
$CAP_FILE_SIZE,277034,0
$CFSIZE,260034560,211492864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,227.7,1
$GPS,131212,154829,2405.419,-3806.040,37,0.9,38,-14.1