version: 66.11
glider: 190
mission: 6
dive: 287
start: 12 16 112 23 11 12
data:
$ID,190
$MISSION,6
$DIVE,287
$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,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,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,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,-13257.063
$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,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,22
$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,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,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
$GPS1,161212,225905,2411.396,-3749.538,29,0.9,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-56.3
$GPS2,161212,231043,2411.381,-3749.545,18,1.0,18,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,39.5,68818,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.88,0.000,2,0.000,0.000,140,1533,809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.0,0.0,1,195,10.15,1.77,-132.65,0.000,4,0.307,0.173,2619,642,3625,0,0,0,0,0,0,14.38,14.21,14.72
$GC,225,-0.84,-155.7,1.5,0.0,19,230,0.00,1.60,0.00,0.000,6,0.000,0.086,2619,1528,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,538,-0.84,-155.7,30.8,-11.1,50,543,0.00,1.73,0.00,0.000,4,0.000,0.137,2619,638,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,773,-0.84,-155.7,56.2,-11.5,73,779,0.00,1.58,0.00,0.000,6,0.000,0.085,2618,1531,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1088,-0.84,-155.7,91.1,-11.2,104,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1532,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1387,-0.84,-155.7,120.6,-8.6,134,1392,0.00,1.58,0.00,0.000,4,0.000,0.103,2618,2406,3624,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1496,-0.86,-155.7,127.6,-6.3,144,1503,0.00,1.65,0.00,0.000,6,0.000,0.116,2618,1531,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1802,-0.86,-155.7,144.7,-5.2,175,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1531,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2103,-0.88,-155.7,161.9,-5.8,205,2109,0.00,1.60,0.00,0.000,4,0.000,0.100,2618,2389,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2152,-0.91,-155.7,164.7,-6.3,209,2159,0.00,1.65,0.00,0.000,6,0.000,0.116,2618,1528,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2458,-0.93,-155.7,189.9,-9.3,240,2464,0.00,1.70,0.00,0.000,4,0.000,0.133,2619,635,3622,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2598,-0.93,-155.7,204.7,-11.0,253,2605,0.00,1.58,0.00,0.000,6,0.000,0.082,2618,1531,3625,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2903,-0.93,-155.7,236.7,-9.7,284,2908,0.00,1.58,0.00,0.000,4,0.000,0.103,2618,2405,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2981,-0.96,-155.7,242.9,-8.5,291,2989,0.12,1.67,0.00,0.000,6,0.134,0.118,2564,1521,3623,0,0,0,0,0,0,14.49,14.35,28.83
$GC,3298,-0.96,-155.7,269.4,-7.4,307,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1521,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.96,-155.7,290.0,-6.8,317,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1521,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3897,-0.96,-155.7,314.2,-8.7,327,3903,0.00,1.62,0.00,0.000,4,0.000,0.104,2558,2403,3621,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3942,-0.96,-155.7,317.3,-8.9,328,3947,0.00,1.65,0.00,0.000,6,0.000,0.116,2558,1525,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4265,-0.96,-155.7,352.7,-10.9,339,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1524,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4565,-0.96,-155.7,388.0,-12.0,349,4570,0.00,1.67,0.00,0.000,4,0.000,0.131,2558,636,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4734,-0.93,-155.7,408.1,-13.0,354,4739,0.15,1.55,0.00,0.000,6,0.266,0.083,2587,1519,3619,0,0,0,0,0,0,14.24,14.50,28.83
$GC,5054,-0.93,-155.7,443.8,-9.7,365,5059,0.00,1.60,0.00,0.000,4,0.000,0.102,2581,2399,3618,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5132,-0.93,-155.7,449.7,-9.3,367,5137,0.00,1.67,0.00,0.000,6,0.000,0.116,2581,1511,3617,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5450,-0.93,-155.7,477.3,-7.8,378,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1510,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5751,-0.93,-155.7,499.6,-7.4,388,5756,0.00,1.65,0.00,0.000,4,0.000,0.104,2577,2403,3615,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5794,-0.93,-155.7,502.1,-7.4,389,5799,0.00,1.67,0.00,0.000,6,0.000,0.116,2577,1516,3614,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6118,-0.93,-155.7,530.1,-8.9,400,6123,0.00,1.65,0.00,0.000,4,0.000,0.134,2577,638,3613,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6195,-0.93,-155.7,536.6,-9.4,402,6200,0.00,1.58,0.00,0.000,6,0.000,0.084,2571,1515,3613,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6515,-0.93,-155.7,569.4,-10.1,413,6520,0.00,1.60,0.00,0.000,4,0.000,0.105,2566,2401,3612,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6593,-0.93,-155.7,576.0,-10.1,415,6598,0.00,1.67,0.00,0.000,6,0.000,0.116,2566,1515,3611,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6912,-0.93,-155.7,609.7,-10.2,426,6917,0.00,1.65,0.00,0.000,4,0.000,0.133,2570,636,3614,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7047,-0.93,-155.7,623.1,-10.8,430,7052,0.12,1.58,0.00,0.000,6,0.269,0.084,2587,1523,3610,0,0,0,0,0,0,14.20,14.39,28.83
$GC,7372,-0.93,-155.7,656.9,-10.2,441,7377,0.00,1.62,0.00,0.000,4,0.000,0.107,2581,2402,3608,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7436,-0.93,-155.7,663.5,-10.1,443,7441,0.00,1.70,0.00,0.000,6,0.000,0.119,2580,1515,3608,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7772,-0.93,-155.7,695.1,-9.0,454,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1516,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,-0.93,-155.7,719.8,-7.9,464,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1515,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8370,-0.93,-155.7,742.7,-7.6,474,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1515,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8672,-0.93,-155.7,766.3,-8.1,484,8677,0.00,1.67,0.00,0.000,4,0.000,0.138,2580,635,3603,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8724,-0.93,-155.7,769.4,-8.3,485,8729,0.00,1.58,0.00,0.000,6,0.000,0.087,2576,1515,3602,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9037,-0.93,-155.7,798.6,-8.9,496,9042,0.00,1.67,0.00,0.000,4,0.000,0.115,2569,2406,3600,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9095,-0.93,-155.7,801.7,-8.9,497,9101,0.00,1.70,0.00,0.000,6,0.000,0.122,2569,1520,3600,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9400,-0.93,-155.7,834.0,-10.0,508,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1520,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9701,-0.93,-155.7,864.8,-10.3,518,9706,0.00,1.65,0.00,0.000,4,0.000,0.117,2565,2401,3598,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9737,-0.93,-155.7,868.4,-10.3,519,9742,0.00,1.70,0.00,0.000,6,0.000,0.124,2565,1519,3597,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10066,-0.93,-155.7,902.5,-10.0,530,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1520,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,-0.93,-155.7,932.1,-9.8,540,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1520,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10666,-0.93,-155.7,960.4,-9.4,550,10671,0.00,1.70,0.00,0.000,4,0.000,0.148,2565,638,3594,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10708,-0.93,-155.7,963.6,-9.4,551,10713,0.00,1.62,0.00,0.000,6,0.000,0.098,2561,1525,3594,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,10999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10999,begin apogee
$GC,11007,-0.23,0.0,992.8,-9.6,561,11220,0.90,0.00,207.15,1.507,4,0.222,0.000,2809,1525,2991,0,0,0,0,0,0,14.00,28.83,13.38
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11224,0.84,155.7,1005.0,0.0,568,11388,1.08,0.00,156.98,1.789,6,0.119,0.000,3159,1528,2351,0,0,0,0,0,0,14.09,28.83,13.19
$GC,11717,0.79,155.7,981.5,7.6,585,11722,0.00,1.65,0.00,0.000,4,0.000,0.124,3159,2400,2335,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11905,0.75,155.7,967.6,7.5,591,11911,0.15,1.73,0.00,0.000,6,0.304,0.148,3133,1526,2333,0,0,0,0,0,0,14.21,14.36,28.83
$GC,12236,0.74,183.1,945.7,6.3,602,12269,0.00,1.65,26.67,1.742,4,0.000,0.130,3133,2400,2236,0,0,0,0,0,0,28.83,14.45,13.65
$GC,12324,0.72,199.6,941.4,6.7,604,12348,0.00,1.73,18.00,1.689,6,0.000,0.147,3140,1540,2171,0,0,0,0,0,0,28.83,14.33,13.55
$GC,12661,0.72,199.6,913.5,7.7,616,12667,0.00,1.80,0.00,0.000,4,0.000,0.171,3146,633,2161,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12749,0.72,199.6,908.5,7.8,618,12756,0.00,1.65,0.00,0.000,6,0.000,0.109,3146,1530,2162,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13056,0.72,199.6,882.6,7.7,629,13062,0.00,1.65,0.00,0.000,4,0.000,0.132,3146,2404,2160,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13129,0.70,199.6,877.6,7.7,631,13135,0.15,1.73,0.00,0.000,6,0.295,0.148,3120,1532,2159,0,0,0,0,0,0,14.19,14.35,28.83
$GC,13456,0.72,231.6,855.7,6.2,642,13493,0.00,1.85,32.40,1.706,4,0.000,0.168,3127,628,2040,0,0,0,0,0,0,28.83,14.39,13.66
$GC,13552,0.74,261.0,849.9,6.2,645,13590,0.00,1.70,31.70,1.664,6,0.000,0.105,3127,1535,1920,0,0,0,0,0,0,28.83,14.35,13.50
$GC,13908,0.77,309.3,828.1,5.6,657,13967,0.00,1.73,49.12,1.652,4,0.000,0.129,3127,2402,1719,0,0,0,0,0,0,28.83,14.23,13.50
$GC,14016,0.79,354.0,822.7,5.8,660,14068,0.00,1.70,47.30,1.622,6,0.000,0.145,3133,1539,1546,0,0,0,0,0,0,28.83,14.22,13.39
$GC,14392,0.83,354.0,795.7,7.3,673,14397,0.00,1.65,0.00,0.000,4,0.000,0.120,3133,2407,1525,0,0,0,0,0,0,28.83,14.38,28.83
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$STATE,21745,end climb,SURFACE_DEPTH_REACHED
$STATE,21745,begin surface coast
$FINISH,1.1,1.011056
$STATE,21768,end surface coast,CONTROL_FINISHED_OK
$STATE,21768,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.23
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$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7660064
$TM_FREEKB,4917984
$24V_AH,13.2,121.811
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,130.175,569.325,124.375,0.000,0.000,0.000,370.700,0.250,0.000,19.862,3485.960,14632.076,827.866,3119.005,530.281,0.000,2631.768,0.000,2574.773,0.000,0.542,0.000
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$MEM,345596
$DATA_FILE_SIZE,39979,1079
$CAP_FILE_SIZE,240866,0
$CFSIZE,260034560,209854464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,153.8,1
$GPS,171212,051735,2412.732,-3748.424,24,0.9,24,-14.0