version: 66.11
glider: 190
mission: 6
dive: 301
start: 12 20 112 18 47 41
data:
$ID,190
$MISSION,6
$DIVE,301
$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,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,-13276.419
$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,9
$R_STBD_OVSHOOT,20
$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
$GPS1,201212,183428,2426.837,-3729.316,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-66.0
$GPS2,201212,184712,2426.958,-3729.208,17,1.0,17,-13.9
$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,49.5,24044,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.90,0.000,2,0.000,0.000,139,1516,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.2,0.0,1,143,11.50,2.03,-83.62,0.000,4,0.372,0.131,2606,2576,3625,0,0,0,0,0,0,14.23,14.35,14.69
$GC,364,-0.84,-155.7,24.0,-8.7,33,371,0.00,2.03,0.00,0.000,6,0.000,0.114,2606,1512,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,671,-0.84,-155.7,53.1,-9.6,64,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1511,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.84,-155.7,80.9,-9.6,94,980,0.00,2.00,0.00,0.000,4,0.000,0.104,2605,2573,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1082,-0.84,-155.7,91.4,-9.5,105,1091,0.00,2.00,0.00,0.000,6,0.000,0.113,2605,1527,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1392,-0.84,-155.7,121.3,-10.2,136,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1527,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.84,-155.7,152.0,-10.3,166,1701,0.00,1.95,0.00,0.000,4,0.000,0.106,2605,2567,3628,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1792,-0.86,-155.7,161.9,-9.8,176,1800,0.00,2.03,0.00,0.000,6,0.000,0.122,2604,1531,3628,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2102,-0.89,-155.7,195.9,-11.5,207,2111,0.00,2.10,0.00,0.000,4,0.000,0.145,2605,463,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2201,-0.89,-155.7,207.9,-12.2,217,2211,0.00,1.95,0.00,0.000,6,0.000,0.090,2605,1526,3628,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2511,-0.89,-155.7,240.2,-9.3,248,2520,0.00,2.00,0.00,0.000,4,0.000,0.112,2604,2583,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2593,-0.92,-155.7,247.0,-8.3,256,2600,0.00,2.05,0.00,0.000,6,0.000,0.119,2605,1523,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2904,-0.95,-155.7,273.1,-8.1,269,2910,0.00,2.08,0.00,0.000,4,0.000,0.148,2605,459,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3041,-0.95,-155.7,283.2,-8.4,273,3050,0.00,1.92,0.00,0.000,6,0.000,0.094,2604,1507,3627,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3352,-0.99,-155.7,309.7,-8.3,284,3359,0.00,2.08,0.00,0.000,4,0.000,0.148,2605,460,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3452,-1.01,-155.7,317.7,-8.8,287,3459,0.12,1.88,0.00,0.000,6,0.140,0.090,2552,1489,3625,0,0,0,0,0,0,14.53,14.47,28.83
$GC,3774,-0.99,-155.7,350.8,-10.2,298,3779,0.00,2.00,0.00,0.000,4,0.000,0.115,2546,2573,3625,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3822,-0.97,-155.7,353.9,-10.1,299,3832,0.12,2.12,0.00,0.000,6,0.239,0.123,2576,1483,3624,0,0,0,0,0,0,14.28,14.35,28.83
$GC,4133,-0.97,-155.7,385.0,-9.3,310,4139,0.00,2.05,0.00,0.000,4,0.000,0.115,2569,2575,3623,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4261,-0.97,-155.7,395.6,-8.8,314,4269,0.00,2.08,0.00,0.000,6,0.000,0.124,2569,1508,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4582,-0.97,-155.7,423.7,-8.2,325,4590,0.00,2.05,0.00,0.000,4,0.000,0.114,2565,2581,3622,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4650,-0.97,-155.7,428.5,-8.1,327,4654,0.00,2.08,0.00,0.000,6,0.000,0.120,2565,1511,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4963,-0.97,-155.7,453.5,-7.6,338,4970,0.00,2.03,0.00,0.000,4,0.000,0.113,2560,2576,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5061,-0.97,-155.7,460.2,-7.6,341,5065,0.00,2.05,0.00,0.000,6,0.000,0.119,2559,1520,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5374,-0.97,-155.7,488.2,-9.1,352,5380,0.00,2.00,0.00,0.000,4,0.000,0.115,2554,2572,3620,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5433,-0.97,-155.7,493.8,-9.4,354,5440,0.00,2.00,0.00,0.000,6,0.000,0.118,2554,1537,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5765,-0.94,-155.7,525.1,-9.5,365,5771,0.12,1.95,0.00,0.000,4,0.251,0.114,2578,2575,3619,0,0,0,0,0,0,14.38,14.38,28.83
$GC,5853,-0.94,-155.7,532.8,-8.8,368,5860,0.00,1.98,0.00,0.000,6,0.000,0.117,2578,1544,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6185,-0.97,-155.7,561.2,-8.6,379,6191,0.00,2.12,0.00,0.000,4,0.000,0.145,2578,457,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6323,-0.97,-155.7,572.9,-9.7,383,6331,0.00,1.98,0.00,0.000,6,0.000,0.089,2573,1532,3616,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6634,-0.97,-155.7,604.0,-9.7,394,6640,0.00,1.98,0.00,0.000,4,0.000,0.114,2568,2580,3615,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6754,-0.97,-155.7,615.7,-9.8,398,6760,0.00,2.03,0.00,0.000,6,0.000,0.120,2568,1530,3613,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7083,-0.97,-155.7,649.6,-10.3,409,7090,0.00,2.03,0.00,0.000,4,0.000,0.116,2565,2582,3613,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7132,-0.97,-155.7,652.6,-10.2,410,7136,0.00,2.03,0.00,0.000,6,0.000,0.119,2565,1539,3613,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7434,-0.97,-155.7,684.7,-9.7,420,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1539,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7733,-0.97,-155.7,713.7,-9.5,430,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1539,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8035,-0.97,-155.7,741.3,-8.9,440,8040,0.00,2.00,0.00,0.000,4,0.000,0.116,2560,2579,3610,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8123,-0.97,-155.7,748.9,-8.5,443,8130,0.00,2.03,0.00,0.000,6,0.000,0.119,2560,1541,3609,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8454,-0.97,-155.7,776.0,-8.2,454,8460,0.00,2.00,0.00,0.000,4,0.000,0.116,2553,2580,3608,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8502,-0.97,-155.7,778.6,-8.3,455,8505,0.00,2.00,0.00,0.000,6,0.000,0.119,2553,1553,3608,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8803,-0.97,-155.7,808.5,-9.8,465,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1553,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,-0.97,-155.7,839.6,-10.7,475,9111,0.00,2.00,0.00,0.000,4,0.000,0.119,2552,2580,3605,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9202,-0.97,-155.7,849.1,-10.7,478,9206,0.00,2.00,0.00,0.000,6,0.000,0.121,2552,1563,3605,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9514,-0.97,-155.7,883.8,-11.0,489,9521,0.00,1.98,0.00,0.000,4,0.000,0.121,2549,2580,3604,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9594,-0.97,-155.7,890.2,-10.8,491,9602,0.00,2.00,0.00,0.000,6,0.000,0.120,2549,1561,3603,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9904,-0.97,-155.7,926.1,-10.7,502,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1561,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10204,-0.97,-155.7,957.4,-10.2,512,10211,0.00,1.98,0.00,0.000,4,0.000,0.122,2549,2572,3600,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10293,-0.97,-155.7,966.2,-9.9,515,10301,0.00,1.98,0.00,0.000,6,0.000,0.123,2549,1569,3600,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,10561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10561,begin apogee
$GC,10568,-0.23,0.0,991.5,-9.0,524,10722,0.93,0.00,149.65,1.838,4,0.216,0.000,2807,1515,2989,0,0,0,0,0,0,14.01,28.83,13.22
$STATE,10726,end apogee,CONTROL_FINISHED_OK
$STATE,10726,begin climb
$GC,10728,0.84,155.7,998.7,0.0,529,10895,1.10,2.08,156.55,1.799,4,0.114,0.122,3159,2578,2353,0,0,0,0,0,0,14.10,14.07,13.19
$GC,11044,0.79,155.7,987.5,8.3,540,11051,0.00,2.10,0.00,0.000,6,0.000,0.129,3167,1522,2337,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11367,0.74,155.7,961.2,7.8,551,11373,0.12,2.00,0.00,0.000,4,0.328,0.118,3137,2581,2334,0,0,0,0,0,0,14.21,14.44,28.83
$GC,11516,0.71,159.5,950.6,7.1,556,11522,0.00,2.08,0.00,0.000,6,0.000,0.141,3145,1520,2333,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11848,0.69,182.9,929.0,6.4,567,11882,0.12,2.05,26.60,1.731,4,0.298,0.128,3118,2573,2237,0,0,0,0,0,0,14.31,14.47,13.65
$GC,11944,0.68,204.5,923.1,6.5,570,11973,0.00,2.08,23.92,1.709,6,0.000,0.139,3124,1535,2155,0,0,0,0,0,0,28.83,14.38,13.52
$GC,12283,0.68,204.5,896.6,8.0,582,12291,0.00,2.20,0.00,0.000,4,0.000,0.170,3134,460,2139,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12363,0.68,204.5,891.2,8.5,584,12366,0.00,2.00,0.00,0.000,6,0.000,0.099,3133,1531,2139,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12665,0.68,204.5,861.6,9.5,594,12671,0.00,2.00,0.00,0.000,4,0.000,0.124,3134,2573,2137,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12743,0.68,204.5,855.7,9.8,596,12752,0.12,2.08,0.00,0.000,6,0.313,0.136,3116,1530,2136,0,0,0,0,0,0,14.19,14.35,28.83
$GC,13055,0.68,204.5,825.5,8.9,607,13062,0.00,2.03,0.00,0.000,4,0.000,0.122,3116,2576,2136,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13114,0.68,204.5,820.2,8.9,609,13121,0.00,2.03,0.00,0.000,6,0.000,0.133,3123,1544,2135,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13444,0.68,204.5,793.9,7.5,620,13451,0.00,2.03,0.00,0.000,4,0.000,0.122,3123,2583,2135,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13513,0.68,204.5,789.3,7.4,622,13520,0.00,2.05,0.00,0.000,6,0.000,0.132,3131,1549,2134,0,0,0,0,0,0,28.83,14.31,28.83
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$STATE,22228,end climb,SURFACE_DEPTH_REACHED
$STATE,22229,begin surface coast
$FINISH,1.3,1.023943
$STATE,22258,end surface coast,CONTROL_FINISHED_OK
$STATE,22258,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,59.37
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$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,7654688
$TM_FREEKB,4795424
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$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.475,194.950,520.600,0.000,0.000,0.000,0.000,419.325,0.750,0.000,18.941,3100.960,15905.746,931.276,2580.124,573.418,0.000,2471.479,0.000,2029.682,0.000,0.540,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.947,13.200,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,40026,1074
$CAP_FILE_SIZE,234128,0
$CFSIZE,260034560,207978496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028, 82.0,1
$GPS,211212,010122,2428.459,-3727.568,37,0.8,37,-13.9