version: 66.11
glider: 190
mission: 6
dive: 302
start: 12 21 112 1 14 12
data:
$ID,190
$MISSION,6
$DIVE,302
$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,-13277.772
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,211212,010122,2428.459,-3727.568,37,0.8,37,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-63.7
$GPS2,211212,011341,2428.518,-3727.479,19,0.9,19,-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,61.0,19974,-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,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.20,0.000,2,0.000,0.000,142,1526,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.3,0.0,1,148,11.10,2.03,-90.62,0.000,4,0.355,0.131,2605,2585,3626,0,0,0,0,0,0,14.20,14.33,14.69
$GC,338,-0.84,-155.7,18.9,-8.9,31,347,0.00,2.05,0.00,0.000,6,0.000,0.109,2605,1519,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,648,-0.84,-155.7,50.0,-9.9,62,657,0.00,2.03,0.00,0.000,4,0.000,0.106,2605,2582,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,790,-0.84,-155.7,63.0,-9.0,76,797,0.00,2.00,0.00,0.000,6,0.000,0.112,2605,1529,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1099,-0.84,-155.7,91.3,-8.9,107,1107,0.00,1.98,0.00,0.000,4,0.000,0.106,2605,2577,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1187,-0.84,-155.7,99.0,-8.3,116,1196,0.00,2.03,0.00,0.000,6,0.000,0.119,2605,1539,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1498,-0.84,-155.7,129.7,-11.3,147,1507,0.00,1.98,0.00,0.000,4,0.000,0.108,2605,2586,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1548,-0.84,-155.7,135.0,-10.7,152,1556,0.00,2.03,0.00,0.000,6,0.000,0.117,2605,1544,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1859,-0.87,-155.7,165.9,-9.8,183,1867,0.00,2.10,0.00,0.000,4,0.000,0.137,2606,465,3628,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1990,-0.87,-155.7,179.0,-10.0,196,1997,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1540,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2300,-0.87,-155.7,203.6,-6.8,227,2307,0.00,1.92,0.00,0.000,4,0.000,0.106,2605,2575,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2380,-0.89,-155.7,208.6,-6.4,235,2387,0.00,1.98,0.00,0.000,6,0.000,0.117,2605,1546,3628,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2689,-0.92,-155.7,227.2,-6.2,266,2698,0.00,2.10,0.00,0.000,4,0.000,0.135,2604,463,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2821,-0.92,-155.7,236.8,-8.0,279,2827,0.00,1.90,0.00,0.000,6,0.000,0.083,2604,1530,3627,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3148,-0.92,-155.7,264.5,-9.3,302,3156,0.00,1.95,0.00,0.000,4,0.000,0.103,2604,2578,3627,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3209,-0.94,-155.7,270.3,-9.5,304,3215,0.00,2.00,0.00,0.000,6,0.000,0.114,2604,1531,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3538,-0.94,-155.7,304.8,-10.7,315,3545,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,459,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3587,-0.94,-155.7,308.2,-10.8,316,3597,0.00,1.95,0.00,0.000,6,0.000,0.083,2604,1535,3625,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3898,-0.97,-155.7,342.8,-10.2,327,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1535,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-1.01,-155.7,370.8,-8.9,337,4206,0.12,2.08,0.00,0.000,4,0.142,0.138,2550,459,3624,0,0,0,0,0,0,14.66,14.31,28.83
$GC,4429,-0.96,-155.7,392.4,-10.3,344,4438,0.08,1.92,0.00,0.000,6,0.252,0.086,2571,1525,3623,0,0,0,0,0,0,14.18,14.42,28.83
$GC,4742,-0.96,-155.7,419.6,-8.0,355,4747,0.00,1.92,0.00,0.000,4,0.000,0.106,2565,2577,3622,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4787,-0.96,-155.7,421.9,-7.9,356,4791,0.00,2.03,0.00,0.000,6,0.000,0.112,2565,1520,3623,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5088,-0.96,-155.7,447.5,-8.0,366,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1520,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5388,-0.96,-155.7,472.6,-8.5,376,5396,0.00,2.05,0.00,0.000,4,0.000,0.135,2566,459,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5437,-0.96,-155.7,475.4,-8.9,377,5441,0.00,1.95,0.00,0.000,6,0.000,0.083,2558,1533,3620,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5739,-0.96,-155.7,506.4,-10.0,387,5745,0.00,1.95,0.00,0.000,4,0.000,0.105,2552,2580,3617,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5837,-0.96,-155.7,515.6,-10.0,390,5844,0.00,2.00,0.00,0.000,6,0.000,0.109,2549,1536,3618,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6158,-0.96,-155.7,552.2,-11.4,401,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1535,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6459,-0.96,-155.7,585.6,-11.0,411,6465,0.00,1.98,0.00,0.000,4,0.000,0.106,2552,2580,3616,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6507,-0.96,-155.7,588.9,-11.0,412,6510,0.00,2.00,0.00,0.000,6,0.000,0.112,2552,1542,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6809,-0.96,-155.7,621.9,-9.9,422,6815,0.00,2.10,0.00,0.000,4,0.000,0.137,2552,463,3615,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6928,-0.93,-155.7,634.2,-10.3,426,6936,0.15,1.95,0.00,0.000,6,0.267,0.085,2583,1531,3614,0,0,0,0,0,0,14.19,14.46,28.83
$GC,7261,-0.96,-155.7,661.1,-8.2,437,7266,0.00,2.10,0.00,0.000,4,0.000,0.138,2583,456,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7307,-0.98,-155.7,663.6,-8.3,438,7311,0.00,1.95,0.00,0.000,6,0.000,0.082,2579,1527,3613,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7611,-1.00,-155.7,690.5,-8.2,448,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1527,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7909,-1.04,-155.7,715.8,-8.5,458,7916,0.00,2.10,0.00,0.000,4,0.000,0.138,2579,461,3611,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8107,-1.04,-155.7,733.1,-9.6,464,8111,0.00,1.92,0.00,0.000,6,0.000,0.085,2578,1512,3609,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8409,-1.04,-155.7,761.9,-9.0,474,8415,0.00,2.00,0.00,0.000,4,0.000,0.108,2570,2572,3609,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8447,-1.04,-155.7,764.6,-9.0,475,8451,0.00,2.05,0.00,0.000,6,0.000,0.114,2570,1516,3608,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8760,-1.04,-155.7,793.3,-9.1,486,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1515,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9060,-1.06,-155.7,821.7,-9.6,496,9066,0.00,2.08,0.00,0.000,4,0.000,0.143,2570,464,3606,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9107,-1.06,-155.7,824.7,-9.7,497,9111,0.00,1.95,0.00,0.000,6,0.000,0.086,2566,1522,3605,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9410,-1.06,-155.7,855.4,-9.5,507,9416,0.00,2.00,0.00,0.000,4,0.000,0.112,2558,2569,3604,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9478,-1.06,-155.7,861.1,-9.5,509,9485,0.00,2.03,0.00,0.000,6,0.000,0.115,2559,1522,3604,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9799,-1.06,-155.7,892.8,-9.7,520,9806,0.00,2.03,0.00,0.000,4,0.000,0.115,2554,2573,3602,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9859,-1.06,-155.7,898.5,-9.7,522,9866,0.00,2.03,0.00,0.000,6,0.000,0.118,2554,1532,3600,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10189,-1.06,-155.7,930.6,-9.6,533,10197,0.00,2.12,0.00,0.000,4,0.000,0.143,2554,459,3602,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10238,-1.06,-155.7,933.7,-9.7,534,10247,0.00,2.00,0.00,0.000,6,0.000,0.091,2553,1532,3600,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10550,-1.06,-155.7,965.9,-9.7,545,10557,0.00,2.00,0.00,0.000,4,0.000,0.118,2552,2575,3599,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10618,-1.06,-155.7,971.4,-9.3,547,10621,0.00,2.05,0.00,0.000,6,0.000,0.119,2553,1532,3599,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,10807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10814,-0.23,0.0,990.2,-9.4,554,10968,0.93,0.00,149.82,1.832,4,0.231,0.000,2804,1531,2991,0,0,0,0,0,0,14.01,28.83,13.19
$STATE,10970,end apogee,CONTROL_FINISHED_OK
$STATE,10972,begin climb
$GC,10974,0.84,155.7,998.4,0.0,559,11143,1.12,2.05,157.02,1.797,4,0.118,0.118,3163,2582,2349,0,0,0,0,0,0,14.09,14.07,13.19
$GC,11331,0.79,155.7,986.3,7.7,571,11339,0.00,2.10,0.00,0.000,6,0.000,0.130,3171,1522,2335,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11655,0.74,155.7,961.1,7.7,582,11661,0.15,1.98,0.00,0.000,4,0.312,0.113,3135,2578,2333,0,0,0,0,0,0,14.20,14.44,28.83
$GC,11804,0.71,155.7,950.2,7.2,587,11809,0.00,2.05,0.00,0.000,6,0.000,0.135,3142,1523,2333,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12135,0.69,169.5,927.3,6.7,598,12152,0.00,2.15,11.88,1.656,4,0.000,0.168,3150,460,2296,0,0,0,0,0,0,28.83,14.52,13.66
$GC,12242,0.66,179.4,919.7,6.9,601,12262,0.15,1.98,12.35,1.638,6,0.275,0.096,3110,1531,2253,0,0,0,0,0,0,14.23,14.48,13.65
$GC,12572,0.68,227.7,900.4,5.6,612,12631,0.00,2.00,51.67,1.728,4,0.000,0.113,3110,2580,2052,0,0,0,0,0,0,28.83,14.28,13.50
$GC,12681,0.71,261.8,894.8,6.1,615,12722,0.00,2.08,36.78,1.689,6,0.000,0.127,3117,1536,1921,0,0,0,0,0,0,28.83,14.26,13.38
$GC,13042,0.71,269.5,868.7,6.9,628,13050,0.00,2.03,1.33,0.184,4,0.000,0.121,3114,2571,1888,0,0,0,0,0,0,28.83,14.35,14.38
$GC,13091,0.71,277.2,866.6,6.9,629,13110,0.00,2.03,14.90,1.623,6,0.000,0.130,3124,1547,1859,0,0,0,0,0,0,28.83,14.37,13.62
$GC,13422,0.71,277.2,841.1,7.6,641,13429,0.00,2.15,0.00,0.000,4,0.000,0.150,3133,464,1842,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,23291,end climb,SURFACE_DEPTH_REACHED
$STATE,23292,begin surface coast
$FINISH,1.3,1.025468
$STATE,23313,end surface coast,CONTROL_FINISHED_OK
$STATE,23313,begin surface
$SM_CCo,23337,4.18,0.143,0,0,1561,350.04
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$IRIDIUM_FIX,2418.11,-3731.95,201212,181859
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.60
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,7654304
$TM_FREEKB,4786208
$24V_AH,12.4,128.018
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.850,180.950,529.650,4.175,0.000,0.000,0.000,408.175,0.750,0.000,20.751,3294.168,16643.980,905.176,2651.958,577.044,0.000,2463.428,0.000,2106.076,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.108,13.259,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43275,1160
$CAP_FILE_SIZE,246632,0
$CFSIZE,260034560,207835136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,120.0,1
$GPS,211212,074435,2429.604,-3725.613,36,0.8,36,-13.8