version: 66.11
glider: 190
mission: 6
dive: 308
start: 12 22 112 16 42 29
data:
$ID,190
$MISSION,6
$DIVE,308
$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,-13285.421
$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,15
$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
$GPS1,221212,162858,2436.003,-3720.111,39,0.9,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-64.2
$GPS2,221212,164159,2435.964,-3720.090,18,0.9,18,-13.8
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,321.3,95793,-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,24,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.88,0.000,2,0.000,0.000,139,1529,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,11.55,1.98,-86.62,0.000,4,0.373,0.132,2608,2580,3626,0,0,0,0,0,0,14.22,14.28,14.71
$GC,209,-0.84,-155.7,8.8,-9.2,18,217,0.00,2.05,0.00,0.000,6,0.000,0.116,2608,1521,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,518,-0.84,-155.7,38.2,-9.6,49,528,0.00,2.00,0.00,0.000,4,0.000,0.109,2602,2574,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,648,-0.84,-155.7,49.8,-8.8,62,657,0.00,2.00,0.00,0.000,6,0.000,0.116,2605,1533,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,958,-0.84,-155.7,79.3,-9.6,93,967,0.00,2.00,0.00,0.000,4,0.000,0.110,2605,2579,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1058,-0.84,-155.7,89.3,-10.4,103,1067,0.00,2.00,0.00,0.000,6,0.000,0.116,2605,1545,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1369,-0.84,-155.7,121.8,-10.3,134,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1545,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.84,-155.7,151.6,-9.2,165,1688,0.00,1.95,0.00,0.000,4,0.000,0.108,2605,2581,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1758,-0.86,-155.7,158.8,-9.2,173,1769,0.00,2.00,0.00,0.000,6,0.000,0.116,2605,1550,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2069,-0.90,-155.7,187.3,-9.1,204,2077,0.00,2.15,0.00,0.000,4,0.000,0.142,2605,460,3627,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2248,-0.90,-155.7,203.8,-8.8,222,2257,0.00,1.98,0.00,0.000,6,0.000,0.088,2605,1537,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2559,-0.93,-155.7,229.2,-8.5,253,2568,0.00,2.12,0.00,0.000,4,0.000,0.141,2604,460,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2699,-0.93,-155.7,242.1,-9.7,267,2707,0.00,1.92,0.00,0.000,6,0.000,0.090,2605,1513,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3028,-0.97,-155.7,271.9,-9.1,284,3035,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,457,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3097,-0.99,-155.7,277.5,-9.4,286,3101,0.00,1.92,0.00,0.000,6,0.000,0.090,2605,1509,3627,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3413,-1.01,-155.7,305.8,-8.8,297,3419,0.12,1.95,0.00,0.000,4,0.141,0.107,2541,2577,3625,0,0,0,0,0,0,14.63,14.40,28.83
$GC,3458,-1.01,-155.7,308.7,-9.0,298,3462,0.00,2.08,0.00,0.000,6,0.000,0.118,2540,1502,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3760,-0.98,-155.7,343.1,-10.8,308,3762,0.12,0.00,0.00,0.000,6,0.261,0.000,2569,1501,3625,0,0,0,0,0,0,14.37,28.83,28.83
$GC,4059,-0.98,-155.7,372.8,-9.5,318,4066,0.00,2.05,0.00,0.000,4,0.000,0.111,2563,2579,3624,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4158,-0.98,-155.7,380.8,-8.9,321,4162,0.00,2.08,0.00,0.000,6,0.000,0.119,2562,1507,3623,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4471,-0.98,-155.7,408.5,-8.6,332,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1506,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4771,-0.98,-155.7,436.3,-9.8,342,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1506,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5071,-0.98,-155.7,470.9,-12.3,352,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1506,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5371,-0.98,-155.7,508.4,-12.4,362,5377,0.00,2.03,0.00,0.000,4,0.000,0.139,2563,462,3620,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5419,-0.98,-155.7,512.2,-12.4,363,5422,0.00,1.95,0.00,0.000,6,0.000,0.091,2555,1521,3620,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5721,-0.98,-155.7,548.3,-10.6,373,5728,0.00,2.00,0.00,0.000,4,0.000,0.116,2553,2579,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5769,-0.98,-155.7,551.3,-10.5,374,5778,0.00,2.08,0.00,0.000,6,0.000,0.119,2552,1511,3619,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6081,-0.98,-155.7,583.7,-9.6,385,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1511,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6380,-0.98,-155.7,611.6,-9.3,395,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1511,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6680,-0.98,-155.7,638.8,-9.1,405,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1511,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6981,-0.98,-155.7,667.9,-10.0,415,6987,0.00,2.03,0.00,0.000,4,0.000,0.116,2549,2569,3614,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7040,-0.98,-155.7,673.7,-9.9,417,7048,0.00,2.08,0.00,0.000,6,0.000,0.125,2549,1515,3615,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7371,-0.98,-155.7,704.7,-9.1,428,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1515,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7670,-0.98,-155.7,729.8,-8.2,438,7677,0.00,2.05,0.00,0.000,4,0.000,0.122,2549,2575,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7719,-0.98,-155.7,732.0,-8.0,439,7723,0.00,2.10,0.00,0.000,6,0.000,0.129,2549,1513,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8020,-0.98,-155.7,758.8,-8.9,449,8027,0.00,2.12,0.00,0.000,4,0.000,0.155,2549,462,3613,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8059,-0.98,-155.7,761.7,-9.3,450,8063,0.00,2.00,0.00,0.000,6,0.000,0.106,2549,1518,3610,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8373,-0.98,-155.7,794.5,-10.4,461,8378,0.00,2.03,0.00,0.000,4,0.000,0.126,2542,2586,3609,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8470,-0.98,-155.7,804.1,-10.6,464,8474,0.12,2.10,0.00,0.000,6,0.243,0.129,2570,1526,3608,0,0,0,0,0,0,14.16,14.23,28.83
$GC,8785,-1.00,-155.7,836.8,-9.9,475,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1526,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-1.02,-155.7,864.9,-9.1,485,9091,0.00,2.15,0.00,0.000,4,0.000,0.158,2570,463,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9241,-1.02,-155.7,879.0,-9.5,490,9245,0.00,2.03,0.00,0.000,6,0.000,0.104,2565,1530,3605,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9554,-1.02,-155.7,906.3,-8.6,501,9561,0.00,2.03,0.00,0.000,4,0.000,0.125,2558,2571,3601,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9592,-1.02,-155.7,908.8,-8.6,502,9596,0.00,2.08,0.00,0.000,6,0.000,0.128,2557,1527,3603,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9905,-1.02,-155.7,936.8,-8.9,513,9912,0.00,2.15,0.00,0.000,4,0.000,0.155,2557,466,3603,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9983,-1.02,-155.7,942.7,-9.3,515,9987,0.00,2.00,0.00,0.000,6,0.000,0.099,2553,1531,3602,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10284,-1.02,-155.7,973.0,-9.4,525,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1531,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10492,begin apogee
$GC,10499,-0.23,0.0,992.4,-9.2,532,10653,0.93,0.00,150.50,1.851,4,0.229,0.000,2805,1534,2989,0,0,0,0,0,0,13.98,28.83,13.19
$STATE,10657,end apogee,CONTROL_FINISHED_OK
$STATE,10657,begin climb
$GC,10660,0.84,155.7,1000.4,0.0,537,10827,1.10,2.05,157.05,1.815,4,0.113,0.124,3157,2581,2354,0,0,0,0,0,0,14.10,14.06,13.17
$GC,11056,0.79,155.7,985.0,7.9,551,11063,0.00,2.12,0.00,0.000,6,0.000,0.142,3167,1522,2335,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11378,0.74,155.7,958.8,7.9,562,11384,0.12,2.03,0.00,0.000,4,0.317,0.127,3136,2578,2334,0,0,0,0,0,0,14.23,14.43,28.83
$GC,11567,0.71,155.7,945.4,7.3,568,11572,0.00,2.10,0.00,0.000,6,0.000,0.144,3144,1517,2333,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11889,0.69,171.3,922.8,6.7,579,11909,0.12,2.08,14.68,1.701,4,0.309,0.132,3114,2576,2285,0,0,0,0,0,0,14.22,14.56,13.67
$GC,11989,0.68,194.5,917.5,6.4,581,12019,0.00,2.05,25.45,1.732,6,0.000,0.145,3122,1536,2196,0,0,0,0,0,0,28.83,14.38,13.56
$GC,12319,0.70,236.6,895.8,5.8,592,12365,0.00,0.00,44.00,1.755,6,0.000,0.000,3121,1535,2025,0,0,0,0,0,0,28.83,28.83,13.48
$GC,12670,0.72,268.8,874.3,6.2,603,12709,0.00,2.08,33.60,1.706,4,0.000,0.129,3121,2576,1889,0,0,0,0,0,0,28.83,14.31,13.51
$GC,12756,0.74,290.0,869.0,6.5,606,12786,0.00,2.10,23.27,1.658,6,0.000,0.139,3129,1535,1802,0,0,0,0,0,0,28.83,14.26,13.43
$GC,13107,0.74,290.0,842.9,7.5,618,13114,0.00,2.03,0.00,0.000,4,0.000,0.120,3129,2578,1788,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13167,0.74,290.0,837.9,8.0,620,13174,0.00,2.03,0.00,0.000,6,0.000,0.133,3137,1552,1787,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13500,0.74,290.0,810.7,8.4,631,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1552,1786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13797,0.74,290.0,784.7,8.9,641,13805,0.00,2.03,0.00,0.000,4,0.000,0.128,3137,2582,1785,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13846,0.74,290.0,782.1,8.9,642,13855,0.00,2.05,0.00,0.000,6,0.000,0.136,3144,1552,1785,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14158,0.74,290.0,750.6,10.0,653,14166,0.00,2.17,0.00,0.000,4,0.000,0.153,3153,467,1785,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,22427,end climb,SURFACE_DEPTH_REACHED
$STATE,22427,begin surface coast
$FINISH,1.2,1.005408
$STATE,22457,end surface coast,CONTROL_FINISHED_OK
$STATE,22457,begin surface
$SM_CCo,22478,19.38,0.130,0,0,1560,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.32
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7652000
$TM_FREEKB,4734016
$24V_AH,13.2,130.479
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.450,167.050,480.750,19.375,0.000,0.000,0.000,441.425,0.250,0.000,19.559,3123.900,16131.380,874.831,2562.134,578.353,0.000,2399.959,0.000,2000.446,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.063,13.227,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40012,1113
$CAP_FILE_SIZE,234145,0
$CFSIZE,260034560,207065088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.008,330.2,1
$GPS,221212,225852,2437.143,-3721.789,39,0.8,39,-13.8