version: 66.11
glider: 190
mission: 6
dive: 316
start: 12 24 112 21 8 46
data:
$ID,190
$MISSION,6
$DIVE,316
$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,-13295.575
$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,16
$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
$GPS1,241212,205459,2445.469,-3730.976,37,1.2,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-62.4
$GPS2,241212,210817,2445.420,-3731.040,16,1.4,16,-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,341.5,70451,-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,-155.7,0.0,0.0,0,37,0.00,0.00,-11.00,0.000,2,0.000,0.000,137,1511,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.3,0.0,1,147,11.48,2.00,-85.32,0.000,4,0.368,0.125,2612,2576,3626,0,0,0,0,0,0,14.22,14.31,14.70
$GC,347,-0.84,-155.7,20.2,-9.6,32,356,0.00,2.03,0.00,0.000,6,0.000,0.104,2615,1519,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,657,-0.84,-155.7,49.0,-10.5,63,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1519,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.84,-155.7,83.3,-11.8,93,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1519,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.84,-155.7,117.2,-13.0,123,1266,0.00,1.98,0.00,0.000,4,0.000,0.095,2606,2580,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1389,-0.84,-155.7,133.5,-11.9,136,1396,0.00,2.00,0.00,0.000,6,0.000,0.106,2606,1514,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1698,-0.86,-155.7,164.2,-8.4,167,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1516,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-0.90,-155.7,189.5,-8.8,198,2016,0.00,2.00,0.00,0.000,4,0.000,0.124,2606,458,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2067,-0.90,-155.7,195.1,-9.3,204,2075,0.00,1.92,0.00,0.000,6,0.000,0.077,2605,1531,3627,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2378,-0.90,-155.7,222.8,-8.7,235,2386,0.00,1.90,0.00,0.000,4,0.000,0.098,2604,2569,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2477,-0.94,-155.7,231.6,-8.8,245,2487,0.00,2.00,0.00,0.000,6,0.000,0.113,2605,1531,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2808,-0.98,-155.7,261.1,-9.1,270,2814,0.00,2.05,0.00,0.000,4,0.000,0.130,2605,462,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2976,-0.98,-155.7,275.5,-9.7,275,2985,0.00,1.90,0.00,0.000,6,0.000,0.082,2604,1517,3625,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3289,-1.01,-155.7,304.5,-8.7,286,3295,0.12,1.90,0.00,0.000,4,0.139,0.101,2549,2577,3625,0,0,0,0,0,0,14.65,14.41,28.83
$GC,3318,-1.04,-155.7,307.1,-8.7,287,3326,0.00,2.03,0.00,0.000,6,0.000,0.112,2549,1512,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3650,-1.01,-155.7,337.1,-8.7,298,3655,0.00,1.95,0.00,0.000,4,0.000,0.103,2549,2574,3624,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3727,-0.99,-155.7,342.0,-8.5,300,3736,0.00,2.03,0.00,0.000,6,0.000,0.111,2549,1516,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4040,-0.96,-155.7,370.2,-8.8,311,4047,0.12,1.95,0.00,0.000,4,0.249,0.101,2576,2579,3624,0,0,0,0,0,0,14.35,14.37,28.83
$GC,4116,-0.96,-155.7,375.0,-8.5,313,4119,0.00,2.03,0.00,0.000,6,0.000,0.113,2576,1525,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4418,-0.96,-155.7,402.4,-8.7,323,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1526,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4717,-0.96,-155.7,431.2,-9.9,333,4725,0.00,1.98,0.00,0.000,4,0.000,0.103,2569,2574,3622,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4847,-0.96,-155.7,443.5,-10.2,337,4854,0.00,1.98,0.00,0.000,6,0.000,0.111,2569,1534,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5168,-0.96,-155.7,479.4,-11.2,348,5174,0.00,1.95,0.00,0.000,4,0.000,0.106,2565,2572,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5227,-0.96,-155.7,486.1,-11.2,350,5234,0.00,2.00,0.00,0.000,6,0.000,0.112,2565,1533,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5558,-0.96,-155.7,522.3,-11.0,361,5565,0.00,2.10,0.00,0.000,4,0.000,0.140,2565,462,3620,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5626,-0.96,-155.7,528.8,-10.9,363,5630,0.00,1.98,0.00,0.000,6,0.000,0.087,2558,1542,3619,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5939,-0.96,-155.7,562.1,-10.0,374,5945,0.00,1.92,0.00,0.000,4,0.000,0.109,2553,2571,3617,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5986,-0.96,-155.7,565.0,-9.9,375,5990,0.00,1.98,0.00,0.000,6,0.000,0.115,2553,1546,3617,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6289,-0.96,-155.7,594.0,-8.7,385,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1546,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6589,-0.96,-155.7,619.0,-8.2,395,6595,0.00,1.95,0.00,0.000,4,0.000,0.108,2549,2575,3615,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6697,-0.96,-155.7,626.4,-8.3,398,6701,0.12,1.98,0.00,0.000,6,0.237,0.113,2579,1553,3615,0,0,0,0,0,0,14.23,14.32,28.83
$GC,7001,-0.96,-155.7,651.1,-7.7,408,7007,0.00,1.92,0.00,0.000,4,0.000,0.112,2572,2582,3613,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7077,-0.96,-155.7,655.3,-7.4,410,7080,0.00,1.98,0.00,0.000,6,0.000,0.116,2572,1567,3614,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7380,-0.99,-155.7,679.5,-7.6,420,7385,0.00,2.17,0.00,0.000,4,0.000,0.146,2572,460,3613,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7477,-0.99,-155.7,687.0,-8.1,423,7486,0.00,2.05,0.00,0.000,6,0.000,0.091,2565,1570,3612,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7798,-0.99,-155.7,714.5,-8.6,434,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1572,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.99,-155.7,742.4,-9.4,444,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1573,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,-1.01,-155.7,771.7,-10.0,454,8406,0.00,2.22,0.00,0.000,4,0.000,0.145,2565,460,3609,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8489,-1.01,-155.7,781.5,-10.6,457,8495,0.00,2.03,0.00,0.000,6,0.000,0.091,2558,1567,3608,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8820,-1.03,-155.7,817.5,-11.0,468,8825,0.00,2.22,0.00,0.000,4,0.000,0.148,2557,456,3607,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8897,-1.03,-155.7,824.5,-11.3,470,8901,0.00,2.05,0.00,0.000,6,0.000,0.094,2553,1554,3606,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9199,-1.03,-155.7,858.8,-10.3,480,9206,0.00,1.95,0.00,0.000,4,0.000,0.121,2549,2571,3605,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9337,-1.03,-155.7,870.6,-9.9,484,9341,0.00,2.00,0.00,0.000,6,0.000,0.120,2549,1552,3605,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9639,-1.03,-155.7,901.0,-9.3,494,9646,0.00,1.98,0.00,0.000,4,0.000,0.122,2552,2569,3604,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9697,-1.03,-155.7,906.5,-9.0,496,9705,0.00,1.98,0.00,0.000,6,0.000,0.122,2549,1567,3603,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10029,-1.03,-155.7,936.5,-9.2,507,10035,0.00,1.98,0.00,0.000,4,0.000,0.123,2549,2579,3602,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10077,-1.03,-155.7,939.2,-9.2,508,10080,0.00,1.98,0.00,0.000,6,0.000,0.123,2549,1574,3601,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10378,-1.03,-155.7,970.1,-10.1,518,10385,0.00,1.95,0.00,0.000,4,0.000,0.124,2549,2571,3601,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10427,-1.03,-155.7,973.2,-10.1,519,10436,0.00,1.98,0.00,0.000,6,0.000,0.125,2549,1575,3600,0,0,0,0,0,0,28.83,14.19,28.83
$STATE,10586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10586,begin apogee
$GC,10593,-0.23,0.0,991.5,-10.3,525,10767,0.95,0.00,168.77,1.721,4,0.223,0.000,2809,1519,2986,0,0,0,0,0,0,14.00,28.83,13.17
$STATE,10772,end apogee,CONTROL_FINISHED_OK
$STATE,10772,begin climb
$GC,10775,0.84,155.7,1003.4,0.0,531,10941,1.10,2.10,157.65,1.814,4,0.116,0.122,3161,2583,2355,0,0,0,0,0,0,14.10,14.06,13.16
$GC,11170,0.79,155.7,991.7,7.3,543,11179,0.00,2.12,0.00,0.000,6,0.000,0.132,3169,1518,2339,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11482,0.74,155.7,965.6,8.2,554,11488,0.15,2.08,0.00,0.000,4,0.317,0.157,3141,457,2337,0,0,0,0,0,0,14.17,14.32,28.83
$GC,11709,0.70,155.7,947.9,8.5,561,11719,0.00,1.98,0.00,0.000,6,0.000,0.093,3141,1527,2335,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12022,0.67,155.7,922.2,7.5,572,12028,0.15,1.98,0.00,0.000,4,0.299,0.118,3103,2582,2334,0,0,0,0,0,0,14.18,14.41,28.83
$GC,12130,0.68,168.7,916.3,6.8,575,12148,0.00,2.10,12.05,1.674,6,0.000,0.142,3111,1529,2297,0,0,0,0,0,0,28.83,14.32,13.66
$GC,12470,0.73,256.3,897.5,4.4,587,12568,0.00,2.03,91.80,1.747,4,0.000,0.119,3111,2580,1939,0,0,0,0,0,0,28.83,14.12,13.33
$GC,12652,0.76,314.9,888.3,5.3,593,12719,0.00,2.03,61.35,1.705,6,0.000,0.135,3118,1539,1704,0,0,0,0,0,0,28.83,14.23,13.28
$GC,13042,0.82,344.8,864.8,6.2,606,13079,0.12,2.00,31.35,1.670,4,0.151,0.126,3161,2577,1578,0,0,0,0,0,0,14.50,14.31,13.50
$GC,13199,0.82,344.8,852.7,8.3,611,13207,0.00,2.08,0.00,0.000,6,0.000,0.145,3169,1553,1569,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13522,0.82,344.8,823.5,9.1,622,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1554,1566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13820,0.82,344.8,794.1,10.3,632,13827,0.00,2.25,0.00,0.000,4,0.000,0.170,3178,460,1564,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13869,0.82,344.8,790.8,10.6,633,13873,0.00,2.05,0.00,0.000,6,0.000,0.096,3177,1560,1564,0,0,0,0,0,0,28.83,14.45,28.83
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$STATE,21640,end climb,SURFACE_DEPTH_REACHED
$STATE,21640,begin surface coast
$FINISH,1.4,1.024903
$STATE,21674,end surface coast,CONTROL_FINISHED_OK
$STATE,21674,begin surface
$SM_CCo,21755,0.00,0.000,0,0,1551,352.99
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.38
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$XPDR_PINGS,0
$SC_FREEKB,7648928
$TM_FREEKB,4662368
$24V_AH,13.2,133.815
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.600,170.850,527.475,0.000,0.000,0.000,0.000,447.025,0.000,0.000,17.533,3050.543,15455.407,877.688,2580.622,572.689,0.000,2420.613,0.000,2008.188,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.010,13.219,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40011,1064
$CAP_FILE_SIZE,227038,0
$CFSIZE,260034560,206008320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,190.2,1
$GPS,251212,031235,2446.758,-3731.989,31,1.0,31,-13.8