version: 66.11
glider: 190
mission: 6
dive: 328
start: 12 28 112 2 45 31
data:
$ID,190
$MISSION,6
$DIVE,328
$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,-13310.76
$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,23
$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
$GPS1,281212,022904,2459.675,-3744.158,46,1.0,46,-13.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-62.1
$GPS2,281212,024500,2459.604,-3744.116,18,1.0,18,-13.9
$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,329.7,36384,-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,-11.25,0.000,2,0.000,0.000,140,1522,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,10.85,2.12,-84.53,0.000,4,0.340,0.162,2621,456,3625,0,0,0,0,0,0,14.26,14.25,14.69
$GC,380,-0.84,-155.7,26.7,-10.3,35,387,0.00,1.90,0.00,0.000,6,0.000,0.084,2618,1519,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,689,-0.84,-155.7,57.8,-9.9,66,697,0.00,1.98,0.00,0.000,4,0.000,0.103,2618,2578,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,758,-0.86,-155.7,64.6,-9.5,73,768,0.00,2.05,0.00,0.000,6,0.000,0.112,2618,1517,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1068,-0.86,-155.7,93.2,-9.2,104,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1517,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1370,-0.89,-155.7,121.4,-9.9,134,1377,0.00,2.03,0.00,0.000,4,0.000,0.135,2618,460,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1409,-0.89,-155.7,125.7,-10.6,138,1417,0.00,1.90,0.00,0.000,6,0.000,0.080,2618,1525,3626,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1718,-0.93,-155.7,155.8,-9.2,169,1728,0.00,2.08,0.00,0.000,4,0.000,0.135,2618,460,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1870,-0.93,-155.7,170.6,-10.1,184,1877,0.00,1.88,0.00,0.000,6,0.000,0.080,2618,1509,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2179,-0.97,-155.7,203.9,-10.6,215,2187,0.12,2.03,0.00,0.000,4,0.136,0.135,2563,466,3624,0,0,0,0,0,0,14.57,14.19,28.83
$GC,2348,-0.93,-155.7,223.0,-10.6,232,2357,0.12,1.85,0.00,0.000,6,0.272,0.079,2584,1492,3626,0,0,0,0,0,0,14.18,14.43,28.83
$GC,2658,-0.93,-155.7,248.4,-7.8,263,2666,0.00,2.03,0.00,0.000,4,0.000,0.100,2579,2583,3626,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2749,-0.93,-155.7,255.4,-7.8,268,2755,0.00,2.08,0.00,0.000,6,0.000,0.112,2579,1489,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3078,-0.93,-155.7,283.7,-9.1,279,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1489,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3379,-0.93,-155.7,314.0,-10.5,289,3385,0.00,2.03,0.00,0.000,4,0.000,0.103,2576,2577,3625,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3438,-0.93,-155.7,320.4,-10.6,291,3446,0.00,2.08,0.00,0.000,6,0.000,0.112,2576,1492,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3771,-0.93,-155.7,356.0,-10.8,302,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1492,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-0.93,-155.7,385.8,-9.8,312,4076,0.00,2.03,0.00,0.000,4,0.000,0.104,2570,2574,3623,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4147,-0.93,-155.7,391.4,-9.6,314,4151,0.00,2.08,0.00,0.000,6,0.000,0.113,2570,1494,3623,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4449,-0.93,-155.7,420.8,-8.9,324,4455,0.00,1.98,0.00,0.000,4,0.000,0.135,2570,464,3622,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4527,-0.93,-155.7,426.2,-8.8,326,4536,0.00,1.85,0.00,0.000,6,0.000,0.080,2566,1495,3622,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4838,-0.93,-155.7,450.8,-6.9,337,4846,0.00,1.98,0.00,0.000,4,0.000,0.103,2558,2571,3621,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4948,-0.93,-155.7,456.7,-6.6,340,4957,0.12,2.05,0.00,0.000,6,0.236,0.111,2588,1499,3620,0,0,0,0,0,0,14.26,14.37,28.83
$GC,5260,-0.93,-155.7,478.0,-6.7,351,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1499,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5558,-0.97,-155.7,502.1,-8.6,361,5567,0.00,1.98,0.00,0.000,4,0.000,0.132,2588,467,3619,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5637,-0.97,-155.7,507.9,-9.1,363,5640,0.00,1.88,0.00,0.000,6,0.000,0.080,2583,1512,3618,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5939,-0.99,-155.7,537.6,-9.2,373,5945,0.00,2.05,0.00,0.000,4,0.000,0.137,2583,460,3617,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6017,-0.99,-155.7,543.5,-9.4,375,6020,0.00,1.88,0.00,0.000,6,0.000,0.083,2578,1495,3617,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6318,-0.99,-155.7,571.2,-8.3,385,6326,0.00,2.00,0.00,0.000,4,0.000,0.107,2570,2572,3615,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6410,-1.02,-155.7,578.3,-8.0,388,6415,0.00,2.05,0.00,0.000,6,0.000,0.115,2571,1494,3615,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6740,-1.04,-155.7,606.0,-8.6,399,6745,0.00,2.00,0.00,0.000,4,0.000,0.135,2570,456,3614,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6898,-1.04,-155.7,620.3,-9.7,404,6904,0.00,1.85,0.00,0.000,6,0.000,0.080,2565,1480,3613,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7218,-1.04,-155.7,652.4,-10.2,415,7225,0.00,2.00,0.00,0.000,4,0.000,0.137,2566,463,3612,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7279,-1.04,-155.7,659.2,-10.8,417,7286,0.00,1.77,0.00,0.000,6,0.000,0.083,2558,1452,3612,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7609,-1.04,-155.7,695.4,-11.0,428,7615,0.00,2.10,0.00,0.000,4,0.000,0.106,2552,2573,3611,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7687,-1.04,-155.7,701.7,-10.6,430,7696,0.00,2.15,0.00,0.000,6,0.000,0.116,2553,1461,3609,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7999,-1.04,-155.7,736.2,-10.4,441,8006,0.00,2.10,0.00,0.000,4,0.000,0.110,2549,2569,3609,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8058,-1.04,-155.7,742.4,-10.3,443,8065,0.00,2.12,0.00,0.000,6,0.000,0.116,2549,1472,3608,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8391,-1.04,-155.7,775.4,-9.7,454,8396,0.00,2.08,0.00,0.000,4,0.000,0.112,2548,2575,3607,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8448,-1.04,-155.7,781.1,-9.5,456,8455,0.00,2.12,0.00,0.000,6,0.000,0.119,2548,1478,3607,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8778,-1.04,-155.7,810.8,-8.9,467,8785,0.00,2.10,0.00,0.000,4,0.000,0.112,2541,2574,3607,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8858,-1.04,-155.7,816.2,-9.0,469,8866,0.00,2.12,0.00,0.000,6,0.000,0.119,2541,1484,3605,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9169,-1.04,-155.7,849.3,-10.5,480,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1484,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9469,-1.04,-155.7,881.9,-11.0,490,9475,0.00,2.08,0.00,0.000,4,0.000,0.114,2540,2565,3603,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9588,-1.04,-155.7,894.3,-10.3,494,9595,0.00,2.10,0.00,0.000,6,0.000,0.120,2538,1492,3602,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9921,-1.04,-155.7,926.9,-9.7,505,9927,0.00,2.05,0.00,0.000,4,0.000,0.118,2540,2573,3602,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10009,-1.04,-155.7,935.0,-9.1,508,10015,0.00,2.12,0.00,0.000,6,0.000,0.122,2539,1491,3600,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10340,-1.04,-155.7,963.9,-8.5,519,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1491,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10639,-1.04,-155.7,988.9,-8.2,529,10646,0.00,2.10,0.00,0.000,4,0.000,0.119,2539,2575,3598,0,0,0,0,0,0,28.83,14.13,28.83
$STATE,10665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10666,begin apogee
$GC,10674,-0.23,0.0,991.4,-8.2,530,10830,0.98,0.00,152.05,1.891,4,0.224,0.000,2807,1511,2989,0,0,0,0,0,0,13.97,28.83,13.12
$STATE,10835,end apogee,CONTROL_FINISHED_OK
$STATE,10835,begin climb
$GC,10837,0.84,155.7,998.5,0.0,535,11008,1.10,2.05,160.05,1.904,4,0.113,0.117,3161,2573,2349,0,0,0,0,0,0,14.10,14.07,13.12
$GC,11069,0.83,253.5,997.2,4.1,543,11176,0.00,2.10,101.22,1.769,6,0.000,0.126,3169,1518,1954,0,0,0,0,0,0,28.83,14.17,13.19
$GC,11498,0.83,253.5,955.8,9.4,558,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1517,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11799,0.83,253.5,927.8,9.3,568,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1518,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12098,0.83,253.5,898.9,9.9,578,12099,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1518,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12399,0.83,253.5,867.6,10.6,588,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1517,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12698,0.83,253.5,835.1,10.8,598,12706,0.00,2.12,0.00,0.000,4,0.000,0.149,3177,456,1933,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12758,0.80,253.5,828.3,10.9,600,12765,0.00,1.95,0.00,0.000,6,0.000,0.085,3177,1528,1933,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13091,0.78,253.5,796.6,8.9,611,13097,0.12,1.95,0.00,0.000,4,0.295,0.109,3146,2582,1933,0,0,0,0,0,0,14.21,14.38,28.83
$GC,13127,0.78,253.5,794.0,8.7,612,13131,0.00,2.12,0.00,0.000,6,0.000,0.142,3153,1519,1931,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13440,0.79,268.3,771.4,6.7,623,13458,0.00,2.10,13.50,1.584,4,0.000,0.155,3161,457,1891,0,0,0,0,0,0,28.83,14.52,13.59
$GC,13519,0.79,271.8,765.6,7.1,625,13526,0.00,1.95,0.00,0.000,6,0.000,0.086,3166,1524,1883,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13852,0.79,271.8,740.1,8.3,636,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1524,1881,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21928,end climb,SURFACE_DEPTH_REACHED
$STATE,21928,begin surface coast
$FINISH,1.4,1.025648
$STATE,21952,end surface coast,CONTROL_FINISHED_OK
$STATE,21952,begin surface
$SM_CCo,21973,21.83,0.128,0,0,1561,350.04
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$IRIDIUM_FIX,2446.56,-3745.41,271212,202003
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.83
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7644320
$TM_FREEKB,4557728
$24V_AH,13.1,138.852
$10V_AH,11.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.675,182.800,465.975,21.825,0.000,0.000,0.000,494.475,0.250,0.000,20.001,3044.216,15829.477,914.926,2576.324,576.623,0.000,2496.617,0.000,1962.865,0.000,0.543,0.000
$DEVICE_MAMPS,339.660,162.180,1904.085,127.755,0.000,0.000,0.000,174.420,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.058,13.248,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40020,1079
$CAP_FILE_SIZE,230571,0
$CFSIZE,260034560,204427264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,194.1,1
$GPS,281212,085329,2500.293,-3745.686,37,0.8,37,-13.9