version: 66.11
glider: 190
mission: 6
dive: 342
start: 12 31 112 22 16 53
data:
$ID,190
$MISSION,6
$DIVE,342
$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,-13345.728
$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,16
$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,10
$MINV_10V,10
$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
$GPS1,311212,220305,2507.990,-3805.716,30,0.8,30,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-65.0
$GPS2,311212,221623,2508.112,-3805.781,16,1.2,16,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,228.7,86495,-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,-11.25,0.000,2,0.000,0.000,146,1533,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.5,0.0,1,148,11.23,2.12,-85.75,0.000,4,0.359,0.165,2614,462,3625,0,0,0,0,0,0,14.12,14.18,14.69
$GC,278,-0.81,-155.7,16.3,-10.0,25,288,0.00,1.95,0.00,0.000,6,0.000,0.086,2608,1523,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,588,-0.81,-155.7,45.9,-9.2,56,597,0.00,2.00,0.00,0.000,4,0.000,0.109,2605,2579,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,650,-0.81,-155.7,51.9,-10.4,62,657,0.00,2.05,0.00,0.000,6,0.000,0.117,2605,1518,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,958,-0.81,-155.7,84.4,-10.1,93,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1518,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.81,-155.7,113.9,-10.2,123,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1518,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1558,-0.81,-155.7,143.6,-9.4,153,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1518,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.85,-155.7,170.9,-8.6,183,1867,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,463,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2028,-0.85,-155.7,186.1,-8.6,200,2037,0.00,1.92,0.00,0.000,6,0.000,0.081,2604,1532,3627,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2339,-0.88,-155.7,212.2,-9.1,231,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1528,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.92,-155.7,241.0,-9.4,262,2657,0.00,2.08,0.00,0.000,4,0.000,0.139,2605,459,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2817,-0.92,-155.7,255.6,-9.7,274,2821,0.00,1.88,0.00,0.000,6,0.000,0.079,2605,1501,3626,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3121,-0.96,-155.7,283.6,-8.7,284,3127,0.00,2.03,0.00,0.000,4,0.000,0.138,2604,457,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3209,-0.98,-155.7,291.7,-8.9,287,3215,0.00,1.85,0.00,0.000,6,0.000,0.080,2604,1491,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3541,-1.02,-155.7,319.2,-8.4,298,3543,0.12,0.00,0.00,0.000,6,0.138,0.000,2549,1493,3625,0,0,0,0,0,0,14.66,28.83,28.83
$GC,3838,-1.02,-155.7,349.3,-10.6,308,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1493,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-1.02,-155.7,386.0,-12.5,318,4145,0.00,2.03,0.00,0.000,4,0.000,0.107,2548,2579,3623,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4198,-1.02,-155.7,393.4,-12.4,320,4206,0.00,2.10,0.00,0.000,6,0.000,0.114,2549,1487,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4529,-1.02,-155.7,429.1,-9.7,331,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1487,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4829,-1.02,-155.7,454.9,-8.2,341,4835,0.00,2.03,0.00,0.000,4,0.000,0.104,2548,2571,3621,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4937,-1.02,-155.7,461.9,-7.8,344,4941,0.00,2.05,0.00,0.000,6,0.000,0.113,2549,1502,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5239,-1.02,-155.7,489.5,-9.1,354,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1502,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5538,-1.02,-155.7,518.5,-9.6,364,5545,0.00,2.05,0.00,0.000,4,0.000,0.106,2549,2582,3619,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5637,-1.02,-155.7,526.9,-9.4,367,5641,0.00,2.08,0.00,0.000,6,0.000,0.113,2549,1507,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5950,-1.02,-155.7,556.7,-9.2,378,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1506,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6249,-1.02,-155.7,585.7,-9.9,388,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1506,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,-1.02,-155.7,618.6,-11.3,398,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1506,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,-1.02,-155.7,653.0,-11.4,408,6856,0.00,2.03,0.00,0.000,4,0.000,0.106,2549,2579,3614,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6898,-1.02,-155.7,656.5,-11.4,409,6902,0.00,2.08,0.00,0.000,6,0.000,0.115,2549,1510,3614,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7200,-1.02,-155.7,690.9,-10.6,419,7207,0.00,2.05,0.00,0.000,4,0.000,0.142,2549,465,3614,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7238,-1.02,-155.7,694.2,-10.6,420,7241,0.00,1.92,0.00,0.000,6,0.000,0.090,2546,1512,3613,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7551,-1.02,-155.7,726.5,-9.5,431,7557,0.00,2.00,0.00,0.000,4,0.000,0.112,2540,2572,3612,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7689,-1.02,-155.7,737.6,-9.2,435,7698,0.00,2.03,0.00,0.000,6,0.000,0.116,2540,1524,3612,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8000,-1.02,-155.7,768.3,-9.4,446,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1524,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8301,-1.02,-155.7,796.9,-9.4,456,8307,0.00,2.00,0.00,0.000,4,0.000,0.112,2539,2568,3609,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8348,-1.02,-155.7,799.7,-9.4,457,8352,0.00,2.05,0.00,0.000,6,0.000,0.119,2540,1519,3609,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8652,-1.02,-155.7,830.2,-9.6,467,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1519,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8950,-1.02,-155.7,858.7,-9.4,477,8957,0.00,2.05,0.00,0.000,4,0.000,0.114,2540,2577,3606,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9039,-1.02,-155.7,866.8,-9.2,480,9048,0.00,2.05,0.00,0.000,6,0.000,0.119,2540,1528,3606,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9371,-1.02,-155.7,896.6,-9.0,491,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1528,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9670,-1.02,-155.7,923.9,-9.2,501,9677,0.00,2.03,0.00,0.000,4,0.000,0.115,2540,2578,3603,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9720,-1.02,-155.7,926.6,-9.2,502,9730,0.00,2.05,0.00,0.000,6,0.000,0.120,2539,1534,3603,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10030,-1.02,-155.7,957.6,-9.6,513,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1535,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10330,-1.02,-155.7,987.7,-10.1,523,10337,0.00,2.03,0.00,0.000,4,0.000,0.119,2539,2577,3601,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,10357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10357,begin apogee
$GC,10367,-0.23,0.0,990.8,-10.2,524,10591,1.00,0.00,214.62,1.522,4,0.229,0.000,2810,1516,2986,0,0,0,0,0,0,13.88,28.83,13.31
$STATE,10592,end apogee,CONTROL_FINISHED_OK
$STATE,10592,begin climb
$GC,10595,0.84,155.7,1005.4,0.0,531,10764,1.10,2.05,159.12,1.820,4,0.119,0.116,3161,2581,2354,0,0,0,0,0,0,14.12,14.10,13.14
$GC,10994,0.81,186.7,996.9,6.2,545,11031,0.00,2.10,32.00,1.761,6,0.000,0.145,3166,1528,2229,0,0,0,0,0,0,28.83,14.28,13.40
$GC,11343,0.78,186.7,972.1,7.2,557,11350,0.00,2.20,0.00,0.000,4,0.000,0.177,3171,457,2216,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11423,0.73,186.7,967.5,7.2,559,11432,0.15,1.98,0.00,0.000,6,0.288,0.103,3134,1514,2215,0,0,0,0,0,0,14.20,14.44,28.83
$GC,11736,0.75,209.1,946.1,6.5,570,11764,0.00,2.08,24.02,1.753,4,0.000,0.129,3139,2579,2132,0,0,0,0,0,0,28.83,14.45,13.54
$GC,11833,0.76,222.6,940.5,6.7,573,11853,0.00,2.12,15.12,1.703,6,0.000,0.142,3141,1516,2082,0,0,0,0,0,0,28.83,14.34,13.47
$GC,12176,0.76,228.3,914.4,7.0,585,12179,0.00,0.00,1.08,0.197,6,0.000,0.000,3141,1516,2058,0,0,0,0,0,0,28.83,28.83,14.40
$GC,12474,0.77,254.4,894.9,6.3,595,12512,0.00,2.17,33.65,1.756,4,0.000,0.169,3150,459,1948,0,0,0,0,0,0,28.83,14.33,13.52
$GC,12583,0.77,254.4,886.7,7.5,599,12590,0.00,2.00,0.00,0.000,6,0.000,0.099,3150,1523,1941,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12916,0.77,254.4,861.6,7.5,610,12921,0.00,2.15,0.00,0.000,4,0.000,0.171,3157,460,1939,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13033,0.77,254.4,852.5,7.6,614,13040,0.00,1.95,0.00,0.000,6,0.000,0.099,3157,1509,1939,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13365,0.77,254.4,828.2,7.5,625,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1508,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13664,0.77,254.4,803.7,8.6,635,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1508,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13963,0.77,254.4,775.0,10.0,645,13971,0.00,2.17,0.00,0.000,4,0.000,0.166,3165,456,1940,0,0,0,0,0,0,28.83,14.18,28.83
$GC,14034,0.77,254.4,768.7,10.3,647,14040,0.00,1.92,0.00,0.000,6,0.000,0.096,3165,1501,1935,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14355,0.77,254.4,734.5,10.2,658,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1501,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14654,0.77,254.4,707.0,8.7,668,14660,0.00,2.08,0.00,0.000,4,0.000,0.124,3165,2573,1936,0,0,0,0,0,0,28.83,14.24,28.83
$GC,14702,0.77,254.4,704.4,8.7,669,14707,0.15,2.15,0.00,0.000,6,0.307,0.136,3141,1501,1934,0,0,0,0,0,0,14.01,14.26,28.83
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$STATE,23122,end climb,SURFACE_DEPTH_REACHED
$STATE,23122,begin surface coast
$FINISH,1.3,1.012268
$STATE,23162,end surface coast,CONTROL_FINISHED_OK
$STATE,23162,begin surface
$SM_CCo,23185,39.40,0.125,0,0,1560,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,56.77
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,7638944
$TM_FREEKB,4433312
$24V_AH,13.1,144.756
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.900,142.800,504.925,39.400,0.000,0.000,0.000,438.500,0.000,0.000,17.684,3154.934,16788.633,853.978,2596.971,615.301,0.000,2389.246,0.000,2049.271,0.000,0.541,0.000
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$MEM,345572
$DATA_FILE_SIZE,43279,1150
$CAP_FILE_SIZE,231845,0
$CFSIZE,260034560,202579968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,308.5,1
$GPS,010113,044522,2506.951,-3807.485,37,0.8,37,-14.0