version: 66.11
glider: 190
mission: 6
dive: 369
start: 1 8 113 5 23 49
data:
$ID,190
$MISSION,6
$DIVE,369
$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,-13379.792
$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,13
$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
$GPS1,080113,050752,2430.594,-3836.094,39,0.9,39,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-64.9
$GPS2,080113,052317,2430.558,-3836.126,15,1.1,16,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,126.1,87185,-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,22,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,-10.57,0.000,2,0.000,0.000,143,1511,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.4,0.0,1,148,11.27,2.08,-85.55,0.000,4,0.357,0.163,2616,459,3626,0,0,0,0,0,0,14.11,14.14,14.69
$GC,238,-0.84,-155.7,12.9,-11.6,21,247,0.00,1.98,0.00,0.000,6,0.000,0.090,2609,1524,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,548,-0.84,-155.7,42.6,-9.8,52,556,0.00,2.03,0.00,0.000,4,0.000,0.112,2605,2586,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,610,-0.84,-155.7,48.3,-9.9,58,617,0.00,2.08,0.00,0.000,6,0.000,0.124,2605,1524,3626,0,0,0,0,0,0,28.83,14.15,28.83
$GC,919,-0.84,-155.7,81.0,-10.8,89,928,0.00,2.08,0.00,0.000,4,0.000,0.142,2605,462,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,969,-0.84,-155.7,87.0,-12.5,94,977,0.00,1.92,0.00,0.000,6,0.000,0.090,2605,1518,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1280,-0.86,-155.7,113.6,-6.9,125,1288,0.00,1.95,0.00,0.000,4,0.000,0.107,2604,2580,3628,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1329,-0.89,-155.7,117.2,-7.5,130,1337,0.00,2.05,0.00,0.000,6,0.000,0.118,2605,1519,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1639,-0.93,-155.7,142.8,-7.7,161,1648,0.00,2.08,0.00,0.000,4,0.000,0.142,2606,459,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1810,-0.93,-155.7,156.9,-8.0,178,1817,0.00,1.90,0.00,0.000,6,0.000,0.086,2604,1505,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2119,-0.96,-155.7,180.9,-8.2,209,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1507,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,-1.00,-155.7,206.8,-8.2,240,2438,0.12,2.05,0.00,0.000,4,0.139,0.138,2551,460,3627,0,0,0,0,0,0,14.57,14.16,28.83
$GC,2541,-0.96,-155.7,218.2,-10.7,251,2548,0.12,1.88,0.00,0.000,6,0.282,0.087,2576,1499,3629,0,0,0,0,0,0,14.06,14.31,28.83
$GC,2849,-0.96,-155.7,247.7,-9.9,282,2857,0.00,2.00,0.00,0.000,4,0.000,0.109,2568,2572,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2898,-0.96,-155.7,250.6,-9.7,285,2907,0.00,2.10,0.00,0.000,6,0.000,0.120,2568,1489,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3209,-0.96,-155.7,282.2,-9.4,296,3215,0.00,2.05,0.00,0.000,4,0.000,0.108,2562,2579,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3268,-0.96,-155.7,287.6,-9.1,298,3275,0.00,2.10,0.00,0.000,6,0.000,0.119,2563,1497,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3599,-0.96,-155.7,317.4,-9.0,309,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1497,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.96,-155.7,346.1,-9.6,319,3905,0.00,2.05,0.00,0.000,4,0.000,0.108,2555,2581,3624,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3968,-0.96,-155.7,351.8,-9.6,321,3975,0.00,2.08,0.00,0.000,6,0.000,0.121,2555,1503,3624,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4289,-0.96,-155.7,381.6,-8.4,332,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1504,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.96,-155.7,404.4,-7.5,342,4595,0.00,2.03,0.00,0.000,4,0.000,0.113,2552,2572,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4637,-0.96,-155.7,406.4,-7.4,343,4641,0.00,2.08,0.00,0.000,6,0.000,0.122,2552,1506,3622,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4939,-0.96,-155.7,431.4,-8.2,353,4945,0.00,2.03,0.00,0.000,4,0.000,0.115,2549,2571,3621,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4999,-0.96,-155.7,436.3,-8.3,355,5007,0.08,2.05,0.00,0.000,6,0.209,0.124,2573,1513,3621,0,0,0,0,0,0,14.12,14.20,28.83
$GC,5332,-0.99,-155.7,467.2,-10.2,366,5337,0.00,2.08,0.00,0.000,4,0.000,0.149,2573,457,3620,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5397,-0.99,-155.7,474.0,-10.8,368,5401,0.00,1.92,0.00,0.000,6,0.000,0.092,2566,1505,3619,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5710,-0.99,-155.7,510.5,-11.7,379,5716,0.00,2.00,0.00,0.000,4,0.000,0.109,2559,2575,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5758,-0.99,-155.7,513.9,-11.6,380,5768,0.00,2.08,0.00,0.000,6,0.000,0.118,2558,1503,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6071,-0.99,-155.7,550.8,-10.6,391,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1502,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.99,-155.7,578.6,-8.4,401,6376,0.00,2.05,0.00,0.000,4,0.000,0.145,2558,462,3616,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6478,-0.99,-155.7,586.0,-8.2,404,6482,0.00,1.92,0.00,0.000,6,0.000,0.093,2552,1505,3615,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6781,-0.99,-155.7,607.6,-6.2,414,6786,0.00,2.00,0.00,0.000,4,0.000,0.111,2549,2571,3614,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6889,-0.99,-155.7,612.7,-5.7,417,6897,0.00,2.05,0.00,0.000,6,0.000,0.115,2549,1510,3614,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7200,-0.99,-155.7,637.2,-8.5,428,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1510,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7499,-0.99,-155.7,667.5,-10.8,438,7506,0.00,2.05,0.00,0.000,4,0.000,0.112,2545,2578,3611,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7569,-0.99,-155.7,674.2,-10.9,440,7576,0.00,2.08,0.00,0.000,6,0.000,0.119,2545,1512,3611,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7890,-0.99,-155.7,713.9,-12.3,451,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1515,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8189,-0.99,-155.7,750.9,-12.5,461,8196,0.00,2.08,0.00,0.000,4,0.000,0.138,2545,461,3608,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8290,-0.99,-155.7,762.3,-12.6,464,8297,0.10,1.92,0.00,0.000,6,0.239,0.086,2568,1521,3608,0,0,0,0,0,0,14.00,14.28,28.83
$GC,8612,-1.02,-155.7,798.0,-10.4,475,8617,0.00,2.12,0.00,0.000,4,0.000,0.148,2567,456,3607,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8719,-1.02,-155.7,807.4,-10.4,478,8730,0.00,1.92,0.00,0.000,6,0.000,0.089,2561,1503,3606,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9032,-1.04,-155.7,838.2,-8.9,489,9037,0.00,2.08,0.00,0.000,4,0.000,0.149,2562,462,3604,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9150,-1.04,-155.7,848.9,-9.0,493,9157,0.00,1.85,0.00,0.000,6,0.000,0.087,2555,1474,3605,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9482,-1.06,-155.7,873.3,-6.9,504,9488,0.00,2.00,0.00,0.000,4,0.000,0.146,2555,462,3603,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9639,-1.06,-155.7,884.8,-7.7,509,9647,0.00,1.85,0.00,0.000,6,0.000,0.086,2553,1464,3602,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9962,-1.08,-155.7,911.2,-8.5,520,9968,0.00,2.00,0.00,0.000,4,0.000,0.145,2553,459,3601,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10068,-1.08,-155.7,919.9,-9.4,523,10072,0.00,1.83,0.00,0.000,6,0.000,0.087,2552,1443,3600,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10373,-1.10,-155.7,952.1,-10.4,533,10379,0.00,1.95,0.00,0.000,4,0.000,0.146,2552,459,3598,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10459,-1.10,-155.7,962.1,-10.9,536,10466,0.00,1.80,0.00,0.000,6,0.000,0.090,2552,1424,3599,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,10756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10756,begin apogee
$GC,10765,-0.23,0.0,993.1,-10.2,546,10921,0.93,0.00,152.48,1.851,4,0.216,0.000,2807,1530,2989,0,0,0,0,0,0,13.86,28.83,13.11
$STATE,10925,end apogee,CONTROL_FINISHED_OK
$STATE,10925,begin climb
$GC,10928,0.84,155.7,1003.1,0.0,551,11092,1.08,0.00,159.40,1.821,6,0.112,0.000,3161,1531,2355,0,0,0,0,0,0,14.09,28.83,13.13
$GC,11405,0.80,159.9,985.5,7.0,568,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1531,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11705,0.76,159.9,963.3,7.4,578,11711,0.00,1.98,0.00,0.000,4,0.000,0.119,3161,2570,2335,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11813,0.71,159.9,956.5,7.5,581,11822,0.20,2.08,0.00,0.000,6,0.310,0.135,3124,1524,2334,0,0,0,0,0,0,14.12,14.35,28.83
$GC,12128,0.73,188.5,935.1,6.3,592,12165,0.00,2.05,32.67,1.766,4,0.000,0.119,3124,2575,2217,0,0,0,0,0,0,28.83,14.41,13.47
$GC,12234,0.74,201.0,927.7,6.8,596,12253,0.00,2.12,14.55,1.687,6,0.000,0.145,3131,1519,2169,0,0,0,0,0,0,28.83,14.26,13.41
$GC,12557,0.74,206.4,904.6,7.0,606,12560,0.00,0.00,1.17,0.202,6,0.000,0.000,3132,1519,2146,0,0,0,0,0,0,28.83,28.83,14.35
$GC,12854,0.77,244.7,886.2,6.0,616,12905,0.00,2.10,46.38,1.748,4,0.000,0.129,3131,2574,1986,0,0,0,0,0,0,28.83,14.28,13.40
$GC,12944,0.78,274.3,881.0,6.2,618,12982,0.00,2.10,32.05,1.701,6,0.000,0.148,3139,1536,1869,0,0,0,0,0,0,28.83,14.19,13.31
$GC,13294,0.78,274.3,853.3,8.1,630,13301,0.00,2.05,0.00,0.000,4,0.000,0.128,3139,2576,1853,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13373,0.78,274.3,848.0,8.6,632,13382,0.00,2.10,0.00,0.000,6,0.000,0.148,3147,1541,1852,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13684,0.78,274.3,814.7,10.9,643,13691,0.00,2.03,0.00,0.000,4,0.000,0.127,3147,2577,1851,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,21681,end climb,SURFACE_DEPTH_REACHED
$STATE,21681,begin surface coast
$FINISH,1.4,1.023156
$STATE,21702,end surface coast,CONTROL_FINISHED_OK
$STATE,21702,begin surface
$SM_CCo,21786,0.00,0.000,0,0,1423,384.39
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$TT8_MAMPS,0.023219,0.023219
$HUMID,59.01
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7628704
$TM_FREEKB,4196448
$24V_AH,13.1,156.471
$10V_AH,11.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.975,167.375,552.225,0.000,0.000,0.000,0.000,495.250,0.000,0.000,16.844,2995.837,15567.527,923.220,2557.670,650.685,0.000,2503.422,0.000,1959.009,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.763,13.241,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,39953,1071
$CAP_FILE_SIZE,227547,0
$CFSIZE,260034560,199020544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.010,331.1,1
$GPS,080113,112804,2430.069,-3834.173,26,1.1,26,-14.2