version: 66.11
glider: 190
mission: 6
dive: 418
start: 1 21 113 12 50 13
data:
$ID,190
$MISSION,6
$DIVE,418
$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,-13441.534
$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,10
$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
$GPS1,210113,123535,2441.299,-3745.306,26,0.8,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-63.0
$GPS2,210113,124943,2441.277,-3745.299,15,1.7,16,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,217.8,38608,-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,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-10.85,0.000,2,0.000,0.000,138,1515,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.5,0.0,1,142,11.25,2.12,-82.15,0.000,4,0.353,0.164,2611,454,3626,0,0,0,0,0,0,14.07,14.10,14.64
$GC,355,-0.82,-155.7,21.3,-8.5,32,362,0.00,1.95,0.00,0.000,6,0.000,0.090,2605,1525,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,661,-0.82,-155.7,47.8,-8.7,63,670,0.00,2.00,0.00,0.000,4,0.000,0.109,2605,2583,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,722,-0.82,-155.7,53.1,-8.9,69,731,0.00,2.08,0.00,0.000,6,0.000,0.121,2605,1526,3626,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1032,-0.82,-155.7,85.6,-10.8,100,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1526,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-0.84,-155.7,117.9,-10.3,131,1350,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,453,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1473,-0.84,-155.7,132.2,-11.0,144,1480,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1504,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1782,-0.88,-155.7,162.7,-9.2,175,1790,0.00,2.03,0.00,0.000,4,0.000,0.109,2605,2579,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1863,-0.92,-155.7,170.0,-9.2,183,1871,0.00,2.08,0.00,0.000,6,0.000,0.120,2605,1502,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2174,-0.96,-155.7,196.8,-8.2,214,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1502,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,-1.00,-155.7,223.3,-8.8,245,2490,0.12,0.00,0.00,0.000,6,0.134,0.000,2551,1502,3625,0,0,0,0,0,0,14.52,28.83,28.83
$GC,2792,-1.00,-155.7,253.1,-9.4,274,2798,0.00,2.03,0.00,0.000,4,0.000,0.108,2549,2575,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2853,-1.00,-155.7,258.6,-9.3,276,2858,0.00,2.05,0.00,0.000,6,0.000,0.119,2550,1521,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3181,-1.00,-155.7,289.4,-9.3,287,3189,0.00,2.08,0.00,0.000,4,0.000,0.141,2549,460,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3262,-0.97,-155.7,295.6,-9.7,289,3271,0.00,1.92,0.00,0.000,6,0.000,0.092,2549,1517,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3571,-0.97,-155.7,329.4,-10.6,300,3578,0.00,2.00,0.00,0.000,4,0.000,0.114,2547,2577,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3680,-0.97,-155.7,339.6,-11.2,303,3690,0.12,2.03,0.00,0.000,6,0.233,0.116,2577,1532,3625,0,0,0,0,0,0,14.13,14.21,28.83
$GC,3996,-0.99,-155.7,375.8,-10.9,314,4002,0.00,2.05,0.00,0.000,4,0.000,0.132,2577,460,3624,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4120,-0.99,-155.7,389.3,-11.2,318,4127,0.00,1.92,0.00,0.000,6,0.000,0.083,2569,1523,3624,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4442,-0.99,-155.7,421.6,-9.3,329,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1523,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4742,-1.02,-155.7,446.2,-7.9,339,4749,0.00,2.08,0.00,0.000,4,0.000,0.137,2570,462,3622,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4811,-1.02,-155.7,451.5,-8.3,341,4819,0.00,1.92,0.00,0.000,6,0.000,0.088,2565,1513,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5131,-1.02,-155.7,480.3,-9.0,352,5138,0.00,2.08,0.00,0.000,4,0.000,0.143,2566,467,3621,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5210,-1.02,-155.7,485.9,-9.4,354,5219,0.00,1.90,0.00,0.000,6,0.000,0.093,2562,1496,3620,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5521,-1.02,-155.7,517.1,-9.6,365,5528,0.00,2.05,0.00,0.000,4,0.000,0.146,2562,467,3620,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5570,-1.02,-155.7,520.1,-9.8,366,5574,0.00,1.88,0.00,0.000,6,0.000,0.093,2557,1484,3620,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5873,-1.02,-155.7,552.9,-10.4,376,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1485,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6171,-1.02,-155.7,584.3,-10.3,386,6178,0.00,2.03,0.00,0.000,4,0.000,0.144,2556,463,3617,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6312,-1.02,-155.7,596.6,-10.2,390,6320,0.00,1.85,0.00,0.000,6,0.000,0.094,2553,1469,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6622,-1.02,-155.7,625.4,-8.3,401,6629,0.00,2.03,0.00,0.000,4,0.000,0.146,2553,460,3615,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6681,-1.02,-155.7,630.7,-8.4,403,6688,0.00,1.88,0.00,0.000,6,0.000,0.096,2552,1476,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7013,-1.02,-155.7,658.5,-8.7,414,7018,0.00,2.08,0.00,0.000,4,0.000,0.115,2549,2579,3613,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7072,-1.02,-155.7,663.9,-9.0,416,7078,0.00,2.17,0.00,0.000,6,0.000,0.119,2553,1460,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7402,-1.02,-155.7,696.3,-10.2,427,7408,0.00,1.95,0.00,0.000,4,0.000,0.138,2551,467,3612,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7511,-1.02,-155.7,705.8,-10.5,430,7519,0.00,1.83,0.00,0.000,6,0.000,0.089,2552,1458,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7821,-1.02,-155.7,737.4,-9.0,441,7829,0.00,2.12,0.00,0.000,4,0.000,0.112,2552,2577,3610,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7901,-1.02,-155.7,742.6,-8.8,443,7911,0.00,2.17,0.00,0.000,6,0.000,0.120,2552,1458,3610,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8212,-1.02,-155.7,771.6,-8.9,454,8218,0.00,1.95,0.00,0.000,4,0.000,0.138,2551,464,3609,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8250,-1.02,-155.7,774.4,-8.9,455,8254,0.00,1.85,0.00,0.000,6,0.000,0.086,2552,1472,3609,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8567,-1.04,-155.7,803.7,-9.3,466,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1472,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8863,-1.04,-155.7,832.2,-9.5,476,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1472,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9164,-1.06,-155.7,860.2,-9.3,486,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1471,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9463,-1.06,-155.7,887.2,-9.0,496,9470,0.00,2.05,0.00,0.000,4,0.000,0.151,2552,462,3605,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9493,-1.06,-155.7,890.0,-9.0,497,9500,0.00,1.88,0.00,0.000,6,0.000,0.096,2552,1470,3604,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9826,-1.06,-155.7,919.5,-9.0,508,9833,0.00,2.10,0.00,0.000,4,0.000,0.115,2552,2583,3603,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9892,-1.08,-155.7,925.1,-9.1,510,9899,0.00,2.20,0.00,0.000,6,0.000,0.118,2552,1465,3602,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10217,-1.10,-155.7,956.7,-9.8,521,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1465,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,-1.13,-155.7,985.8,-9.5,531,10520,0.00,2.20,0.00,0.000,4,0.000,0.121,2552,2580,3599,0,0,0,0,0,0,28.83,13.93,28.83
$STATE,10570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10570,begin apogee
$GC,10580,-0.23,0.0,991.4,-9.4,533,10804,0.93,0.00,217.20,1.546,4,0.207,0.000,2808,1523,2990,0,0,0,0,0,0,13.78,28.83,13.19
$STATE,10806,end apogee,CONTROL_FINISHED_OK
$STATE,10806,begin climb
$GC,10809,0.84,155.7,1005.6,0.0,540,10983,1.08,2.05,162.98,1.902,4,0.108,0.118,3159,2581,2353,0,0,0,0,0,0,14.14,14.10,13.05
$GC,11101,0.81,188.9,1002.4,6.1,550,11142,0.00,2.10,35.70,1.750,6,0.000,0.132,3167,1520,2218,0,0,0,0,0,0,28.83,14.25,13.24
$GC,11454,0.77,188.9,977.1,7.3,562,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1520,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11753,0.74,188.9,954.7,7.6,572,11760,0.15,2.05,0.00,0.000,4,0.301,0.123,3134,2581,2202,0,0,0,0,0,0,14.18,14.32,28.83
$GC,11844,0.72,188.9,948.0,7.5,575,11851,0.00,2.08,0.00,0.000,6,0.000,0.142,3142,1526,2200,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12176,0.72,188.9,923.4,7.5,586,12181,0.00,2.03,0.00,0.000,4,0.000,0.127,3142,2579,2203,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12243,0.69,188.9,918.8,7.5,588,12251,0.10,2.08,0.00,0.000,6,0.265,0.142,3122,1537,2198,0,0,0,0,0,0,14.03,14.19,28.83
$GC,12565,0.71,222.8,897.4,6.1,599,12605,0.00,2.05,35.08,1.738,4,0.000,0.128,3122,2579,2075,0,0,0,0,0,0,28.83,14.37,13.40
$GC,12727,0.73,242.4,888.3,6.6,604,12753,0.00,2.00,21.70,1.691,6,0.000,0.135,3130,1555,2001,0,0,0,0,0,0,28.83,14.23,13.38
$GC,13057,0.73,244.7,863.9,7.1,615,13062,0.00,1.95,0.00,0.000,4,0.000,0.116,3130,2581,1986,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13174,0.73,244.7,854.4,7.9,619,13181,0.00,1.98,0.00,0.000,6,0.000,0.129,3137,1577,1985,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13506,0.73,244.7,825.5,9.2,630,13512,0.00,1.92,0.00,0.000,4,0.000,0.127,3137,2580,1984,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13584,0.73,244.7,819.8,9.4,632,13593,0.00,1.98,0.00,0.000,6,0.000,0.135,3144,1591,1983,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13895,0.73,244.7,789.0,8.9,643,13901,0.00,1.92,0.00,0.000,4,0.000,0.122,3144,2583,1983,0,0,0,0,0,0,28.83,14.20,28.83
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$STATE,23236,end climb,SURFACE_DEPTH_REACHED
$STATE,23236,begin surface coast
$FINISH,1.5,1.025753
$STATE,23254,end surface coast,CONTROL_FINISHED_OK
$STATE,23254,begin surface
$SM_CCo,23279,12.60,0.131,0,0,1561,350.04
$SM_GC,2.91,8.85,1.98,12.60,0.074,0.090,0.131,142,1522,1561,-8.54,-0.54,350.04,0,0,0,0,0,0,14.33,14.23,14.26
$IRIDIUM_FIX,2434.69,-3747.71,210113,050512
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.32
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,3
$SC_FREEKB,7610144
$TM_FREEKB,3764320
$24V_AH,12.2,177.892
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.075,185.975,563.925,12.600,0.000,0.000,0.000,452.075,0.750,0.000,16.851,3295.247,16383.389,949.894,2747.734,749.186,0.000,2598.285,0.000,2188.403,0.000,0.541,0.000
$DEVICE_MAMPS,353.430,167.535,1901.790,130.815,0.000,0.000,0.000,176.715,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23294.000,5876.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.854,13.213,0.000,0.000
$MEM,344972
$DATA_FILE_SIZE,43341,1159
$CAP_FILE_SIZE,246497,0
$CFSIZE,260034560,192495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063, 20.7,1
$GPS,210113,191953,2440.452,-3745.453,40,1.0,40,-13.9