version: 66.11
glider: 190
mission: 6
dive: 427
start: 1 23 113 23 5 33
data:
$ID,190
$MISSION,6
$DIVE,427
$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,-13452.847
$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,8
$R_STBD_OVSHOOT,28
$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
$GPS1,230113,225505,2434.030,-3744.391,33,0.9,33,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-60.2
$GPS2,230113,230500,2434.095,-3744.399,19,1.0,20,-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,217.3,25606,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,36,0.00,0.00,-11.35,0.000,2,0.000,0.000,139,1528,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.3,0.0,1,166,10.52,2.10,-107.00,0.000,4,0.317,0.158,2615,457,3627,0,0,0,0,0,0,14.05,14.08,14.62
$GC,289,-0.84,-155.7,16.0,-8.1,26,296,0.00,1.90,0.00,0.000,6,0.000,0.078,2618,1502,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,598,-0.84,-155.7,42.3,-8.8,57,608,0.00,2.03,0.00,0.000,4,0.000,0.101,2618,2581,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,650,-0.86,-155.7,47.0,-9.7,62,657,0.00,2.05,0.00,0.000,6,0.000,0.113,2618,1511,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,960,-0.89,-155.7,73.7,-8.3,93,967,0.00,2.08,0.00,0.000,4,0.000,0.141,2618,457,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1018,-0.89,-155.7,79.5,-10.3,99,1026,0.00,1.95,0.00,0.000,6,0.000,0.082,2618,1522,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1330,-0.93,-155.7,108.2,-9.1,130,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1523,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-0.97,-155.7,140.3,-10.4,161,1648,0.12,2.10,0.00,0.000,4,0.139,0.134,2565,454,3627,0,0,0,0,0,0,14.43,13.98,28.83
$GC,1751,-0.93,-155.7,152.5,-11.0,172,1758,0.12,1.92,0.00,0.000,6,0.276,0.083,2585,1520,3627,0,0,0,0,0,0,13.91,14.16,28.83
$GC,2058,-0.93,-155.7,180.4,-8.1,203,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1520,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.93,-155.7,204.7,-7.3,233,2367,0.00,2.10,0.00,0.000,4,0.000,0.135,2586,459,3628,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2410,-0.93,-155.7,208.7,-8.1,238,2417,0.00,1.88,0.00,0.000,6,0.000,0.083,2580,1509,3628,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2719,-0.93,-155.7,230.9,-8.1,269,2728,0.00,2.00,0.00,0.000,4,0.000,0.104,2582,2579,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2789,-0.96,-155.7,236.6,-8.4,276,2796,0.00,2.08,0.00,0.000,6,0.000,0.116,2578,1512,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3120,-0.99,-155.7,270.3,-10.8,297,3126,0.00,2.05,0.00,0.000,4,0.000,0.138,2578,453,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3178,-0.99,-155.7,277.3,-11.2,299,3185,0.00,1.90,0.00,0.000,6,0.000,0.083,2575,1503,3627,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3509,-0.99,-155.7,313.2,-10.6,310,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1508,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-1.01,-155.7,340.1,-8.4,320,3815,0.00,1.98,0.00,0.000,4,0.000,0.105,2570,2585,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3848,-1.03,-155.7,342.5,-8.3,321,3855,0.00,2.12,0.00,0.000,6,0.000,0.116,2567,1483,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4170,-1.03,-155.7,368.2,-7.7,332,4175,0.00,1.98,0.00,0.000,4,0.000,0.136,2567,460,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4208,-1.03,-155.7,370.7,-7.8,333,4215,0.00,1.90,0.00,0.000,6,0.000,0.085,2564,1507,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4530,-1.03,-155.7,397.1,-8.0,344,4535,0.00,2.05,0.00,0.000,4,0.000,0.138,2564,458,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4608,-1.03,-155.7,402.6,-8.6,346,4616,0.00,1.88,0.00,0.000,6,0.000,0.086,2558,1487,3621,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4918,-1.03,-155.7,433.1,-9.6,357,4926,0.00,2.03,0.00,0.000,4,0.000,0.107,2553,2570,3624,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4969,-1.03,-155.7,436.1,-9.8,358,4978,0.00,2.10,0.00,0.000,6,0.000,0.119,2552,1484,3623,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5278,-1.03,-155.7,471.3,-10.9,369,5286,0.00,2.00,0.00,0.000,4,0.000,0.136,2553,457,3620,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5430,-1.00,-155.7,488.6,-11.6,374,5435,0.00,1.83,0.00,0.000,6,0.000,0.086,2550,1464,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5758,-1.00,-155.7,520.0,-9.0,385,5766,0.00,2.08,0.00,0.000,4,0.000,0.110,2549,2571,3620,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5827,-1.00,-155.7,525.3,-8.9,387,5834,0.00,2.17,0.00,0.000,6,0.000,0.120,2549,1459,3621,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6149,-1.00,-155.7,556.6,-10.1,398,6155,0.00,1.95,0.00,0.000,4,0.000,0.142,2549,452,3619,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6298,-0.97,-155.7,573.8,-11.6,403,6305,0.00,1.80,0.00,0.000,6,0.000,0.089,2548,1439,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6629,-0.97,-155.7,610.5,-10.6,414,6635,0.00,2.10,0.00,0.000,4,0.000,0.109,2541,2582,3616,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6727,-0.97,-155.7,619.6,-10.1,417,6735,0.12,2.20,0.00,0.000,6,0.226,0.120,2570,1454,3616,0,0,0,0,0,0,14.12,14.17,28.83
$GC,7053,-1.00,-155.7,646.4,-7.5,428,7058,0.00,1.95,0.00,0.000,4,0.000,0.142,2570,460,3615,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7269,-1.00,-155.7,662.4,-7.7,435,7275,0.00,1.77,0.00,0.000,6,0.000,0.090,2566,1430,3614,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7591,-1.03,-155.7,688.8,-8.7,446,7596,0.00,1.95,0.00,0.000,4,0.000,0.144,2566,459,3613,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7649,-1.03,-155.7,694.7,-9.3,448,7655,0.00,1.77,0.00,0.000,6,0.000,0.093,2565,1428,3612,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7982,-1.06,-155.7,729.6,-11.1,459,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1423,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8278,-1.09,-155.7,764.2,-11.7,469,8286,0.00,1.92,0.00,0.000,4,0.000,0.146,2566,465,3609,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8408,-1.09,-155.7,778.4,-11.9,473,8415,0.00,1.77,0.00,0.000,6,0.000,0.091,2564,1423,3609,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8733,-1.12,-155.7,812.8,-9.9,484,8738,0.00,2.20,0.00,0.000,4,0.000,0.118,2557,2577,3607,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8758,-1.15,-155.7,815.6,-9.7,485,8767,0.08,2.28,0.00,0.000,6,0.102,0.125,2517,1421,3607,0,0,0,0,0,0,14.10,13.97,28.83
$GC,9093,-1.12,-155.7,846.3,-8.9,496,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1421,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9389,-1.10,-155.7,873.0,-9.1,506,9395,0.00,2.22,0.00,0.000,4,0.000,0.117,2510,2565,3604,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9468,-1.10,-155.7,878.4,-9.0,508,9476,0.00,2.25,0.00,0.000,6,0.000,0.125,2510,1427,3604,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9781,-1.07,-155.7,912.0,-10.7,519,9787,0.12,2.22,0.00,0.000,4,0.272,0.116,2536,2575,3603,0,0,0,0,0,0,14.10,14.07,28.83
$GC,9848,-1.07,-155.7,918.1,-10.5,521,9855,0.00,2.28,0.00,0.000,6,0.000,0.125,2536,1434,3603,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10170,-1.07,-155.7,952.3,-10.2,532,10175,0.00,2.22,0.00,0.000,4,0.000,0.122,2536,2575,3601,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10247,-1.07,-155.7,958.4,-10.0,534,10256,0.00,2.25,0.00,0.000,6,0.000,0.125,2536,1449,3601,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,10555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10555,begin apogee
$GC,10567,-0.23,0.0,991.0,-9.9,545,10727,1.00,0.00,155.98,1.838,4,0.216,0.000,2808,1524,2990,0,0,0,0,0,0,13.76,28.83,13.01
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10734,0.84,155.7,1001.0,0.0,550,10909,1.08,2.05,162.23,1.828,4,0.112,0.122,3157,2583,2349,0,0,0,0,0,0,14.12,14.08,13.05
$GC,11140,0.82,204.0,994.9,5.6,563,11197,0.00,2.08,51.08,1.786,6,0.000,0.137,3165,1514,2156,0,0,0,0,0,0,28.83,14.26,13.21
$GC,11509,0.81,226.8,970.5,6.5,576,11538,0.00,2.10,23.85,1.741,4,0.000,0.127,3165,2580,2063,0,0,0,0,0,0,28.83,14.35,13.35
$GC,11609,0.78,228.9,963.9,7.1,579,11616,0.10,2.08,0.00,0.000,6,0.289,0.133,3147,1526,2051,0,0,0,0,0,0,14.07,14.23,28.83
$GC,11931,0.78,229.9,940.3,7.1,590,11936,0.00,2.00,0.00,0.000,4,0.000,0.116,3147,2585,2048,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12058,0.78,229.9,930.9,7.8,594,12065,0.00,2.05,0.00,0.000,6,0.000,0.134,3154,1545,2047,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12380,0.78,229.9,903.1,8.8,605,12386,0.00,1.95,0.00,0.000,4,0.000,0.118,3154,2577,2046,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12507,0.78,229.9,892.2,9.0,609,12515,0.00,2.00,0.00,0.000,6,0.000,0.129,3162,1560,2045,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12828,0.78,229.9,862.5,8.9,620,12836,0.00,1.95,0.00,0.000,4,0.000,0.117,3161,2571,2044,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12919,0.78,229.9,854.8,8.6,623,12925,0.00,1.95,0.00,0.000,6,0.000,0.129,3169,1577,2044,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13252,0.76,229.9,828.3,7.9,634,13258,0.12,1.90,0.00,0.000,4,0.304,0.113,3138,2577,2044,0,0,0,0,0,0,14.09,14.25,28.83
$GC,13347,0.76,229.9,821.6,7.6,637,13355,0.00,2.00,0.00,0.000,6,0.000,0.138,3145,1585,2043,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13669,0.76,229.9,797.4,7.3,648,13676,0.00,1.95,0.00,0.000,4,0.000,0.128,3145,2576,2043,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,23711,end climb,SURFACE_DEPTH_REACHED
$STATE,23711,begin surface coast
$FINISH,1.6,1.002015
$STATE,23742,end surface coast,CONTROL_FINISHED_OK
$STATE,23742,begin surface
$SM_CCo,23769,23.40,0.127,0,0,1561,350.04
$SM_GC,2.35,8.98,0.30,23.40,0.082,0.151,0.127,147,1517,1561,-8.52,0.40,350.04,0,0,0,0,0,0,14.30,14.19,14.26
$IRIDIUM_FIX,2422.84,-3743.36,230113,171751
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.16
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.20
$XPDR_PINGS,6
$SC_FREEKB,7606688
$TM_FREEKB,922350067
$24V_AH,13.0,181.834
$10V_AH,12.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.900,203.125,477.450,23.400,0.000,0.000,0.000,303.700,1.500,0.000,20.919,3415.822,16675.846,930.851,2648.747,709.412,0.000,2472.947,0.000,2270.875,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23775.000,5995.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.858,21.865,0.000,0.000
$MEM,344968
$DATA_FILE_SIZE,43394,1187
$CAP_FILE_SIZE,251077,0
$CFSIZE,260034560,191418368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,353.1,1
$GPS,240113,054334,2433.326,-3744.826,41,0.9,41,-13.9