version: 66.11
glider: 190
mission: 6
dive: 448
start: 1 29 113 16 55 38
data:
$ID,190
$MISSION,6
$DIVE,448
$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,-13479.265
$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
$GPS1,290113,164358,2423.635,-3743.638,42,0.9,42,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-67.4
$GPS2,290113,165505,2423.609,-3743.635,20,0.8,20,-14.0
$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,218.7,8279,-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,23,-0.84,-155.7,0.0,0.0,0,36,0.00,0.00,-11.15,0.000,2,0.000,0.000,141,1516,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.84,-155.7,2.5,0.0,1,139,11.20,0.00,-84.32,0.000,6,0.350,0.000,2617,1517,3624,0,0,0,0,0,0,14.12,28.83,14.62
$GC,438,-0.87,-155.7,30.0,-9.1,41,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1517,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-0.91,-155.7,57.0,-8.7,71,746,0.00,2.08,0.00,0.000,4,0.000,0.135,2620,456,3624,0,0,0,0,0,0,28.83,14.03,28.83
$GC,778,-0.91,-155.7,60.6,-9.0,75,786,0.00,1.95,0.00,0.000,6,0.000,0.081,2617,1521,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1089,-0.95,-155.7,86.9,-8.5,106,1096,0.00,2.10,0.00,0.000,4,0.000,0.137,2617,456,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1198,-0.95,-155.7,97.0,-9.1,117,1208,0.00,1.92,0.00,0.000,6,0.000,0.081,2614,1508,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1508,-0.99,-155.7,124.1,-8.6,148,1517,0.15,1.98,0.00,0.000,4,0.119,0.103,2552,2569,3627,0,0,0,0,0,0,14.42,14.09,28.83
$GC,1579,-0.99,-155.7,130.5,-9.6,155,1586,0.00,2.05,0.00,0.000,6,0.000,0.112,2552,1507,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1890,-0.99,-155.7,159.6,-9.1,186,1897,0.00,2.03,0.00,0.000,4,0.000,0.136,2552,459,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1969,-0.95,-155.7,167.8,-10.5,194,1977,0.08,1.90,0.00,0.000,6,0.240,0.085,2571,1496,3627,0,0,0,0,0,0,13.91,14.16,28.83
$GC,2278,-0.95,-155.7,194.9,-8.4,225,2288,0.00,2.03,0.00,0.000,4,0.000,0.102,2566,2579,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2360,-0.97,-155.7,201.8,-8.7,233,2368,0.00,2.08,0.00,0.000,6,0.000,0.112,2567,1496,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2669,-0.97,-155.7,232.7,-11.1,264,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1496,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.97,-155.7,266.8,-10.5,286,2995,0.00,2.00,0.00,0.000,4,0.000,0.134,2567,468,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3079,-0.97,-155.7,276.5,-10.7,289,3085,0.00,1.88,0.00,0.000,6,0.000,0.083,2565,1507,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3408,-0.97,-155.7,306.7,-8.7,300,3415,0.00,2.05,0.00,0.000,4,0.000,0.135,2566,459,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3499,-0.97,-155.7,315.1,-9.0,303,3506,0.00,1.85,0.00,0.000,6,0.000,0.085,2565,1482,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3831,-0.97,-155.7,342.4,-8.3,314,3836,0.00,2.00,0.00,0.000,4,0.000,0.137,2565,460,3626,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3897,-0.97,-155.7,347.9,-8.9,316,3901,0.00,1.85,0.00,0.000,6,0.000,0.083,2565,1480,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4210,-0.97,-155.7,378.5,-10.0,327,4216,0.00,1.98,0.00,0.000,4,0.000,0.137,2565,454,3622,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4278,-0.97,-155.7,385.2,-10.6,329,4285,0.00,1.85,0.00,0.000,6,0.000,0.084,2565,1470,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4603,-0.99,-155.7,421.2,-11.0,340,4609,0.00,1.98,0.00,0.000,4,0.000,0.135,2565,457,3623,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4719,-0.99,-155.7,434.6,-11.2,344,4726,0.00,1.80,0.00,0.000,6,0.000,0.083,2565,1448,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5053,-1.02,-155.7,466.6,-9.0,355,5059,0.00,1.95,0.00,0.000,4,0.000,0.138,2565,459,3621,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5079,-1.02,-155.7,469.2,-8.8,356,5086,0.00,1.80,0.00,0.000,6,0.000,0.085,2565,1443,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5412,-1.04,-155.7,496.2,-8.2,367,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1443,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5712,-1.06,-155.7,523.1,-9.2,377,5717,0.00,1.92,0.00,0.000,4,0.000,0.138,2565,456,3620,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5778,-1.06,-155.7,529.1,-9.6,379,5782,0.00,1.80,0.00,0.000,6,0.000,0.085,2565,1438,3620,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6094,-1.08,-155.7,562.7,-10.6,390,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1438,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-1.11,-155.7,593.7,-10.3,400,6397,0.00,1.95,0.00,0.000,4,0.000,0.140,2565,458,3617,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6519,-1.11,-155.7,606.5,-10.8,404,6526,0.00,1.80,0.00,0.000,6,0.000,0.086,2565,1435,3616,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6844,-1.13,-155.7,639.7,-9.8,415,6846,0.12,0.00,0.00,0.000,6,0.143,0.000,2512,1436,3615,0,0,0,0,0,0,14.57,28.83,28.83
$GC,7141,-1.13,-155.7,672.0,-10.8,425,7148,0.00,2.12,0.00,0.000,4,0.000,0.105,2509,2571,3614,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7271,-1.13,-155.7,684.5,-10.5,429,7277,0.00,2.20,0.00,0.000,6,0.000,0.112,2509,1433,3613,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7594,-1.10,-155.7,720.5,-11.1,440,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1433,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7892,-1.07,-155.7,754.4,-11.1,450,7898,0.12,2.17,0.00,0.000,4,0.253,0.103,2538,2585,3611,0,0,0,0,0,0,14.21,14.18,28.83
$GC,8030,-1.07,-155.7,766.6,-10.2,454,8039,0.00,2.20,0.00,0.000,6,0.000,0.111,2538,1444,3610,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8341,-1.07,-155.7,798.8,-9.7,465,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1444,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8640,-1.07,-155.7,827.1,-9.4,475,8647,0.00,1.95,0.00,0.000,4,0.000,0.137,2538,460,3605,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8710,-1.07,-155.7,832.9,-9.5,477,8717,0.00,1.83,0.00,0.000,6,0.000,0.087,2536,1445,3607,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9032,-1.07,-155.7,862.9,-9.0,488,9037,0.00,2.12,0.00,0.000,4,0.000,0.106,2536,2576,3605,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9079,-1.07,-155.7,865.6,-9.0,489,9088,0.00,2.20,0.00,0.000,6,0.000,0.112,2536,1449,3605,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9392,-1.07,-155.7,895.9,-9.1,500,9397,0.00,1.95,0.00,0.000,4,0.000,0.139,2536,461,3605,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9459,-1.07,-155.7,901.4,-9.1,502,9467,0.00,1.83,0.00,0.000,6,0.000,0.086,2535,1447,3605,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9780,-1.07,-155.7,929.7,-8.3,513,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1447,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10081,-1.07,-155.7,952.7,-7.5,523,10087,0.00,2.00,0.00,0.000,4,0.000,0.148,2536,470,3602,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10140,-1.07,-155.7,957.8,-7.9,525,10149,0.00,1.80,0.00,0.000,6,0.000,0.094,2536,1430,3602,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10472,-1.07,-155.7,985.0,-8.7,536,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1429,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10527,begin apogee
$GC,10535,-0.23,0.0,990.4,-8.9,538,10697,1.00,0.00,154.43,1.828,4,0.210,0.000,2810,1522,2986,0,0,0,0,0,0,13.69,28.83,13.05
$STATE,10702,end apogee,CONTROL_FINISHED_OK
$STATE,10702,begin climb
$GC,10705,0.84,155.7,1000.6,0.0,543,10876,1.08,2.00,161.15,1.818,4,0.108,0.112,3159,2576,2357,0,0,0,0,0,0,14.16,14.13,13.09
$GC,11055,0.83,220.6,999.0,5.1,555,11133,0.00,2.10,69.03,1.789,6,0.000,0.131,3167,1517,2084,0,0,0,0,0,0,28.83,14.27,13.16
$GC,11456,0.80,220.6,969.5,8.0,569,11462,0.00,2.05,0.00,0.000,4,0.000,0.126,3167,2582,2073,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11577,0.77,220.6,959.1,8.7,573,11583,0.15,2.08,0.00,0.000,6,0.306,0.142,3144,1524,2071,0,0,0,0,0,0,14.09,14.27,28.83
$GC,11908,0.77,220.6,930.8,8.7,584,11913,0.00,2.03,0.00,0.000,4,0.000,0.128,3143,2574,2071,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11975,0.77,220.6,925.5,8.8,586,11982,0.00,2.05,0.00,0.000,6,0.000,0.136,3151,1539,2070,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12298,0.77,220.6,898.1,8.1,597,12303,0.00,1.98,0.00,0.000,4,0.000,0.121,3151,2581,2069,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12455,0.77,220.6,886.1,8.0,602,12462,0.00,2.05,0.00,0.000,6,0.000,0.137,3159,1550,2068,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12778,0.77,220.6,860.9,7.6,613,12783,0.00,1.98,0.00,0.000,4,0.000,0.125,3159,2574,2068,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12884,0.75,220.6,853.9,7.7,616,12894,0.15,2.03,0.00,0.000,6,0.293,0.139,3134,1565,2066,0,0,0,0,0,0,13.95,14.13,28.83
$GC,13199,0.75,220.6,829.1,7.5,627,13204,0.00,1.95,0.00,0.000,4,0.000,0.127,3134,2574,2067,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13315,0.75,220.6,819.9,7.7,631,13322,0.00,2.00,0.00,0.000,6,0.000,0.136,3141,1581,2065,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13649,0.75,220.6,795.2,7.3,642,13655,0.00,1.90,0.00,0.000,4,0.000,0.123,3141,2573,2066,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13736,0.75,220.6,788.4,7.4,645,13742,0.00,1.95,0.00,0.000,6,0.000,0.135,3148,1599,2065,0,0,0,0,0,0,28.83,14.01,28.83
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$STATE,22423,end climb,SURFACE_DEPTH_REACHED
$STATE,22423,begin surface coast
$FINISH,1.5,1.006682
$STATE,22454,end surface coast,CONTROL_FINISHED_OK
$STATE,22455,begin surface
$SM_CCo,22478,14.77,0.129,0,0,1561,350.04
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$IRIDIUM_FIX,2415.74,-3743.78,290113,101014
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.96
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7598752
$TM_FREEKB,922350067
$24V_AH,13.1,190.813
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.425,175.475,483.750,14.775,0.000,0.000,0.000,355.150,0.250,0.000,20.614,3223.493,15781.000,856.477,2581.033,705.372,0.000,2379.834,0.000,2152.823,0.000,0.540,0.000
$DEVICE_MAMPS,349.605,159.885,1827.585,128.520,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.059,21.867,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,39914,1108
$CAP_FILE_SIZE,232742,0
$CFSIZE,260034560,189124608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,346.9,1
$GPS,290113,231158,2422.392,-3744.144,38,0.9,38,-14.0