version: 66.11
glider: 190
mission: 6
dive: 449
start: 1 29 113 23 25 0
data:
$ID,190
$MISSION,6
$DIVE,449
$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,-13480.522
$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,19
$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,1
$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
$GPS1,290113,231158,2422.392,-3744.144,38,0.9,38,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-67.2
$GPS2,290113,232429,2422.467,-3744.145,20,0.9,21,-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,239.1,6257,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.25,0.000,2,0.000,0.000,136,1516,1792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,144,11.20,2.08,-85.95,0.000,4,0.350,0.159,2612,453,3626,0,0,0,0,0,0,14.14,14.16,14.69
$GC,256,-0.84,-155.7,13.8,-9.8,23,263,0.00,1.92,0.00,0.000,6,0.000,0.083,2607,1526,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,566,-0.87,-155.7,41.8,-9.0,54,574,0.00,2.08,0.00,0.000,4,0.000,0.142,2607,459,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,664,-0.87,-155.7,51.8,-10.3,64,673,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1498,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,977,-0.90,-155.7,83.3,-10.2,95,983,0.00,2.03,0.00,0.000,4,0.000,0.139,2605,458,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1074,-0.90,-155.7,94.1,-10.8,105,1083,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1488,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1385,-0.93,-155.7,122.5,-8.3,136,1393,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,457,3629,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1475,-0.93,-155.7,130.4,-8.8,145,1483,0.00,1.83,0.00,0.000,6,0.000,0.083,2605,1463,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1786,-0.96,-155.7,156.8,-8.7,176,1794,0.00,1.98,0.00,0.000,4,0.000,0.137,2605,456,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1904,-0.96,-155.7,168.0,-9.3,188,1913,0.00,1.80,0.00,0.000,6,0.000,0.081,2606,1442,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2218,-1.00,-155.7,190.9,-6.8,219,2225,0.12,1.92,0.00,0.000,4,0.135,0.135,2542,459,3627,0,0,0,0,0,0,14.53,14.01,28.83
$GC,2375,-0.96,-155.7,205.0,-9.3,235,2383,0.12,1.75,0.00,0.000,6,0.221,0.085,2575,1418,3628,0,0,0,0,0,0,13.95,14.24,28.83
$GC,2686,-0.96,-155.7,230.0,-8.6,266,2695,0.00,1.88,0.00,0.000,4,0.000,0.136,2576,458,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2744,-0.96,-155.7,235.7,-9.8,272,2752,0.00,1.75,0.00,0.000,6,0.000,0.082,2571,1417,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3075,-0.96,-155.7,269.1,-10.7,293,3081,0.00,1.90,0.00,0.000,4,0.000,0.135,2571,458,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3135,-0.96,-155.7,275.8,-11.0,295,3141,0.00,1.70,0.00,0.000,6,0.000,0.083,2568,1400,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3466,-0.96,-155.7,312.8,-11.0,306,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1400,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3764,-0.96,-155.7,342.5,-9.4,316,3772,0.00,1.88,0.00,0.000,4,0.000,0.136,2568,457,3624,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3843,-0.96,-155.7,348.3,-9.5,318,3847,0.00,1.70,0.00,0.000,6,0.000,0.083,2565,1397,3625,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4146,-0.96,-155.7,376.3,-8.7,328,4151,0.00,1.85,0.00,0.000,4,0.000,0.137,2565,462,3624,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4193,-0.96,-155.7,379.1,-8.9,329,4197,0.00,1.70,0.00,0.000,6,0.000,0.084,2565,1396,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4496,-0.96,-155.7,409.9,-10.2,339,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1396,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-0.96,-155.7,441.6,-10.4,349,4801,0.00,1.88,0.00,0.000,4,0.000,0.138,2565,452,3622,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4863,-0.96,-155.7,447.9,-10.5,351,4867,0.00,1.70,0.00,0.000,6,0.000,0.085,2565,1383,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5180,-0.98,-155.7,477.5,-8.7,362,5185,0.00,2.22,0.00,0.000,4,0.000,0.106,2563,2579,3621,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5225,-1.00,-155.7,479.9,-8.6,363,5233,0.00,2.33,0.00,0.000,6,0.000,0.113,2563,1375,3621,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5540,-1.02,-155.7,507.4,-8.3,374,5545,0.00,1.77,0.00,0.000,4,0.000,0.137,2563,453,3620,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5704,-1.02,-155.7,520.5,-8.8,379,5708,0.00,1.67,0.00,0.000,6,0.000,0.085,2558,1369,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6007,-1.02,-155.7,548.7,-9.0,389,6013,0.00,1.80,0.00,0.000,4,0.000,0.142,2558,465,3618,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6114,-1.02,-155.7,557.3,-9.5,392,6118,0.00,1.60,0.00,0.000,6,0.000,0.086,2555,1337,3617,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6416,-1.02,-155.7,585.7,-8.6,402,6422,0.00,1.75,0.00,0.000,4,0.000,0.142,2555,459,3617,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6485,-1.02,-155.7,591.2,-8.8,404,6493,0.00,1.58,0.00,0.000,6,0.000,0.087,2553,1320,3615,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6805,-1.02,-155.7,621.6,-9.8,415,6813,0.00,1.75,0.00,0.000,4,0.000,0.143,2553,453,3615,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6926,-1.02,-155.7,634.4,-10.7,419,6933,0.00,1.52,0.00,0.000,6,0.000,0.087,2553,1290,3613,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7256,-1.02,-155.7,669.0,-10.4,430,7262,0.00,1.67,0.00,0.000,4,0.000,0.145,2552,457,3613,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7304,-1.02,-155.7,672.1,-10.3,431,7307,0.00,1.55,0.00,0.000,6,0.000,0.090,2558,1290,3611,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7606,-1.02,-155.7,702.1,-8.7,441,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1291,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7905,-1.02,-155.7,725.4,-7.3,451,7912,0.00,2.40,0.00,0.000,4,0.000,0.103,2553,2573,3610,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7956,-1.02,-155.7,727.3,-7.1,452,7964,0.00,2.53,0.00,0.000,6,0.000,0.115,2552,1275,3609,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8268,-1.04,-155.7,751.5,-7.8,463,8273,0.00,1.58,0.00,0.000,4,0.000,0.137,2552,456,3608,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8364,-1.04,-155.7,759.5,-8.7,466,8367,0.00,1.50,0.00,0.000,6,0.000,0.082,2552,1278,3608,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8677,-1.04,-155.7,789.2,-9.6,477,8683,0.00,1.65,0.00,0.000,4,0.000,0.147,2553,466,3606,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8725,-1.04,-155.7,792.2,-9.8,478,8728,0.00,1.48,0.00,0.000,6,0.000,0.090,2552,1261,3606,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9027,-1.04,-155.7,825.8,-10.6,488,9033,0.00,1.62,0.00,0.000,4,0.000,0.148,2549,467,3606,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9075,-1.04,-155.7,829.2,-10.8,489,9078,0.00,1.45,0.00,0.000,6,0.000,0.090,2552,1246,3605,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9377,-1.04,-155.7,862.1,-9.9,499,9383,0.00,2.55,0.00,0.000,4,0.000,0.116,2552,2578,3604,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9408,-1.06,-155.7,864.8,-9.8,500,9414,0.00,2.58,0.00,0.000,6,0.000,0.117,2552,1248,3604,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9740,-1.08,-155.7,896.3,-9.7,511,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1248,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10037,-1.10,-155.7,927.7,-10.9,521,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1248,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10337,-1.13,-155.7,961.0,-11.0,531,10343,0.00,2.53,0.00,0.000,4,0.000,0.109,2552,2574,3600,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10376,-1.15,-155.7,964.2,-10.8,532,10383,0.00,2.65,0.00,0.000,6,0.000,0.134,2552,1264,3600,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,10633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10633,begin apogee
$GC,10642,-0.23,0.0,992.2,-10.3,541,10804,0.93,0.00,155.38,1.828,4,0.200,0.000,2810,1518,2986,0,0,0,0,0,0,13.73,28.83,13.02
$STATE,10808,end apogee,CONTROL_FINISHED_OK
$STATE,10808,begin climb
$GC,10812,0.84,155.7,1003.6,0.0,546,10985,1.10,2.05,161.32,1.813,4,0.119,0.118,3162,2583,2351,0,0,0,0,0,0,14.13,14.10,13.09
$GC,11105,0.81,197.4,1003.1,5.9,556,11154,0.00,2.15,44.45,1.759,6,0.000,0.140,3168,1517,2184,0,0,0,0,0,0,28.83,14.23,13.22
$GC,11466,0.77,197.4,973.8,8.0,569,11473,0.00,2.05,0.00,0.000,4,0.000,0.122,3168,2577,2170,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11545,0.74,197.4,968.8,8.3,571,11555,0.20,2.12,0.00,0.000,6,0.301,0.145,3132,1524,2170,0,0,0,0,0,0,14.06,14.24,28.83
$GC,11860,0.74,197.4,942.6,7.9,582,11865,0.00,2.00,0.00,0.000,4,0.000,0.125,3132,2578,2168,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11976,0.74,197.4,932.7,8.2,586,11983,0.00,2.03,0.00,0.000,6,0.000,0.136,3139,1551,2167,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12310,0.74,197.4,905.5,8.0,597,12315,0.00,1.95,0.00,0.000,4,0.000,0.121,3139,2580,2166,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12508,0.74,197.4,891.1,8.1,603,12514,0.00,1.98,0.00,0.000,6,0.000,0.133,3146,1569,2163,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12818,0.74,197.4,866.4,7.4,614,12823,0.00,2.28,0.00,0.000,4,0.000,0.165,3155,457,2165,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12885,0.71,197.4,861.8,7.5,616,12894,0.15,2.08,0.00,0.000,6,0.286,0.096,3122,1571,2165,0,0,0,0,0,0,13.98,14.30,28.83
$GC,13210,0.72,206.8,838.8,6.9,627,13217,0.00,1.95,2.25,0.452,4,0.000,0.114,3122,2581,2145,0,0,0,0,0,0,28.83,14.31,13.00
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$STATE,23656,end climb,SURFACE_DEPTH_REACHED
$STATE,23656,begin surface coast
$FINISH,1.6,1.022195
$STATE,23687,end surface coast,CONTROL_FINISHED_OK
$STATE,23687,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.63
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7598368
$24V_AH,12.9,191.190
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.200,197.575,461.375,29.925,0.000,0.000,0.000,381.400,0.500,0.000,22.048,3371.610,16827.748,895.522,2661.541,718.650,0.000,2480.744,0.000,2212.396,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.025,9.492,0.000,0.000
$MEM,344988
$DATA_FILE_SIZE,43227,1171
$CAP_FILE_SIZE,248718,0
$CFSIZE,260034560,188993536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,352.1,1
$GPS,300113,060205,2422.051,-3745.196,38,0.9,38,-14.0