version: 66.11
glider: 190
mission: 6
dive: 472
start: 2 5 113 4 57 32
data:
$ID,190
$MISSION,6
$DIVE,472
$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,1
$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,-13509.642
$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,12
$R_STBD_OVSHOOT,17
$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
$GPS1,050213,044528,2441.477,-3813.513,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-64.7
$GPS2,050213,045659,2441.487,-3813.472,19,0.8,19,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$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,323.7,12493,-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,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-11.18,0.000,2,0.000,0.000,149,1513,1716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,147,11.10,2.05,-92.15,0.000,4,0.347,0.132,2618,2579,3625,0,0,0,0,0,0,14.18,14.17,14.70
$GC,311,-0.87,-155.7,17.0,-8.7,28,318,0.00,2.03,0.00,0.000,6,0.000,0.116,2618,1523,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,620,-0.91,-155.7,40.5,-8.5,59,627,0.00,2.10,0.00,0.000,4,0.000,0.138,2618,460,3626,0,0,0,0,0,0,28.83,13.95,28.83
$GC,680,-0.91,-155.7,45.8,-9.2,65,689,0.00,1.90,0.00,0.000,6,0.000,0.081,2618,1513,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,991,-0.94,-155.7,73.4,-10.6,96,998,0.00,2.08,0.00,0.000,4,0.000,0.135,2618,452,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1039,-0.94,-155.7,78.7,-10.7,101,1049,0.00,1.88,0.00,0.000,6,0.000,0.077,2618,1501,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1350,-0.98,-155.7,109.2,-9.3,132,1359,0.15,2.00,0.00,0.000,4,0.120,0.104,2552,2572,3625,0,0,0,0,0,0,14.52,14.14,28.83
$GC,1389,-0.98,-155.7,113.2,-9.8,136,1398,0.00,2.05,0.00,0.000,6,0.000,0.112,2552,1506,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1700,-0.98,-155.7,141.9,-9.6,167,1707,0.00,2.00,0.00,0.000,4,0.000,0.122,2552,462,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1791,-0.94,-155.7,152.1,-11.9,176,1798,0.12,1.83,0.00,0.000,6,0.264,0.076,2580,1509,3624,0,0,0,0,0,0,14.02,14.28,28.83
$GC,2101,-0.94,-155.7,183.7,-10.3,207,2108,0.00,2.03,0.00,0.000,4,0.000,0.131,2580,459,3626,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2150,-0.94,-155.7,189.1,-10.9,212,2157,0.00,1.83,0.00,0.000,6,0.000,0.077,2579,1481,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2460,-0.97,-155.7,219.6,-9.3,243,2467,0.00,2.00,0.00,0.000,4,0.000,0.135,2580,460,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2560,-0.97,-155.7,229.5,-9.7,253,2569,0.00,1.80,0.00,0.000,6,0.000,0.079,2579,1461,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2880,-0.99,-155.7,258.6,-8.9,279,2886,0.00,1.95,0.00,0.000,4,0.000,0.133,2579,460,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2990,-0.99,-155.7,267.0,-9.3,282,2997,0.00,1.75,0.00,0.000,6,0.000,0.080,2579,1437,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3303,-1.02,-155.7,296.8,-9.1,293,3309,0.00,1.90,0.00,0.000,4,0.000,0.134,2579,459,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3409,-1.02,-155.7,305.3,-9.4,296,3417,0.00,1.73,0.00,0.000,6,0.000,0.080,2579,1419,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3722,-1.04,-155.7,335.9,-9.1,307,3727,0.00,1.88,0.00,0.000,4,0.000,0.135,2579,456,3624,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3769,-1.06,-155.7,338.6,-9.1,308,3777,0.00,1.75,0.00,0.000,6,0.000,0.081,2579,1420,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4084,-1.09,-155.7,368.7,-9.1,319,4090,0.12,1.85,0.00,0.000,4,0.140,0.132,2519,460,3624,0,0,0,0,0,0,14.53,14.09,28.83
$GC,4219,-1.05,-155.7,382.0,-11.2,323,4230,0.15,1.67,0.00,0.000,6,0.259,0.080,2547,1385,3623,0,0,0,0,0,0,14.02,14.33,28.83
$GC,4533,-1.05,-155.7,415.7,-9.9,334,4539,0.00,2.20,0.00,0.000,4,0.000,0.104,2540,2581,3622,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4568,-1.05,-155.7,418.6,-9.8,335,4576,0.00,2.35,0.00,0.000,6,0.000,0.116,2540,1371,3622,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4891,-1.05,-155.7,451.2,-9.9,346,4896,0.00,1.77,0.00,0.000,4,0.000,0.136,2540,466,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4989,-1.05,-155.7,460.7,-10.4,349,4996,0.00,1.65,0.00,0.000,6,0.000,0.083,2540,1373,3621,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5311,-1.05,-155.7,493.7,-9.9,360,5316,0.00,1.80,0.00,0.000,4,0.000,0.140,2540,457,3620,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5389,-1.05,-155.7,499.9,-10.0,362,5397,0.00,1.62,0.00,0.000,6,0.000,0.085,2540,1351,3620,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5699,-1.05,-155.7,531.1,-9.2,373,5707,0.00,2.30,0.00,0.000,4,0.000,0.109,2537,2573,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5739,-1.05,-155.7,533.8,-9.1,374,5747,0.00,2.40,0.00,0.000,6,0.000,0.119,2537,1339,3619,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6059,-1.05,-155.7,564.8,-9.5,385,6067,0.00,1.70,0.00,0.000,4,0.000,0.128,2537,459,3618,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6119,-1.05,-155.7,571.0,-9.9,387,6126,0.00,1.60,0.00,0.000,6,0.000,0.078,2536,1348,3617,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6451,-1.05,-155.7,603.5,-10.1,398,6456,0.00,1.77,0.00,0.000,4,0.000,0.139,2536,454,3616,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6498,-1.05,-155.7,606.7,-10.2,399,6502,0.00,1.60,0.00,0.000,6,0.000,0.083,2536,1330,3616,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6801,-1.05,-155.7,641.8,-11.3,409,6806,0.00,1.73,0.00,0.000,4,0.000,0.142,2536,466,3615,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6859,-1.05,-155.7,649.1,-11.8,411,6867,0.00,1.58,0.00,0.000,6,0.000,0.088,2536,1320,3614,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7190,-1.05,-155.7,687.9,-11.7,422,7196,0.00,2.38,0.00,0.000,4,0.000,0.109,2536,2570,3613,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7239,-1.05,-155.7,691.4,-11.7,423,7247,0.00,2.45,0.00,0.000,6,0.000,0.119,2536,1316,3612,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7550,-1.05,-155.7,728.2,-11.0,434,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1316,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,-1.05,-155.7,758.6,-9.8,444,7856,0.00,1.67,0.00,0.000,4,0.000,0.132,2532,457,3610,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7898,-1.05,-155.7,761.6,-9.8,445,7902,0.00,1.58,0.00,0.000,6,0.000,0.080,2536,1323,3610,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8199,-1.05,-155.7,791.2,-9.0,455,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1323,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8501,-1.05,-155.7,817.6,-8.7,465,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1323,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8799,-1.05,-155.7,844.7,-9.2,475,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1323,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,-1.05,-155.7,874.4,-10.1,485,9107,0.00,1.75,0.00,0.000,4,0.000,0.146,2536,462,3605,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9168,-1.05,-155.7,880.8,-10.4,487,9172,0.00,1.58,0.00,0.000,6,0.000,0.090,2535,1308,3605,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9481,-1.05,-155.7,915.2,-10.9,498,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1308,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9782,-1.05,-155.7,949.2,-11.6,508,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1308,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,-1.05,-155.7,982.9,-11.1,518,10087,0.00,1.73,0.00,0.000,4,0.000,0.138,2535,456,3601,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10140,-1.05,-155.7,990.0,-11.4,520,10148,0.00,1.58,0.00,0.000,6,0.000,0.084,2536,1308,3601,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,10167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10167,begin apogee
$GC,10177,-0.23,0.0,993.5,-11.7,521,10338,1.00,0.00,154.90,1.834,4,0.214,0.000,2808,1518,2985,0,0,0,0,0,0,13.68,28.83,13.03
$STATE,10342,end apogee,CONTROL_FINISHED_OK
$STATE,10342,begin climb
$GC,10345,0.84,155.7,1005.7,0.0,526,10517,1.08,2.03,161.18,1.799,4,0.106,0.119,3159,2577,2355,0,0,0,0,0,0,14.16,14.11,13.10
$GC,10565,0.88,339.4,1010.9,1.4,534,10769,0.00,2.15,194.80,1.773,6,0.000,0.142,3166,1517,1604,0,0,0,0,0,0,28.83,14.16,13.14
$GC,11088,0.88,339.4,962.8,10.0,552,11095,0.00,2.05,0.00,0.000,4,0.000,0.124,3166,2575,1583,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11239,0.88,339.4,947.2,10.3,557,11245,0.00,2.08,0.00,0.000,6,0.000,0.148,3173,1538,1586,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11571,0.88,339.4,912.7,10.5,568,11576,0.00,2.00,0.00,0.000,4,0.000,0.125,3173,2584,1581,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11647,0.88,339.4,906.4,10.5,570,11656,0.00,2.08,0.00,0.000,6,0.000,0.145,3180,1556,1581,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11959,0.88,339.4,871.9,10.1,581,11965,0.00,1.98,0.00,0.000,4,0.000,0.126,3179,2577,1580,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12048,0.88,339.4,862.9,10.0,584,12055,0.00,2.03,0.00,0.000,6,0.000,0.145,3186,1571,1580,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12382,0.88,339.4,831.4,9.5,595,12388,0.00,1.95,0.00,0.000,4,0.000,0.126,3186,2583,1579,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12469,0.88,339.4,823.0,9.3,598,12475,0.00,2.03,0.00,0.000,6,0.000,0.145,3193,1589,1579,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12802,0.88,339.4,793.2,9.0,609,12807,0.00,1.92,0.00,0.000,4,0.000,0.128,3193,2585,1577,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12867,0.88,339.4,787.7,9.0,611,12875,0.00,2.03,0.00,0.000,6,0.000,0.145,3200,1591,1577,0,0,0,0,0,0,28.83,14.07,28.83
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$STATE,20795,end climb,SURFACE_DEPTH_REACHED
$STATE,20795,begin surface coast
$FINISH,1.6,1.011795
$STATE,20826,end surface coast,CONTROL_FINISHED_OK
$STATE,20826,begin surface
$SM_CCo,20911,0.00,0.000,0,0,1498,365.99
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.27
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7589664
$24V_AH,13.0,200.572
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.200,181.200,525.875,0.000,0.000,0.000,0.000,399.900,0.250,0.000,20.628,3001.049,14555.256,916.250,2439.744,676.299,0.000,2417.990,0.000,1989.532,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.226,0.000,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,39989,1062
$CAP_FILE_SIZE,221327,0
$CFSIZE,260034560,186519552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060, 67.5,1
$GPS,050213,104728,2442.596,-3814.373,40,0.9,40,-14.0