version: 66.11
glider: 190
mission: 6
dive: 480
start: 2 7 113 8 51 39
data:
$ID,190
$MISSION,6
$DIVE,480
$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,-13519.703
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,070213,084004,2444.192,-3815.897,44,0.9,44,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-66.0
$GPS2,070213,085106,2444.232,-3815.934,18,1.2,18,-14.1
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-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,176.1,43979,-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,-10.95,0.000,2,0.000,0.000,137,1516,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,144,11.48,2.05,-86.62,0.000,4,0.359,0.156,2614,456,3624,0,0,0,0,0,0,14.09,14.10,14.66
$GC,294,-0.84,-155.7,16.6,-9.2,27,303,0.00,1.92,0.00,0.000,6,0.000,0.079,2609,1514,3624,0,0,0,0,0,0,28.83,14.09,28.83
$GC,606,-0.87,-155.7,43.8,-7.9,58,613,0.00,2.05,0.00,0.000,4,0.000,0.135,2609,461,3624,0,0,0,0,0,0,28.83,13.97,28.83
$GC,726,-0.87,-155.7,55.7,-10.2,70,733,0.00,1.88,0.00,0.000,6,0.000,0.081,2605,1500,3624,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1036,-0.90,-155.7,87.0,-10.3,101,1044,0.00,2.05,0.00,0.000,4,0.000,0.134,2606,455,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1187,-0.90,-155.7,104.0,-12.1,116,1194,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1477,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1495,-0.92,-155.7,140.2,-10.9,147,1503,0.00,2.03,0.00,0.000,4,0.000,0.134,2605,457,3625,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1638,-0.92,-155.7,155.1,-10.2,161,1646,0.00,1.75,0.00,0.000,6,0.000,0.077,2606,1454,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1949,-0.96,-155.7,178.1,-6.9,192,1956,0.00,1.92,0.00,0.000,4,0.000,0.132,2605,456,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2065,-0.96,-155.7,187.0,-7.6,204,2073,0.00,1.77,0.00,0.000,6,0.000,0.076,2605,1437,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2376,-1.00,-155.7,214.2,-10.3,235,2384,0.12,1.92,0.00,0.000,4,0.134,0.132,2550,457,3626,0,0,0,0,0,0,14.46,13.97,28.83
$GC,2526,-0.98,-155.7,233.0,-13.3,250,2533,0.00,1.70,0.00,0.000,6,0.000,0.077,2549,1409,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2845,-0.98,-155.7,272.9,-11.8,270,2852,0.00,1.85,0.00,0.000,4,0.000,0.132,2549,460,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2905,-0.98,-155.7,279.5,-11.2,272,2911,0.00,1.70,0.00,0.000,6,0.000,0.078,2549,1404,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3239,-0.98,-155.7,305.1,-6.6,283,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1404,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3535,-0.98,-155.7,326.3,-7.8,293,3542,0.00,1.85,0.00,0.000,4,0.000,0.129,2549,456,3625,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3664,-0.98,-155.7,338.0,-9.8,297,3671,0.00,1.67,0.00,0.000,6,0.000,0.076,2549,1393,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3986,-0.98,-155.7,373.1,-10.9,308,3992,0.00,1.83,0.00,0.000,4,0.000,0.135,2549,453,3624,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4054,-0.98,-155.7,380.2,-11.3,310,4057,0.00,1.67,0.00,0.000,6,0.000,0.080,2549,1379,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4368,-0.98,-155.7,413.4,-10.0,321,4373,0.00,1.80,0.00,0.000,4,0.000,0.136,2549,458,3623,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4456,-0.98,-155.7,423.0,-10.5,324,4463,0.00,1.62,0.00,0.000,6,0.000,0.080,2549,1357,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4786,-0.98,-155.7,457.1,-10.4,335,4793,0.00,1.75,0.00,0.000,4,0.000,0.135,2549,465,3622,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4896,-0.98,-155.7,467.2,-11.1,338,4905,0.00,1.60,0.00,0.000,6,0.000,0.082,2549,1347,3621,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5207,-0.98,-155.7,501.9,-10.1,349,5213,0.00,1.75,0.00,0.000,4,0.000,0.138,2549,460,3620,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5267,-0.98,-155.7,508.2,-10.1,351,5273,0.00,1.55,0.00,0.000,6,0.000,0.083,2549,1323,3620,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5596,-0.98,-155.7,538.8,-9.1,362,5604,0.00,1.70,0.00,0.000,4,0.000,0.138,2549,462,3619,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5705,-0.98,-155.7,547.5,-9.6,365,5708,0.00,1.55,0.00,0.000,6,0.000,0.083,2550,1316,3621,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6008,-0.98,-155.7,577.6,-9.7,375,6013,0.00,1.67,0.00,0.000,4,0.000,0.141,2549,453,3617,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6135,-0.98,-155.7,590.4,-10.7,379,6138,0.00,1.52,0.00,0.000,6,0.000,0.084,2549,1288,3617,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6449,-0.98,-155.7,621.0,-9.1,390,6454,0.00,1.62,0.00,0.000,4,0.000,0.140,2549,460,3616,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6556,-0.98,-155.7,629.4,-9.2,393,6559,0.00,1.50,0.00,0.000,6,0.000,0.084,2549,1281,3618,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6858,-0.98,-155.7,657.2,-8.6,403,6864,0.00,1.65,0.00,0.000,4,0.000,0.141,2549,458,3615,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6936,-0.98,-155.7,662.6,-8.7,405,6939,0.00,1.48,0.00,0.000,6,0.000,0.083,2549,1267,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7237,-0.98,-155.7,692.5,-9.7,415,7245,0.00,1.60,0.00,0.000,4,0.000,0.140,2549,462,3613,0,0,0,0,0,0,28.83,13.94,28.83
$GC,7337,-0.98,-155.7,702.0,-10.4,418,7344,0.00,1.42,0.00,0.000,6,0.000,0.084,2549,1243,3612,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7657,-0.98,-155.7,736.2,-10.5,429,7664,0.00,1.58,0.00,0.000,4,0.000,0.143,2549,457,3614,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7718,-0.98,-155.7,742.9,-10.9,431,7725,0.00,1.38,0.00,0.000,6,0.000,0.086,2549,1219,3613,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8048,-0.98,-155.7,776.6,-10.1,442,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1219,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8347,-0.98,-155.7,805.5,-9.4,452,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1219,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8649,-0.98,-155.7,834.1,-9.7,462,8654,0.00,1.52,0.00,0.000,4,0.000,0.145,2549,455,3610,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8687,-0.98,-155.7,837.0,-9.7,463,8693,0.00,1.40,0.00,0.000,6,0.000,0.086,2549,1216,3609,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9012,-1.00,-155.7,868.1,-9.2,474,9017,0.00,2.58,0.00,0.000,4,0.000,0.112,2549,2571,3607,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9056,-1.02,-155.7,870.7,-9.0,475,9065,0.00,2.70,0.00,0.000,6,0.000,0.122,2549,1207,3607,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9368,-1.02,-155.7,900.6,-9.1,486,9374,0.00,1.50,0.00,0.000,4,0.000,0.148,2549,465,3604,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9528,-1.02,-155.7,915.3,-9.9,491,9534,0.00,1.33,0.00,0.000,6,0.000,0.088,2549,1191,3605,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9848,-1.02,-155.7,947.1,-9.7,502,9854,0.00,1.50,0.00,0.000,4,0.000,0.151,2548,459,3601,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9908,-1.02,-155.7,953.3,-10.0,504,9914,0.00,1.33,0.00,0.000,6,0.000,0.089,2549,1180,3605,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10237,-1.02,-155.7,985.5,-9.7,515,10245,0.00,2.70,0.00,0.000,4,0.000,0.113,2548,2568,3603,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10269,-1.04,-155.7,988.2,-9.6,516,10274,0.00,2.75,0.00,0.000,6,0.000,0.126,2549,1173,3601,0,0,0,0,0,0,28.83,13.95,28.83
$STATE,10294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10294,begin apogee
$GC,10303,-0.23,0.0,991.0,-9.4,517,10465,0.93,0.00,156.05,1.807,4,0.201,0.000,2807,1520,2986,0,0,0,0,0,0,13.71,28.83,12.99
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10472,0.84,155.7,1001.8,0.0,522,10644,1.10,2.00,160.88,1.788,4,0.108,0.116,3164,2576,2354,0,0,0,0,0,0,14.15,14.11,13.07
$GC,10876,0.81,195.7,994.6,5.9,536,10924,0.00,2.08,42.55,1.746,6,0.000,0.141,3172,1521,2192,0,0,0,0,0,0,28.83,14.21,13.22
$GC,11244,0.78,205.3,968.5,6.9,549,11253,0.00,2.20,4.25,1.222,4,0.000,0.174,3179,454,2153,0,0,0,0,0,0,28.83,14.31,13.28
$GC,11356,0.73,205.3,960.6,7.2,553,11362,0.22,1.98,0.00,0.000,6,0.281,0.100,3127,1534,2160,0,0,0,0,0,0,14.08,14.35,28.83
$GC,11688,0.75,245.1,941.0,5.9,564,11743,0.00,2.22,49.40,1.760,4,0.000,0.164,3135,457,1984,0,0,0,0,0,0,28.83,14.20,13.24
$GC,11954,0.75,245.1,922.1,7.4,573,11961,0.00,2.03,0.00,0.000,6,0.000,0.097,3135,1544,1975,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12288,0.75,245.1,895.7,8.3,584,12293,0.00,2.20,0.00,0.000,4,0.000,0.165,3143,454,1973,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12506,0.75,245.1,876.2,9.5,591,12512,0.00,2.05,0.00,0.000,6,0.000,0.096,3143,1578,1972,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12824,0.75,245.1,844.2,9.7,602,12831,0.00,1.92,0.00,0.000,4,0.000,0.122,3143,2578,1970,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13063,0.75,245.1,822.0,8.9,610,13071,0.00,1.98,0.00,0.000,6,0.000,0.132,3150,1583,1970,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13398,0.76,259.9,797.4,6.7,621,13423,0.00,1.90,14.82,1.606,4,0.000,0.121,3150,2572,1923,0,0,0,0,0,0,28.83,14.44,13.33
$GC,13653,0.78,287.2,782.0,6.3,629,13692,0.00,1.90,30.25,1.623,6,0.000,0.133,3157,1624,1813,0,0,0,0,0,0,28.83,14.19,13.35
$GC,13998,0.78,287.2,754.0,8.6,641,14003,0.00,2.35,0.00,0.000,4,0.000,0.161,3166,460,1804,0,0,0,0,0,0,28.83,14.07,28.83
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$STATE,22474,end climb,SURFACE_DEPTH_REACHED
$STATE,22474,begin surface coast
$FINISH,1.5,1.012211
$STATE,22505,end surface coast,CONTROL_FINISHED_OK
$STATE,22505,begin surface
$SM_CCo,22529,7.78,0.132,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.01
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7586592
$24V_AH,13.0,203.697
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.500,175.425,501.900,7.775,0.000,0.000,0.000,370.325,0.500,0.000,18.998,3275.056,15669.102,885.822,2634.090,724.347,0.000,2450.461,0.000,2217.100,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.128,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43311,1116
$CAP_FILE_SIZE,235640,0
$CFSIZE,260034560,185622528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,319.3,1
$GPS,070213,150835,2443.818,-3815.400,32,0.8,32,-14.0