version: 66.11
glider: 190
mission: 6
dive: 495
start: 2 11 113 11 13 44
data:
$ID,190
$MISSION,6
$DIVE,495
$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,-13538.566
$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,7
$R_STBD_OVSHOOT,13
$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
$GPS1,110213,110158,2441.852,-3813.774,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-65.1
$GPS2,110213,111312,2441.943,-3813.823,18,1.1,18,-14.0
$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,156.3,40038,-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,18,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,-10.38,0.000,2,0.000,0.000,143,1515,1756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.6,0.0,1,143,11.48,0.00,-85.03,0.000,6,0.360,0.000,2617,1517,3626,2,0,0,0,0,0,13.45,28.83,14.69
$GC,445,-0.87,-155.7,35.7,-10.9,42,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1517,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,746,-0.89,-155.7,68.8,-12.2,72,753,0.00,2.08,0.00,0.000,4,0.000,0.132,2616,450,3626,0,0,0,0,0,0,28.83,14.05,28.83
$GC,914,-0.89,-155.7,90.2,-11.6,89,923,0.00,2.00,0.00,0.000,6,0.000,0.080,2612,1536,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1225,-0.93,-155.7,121.6,-9.7,120,1233,0.00,2.15,0.00,0.000,4,0.000,0.137,2611,455,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1394,-0.93,-155.7,138.3,-9.8,137,1403,0.00,1.92,0.00,0.000,6,0.000,0.083,2609,1493,3626,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1706,-0.97,-155.7,167.0,-9.3,168,1713,0.00,2.03,0.00,0.000,4,0.000,0.135,2608,453,3626,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1837,-0.97,-155.7,179.2,-9.4,181,1844,0.00,1.80,0.00,0.000,6,0.000,0.083,2606,1468,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2145,-1.01,-155.7,205.3,-7.8,212,2153,0.12,2.00,0.00,0.000,4,0.138,0.136,2550,458,3627,0,0,0,0,0,0,14.48,13.98,28.83
$GC,2259,-0.99,-155.7,215.1,-9.0,223,2266,0.00,1.77,0.00,0.000,6,0.000,0.081,2549,1447,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2566,-0.99,-155.7,242.6,-9.4,254,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1450,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,-0.99,-155.7,273.2,-9.6,270,2893,0.00,1.92,0.00,0.000,4,0.000,0.129,2549,456,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2995,-0.99,-155.7,282.5,-10.1,273,3003,0.00,1.77,0.00,0.000,6,0.000,0.077,2549,1433,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3305,-0.99,-155.7,315.7,-10.1,284,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1433,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-0.99,-155.7,345.8,-10.1,294,3612,0.00,1.92,0.00,0.000,4,0.000,0.133,2549,455,3625,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3755,-0.96,-155.7,361.8,-10.6,299,3761,0.00,1.75,0.00,0.000,6,0.000,0.081,2549,1428,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4086,-0.96,-155.7,392.3,-9.0,310,4093,0.12,1.88,0.00,0.000,4,0.249,0.135,2580,455,3624,0,0,0,0,0,0,14.28,14.04,28.83
$GC,4193,-0.96,-155.7,400.8,-9.3,313,4202,0.00,1.75,0.00,0.000,6,0.000,0.083,2579,1412,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4509,-1.00,-155.7,431.5,-9.6,324,4514,0.00,1.88,0.00,0.000,4,0.000,0.138,2580,457,3621,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4535,-1.03,-155.7,434.6,-9.7,325,4541,0.00,1.70,0.00,0.000,6,0.000,0.084,2579,1395,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4868,-1.06,-155.7,468.2,-10.3,336,4873,0.00,2.17,0.00,0.000,4,0.000,0.103,2579,2578,3622,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4915,-1.10,-155.7,471.2,-10.2,337,4923,0.10,2.30,0.00,0.000,6,0.078,0.112,2525,1388,3622,0,0,0,0,0,0,14.15,14.00,28.83
$GC,5229,-1.10,-155.7,504.2,-9.7,348,5234,0.00,1.80,0.00,0.000,4,0.000,0.138,2525,456,3621,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5303,-1.10,-155.7,510.2,-9.8,350,5312,0.00,1.73,0.00,0.000,6,0.000,0.084,2522,1399,3619,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5619,-1.07,-155.7,540.8,-9.3,361,5625,0.00,2.20,0.00,0.000,4,0.000,0.106,2521,2577,3620,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5704,-1.07,-155.7,549.6,-9.7,364,5711,0.00,2.30,0.00,0.000,6,0.000,0.116,2521,1394,3619,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6036,-1.07,-155.7,584.2,-10.7,375,6041,0.00,1.85,0.00,0.000,4,0.000,0.137,2520,437,3619,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6104,-1.05,-155.7,591.6,-11.5,377,6112,0.15,1.77,0.00,0.000,6,0.265,0.085,2548,1396,3618,0,0,0,0,0,0,13.89,14.18,28.83
$GC,6428,-1.05,-155.7,628.0,-10.8,388,6434,0.00,1.88,0.00,0.000,4,0.000,0.140,2548,452,3616,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6473,-1.05,-155.7,631.2,-10.7,389,6482,0.00,1.70,0.00,0.000,6,0.000,0.086,2542,1374,3616,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6785,-1.05,-155.7,663.3,-9.2,400,6791,0.00,1.83,0.00,0.000,4,0.000,0.142,2544,461,3615,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6846,-1.05,-155.7,669.0,-9.3,402,6852,0.00,1.62,0.00,0.000,6,0.000,0.086,2540,1354,3615,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7175,-1.05,-155.7,698.1,-8.7,413,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1354,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,-1.05,-155.7,725.9,-9.5,423,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1354,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7775,-1.05,-155.7,756.6,-10.6,433,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1354,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,-1.05,-155.7,789.5,-10.9,443,8082,0.00,2.30,0.00,0.000,4,0.000,0.103,2539,2574,3610,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8125,-1.05,-155.7,792.7,-10.8,444,8134,0.00,2.38,0.00,0.000,6,0.000,0.113,2539,1353,3609,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8435,-1.05,-155.7,824.8,-9.2,455,8441,0.00,1.77,0.00,0.000,4,0.000,0.136,2540,459,3608,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8556,-1.05,-155.7,836.6,-9.8,459,8562,0.00,1.60,0.00,0.000,6,0.000,0.084,2539,1337,3608,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8885,-1.05,-155.7,865.9,-8.8,470,8892,0.00,1.77,0.00,0.000,4,0.000,0.142,2539,455,3608,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8993,-1.05,-155.7,874.1,-9.1,473,8997,0.00,1.62,0.00,0.000,6,0.000,0.089,2539,1328,3606,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9297,-1.05,-155.7,902.3,-8.5,483,9302,0.00,2.35,0.00,0.000,4,0.000,0.106,2539,2580,3605,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9363,-1.05,-155.7,907.3,-8.4,485,9372,0.00,2.50,0.00,0.000,6,0.000,0.116,2539,1312,3604,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9686,-1.05,-155.7,935.9,-8.8,496,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1312,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,-1.05,-155.7,963.2,-9.3,506,9991,0.00,2.45,0.00,0.000,4,0.000,0.109,2539,2570,3602,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10064,-1.07,-155.7,968.7,-9.3,508,10073,0.00,2.47,0.00,0.000,6,0.000,0.118,2539,1324,3602,0,0,0,0,0,0,28.83,13.84,28.83
$STATE,10281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10281,begin apogee
$GC,10291,-0.23,0.0,990.9,-9.3,516,10452,0.95,0.00,155.35,1.855,4,0.194,0.000,2806,1528,2985,0,0,0,0,0,0,13.69,28.83,12.99
$STATE,10456,end apogee,CONTROL_FINISHED_OK
$STATE,10457,begin climb
$GC,10461,0.84,155.7,1001.8,0.0,521,10634,1.08,2.00,161.70,1.831,4,0.104,0.112,3159,2576,2350,0,0,0,0,0,0,14.16,14.12,13.07
$GC,10867,0.83,213.1,996.9,5.4,535,10933,0.00,2.05,60.90,1.801,6,0.000,0.131,3167,1517,2120,0,0,0,0,0,0,28.83,14.25,13.16
$GC,11235,0.80,226.2,972.0,6.8,547,11254,0.00,2.12,13.73,1.688,4,0.000,0.156,3175,458,2063,0,0,0,0,0,0,28.83,14.34,13.28
$GC,11326,0.77,230.0,966.2,7.1,549,11332,0.15,1.98,0.00,0.000,6,0.293,0.099,3142,1534,2057,0,0,0,0,0,0,14.12,14.35,28.83
$GC,11648,0.78,246.4,944.3,6.7,560,11675,0.00,2.20,22.52,1.746,4,0.000,0.163,3150,456,1981,0,0,0,0,0,0,28.83,14.34,13.35
$GC,11874,0.78,246.4,926.8,7.8,568,11882,0.00,2.05,0.00,0.000,6,0.000,0.098,3150,1561,1971,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12205,0.78,246.4,900.5,8.1,579,12212,0.00,1.92,0.00,0.000,4,0.000,0.114,3150,2573,1970,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12445,0.78,246.4,880.1,8.5,587,12451,0.00,1.95,0.00,0.000,6,0.000,0.129,3157,1580,1969,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12778,0.78,246.4,850.9,8.8,598,12783,0.00,1.92,0.00,0.000,4,0.000,0.128,3157,2585,1970,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12944,0.78,246.4,837.8,8.8,603,12952,0.00,1.98,0.00,0.000,6,0.000,0.139,3164,1606,1968,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13256,0.78,246.4,811.6,7.5,614,13261,0.00,1.88,0.00,0.000,4,0.000,0.126,3164,2580,1968,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13353,0.78,246.4,804.9,7.4,617,13361,0.00,1.95,0.00,0.000,6,0.000,0.139,3171,1618,1968,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13677,0.79,256.8,781.9,6.8,628,13686,0.00,1.90,3.60,1.084,4,0.000,0.123,3172,2583,1944,0,0,0,0,0,0,28.83,14.33,13.34
$GC,13775,0.79,258.2,776.2,7.1,631,13785,0.10,1.90,2.60,0.684,6,0.262,0.140,3151,1633,1936,0,0,0,0,0,0,14.00,14.14,13.21
$GC,14088,0.79,258.2,752.4,7.6,642,14094,0.00,1.88,2.08,0.278,4,0.000,0.126,3152,2579,1937,0,0,0,0,0,0,28.83,14.24,12.89
$GC,14237,0.79,258.2,740.9,8.3,647,14244,0.00,1.85,1.85,0.180,6,0.000,0.138,3158,1652,1936,0,0,0,0,0,0,28.83,13.97,14.11
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$STATE,23222,end climb,SURFACE_DEPTH_REACHED
$STATE,23222,begin surface coast
$FINISH,1.6,1.004306
$STATE,23253,end surface coast,CONTROL_FINISHED_OK
$STATE,23253,begin surface
$SM_CCo,23281,42.83,0.123,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.91
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.20
$XPDR_PINGS,4
$SC_FREEKB,7580832
$24V_AH,11.4,209.647
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.725,178.875,477.450,42.825,0.000,0.000,0.000,379.450,1.000,0.000,18.736,3328.908,16352.675,885.347,2658.000,760.526,0.000,2466.687,0.000,2230.854,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.051,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43357,1158
$CAP_FILE_SIZE,245446,0
$CFSIZE,260034560,183963648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,2,0,0,1,0
$CURRENT,0.079,329.5,1
$GPS,110213,174357,2441.857,-3812.995,40,1.7,43,-14.0