version: 66.11
glider: 190
mission: 6
dive: 509
start: 2 15 113 13 19 1
data:
$ID,190
$MISSION,6
$DIVE,509
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,-13556.181
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,2694
$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
$GPS1,150213,130559,2443.119,-3813.336,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-66.6
$GPS2,150213,131829,2443.254,-3813.407,18,0.9,18,-14.0
$SPEED_LIMITS,0.123,0.130
$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,165.4,42536,-16.1,-7.101,-28.69
$D_GRID,980
$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,-0.90,-155.7,0.0,0.0,0,35,0.00,0.00,-10.93,0.000,2,0.000,0.000,145,1511,1522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.6,0.0,1,145,11.05,2.10,-85.18,0.000,4,0.350,0.160,2576,458,3328,0,0,0,0,0,0,14.09,14.09,14.68
$GC,237,-0.84,-155.7,10.7,-9.7,21,246,0.08,1.95,0.00,0.000,6,0.248,0.086,2590,1517,3328,0,0,0,0,0,0,13.81,14.06,28.83
$GC,547,-0.81,-155.7,37.3,-8.6,52,554,0.00,2.00,0.00,0.000,4,0.000,0.108,2583,2579,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,615,-0.81,-155.7,43.3,-8.7,59,624,0.00,2.10,0.00,0.000,6,0.000,0.119,2583,1520,3328,0,0,0,0,0,0,28.83,13.96,28.83
$GC,928,-0.78,-155.7,70.1,-8.5,90,935,0.12,0.00,0.00,0.000,6,0.244,0.000,2617,1519,3328,0,0,0,0,0,0,14.10,28.83,28.83
$GC,1237,-0.78,-155.7,94.0,-8.1,121,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1524,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1547,-0.78,-155.7,118.2,-7.9,152,1554,0.00,2.03,0.00,0.000,4,0.000,0.103,2617,2582,3328,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1595,-0.78,-155.7,122.0,-7.8,157,1605,0.00,2.08,0.00,0.000,6,0.000,0.116,2617,1527,3328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1907,-0.78,-155.7,145.9,-7.4,188,1914,0.00,2.10,0.00,0.000,4,0.000,0.139,2617,458,3328,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2025,-0.78,-155.7,155.2,-7.7,200,2034,0.00,1.92,0.00,0.000,6,0.000,0.080,2614,1518,3329,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2336,-0.78,-155.7,179.5,-7.8,231,2344,0.00,2.10,0.00,0.000,4,0.000,0.135,2615,463,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2457,-0.78,-155.7,188.9,-7.8,243,2464,0.00,1.90,0.00,0.000,6,0.000,0.083,2609,1503,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2768,-0.78,-155.7,212.8,-7.6,274,2775,0.00,2.05,0.00,0.000,4,0.000,0.136,2609,458,3329,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2816,-0.78,-155.7,217.0,-8.3,279,2824,0.00,1.88,0.00,0.000,6,0.000,0.081,2605,1489,3329,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3126,-0.78,-155.7,241.2,-7.6,310,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1489,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-0.78,-155.7,264.9,-6.8,329,3463,0.00,2.03,0.00,0.000,4,0.000,0.101,2605,2569,3328,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3506,-0.78,-155.7,267.1,-6.8,330,3514,0.00,2.12,0.00,0.000,6,0.000,0.116,2606,1475,3329,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3817,-0.78,-155.7,290.1,-7.2,341,3823,0.00,1.98,0.00,0.000,4,0.000,0.135,2605,459,3329,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3907,-0.78,-155.7,297.2,-7.8,344,3912,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1467,3329,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4238,-0.78,-155.7,320.9,-7.0,355,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1466,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4537,-0.78,-155.7,341.7,-6.8,365,4544,0.00,1.98,0.00,0.000,4,0.000,0.135,2605,453,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4674,-0.78,-155.7,350.4,-7.3,369,4683,0.00,1.80,0.00,0.000,6,0.000,0.083,2605,1438,3327,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4988,-0.78,-155.7,373.9,-7.4,380,4993,0.00,1.92,0.00,0.000,4,0.000,0.138,2605,459,3327,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5054,-0.78,-155.7,378.6,-7.8,382,5062,0.00,1.77,0.00,0.000,6,0.000,0.084,2605,1427,3326,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5377,-0.78,-155.7,405.6,-8.3,393,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1426,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-0.78,-155.7,430.9,-8.4,403,5682,0.00,2.15,0.00,0.000,4,0.000,0.106,2604,2567,3324,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5725,-0.80,-155.7,433.3,-8.3,404,5734,0.00,2.25,0.00,0.000,6,0.000,0.119,2605,1419,3324,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6037,-0.80,-155.7,459.0,-7.6,415,6042,0.00,1.88,0.00,0.000,4,0.000,0.140,2605,459,3324,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6095,-0.80,-155.7,463.8,-7.8,417,6103,0.00,1.77,0.00,0.000,6,0.000,0.086,2604,1423,3324,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6431,-0.82,-155.7,489.1,-7.7,428,6436,0.00,1.92,0.00,0.000,4,0.000,0.140,2601,456,3323,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6534,-0.82,-155.7,496.4,-7.9,431,6545,0.00,1.75,0.00,0.000,6,0.000,0.086,2605,1405,3322,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6849,-0.84,-155.7,522.6,-8.1,442,6854,0.00,2.22,0.00,0.000,4,0.000,0.110,2605,2579,3321,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6908,-0.86,-155.7,527.1,-7.8,444,6913,0.00,2.28,0.00,0.000,6,0.000,0.116,2605,1398,3321,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7239,-0.89,-155.7,553.8,-8.2,455,7244,0.00,1.83,0.00,0.000,4,0.000,0.130,2605,459,3320,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7357,-0.89,-155.7,563.8,-8.4,459,7362,0.00,1.70,0.00,0.000,6,0.000,0.081,2605,1397,3320,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7689,-0.91,-155.7,591.3,-8.2,470,7694,0.00,1.85,0.00,0.000,4,0.000,0.132,2605,456,3319,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7796,-0.91,-155.7,599.0,-8.5,473,7804,0.00,1.65,0.00,0.000,6,0.000,0.080,2605,1369,3318,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8109,-0.93,-155.7,625.2,-7.9,484,8115,0.00,1.80,0.00,0.000,4,0.000,0.133,2605,456,3317,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8195,-0.93,-155.7,632.9,-8.4,487,8202,0.00,1.65,0.00,0.000,6,0.000,0.080,2606,1362,3317,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8530,-0.95,-155.7,659.4,-8.1,498,8536,0.12,2.30,0.00,0.000,4,0.140,0.103,2541,2575,3316,0,0,0,0,0,0,14.47,14.03,28.83
$GC,8625,-0.95,-155.7,667.2,-8.6,501,8632,0.00,2.40,0.00,0.000,6,0.000,0.121,2541,1359,3316,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8947,-0.95,-155.7,696.0,-8.6,512,8952,0.00,1.77,0.00,0.000,4,0.000,0.134,2541,453,3315,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8995,-0.93,-155.7,698.6,-8.6,513,9004,0.12,1.67,0.00,0.000,6,0.282,0.082,2565,1363,3315,0,0,0,0,0,0,13.84,14.17,28.83
$GC,9310,-0.93,-155.7,725.5,-8.0,524,9315,0.00,2.30,0.00,0.000,4,0.000,0.109,2557,2575,3314,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9374,-0.93,-155.7,730.4,-8.0,526,9383,0.00,2.42,0.00,0.000,6,0.000,0.121,2557,1353,3314,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9696,-0.93,-155.7,757.3,-8.2,537,9703,0.00,1.75,0.00,0.000,4,0.000,0.132,2557,465,3312,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9776,-0.93,-155.7,762.4,-8.3,539,9785,0.00,1.60,0.00,0.000,6,0.000,0.080,2553,1350,3314,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10086,-0.93,-155.7,789.5,-8.3,550,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1350,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10387,-0.93,-155.7,813.8,-7.9,560,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1350,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10685,-0.93,-155.7,837.0,-7.6,570,10692,0.00,2.35,0.00,0.000,4,0.000,0.106,2546,2573,3309,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10735,-0.93,-155.7,839.2,-7.6,571,10745,0.00,2.47,0.00,0.000,6,0.000,0.121,2547,1335,3308,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11047,-0.93,-155.7,864.3,-7.6,582,11052,0.00,1.75,0.00,0.000,4,0.000,0.136,2546,450,3307,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11094,-0.93,-155.7,866.8,-7.7,583,11104,0.00,1.65,0.00,0.000,6,0.000,0.081,2540,1344,3307,0,0,0,0,0,0,28.83,14.11,28.83
$GC,11406,-0.93,-155.7,894.2,-8.6,594,11408,0.12,0.00,0.00,0.000,6,0.266,0.000,2568,1344,3306,0,0,0,0,0,0,14.11,28.83,28.83
$GC,11707,-0.93,-155.7,918.4,-8.2,604,11713,0.00,1.80,0.00,0.000,4,0.000,0.148,2568,460,3305,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11745,-0.93,-155.7,920.9,-8.3,605,11752,0.00,1.65,0.00,0.000,6,0.000,0.090,2565,1335,3305,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12068,-0.93,-155.7,949.6,-8.8,616,12073,0.00,2.40,0.00,0.000,4,0.000,0.114,2561,2574,3302,0,0,0,0,0,0,28.83,13.89,28.83
$GC,12114,-0.93,-155.7,952.2,-8.8,617,12123,0.00,2.47,0.00,0.000,6,0.000,0.116,2561,1328,3304,0,0,0,0,0,0,28.83,13.87,28.83
$STATE,12423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12423,begin apogee
$GC,12435,-0.25,0.0,980.5,-8.7,628,12607,0.80,0.00,162.25,2.468,4,0.200,0.000,2782,1524,2695,0,0,0,0,1,0,13.67,28.83,12.66
$STATE,12611,end apogee,CONTROL_FINISHED_OK
$STATE,12611,begin climb
$GC,12615,0.90,155.7,990.3,0.0,634,12803,1.20,2.03,172.05,2.489,4,0.132,0.113,3156,2582,2059,0,0,0,0,1,0,14.07,14.06,12.74
$GC,12822,0.92,297.9,988.2,2.6,640,12984,0.00,2.12,156.73,1.788,6,0.000,0.132,3164,1524,1478,0,0,0,0,0,0,28.83,14.08,13.11
$GC,13308,0.92,297.9,943.9,8.5,657,13313,0.00,2.10,0.00,0.000,4,0.000,0.157,3173,458,1463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13445,0.92,297.9,933.3,8.9,661,13454,0.00,2.00,0.00,0.000,6,0.000,0.087,3173,1548,1462,0,0,0,0,0,0,28.83,14.41,28.83
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$STATE,22796,end climb,SURFACE_DEPTH_REACHED
$STATE,22797,begin surface coast
$FINISH,1.6,1.020873
$STATE,22818,end surface coast,CONTROL_FINISHED_OK
$STATE,22818,begin surface
$SM_CCo,22842,25.38,0.127,0,0,1266,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.06
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7575584
$24V_AH,12.7,215.230
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.125,184.275,491.025,25.375,0.000,0.000,0.000,443.300,0.250,0.000,21.292,3291.820,15946.760,916.806,2695.027,751.861,0.000,2556.583,0.000,2200.614,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.195,0.000,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43353,1138
$CAP_FILE_SIZE,237337,0
$CFSIZE,260034560,182358016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.099,335.2,1
$GPS,150213,194135,2443.451,-3812.910,40,0.9,40,-14.0