version: 66.11
glider: 190
mission: 6
dive: 511
start: 2 16 113 3 10 9
data:
$ID,190
$MISSION,6
$DIVE,511
$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,-13558.694
$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,8
$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,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
$GPS1,160213,025735,2443.721,-3812.987,32,0.9,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-67.3
$GPS2,160213,030936,2443.847,-3813.000,17,1.3,17,-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,162.8,43722,-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,-155.7,0.0,0.0,0,34,0.00,0.00,-10.52,0.000,2,0.000,0.000,144,1532,1508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.5,0.0,1,145,11.05,2.15,-84.75,0.000,4,0.350,0.159,2575,458,3330,0,0,0,0,0,0,14.09,14.05,14.67
$GC,216,-0.83,-155.7,10.4,-10.5,19,224,0.10,1.92,0.00,0.000,6,0.236,0.084,2594,1511,3330,0,0,0,0,0,0,13.79,14.05,28.83
$GC,526,-0.83,-155.7,36.2,-7.8,50,535,0.00,2.00,0.00,0.000,4,0.000,0.105,2592,2571,3330,0,0,0,0,0,0,28.83,14.04,28.83
$GC,567,-0.83,-155.7,39.3,-7.6,54,575,0.00,2.08,0.00,0.000,6,0.000,0.118,2592,1523,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,877,-0.83,-155.7,65.1,-8.4,85,884,0.00,2.10,0.00,0.000,4,0.000,0.140,2592,455,3330,0,0,0,0,0,0,28.83,13.93,28.83
$GC,966,-0.79,-155.7,72.5,-8.5,94,975,0.00,1.92,0.00,0.000,6,0.000,0.083,2585,1510,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1276,-0.79,-155.7,97.2,-8.2,125,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1510,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.79,-155.7,121.7,-8.6,155,1584,0.00,2.10,0.00,0.000,4,0.000,0.137,2585,450,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1719,-0.75,-155.7,134.6,-9.5,169,1726,0.17,1.90,0.00,0.000,6,0.255,0.083,2621,1511,3329,0,0,0,0,0,0,13.85,14.12,28.83
$GC,2026,-0.75,-155.7,161.3,-8.8,200,2034,0.00,2.10,0.00,0.000,4,0.000,0.138,2620,459,3330,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2117,-0.75,-155.7,169.8,-9.4,209,2124,0.00,1.88,0.00,0.000,6,0.000,0.083,2618,1488,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2428,-0.75,-155.7,193.9,-7.6,240,2434,0.00,2.03,0.00,0.000,4,0.000,0.103,2618,2576,3330,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2497,-0.78,-155.7,199.0,-7.6,247,2504,0.00,2.10,0.00,0.000,6,0.000,0.117,2618,1490,3330,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2806,-0.78,-155.7,221.8,-7.5,278,2815,0.00,2.03,0.00,0.000,4,0.000,0.137,2618,462,3331,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2867,-0.78,-155.7,226.3,-7.6,284,2874,0.00,1.88,0.00,0.000,6,0.000,0.082,2618,1496,3331,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3179,-0.80,-155.7,248.9,-7.3,315,3185,0.00,2.03,0.00,0.000,4,0.000,0.106,2618,2576,3331,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3267,-0.82,-155.7,255.2,-7.0,320,3272,0.00,2.08,0.00,0.000,6,0.000,0.116,2618,1517,3331,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3599,-0.85,-155.7,279.7,-7.8,331,3604,0.00,2.08,0.00,0.000,4,0.000,0.136,2617,458,3331,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3796,-0.85,-155.7,294.6,-8.4,337,3804,0.00,1.88,0.00,0.000,6,0.000,0.080,2618,1494,3331,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4109,-0.88,-155.7,322.0,-8.5,348,4114,0.00,2.05,0.00,0.000,4,0.000,0.108,2618,2584,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4177,-0.91,-155.7,326.7,-8.1,350,4183,0.12,2.12,0.00,0.000,6,0.132,0.119,2564,1490,3330,0,0,0,0,0,0,14.26,14.04,28.83
$GC,4501,-0.91,-155.7,353.7,-7.7,361,4506,0.00,2.00,0.00,0.000,4,0.000,0.139,2564,461,3330,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4700,-0.87,-155.7,368.0,-8.0,367,4707,0.12,1.85,0.00,0.000,6,0.272,0.083,2583,1501,3330,0,0,0,0,0,0,13.92,14.16,28.83
$GC,5009,-0.87,-155.7,390.5,-6.7,378,5016,0.00,2.05,0.00,0.000,4,0.000,0.138,2583,460,3328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5127,-0.87,-155.7,399.6,-7.6,382,5134,0.00,1.80,0.00,0.000,6,0.000,0.086,2579,1447,3328,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5457,-0.87,-155.7,426.5,-8.7,393,5462,0.00,1.98,0.00,0.000,4,0.000,0.137,2579,458,3327,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5526,-0.87,-155.7,432.2,-9.2,395,5534,0.00,1.77,0.00,0.000,6,0.000,0.083,2573,1433,3329,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5846,-0.87,-155.7,463.7,-9.7,406,5853,0.00,1.92,0.00,0.000,4,0.000,0.138,2573,462,3326,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5955,-0.87,-155.7,472.5,-9.6,409,5964,0.00,1.75,0.00,0.000,6,0.000,0.084,2567,1418,3326,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6267,-0.87,-155.7,501.1,-8.5,420,6273,0.00,1.90,0.00,0.000,4,0.000,0.138,2567,458,3325,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6356,-0.85,-155.7,508.8,-8.5,423,6363,0.10,1.73,0.00,0.000,6,0.246,0.083,2589,1405,3325,0,0,0,0,0,0,13.81,14.16,28.83
$GC,6690,-0.85,-155.7,534.6,-7.8,434,6696,0.00,1.88,0.00,0.000,4,0.000,0.139,2589,461,3324,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6746,-0.85,-155.7,539.7,-8.1,436,6753,0.00,1.70,0.00,0.000,6,0.000,0.083,2584,1396,3324,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7077,-0.85,-155.7,568.1,-8.7,447,7083,0.00,1.85,0.00,0.000,4,0.000,0.141,2584,461,3323,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7166,-0.85,-155.7,576.1,-8.9,450,7174,0.00,1.70,0.00,0.000,6,0.000,0.085,2579,1385,3322,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7497,-0.85,-155.7,603.3,-7.9,461,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1385,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,-0.85,-155.7,625.3,-7.2,471,7803,0.00,1.83,0.00,0.000,4,0.000,0.140,2579,459,3320,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7946,-0.85,-155.7,636.5,-7.6,476,7953,0.00,1.67,0.00,0.000,6,0.000,0.086,2574,1371,3319,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8277,-0.85,-155.7,661.5,-8.0,487,8283,0.00,1.83,0.00,0.000,4,0.000,0.142,2574,458,3318,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8325,-0.85,-155.7,664.1,-8.3,488,8334,0.00,1.67,0.00,0.000,6,0.000,0.086,2568,1366,3318,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8637,-0.85,-155.7,693.6,-9.1,499,8643,0.00,2.30,0.00,0.000,4,0.000,0.112,2562,2581,3317,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8705,-0.85,-155.7,699.3,-9.3,501,8713,0.12,2.42,0.00,0.000,6,0.238,0.125,2590,1366,3317,0,0,0,0,0,0,13.86,13.95,28.83
$GC,9029,-0.85,-155.7,729.7,-9.0,512,9034,0.00,1.80,0.00,0.000,4,0.000,0.137,2590,455,3316,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9087,-0.85,-155.7,735.1,-9.0,514,9094,0.00,1.65,0.00,0.000,6,0.000,0.083,2585,1360,3316,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9417,-0.85,-155.7,763.0,-8.2,525,9423,0.00,2.33,0.00,0.000,4,0.000,0.108,2578,2583,3315,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9495,-0.85,-155.7,767.8,-7.9,527,9504,0.00,2.40,0.00,0.000,6,0.000,0.122,2579,1374,3315,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9807,-0.85,-155.7,793.1,-7.3,538,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1375,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10106,-0.85,-155.7,814.0,-6.9,548,10113,0.00,1.83,0.00,0.000,4,0.000,0.138,2579,464,3312,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10227,-0.85,-155.7,822.4,-7.0,552,10233,0.00,1.65,0.00,0.000,6,0.000,0.090,2577,1374,3311,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10559,-0.85,-155.7,845.3,-7.1,563,10564,0.00,1.85,0.00,0.000,4,0.000,0.148,2577,462,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10596,-0.85,-155.7,847.6,-7.2,564,10602,0.00,1.67,0.00,0.000,6,0.000,0.089,2572,1368,3311,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10916,-0.85,-155.7,872.1,-7.6,575,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1368,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11218,-0.85,-155.7,894.9,-7.6,585,11223,0.00,1.85,0.00,0.000,4,0.000,0.148,2572,461,3309,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11296,-0.85,-155.7,899.6,-7.7,587,11305,0.12,1.70,0.00,0.000,6,0.284,0.090,2592,1367,3308,0,0,0,0,0,0,13.74,14.07,28.83
$GC,11609,-0.87,-155.7,923.6,-7.2,598,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1367,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11908,-0.90,-155.7,945.4,-7.1,608,11913,0.00,2.33,0.00,0.000,4,0.000,0.111,2592,2576,3305,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11966,-0.93,-155.7,949.7,-7.1,610,11974,0.00,2.45,0.00,0.000,6,0.000,0.128,2592,1367,3305,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12302,-0.95,-155.7,974.6,-7.8,621,12307,0.00,2.40,0.00,0.000,4,0.000,0.120,2592,2576,3304,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,12382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12383,begin apogee
$GC,12393,-0.25,0.0,981.5,-7.6,624,12554,0.68,0.00,155.73,1.838,4,0.206,0.000,2778,1516,2691,0,0,0,0,0,0,13.66,28.83,12.97
$STATE,12559,end apogee,CONTROL_FINISHED_OK
$STATE,12559,begin climb
$GC,12563,0.90,155.7,988.5,0.0,629,12733,1.20,0.00,165.07,1.838,6,0.142,0.000,3154,1516,2056,0,0,0,0,0,0,14.07,28.83,13.02
$GC,13048,0.87,155.7,960.7,7.5,646,13053,0.00,2.12,0.00,0.000,4,0.000,0.158,3162,456,2042,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13248,0.84,155.7,946.8,7.8,652,13255,0.00,2.00,0.00,0.000,6,0.000,0.099,3162,1546,2040,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13561,0.81,155.7,922.7,7.2,663,13566,0.00,1.95,0.00,0.000,4,0.000,0.117,3162,2576,2039,0,0,0,0,0,0,28.83,14.21,28.83
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$STATE,25047,end climb,SURFACE_DEPTH_REACHED
$STATE,25047,begin surface coast
$FINISH,1.6,1.025766
$STATE,25079,end surface coast,CONTROL_FINISHED_OK
$STATE,25079,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.67
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7574784
$24V_AH,13.0,215.955
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.375,188.775,402.350,72.000,0.000,0.000,0.000,416.700,0.500,0.000,17.908,3700.125,17505.939,887.462,2944.320,843.482,0.000,2621.742,0.000,2474.401,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.205,0.000,0.000,0.000
$MEM,344912
$DATA_FILE_SIZE,46692,1250
$CAP_FILE_SIZE,265124,0
$CFSIZE,260034560,182099968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,318.2,1
$GPS,160213,101106,2443.796,-3812.475,34,0.9,34,-14.0