version: 66.11
glider: 190
mission: 6
dive: 520
start: 2 18 113 17 58 13
data:
$ID,190
$MISSION,6
$DIVE,520
$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,-13570.104
$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,9
$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,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
$GPS1,180213,174557,2441.100,-3813.285,38,1.1,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-63.5
$GPS2,180213,175741,2441.129,-3813.427,16,1.1,16,-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,157.6,38636,-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,-10.43,0.000,2,0.000,0.000,140,1528,1508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.5,0.0,1,145,11.32,2.12,-85.97,0.000,4,0.360,0.163,2577,454,3327,0,0,0,0,0,0,14.04,14.07,14.66
$GC,248,-0.83,-155.7,11.6,-9.6,22,255,0.12,1.90,0.00,0.000,6,0.282,0.084,2596,1525,3327,0,0,0,0,0,0,13.88,14.14,28.83
$GC,557,-0.81,-155.7,38.1,-8.5,53,565,0.00,2.15,0.00,0.000,4,0.000,0.142,2596,453,3327,0,0,0,0,0,0,28.83,13.90,28.83
$GC,607,-0.77,-155.7,42.8,-9.6,58,614,0.12,1.95,0.00,0.000,6,0.278,0.086,2617,1520,3327,0,0,0,0,0,0,13.81,14.07,28.83
$GC,917,-0.77,-155.7,69.7,-8.8,89,925,0.00,2.10,0.00,0.000,4,0.000,0.139,2618,459,3327,0,0,0,0,0,0,28.83,13.85,28.83
$GC,986,-0.77,-155.7,76.2,-9.0,96,994,0.00,1.90,0.00,0.000,6,0.000,0.083,2617,1499,3327,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1296,-0.77,-155.7,103.1,-8.5,127,1304,0.00,2.10,0.00,0.000,4,0.000,0.139,2617,461,3327,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1366,-0.77,-155.7,109.3,-8.7,134,1374,0.00,1.90,0.00,0.000,6,0.000,0.082,2617,1505,3327,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1676,-0.77,-155.7,134.1,-8.4,165,1685,0.00,2.10,0.00,0.000,4,0.000,0.135,2617,459,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1767,-0.77,-155.7,142.0,-9.1,174,1774,0.00,1.83,0.00,0.000,6,0.000,0.080,2617,1488,3327,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2077,-0.77,-155.7,170.6,-9.6,205,2085,0.00,2.03,0.00,0.000,4,0.000,0.134,2617,459,3328,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2166,-0.77,-155.7,179.8,-10.4,214,2174,0.00,1.83,0.00,0.000,6,0.000,0.080,2617,1470,3328,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2476,-0.77,-155.7,206.1,-8.2,245,2485,0.00,2.00,0.00,0.000,4,0.000,0.134,2617,464,3327,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2557,-0.77,-155.7,212.3,-8.0,253,2565,0.00,1.80,0.00,0.000,6,0.000,0.080,2617,1455,3327,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2871,-0.79,-155.7,232.5,-6.1,284,2877,0.00,1.98,0.00,0.000,4,0.000,0.135,2617,453,3328,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3019,-0.79,-155.7,242.6,-7.0,299,3026,0.00,1.77,0.00,0.000,6,0.000,0.080,2617,1424,3328,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3337,-0.81,-155.7,266.7,-8.1,317,3344,0.00,2.15,0.00,0.000,4,0.000,0.104,2617,2568,3328,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3397,-0.84,-155.7,271.6,-8.2,319,3403,0.00,2.20,0.00,0.000,6,0.000,0.116,2617,1434,3328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3731,-0.86,-155.7,300.8,-8.8,330,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1434,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4028,-0.89,-155.7,323.5,-7.0,340,4033,0.00,1.90,0.00,0.000,4,0.000,0.133,2617,456,3327,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4127,-0.89,-155.7,329.6,-6.9,343,4133,0.00,1.77,0.00,0.000,6,0.000,0.078,2617,1440,3327,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4450,-0.91,-155.7,351.5,-6.6,354,4456,0.12,1.95,0.00,0.000,4,0.137,0.133,2557,454,3326,0,0,0,0,0,0,14.50,13.96,28.83
$GC,4555,-0.91,-155.7,358.8,-7.7,357,4564,0.00,1.75,0.00,0.000,6,0.000,0.081,2553,1413,3326,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4867,-0.91,-155.7,386.2,-8.6,368,4873,0.00,1.90,0.00,0.000,4,0.000,0.135,2552,459,3325,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4957,-0.87,-155.7,394.3,-8.9,371,4964,0.10,1.70,0.00,0.000,6,0.244,0.082,2577,1396,3327,0,0,0,0,0,0,13.78,14.14,28.83
$GC,5291,-0.87,-155.7,424.0,-9.2,382,5296,0.00,1.83,0.00,0.000,4,0.000,0.135,2577,458,3325,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5395,-0.87,-155.7,432.7,-9.7,385,5404,0.00,1.67,0.00,0.000,6,0.000,0.081,2572,1377,3324,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5708,-0.87,-155.7,462.2,-8.4,396,5714,0.00,2.22,0.00,0.000,4,0.000,0.106,2565,2574,3321,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5746,-0.87,-155.7,464.6,-8.2,397,5753,0.00,2.35,0.00,0.000,6,0.000,0.118,2565,1366,3324,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6067,-0.87,-155.7,492.7,-9.0,408,6073,0.00,1.77,0.00,0.000,4,0.000,0.136,2565,465,3322,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6189,-0.85,-155.7,503.9,-9.3,412,6195,0.10,1.62,0.00,0.000,6,0.236,0.083,2587,1355,3322,0,0,0,0,0,0,13.70,14.09,28.83
$GC,6521,-0.85,-155.7,533.8,-9.0,423,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1355,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6818,-0.85,-155.7,560.0,-8.6,433,6824,0.00,2.28,0.00,0.000,4,0.000,0.107,2579,2574,3320,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6876,-0.85,-155.7,564.9,-8.4,435,6883,0.00,2.40,0.00,0.000,6,0.000,0.121,2579,1355,3320,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7208,-0.85,-155.7,590.6,-7.6,446,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1355,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7507,-0.85,-155.7,611.6,-6.9,456,7513,0.00,1.80,0.00,0.000,4,0.000,0.140,2579,455,3318,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7556,-0.85,-155.7,613.7,-7.0,457,7564,0.00,1.67,0.00,0.000,6,0.000,0.086,2575,1363,3318,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7869,-0.85,-155.7,638.7,-7.8,468,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1364,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8166,-0.85,-155.7,663.9,-8.7,478,8173,0.00,1.80,0.00,0.000,4,0.000,0.140,2575,465,3316,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8207,-0.85,-155.7,666.6,-8.7,479,8213,0.00,1.62,0.00,0.000,6,0.000,0.086,2570,1354,3316,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8527,-0.85,-155.7,696.1,-8.7,490,8533,0.00,2.35,0.00,0.000,4,0.000,0.112,2565,2575,3314,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8616,-0.85,-155.7,703.5,-8.2,493,8624,0.08,2.42,0.00,0.000,6,0.207,0.122,2594,1358,3315,0,0,0,0,0,0,13.71,13.82,28.83
$GC,8951,-0.85,-155.7,727.8,-7.2,504,8956,0.00,1.80,0.00,0.000,4,0.000,0.145,2589,459,3313,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8986,-0.85,-155.7,730.1,-7.2,505,8993,0.00,1.67,0.00,0.000,6,0.000,0.086,2584,1364,3313,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9308,-0.85,-155.7,755.4,-7.9,516,9313,0.00,1.83,0.00,0.000,4,0.000,0.144,2583,458,3311,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9355,-0.85,-155.7,757.9,-8.0,517,9363,0.00,1.67,0.00,0.000,6,0.000,0.087,2579,1359,3311,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9667,-0.85,-155.7,785.5,-8.5,528,9673,0.00,1.83,0.00,0.000,4,0.000,0.145,2579,465,3311,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9737,-0.85,-155.7,790.8,-8.6,530,9744,0.00,1.62,0.00,0.000,6,0.000,0.090,2575,1340,3310,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10056,-0.85,-155.7,819.2,-8.6,541,10064,0.00,1.80,0.00,0.000,4,0.000,0.145,2576,461,3309,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10157,-0.85,-155.7,827.1,-8.6,544,10163,0.00,1.60,0.00,0.000,6,0.000,0.088,2571,1325,3309,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10476,-0.85,-155.7,852.6,-7.3,555,10483,0.00,1.77,0.00,0.000,4,0.000,0.145,2571,458,3308,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10537,-0.85,-155.7,856.6,-7.0,557,10545,0.08,1.58,0.00,0.000,6,0.249,0.087,2587,1310,3307,0,0,0,0,0,0,13.66,14.00,28.83
$GC,10871,-0.85,-155.7,875.4,-5.4,568,10872,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1310,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11167,-0.85,-155.7,892.3,-5.6,578,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1310,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11469,-0.85,-155.7,911.9,-7.0,588,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1310,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11766,-0.85,-155.7,935.4,-8.0,598,11773,0.00,2.47,0.00,0.000,4,0.000,0.117,2580,2565,3303,0,0,0,0,0,0,28.83,13.72,28.83
$GC,11815,-0.85,-155.7,937.8,-8.1,599,11825,0.00,2.55,0.00,0.000,6,0.000,0.126,2579,1306,3303,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12128,-0.85,-155.7,967.1,-9.0,610,12133,0.00,1.73,0.00,0.000,4,0.000,0.151,2579,459,3302,0,0,0,0,0,0,28.83,13.67,28.83
$GC,12205,-0.85,-155.7,972.7,-9.0,612,12213,0.00,1.60,0.00,0.000,6,0.000,0.091,2579,1307,3302,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,12273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12273,begin apogee
$GC,12283,-0.25,0.0,980.7,-9.0,615,12444,0.75,0.00,155.50,1.800,4,0.211,0.000,2784,1516,2690,0,0,0,0,0,0,13.66,28.83,12.97
$STATE,12448,end apogee,CONTROL_FINISHED_OK
$STATE,12448,begin climb
$GC,12452,0.90,155.7,988.8,0.0,620,12628,1.20,2.03,164.85,1.810,4,0.135,0.121,3159,2578,2057,0,0,0,0,0,0,14.09,14.09,13.02
$GC,12788,0.87,155.7,969.8,8.6,632,12794,0.00,2.12,0.00,0.000,6,0.000,0.143,3166,1520,2043,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13122,0.84,155.7,940.0,9.3,643,13128,0.00,2.17,0.00,0.000,4,0.000,0.174,3172,454,2039,0,0,0,0,0,0,28.83,14.07,28.83
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$STATE,24576,end climb,SURFACE_DEPTH_REACHED
$STATE,24576,begin surface coast
$FINISH,1.6,1.011584
$STATE,24607,end surface coast,CONTROL_FINISHED_OK
$STATE,24607,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.67
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,7571328
$24V_AH,13.0,219.206
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.500,194.900,416.675,36.950,0.000,0.000,0.000,400.775,0.250,0.000,17.291,3594.094,17229.070,888.484,2833.612,812.923,0.000,2572.396,0.000,2383.542,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.230,0.000,0.000,0.000
$MEM,344920
$DATA_FILE_SIZE,46659,1241
$CAP_FILE_SIZE,259698,0
$CFSIZE,260034560,181071872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,293.3,1
$GPS,190213,005035,2440.692,-3813.073,26,0.8,26,-14.0