version: 66.11
glider: 190
mission: 6
dive: 524
start: 2 19 113 22 5 50
data:
$ID,190
$MISSION,6
$DIVE,524
$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,-13575.137
$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,6
$R_STBD_OVSHOOT,15
$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
$GPS1,190213,215404,2438.521,-3813.248,28,0.9,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-64.2
$GPS2,190213,220517,2438.497,-3813.354,15,1.3,15,-14.1
$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,171.4,33845,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.90,-155.7,0.0,0.0,0,33,0.00,0.00,-10.12,0.000,2,0.000,0.000,142,1525,1500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,144,11.05,2.08,-86.85,0.000,4,0.349,0.161,2582,457,3325,0,0,0,0,0,0,14.11,14.03,14.66
$GC,347,-0.84,-155.7,22.2,-11.6,32,353,0.00,1.90,0.00,0.000,6,0.000,0.086,2577,1523,3325,0,0,0,0,0,0,28.83,14.08,28.83
$GC,656,-0.82,-155.7,50.0,-8.7,63,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1523,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,966,-0.82,-155.7,80.5,-9.6,94,974,0.10,2.12,0.00,0.000,4,0.273,0.138,2600,452,3325,0,0,0,0,0,0,14.24,13.85,28.83
$GC,1046,-0.79,-155.7,87.9,-9.2,102,1053,0.00,1.92,0.00,0.000,6,0.000,0.083,2593,1505,3325,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1356,-0.79,-155.7,114.7,-8.6,133,1363,0.00,2.00,0.00,0.000,4,0.000,0.104,2592,2577,3326,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1394,-0.79,-155.7,118.2,-8.6,137,1404,0.00,2.12,0.00,0.000,6,0.000,0.117,2592,1503,3326,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1705,-0.79,-155.7,145.9,-9.0,168,1713,0.00,2.08,0.00,0.000,4,0.000,0.138,2592,458,3326,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1838,-0.76,-155.7,156.9,-8.2,181,1846,0.12,1.85,0.00,0.000,6,0.261,0.081,2620,1499,3326,0,0,0,0,0,0,13.93,14.19,28.83
$GC,2150,-0.76,-155.7,177.5,-6.6,212,2156,0.00,2.08,0.00,0.000,4,0.000,0.140,2620,455,3326,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2268,-0.76,-155.7,185.8,-6.9,224,2275,0.00,1.88,0.00,0.000,6,0.000,0.083,2618,1477,3326,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2575,-0.76,-155.7,208.5,-8.2,255,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1477,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,-0.78,-155.7,232.4,-7.5,285,2884,0.00,2.05,0.00,0.000,4,0.000,0.136,2618,456,3326,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2986,-0.78,-155.7,240.9,-7.8,296,2994,0.00,1.85,0.00,0.000,6,0.000,0.082,2618,1473,3328,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3296,-0.81,-155.7,263.5,-7.3,315,3302,0.00,2.03,0.00,0.000,4,0.000,0.137,2615,458,3326,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3416,-0.81,-155.7,273.0,-7.9,319,3422,0.00,1.80,0.00,0.000,6,0.000,0.082,2618,1444,3326,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3748,-0.83,-155.7,297.8,-7.4,330,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1444,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4048,-0.86,-155.7,319.8,-7.3,340,4053,0.00,1.95,0.00,0.000,4,0.000,0.137,2618,458,3326,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4144,-0.86,-155.7,326.6,-7.6,343,4151,0.00,1.80,0.00,0.000,6,0.000,0.083,2617,1442,3325,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4470,-0.89,-155.7,349.5,-7.0,354,4475,0.00,2.12,0.00,0.000,4,0.000,0.106,2618,2577,3325,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4575,-0.92,-155.7,355.7,-7.0,357,4584,0.10,2.20,0.00,0.000,6,0.081,0.119,2564,1453,3325,0,0,0,0,0,0,14.12,13.90,28.83
$GC,4891,-0.92,-155.7,383.9,-8.8,368,4896,0.00,1.98,0.00,0.000,4,0.000,0.142,2564,458,3324,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5068,-0.88,-155.7,400.7,-9.3,374,5073,0.00,1.73,0.00,0.000,6,0.000,0.082,2557,1426,3324,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5397,-0.88,-155.7,428.2,-8.0,385,5403,0.00,2.15,0.00,0.000,4,0.000,0.106,2552,2578,3323,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5445,-0.88,-155.7,430.5,-7.9,386,5454,0.10,2.28,0.00,0.000,6,0.200,0.119,2582,1418,3323,0,0,0,0,0,0,13.78,13.88,28.83
$GC,5759,-0.88,-155.7,455.1,-7.6,397,5765,0.00,1.90,0.00,0.000,4,0.000,0.138,2582,455,3321,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5876,-0.88,-155.7,465.1,-8.3,401,5883,0.00,1.75,0.00,0.000,6,0.000,0.085,2577,1411,3321,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6206,-0.88,-155.7,496.6,-10.3,412,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1411,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6507,-0.88,-155.7,529.0,-10.6,422,6512,0.00,1.90,0.00,0.000,4,0.000,0.140,2577,458,3320,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6645,-0.88,-155.7,542.0,-10.7,426,6654,0.00,1.75,0.00,0.000,6,0.000,0.084,2570,1410,3319,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6955,-0.88,-155.7,572.5,-8.6,437,6963,0.00,1.90,0.00,0.000,4,0.000,0.140,2570,462,3318,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6995,-0.88,-155.7,575.0,-8.5,438,7003,0.00,1.70,0.00,0.000,6,0.000,0.086,2563,1392,3318,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7318,-0.88,-155.7,600.1,-7.1,449,7325,0.00,1.85,0.00,0.000,4,0.000,0.140,2566,459,3318,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7377,-0.88,-155.7,604.2,-6.8,451,7382,0.00,1.70,0.00,0.000,6,0.000,0.087,2560,1393,3317,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7708,-0.88,-155.7,625.1,-6.4,462,7714,0.00,1.88,0.00,0.000,4,0.000,0.142,2560,458,3316,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7775,-0.88,-155.7,629.4,-6.8,464,7782,0.12,1.70,0.00,0.000,6,0.271,0.086,2581,1378,3316,0,0,0,0,0,0,13.84,14.15,28.83
$GC,8100,-0.88,-155.7,652.9,-7.8,475,8105,0.00,2.28,0.00,0.000,4,0.000,0.109,2573,2575,3315,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8194,-0.88,-155.7,660.5,-8.3,478,8203,0.00,2.35,0.00,0.000,6,0.000,0.122,2573,1389,3315,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8517,-0.88,-155.7,693.3,-10.4,489,8523,0.00,1.83,0.00,0.000,4,0.000,0.144,2573,459,3313,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8606,-0.88,-155.7,703.1,-10.8,492,8612,0.00,1.70,0.00,0.000,6,0.000,0.088,2567,1380,3313,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8937,-0.88,-155.7,736.7,-9.6,503,8942,0.00,1.85,0.00,0.000,4,0.000,0.144,2567,458,3312,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9014,-0.88,-155.7,742.2,-9.3,505,9022,0.00,1.73,0.00,0.000,6,0.000,0.087,2564,1379,3311,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9327,-0.88,-155.7,766.7,-6.6,516,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1378,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9627,-0.88,-155.7,784.9,-5.9,526,9632,0.00,1.88,0.00,0.000,4,0.000,0.145,2564,465,3310,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9716,-0.88,-155.7,790.2,-6.0,529,9723,0.00,1.67,0.00,0.000,6,0.000,0.087,2558,1369,3309,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10051,-0.88,-155.7,810.7,-6.5,540,10056,0.00,2.30,0.00,0.000,4,0.000,0.112,2553,2572,3308,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10085,-0.88,-155.7,812.8,-6.7,541,10093,0.10,2.40,0.00,0.000,6,0.203,0.123,2582,1367,3308,0,0,0,0,0,0,13.66,13.77,28.83
$GC,10412,-0.88,-155.7,837.9,-8.1,552,10417,0.00,1.85,0.00,0.000,4,0.000,0.149,2582,459,3307,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10505,-0.88,-155.7,845.6,-8.4,555,10512,0.00,1.70,0.00,0.000,6,0.000,0.089,2577,1366,3306,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10826,-0.88,-155.7,875.8,-9.5,566,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1366,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11128,-0.88,-155.7,904.4,-9.3,576,11133,0.00,1.88,0.00,0.000,4,0.000,0.149,2577,463,3305,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11207,-0.88,-155.7,910.3,-9.5,578,11214,0.00,1.65,0.00,0.000,6,0.000,0.088,2572,1349,3304,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11517,-0.88,-155.7,939.0,-8.3,589,11524,0.00,2.38,0.00,0.000,4,0.000,0.116,2566,2572,3303,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11595,-0.88,-155.7,943.7,-8.0,591,11605,0.00,2.42,0.00,0.000,6,0.000,0.124,2566,1363,3303,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11906,-0.88,-155.7,968.8,-7.4,602,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1363,3301,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12052,begin apogee
$GC,12062,-0.25,0.0,980.3,-7.8,607,12223,0.80,0.00,154.20,1.815,4,0.215,0.000,2782,1517,2690,0,0,0,0,0,0,13.58,28.83,12.97
$STATE,12228,end apogee,CONTROL_FINISHED_OK
$STATE,12228,begin climb
$GC,12231,0.90,155.7,987.2,0.0,612,12408,1.20,2.05,164.68,1.840,4,0.136,0.117,3155,2585,2057,0,0,0,0,0,0,14.10,14.10,13.02
$GC,12417,0.87,194.0,980.5,5.9,619,12466,0.00,2.15,41.75,1.722,6,0.000,0.140,3163,1524,1899,0,0,0,0,0,0,28.83,14.05,13.09
$GC,12777,0.87,194.0,950.4,8.4,631,12784,0.00,2.05,0.00,0.000,4,0.000,0.122,3163,2573,1882,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12960,0.85,194.0,935.0,8.6,637,12965,0.00,2.08,0.00,0.000,6,0.000,0.148,3170,1535,1879,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13291,0.83,194.0,907.1,8.6,648,13297,0.12,2.00,0.00,0.000,4,0.278,0.117,3138,2578,1880,0,0,0,0,0,0,14.10,14.23,28.83
$GC,13377,0.83,194.0,899.9,8.0,651,13385,0.00,2.05,0.00,0.000,6,0.000,0.138,3146,1560,1879,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13711,0.83,194.0,873.9,7.9,662,13717,0.00,1.95,0.00,0.000,4,0.000,0.122,3146,2576,1878,0,0,0,0,0,0,28.83,14.15,28.83
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$STATE,23343,end climb,SURFACE_DEPTH_REACHED
$STATE,23344,begin surface coast
$FINISH,1.5,1.007438
$STATE,23366,end surface coast,CONTROL_FINISHED_OK
$STATE,23366,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.31
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7569792
$24V_AH,12.0,220.655
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.350,180.075,483.700,22.350,0.000,0.000,0.000,366.875,0.250,0.000,16.480,3353.299,16406.168,872.507,2651.992,788.552,0.000,2452.186,0.000,2218.966,0.000,0.542,0.000
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$MEM,344936
$DATA_FILE_SIZE,43347,1136
$CAP_FILE_SIZE,242740,0
$CFSIZE,260034560,180633600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,260.7,1
$GPS,200213,043729,2437.416,-3813.228,38,1.0,38,-14.1