version: 66.11
glider: 190
mission: 6
dive: 531
start: 2 21 113 22 47 2
data:
$ID,190
$MISSION,6
$DIVE,531
$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,-13584.035
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,210213,223435,2429.881,-3813.627,35,0.9,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-64.9
$GPS2,210213,224629,2429.763,-3813.632,21,0.9,21,-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,193.5,17989,-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,-10.75,0.000,2,0.000,0.000,144,1515,1511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.5,0.0,1,145,10.77,2.10,-86.65,0.000,4,0.336,0.162,2575,456,3328,0,0,0,0,0,0,14.12,14.07,14.65
$GC,277,-0.84,-155.7,16.3,-11.4,25,285,0.12,1.92,0.00,0.000,6,0.269,0.083,2595,1522,3330,0,0,0,0,0,0,13.91,14.14,28.83
$GC,587,-0.84,-155.7,42.9,-8.8,56,594,0.00,2.12,0.00,0.000,4,0.000,0.139,2595,458,3329,0,0,0,0,0,0,28.83,13.94,28.83
$GC,676,-0.80,-155.7,51.6,-10.0,65,685,0.00,1.92,0.00,0.000,6,0.000,0.083,2592,1502,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,987,-0.80,-155.7,79.7,-8.5,96,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1502,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1297,-0.80,-155.7,104.3,-7.4,127,1304,0.00,2.05,0.00,0.000,4,0.000,0.134,2591,458,3330,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1516,-0.77,-155.7,122.5,-8.5,149,1525,0.00,1.90,0.00,0.000,6,0.000,0.081,2591,1498,3330,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1826,-0.77,-155.7,150.2,-9.2,180,1834,0.00,2.08,0.00,0.000,4,0.000,0.135,2591,458,3330,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1908,-0.75,-155.7,158.4,-10.3,188,1915,0.15,1.88,0.00,0.000,6,0.251,0.080,2622,1497,3330,0,0,0,0,0,0,13.90,14.18,28.83
$GC,2217,-0.75,-155.7,183.0,-7.2,219,2224,0.00,2.05,0.00,0.000,4,0.000,0.134,2622,454,3330,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2417,-0.75,-155.7,197.3,-7.6,239,2424,0.00,1.83,0.00,0.000,6,0.000,0.081,2618,1460,3330,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2727,-0.77,-155.7,219.0,-7.5,270,2734,0.00,1.98,0.00,0.000,4,0.000,0.134,2618,454,3329,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2846,-0.77,-155.7,228.3,-7.8,282,2854,0.00,1.77,0.00,0.000,6,0.000,0.080,2618,1437,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3166,-0.80,-155.7,252.7,-8.0,312,3172,0.00,1.95,0.00,0.000,4,0.000,0.135,2618,456,3332,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3305,-0.80,-155.7,263.0,-8.6,316,3314,0.00,1.75,0.00,0.000,6,0.000,0.079,2618,1420,3330,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3621,-0.82,-155.7,288.7,-7.3,327,3627,0.00,1.90,0.00,0.000,4,0.000,0.135,2618,457,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3707,-0.82,-155.7,295.1,-7.0,330,3712,0.00,1.73,0.00,0.000,6,0.000,0.080,2618,1405,3332,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4041,-0.85,-155.7,313.6,-5.3,341,4046,0.00,1.88,0.00,0.000,4,0.000,0.135,2618,455,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4126,-0.85,-155.7,318.5,-5.4,344,4132,0.00,1.67,0.00,0.000,6,0.000,0.082,2617,1384,3329,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4460,-0.88,-155.7,337.3,-6.3,355,4465,0.00,1.85,0.00,0.000,4,0.000,0.138,2618,454,3326,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4565,-0.88,-155.7,343.9,-7.2,358,4573,0.00,1.67,0.00,0.000,6,0.000,0.083,2618,1369,3329,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4881,-0.90,-155.7,370.1,-8.2,369,4886,0.12,1.80,0.00,0.000,4,0.136,0.135,2559,459,3328,0,0,0,0,0,0,14.42,13.95,28.83
$GC,4946,-0.90,-155.7,375.8,-8.8,371,4952,0.00,1.60,0.00,0.000,6,0.000,0.082,2553,1343,3328,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5267,-0.90,-155.7,407.2,-9.4,382,5272,0.00,1.75,0.00,0.000,4,0.000,0.135,2553,464,3327,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5317,-0.88,-155.7,409.9,-9.3,383,5325,0.10,1.58,0.00,0.000,6,0.246,0.083,2577,1334,3327,0,0,0,0,0,0,13.77,14.14,28.83
$GC,5629,-0.88,-155.7,435.7,-7.2,394,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1334,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5928,-0.88,-155.7,455.1,-6.3,404,5933,0.00,1.73,0.00,0.000,4,0.000,0.139,2578,455,3325,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5987,-0.88,-155.7,459.2,-6.7,406,5992,0.00,1.60,0.00,0.000,6,0.000,0.084,2573,1332,3325,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6317,-0.88,-155.7,486.8,-9.2,417,6322,0.00,1.73,0.00,0.000,4,0.000,0.138,2574,459,3324,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6406,-0.88,-155.7,495.8,-9.9,420,6412,0.00,1.58,0.00,0.000,6,0.000,0.084,2568,1318,3324,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6736,-0.88,-155.7,527.2,-9.3,431,6744,0.00,2.38,0.00,0.000,4,0.000,0.106,2563,2570,3323,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6797,-0.88,-155.7,532.4,-8.8,433,6803,0.00,2.42,0.00,0.000,6,0.000,0.119,2563,1310,3323,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7126,-0.88,-155.7,559.3,-8.0,444,7132,0.00,1.70,0.00,0.000,4,0.000,0.140,2563,456,3321,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7226,-0.88,-155.7,566.7,-8.1,447,7232,0.00,1.58,0.00,0.000,6,0.000,0.083,2558,1313,3321,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7548,-0.88,-155.7,593.2,-8.3,458,7553,0.00,1.70,0.00,0.000,4,0.000,0.141,2557,459,3320,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7685,-0.86,-155.7,603.8,-8.8,462,7694,0.15,1.55,0.00,0.000,6,0.265,0.086,2587,1297,3319,0,0,0,0,0,0,13.83,14.19,28.83
$GC,8001,-0.86,-155.7,630.6,-8.2,473,8006,0.00,1.67,0.00,0.000,4,0.000,0.142,2587,459,3319,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8095,-0.86,-155.7,638.2,-8.4,476,8098,0.00,1.52,0.00,0.000,6,0.000,0.087,2581,1281,3319,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8408,-0.86,-155.7,666.7,-9.1,487,8414,0.00,2.47,0.00,0.000,4,0.000,0.109,2578,2579,3317,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8497,-0.86,-155.7,675.0,-9.2,490,8505,0.00,2.58,0.00,0.000,6,0.000,0.123,2578,1283,3317,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8829,-0.86,-155.7,705.6,-9.3,501,8834,0.00,1.65,0.00,0.000,4,0.000,0.147,2578,459,3316,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8896,-0.86,-155.7,711.3,-9.3,503,8899,0.00,1.52,0.00,0.000,6,0.000,0.088,2572,1280,3316,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9208,-0.86,-155.7,738.2,-7.7,514,9215,0.00,2.47,0.00,0.000,4,0.000,0.111,2564,2567,3314,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9248,-0.86,-155.7,740.3,-7.5,515,9255,0.00,2.58,0.00,0.000,6,0.000,0.124,2564,1277,3314,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9571,-0.86,-155.7,762.9,-6.4,526,9576,0.00,1.65,0.00,0.000,4,0.000,0.148,2565,459,3313,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9649,-0.86,-155.7,767.0,-6.5,528,9657,0.10,1.50,0.00,0.000,6,0.235,0.089,2586,1266,3313,0,0,0,0,0,0,13.65,14.00,28.83
$GC,9961,-0.86,-155.7,787.7,-6.6,539,9966,0.00,2.53,0.00,0.000,4,0.000,0.113,2579,2576,3311,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10087,-0.86,-155.7,796.4,-7.3,543,10095,0.00,2.62,0.00,0.000,6,0.000,0.129,2579,1278,3311,0,0,0,0,0,0,28.83,13.68,28.83
$GC,10409,-0.86,-155.7,825.4,-9.3,554,10415,0.00,1.67,0.00,0.000,4,0.000,0.153,2579,458,3310,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10498,-0.86,-155.7,834.1,-9.5,557,10505,0.00,1.52,0.00,0.000,6,0.000,0.092,2574,1271,3310,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10833,-0.86,-155.7,866.5,-9.8,568,10838,0.00,2.55,0.00,0.000,4,0.000,0.116,2565,2581,3309,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10918,-0.86,-155.7,874.9,-9.4,571,10925,0.00,2.62,0.00,0.000,6,0.000,0.129,2565,1280,3309,0,0,0,0,0,0,28.83,13.75,28.83
$GC,11252,-0.86,-155.7,903.3,-8.2,582,11257,0.00,1.67,0.00,0.000,4,0.000,0.148,2564,458,3307,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11357,-0.86,-155.7,910.7,-8.1,585,11366,0.12,1.55,0.00,0.000,6,0.271,0.093,2587,1276,3307,0,0,0,0,0,0,13.72,14.02,28.83
$GC,11674,-0.88,-155.7,933.5,-6.5,596,11679,0.00,1.70,0.00,0.000,4,0.000,0.151,2588,462,3306,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11768,-0.88,-155.7,939.6,-6.8,599,11774,0.00,1.50,0.00,0.000,6,0.000,0.093,2584,1253,3305,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12090,-0.88,-155.7,962.6,-7.2,610,12095,0.00,2.58,0.00,0.000,4,0.000,0.116,2579,2578,3304,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12228,-0.88,-155.7,971.3,-7.3,614,12237,0.00,2.65,0.00,0.000,6,0.000,0.129,2579,1269,3304,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,12325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12325,begin apogee
$GC,12334,-0.25,0.0,980.4,-7.6,618,12496,0.73,0.00,155.52,1.834,4,0.203,0.000,2780,1521,2691,0,0,0,0,0,0,13.67,28.83,12.95
$STATE,12502,end apogee,CONTROL_FINISHED_OK
$STATE,12502,begin climb
$GC,12506,0.90,155.7,987.6,0.0,623,12681,1.20,2.05,164.90,1.799,4,0.134,0.122,3154,2580,2058,0,0,0,0,0,0,14.10,14.09,13.02
$GC,12751,0.86,157.8,977.5,7.0,631,12757,0.00,2.12,0.00,0.000,6,0.000,0.145,3162,1526,2047,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13073,0.83,157.8,951.2,8.0,642,13078,0.00,2.03,0.00,0.000,4,0.000,0.123,3162,2577,2043,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13210,0.80,157.8,941.6,8.0,646,13219,0.12,2.08,0.00,0.000,6,0.254,0.146,3136,1547,2041,0,0,0,0,0,0,13.88,14.02,28.83
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$STATE,22917,end climb,SURFACE_DEPTH_REACHED
$STATE,22917,begin surface coast
$FINISH,1.7,1.025979
$STATE,22939,end surface coast,CONTROL_FINISHED_OK
$STATE,22939,begin surface
$SM_CCo,22964,14.90,0.129,0,0,1266,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.22
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$TCM_TEMP,22.70
$XPDR_PINGS,4
$SC_FREEKB,7567232
$24V_AH,12.9,223.287
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.250,189.500,495.175,14.900,0.000,0.000,0.000,398.025,1.000,0.000,22.121,3353.122,15953.380,893.053,2697.777,780.662,0.000,2511.923,0.000,2239.061,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.224,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,43274,1135
$CAP_FILE_SIZE,243166,0
$CFSIZE,260034560,179847168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,228.4,1
$GPS,220213,051130,2428.130,-3813.460,42,0.8,42,-14.1