version: 66.11
glider: 190
mission: 6
dive: 548
start: 2 26 113 19 17 20
data:
$ID,190
$MISSION,6
$DIVE,548
$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,-13605.713
$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,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
$GPS1,260213,190452,2420.368,-3814.910,37,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-65.9
$GPS2,260213,191647,2420.276,-3814.809,21,1.3,21,-14.1
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$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,20.5,33338,-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,18,begin dive
$GC,22,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.20,0.000,2,0.000,0.000,138,1515,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.5,0.0,1,144,11.35,2.05,-86.25,0.000,4,0.362,0.153,2573,458,3328,0,0,0,0,0,0,14.04,14.02,14.64
$GC,327,-0.85,-155.7,19.9,-9.5,30,334,0.12,1.92,0.00,0.000,6,0.269,0.082,2592,1525,3329,0,0,0,0,0,0,13.83,14.02,28.83
$GC,636,-0.85,-155.7,46.0,-8.4,61,644,0.00,2.12,0.00,0.000,4,0.000,0.139,2593,460,3329,0,0,0,0,0,0,28.83,13.83,28.83
$GC,778,-0.81,-155.7,58.0,-8.4,75,784,0.00,1.90,0.00,0.000,6,0.000,0.083,2592,1504,3329,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1085,-0.81,-155.7,82.3,-8.1,106,1093,0.00,2.10,0.00,0.000,4,0.000,0.137,2592,464,3329,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1246,-0.78,-155.7,96.5,-9.3,122,1253,0.08,1.85,0.00,0.000,6,0.230,0.083,2610,1465,3329,0,0,0,0,0,0,13.75,14.01,28.83
$GC,1556,-0.78,-155.7,123.4,-8.5,153,1564,0.00,2.03,0.00,0.000,4,0.000,0.138,2611,453,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1697,-0.78,-155.7,135.9,-8.7,167,1704,0.00,1.83,0.00,0.000,6,0.000,0.083,2605,1454,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2006,-0.78,-155.7,158.0,-6.7,198,2013,0.00,2.00,0.00,0.000,4,0.000,0.138,2605,464,3329,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2096,-0.78,-155.7,164.4,-7.2,207,2103,0.00,1.77,0.00,0.000,6,0.000,0.082,2605,1429,3329,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2406,-0.78,-155.7,187.9,-7.9,238,2413,0.00,1.92,0.00,0.000,4,0.000,0.135,2605,460,3329,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2485,-0.78,-155.7,194.8,-8.9,246,2492,0.00,1.73,0.00,0.000,6,0.000,0.080,2605,1403,3329,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2796,-0.78,-155.7,219.4,-7.7,277,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1403,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3106,-0.78,-155.7,245.6,-8.7,308,3113,0.00,1.88,0.00,0.000,4,0.000,0.135,2605,458,3329,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3174,-0.78,-155.7,251.2,-9.5,314,3180,0.00,1.73,0.00,0.000,6,0.000,0.079,2605,1394,3329,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3496,-0.78,-155.7,281.2,-9.1,325,3501,0.00,2.22,0.00,0.000,4,0.000,0.105,2603,2577,3329,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3554,-0.78,-155.7,286.4,-8.9,327,3562,0.00,2.33,0.00,0.000,6,0.000,0.116,2605,1398,3329,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3886,-0.78,-155.7,312.6,-7.4,338,3891,0.00,1.88,0.00,0.000,4,0.000,0.139,2608,465,3329,0,0,0,0,0,0,28.83,13.75,28.83
$GC,4085,-0.78,-155.7,325.6,-7.2,344,4093,0.00,1.65,0.00,0.000,6,0.000,0.082,2605,1371,3328,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4395,-0.78,-155.7,346.6,-5.9,355,4402,0.00,1.83,0.00,0.000,4,0.000,0.138,2605,464,3328,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4475,-0.78,-155.7,350.2,-6.0,357,4486,0.00,1.62,0.00,0.000,6,0.000,0.083,2605,1355,3328,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4785,-0.78,-155.7,368.5,-5.6,368,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1355,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-0.78,-155.7,385.5,-5.8,378,5093,0.00,1.80,0.00,0.000,4,0.000,0.135,2604,464,3327,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5206,-0.78,-155.7,393.1,-6.4,382,5211,0.00,1.60,0.00,0.000,6,0.000,0.083,2605,1342,3326,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5540,-0.80,-155.7,414.9,-7.0,393,5545,0.00,2.35,0.00,0.000,4,0.000,0.106,2604,2580,3325,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5634,-0.82,-155.7,421.2,-7.0,396,5642,0.00,2.40,0.00,0.000,6,0.000,0.118,2605,1361,3325,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5959,-0.84,-155.7,446.1,-7.6,407,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1360,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6255,-0.84,-155.7,467.5,-6.9,417,6261,0.00,2.35,0.00,0.000,4,0.000,0.106,2604,2575,3324,0,0,0,0,0,0,28.83,13.87,28.83
$GC,6416,-0.87,-155.7,477.6,-6.8,422,6422,0.00,2.35,0.00,0.000,6,0.000,0.119,2605,1362,3323,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6738,-0.89,-155.7,501.5,-7.4,433,6743,0.00,1.83,0.00,0.000,4,0.000,0.142,2604,457,3322,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6804,-0.89,-155.7,506.4,-7.8,435,6811,0.00,1.70,0.00,0.000,6,0.000,0.086,2604,1370,3323,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7130,-0.92,-155.7,533.0,-8.5,446,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1369,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,-0.94,-155.7,557.5,-8.0,456,7432,0.12,1.85,0.00,0.000,4,0.135,0.140,2550,461,3320,0,0,0,0,0,0,14.47,13.69,28.83
$GC,7456,-0.94,-155.7,560.1,-8.2,457,7461,0.00,1.67,0.00,0.000,6,0.000,0.089,2549,1360,3320,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7785,-0.94,-155.7,588.3,-8.1,468,7792,0.00,1.83,0.00,0.000,4,0.000,0.139,2549,461,3319,0,0,0,0,0,0,28.83,13.68,28.83
$GC,7894,-0.91,-155.7,595.3,-7.9,471,7902,0.00,1.65,0.00,0.000,6,0.000,0.088,2550,1345,3319,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8208,-0.91,-155.7,617.2,-6.1,482,8213,0.00,1.80,0.00,0.000,4,0.000,0.140,2549,455,3318,0,0,0,0,0,0,28.83,13.77,28.83
$GC,8304,-0.89,-155.7,623.1,-6.3,485,8312,0.15,1.62,0.00,0.000,6,0.262,0.088,2581,1323,3318,0,0,0,0,0,0,13.70,14.05,28.83
$GC,8629,-0.89,-155.7,640.6,-5.4,496,8635,0.00,2.42,0.00,0.000,4,0.000,0.109,2576,2577,3317,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8745,-0.89,-155.7,647.3,-5.5,500,8752,0.00,2.45,0.00,0.000,6,0.000,0.121,2577,1348,3316,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9076,-0.89,-155.7,670.7,-7.8,511,9083,0.00,1.80,0.00,0.000,4,0.000,0.142,2576,465,3315,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9104,-0.89,-155.7,673.4,-8.1,512,9111,0.00,1.62,0.00,0.000,6,0.000,0.087,2571,1327,3315,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9436,-0.89,-155.7,703.7,-9.3,523,9442,0.00,1.73,0.00,0.000,4,0.000,0.144,2571,460,3314,0,0,0,0,0,0,28.83,13.73,28.83
$GC,9464,-0.89,-155.7,706.6,-9.5,524,9471,0.00,1.62,0.00,0.000,6,0.000,0.089,2566,1319,3313,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9795,-0.89,-155.7,736.1,-8.7,535,9802,0.00,2.45,0.00,0.000,4,0.000,0.113,2564,2576,3312,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9935,-0.89,-155.7,745.8,-8.0,539,9943,0.00,2.55,0.00,0.000,6,0.000,0.124,2564,1303,3312,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10245,-0.89,-155.7,773.0,-8.3,550,10251,0.00,1.73,0.00,0.000,4,0.000,0.146,2564,463,3311,0,0,0,0,0,0,28.83,13.65,28.83
$GC,10315,-0.89,-155.7,777.9,-8.2,552,10322,0.00,1.55,0.00,0.000,6,0.000,0.090,2558,1290,3311,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10635,-0.89,-155.7,804.3,-8.1,563,10642,0.00,2.53,0.00,0.000,4,0.000,0.115,2553,2571,3310,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10704,-0.89,-155.7,809.1,-8.0,565,10712,0.08,2.58,0.00,0.000,6,0.210,0.125,2575,1292,3310,0,0,0,0,0,0,13.65,13.78,28.83
$GC,11029,-0.89,-155.7,835.5,-8.1,576,11034,0.00,2.50,0.00,0.000,4,0.000,0.112,2566,2575,3309,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11115,-0.89,-155.7,842.7,-8.0,579,11122,0.00,2.53,0.00,0.000,6,0.000,0.125,2566,1321,3308,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11450,-0.89,-155.7,868.5,-7.7,590,11455,0.00,1.75,0.00,0.000,4,0.000,0.151,2566,458,3307,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11524,-0.89,-155.7,873.3,-7.9,592,11532,0.00,1.62,0.00,0.000,6,0.000,0.093,2560,1314,3307,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11836,-0.89,-155.7,901.1,-8.5,603,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1314,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12135,-0.89,-155.7,926.0,-8.3,613,12142,0.00,2.53,0.00,0.000,4,0.000,0.119,2554,2576,3305,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12204,-0.89,-155.7,930.8,-8.0,615,12212,0.00,2.55,0.00,0.000,6,0.000,0.127,2554,1318,3304,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12527,-0.89,-155.7,957.9,-8.3,626,12533,0.12,1.77,0.00,0.000,4,0.251,0.151,2587,461,3304,0,0,0,0,0,0,13.90,13.75,28.83
$GC,12574,-0.89,-155.7,960.2,-8.2,627,12582,0.00,1.65,0.00,0.000,6,0.000,0.093,2582,1325,3304,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,12821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12822,begin apogee
$GC,12832,-0.25,0.0,981.7,-8.0,636,12992,0.73,0.00,155.00,1.810,4,0.203,0.000,2781,1517,2691,0,0,0,0,0,0,13.70,28.83,12.97
$STATE,12996,end apogee,CONTROL_FINISHED_OK
$STATE,12997,begin climb
$GC,13000,0.90,155.7,989.5,0.0,641,13177,1.25,2.17,164.43,1.800,4,0.150,0.161,3158,459,2057,0,0,0,0,0,0,14.00,13.93,12.98
$GC,13336,0.87,155.7,973.3,7.3,653,13343,0.00,2.00,0.00,0.000,6,0.000,0.104,3158,1522,2043,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13671,0.84,155.7,949.7,7.2,664,13677,0.00,2.20,0.00,0.000,4,0.000,0.169,3166,456,2040,0,0,0,0,0,0,28.83,14.03,28.83
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$STATE,25093,end climb,SURFACE_DEPTH_REACHED
$STATE,25093,begin surface coast
$FINISH,1.6,1.025804
$STATE,25128,end surface coast,CONTROL_FINISHED_OK
$STATE,25128,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.49
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.50
$XPDR_PINGS,5
$SC_FREEKB,7560832
$24V_AH,13.0,229.625
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.525,189.750,414.925,51.550,0.000,0.000,0.000,399.200,1.250,0.000,22.335,3622.767,17697.062,878.435,2888.282,818.255,0.000,2582.074,0.000,2411.367,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344940
$DATA_FILE_SIZE,46711,1225
$CAP_FILE_SIZE,257334,0
$CFSIZE,260034560,177909760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,187.5,1
$GPS,270213,021852,2421.159,-3815.069,41,0.7,41,-14.1