version: 66.11
glider: 190
mission: 6
dive: 558
start: 3 1 113 15 55 8
data:
$ID,190
$MISSION,6
$DIVE,558
$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,190
$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,-13621.378
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,7
$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,0.00018
$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
$GPS1,010313,154225,2426.553,-3816.598,40,1.0,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-64.4
$GPS2,010313,155435,2426.611,-3816.688,15,1.5,15,-14.1
$SPEED_LIMITS,0.123,0.141
$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,106.3,28273,-13.4,-7.101,-26.77
$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,-1.15,-184.9,0.0,0.0,0,34,0.00,0.00,-10.00,0.000,2,0.000,0.000,143,1524,1495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.15,-184.9,2.5,0.0,1,154,11.02,2.15,-93.53,0.000,4,0.360,0.159,2513,454,3449,0,0,0,0,0,0,14.09,14.05,14.64
$GC,381,-1.02,-184.9,30.2,-12.4,35,388,0.17,1.95,0.00,0.000,6,0.276,0.082,2547,1528,3449,0,0,0,0,0,0,13.71,14.04,28.83
$GC,690,-0.95,-184.9,62.6,-10.3,66,697,0.12,1.98,0.00,0.000,4,0.259,0.099,2573,2584,3449,0,0,0,0,0,0,13.96,14.00,28.83
$GC,800,-0.91,-184.9,72.9,-9.2,77,808,0.00,2.05,0.00,0.000,6,0.000,0.114,2573,1525,3449,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1108,-0.87,-184.9,100.8,-8.8,108,1115,0.12,0.00,0.00,0.000,6,0.238,0.000,2603,1525,3449,0,0,0,0,0,0,14.12,28.83,28.83
$GC,1417,-0.87,-184.9,127.6,-8.7,139,1426,0.00,2.12,0.00,0.000,4,0.000,0.133,2604,463,3449,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1499,-0.83,-184.9,134.7,-8.8,147,1506,0.00,1.95,0.00,0.000,6,0.000,0.080,2604,1533,3449,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1809,-0.83,-184.9,163.0,-9.9,178,1816,0.00,2.15,0.00,0.000,4,0.000,0.134,2604,458,3449,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1868,-0.80,-184.9,169.4,-10.9,184,1875,0.00,1.92,0.00,0.000,6,0.000,0.079,2604,1513,3449,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2179,-0.80,-184.9,199.4,-8.9,215,2186,0.00,2.03,0.00,0.000,4,0.000,0.105,2604,2584,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2217,-0.80,-184.9,202.6,-8.0,219,2226,0.00,2.10,0.00,0.000,6,0.000,0.112,2603,1512,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2529,-0.80,-184.9,223.4,-5.5,250,2535,0.00,2.10,0.00,0.000,4,0.000,0.135,2604,454,3449,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2682,-0.77,-184.9,232.4,-5.9,265,2690,0.12,1.90,0.00,0.000,6,0.256,0.080,2632,1494,3453,0,0,0,0,0,0,13.79,14.05,28.83
$GC,2994,-0.80,-184.9,249.1,-5.6,296,3001,0.00,2.05,0.00,0.000,4,0.000,0.106,2631,2577,3449,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3060,-0.82,-184.9,252.7,-6.0,300,3066,0.00,2.10,0.00,0.000,6,0.000,0.113,2631,1505,3449,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3385,-0.84,-184.9,277.8,-8.4,311,3390,0.00,2.08,0.00,0.000,4,0.000,0.136,2631,458,3449,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3419,-0.84,-184.9,280.4,-8.7,312,3426,0.00,1.95,0.00,0.000,6,0.000,0.083,2631,1512,3449,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3745,-0.86,-184.9,312.4,-10.1,323,3750,0.00,2.03,0.00,0.000,4,0.000,0.107,2631,2580,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3879,-0.88,-184.9,324.1,-9.8,327,3889,0.00,2.08,0.00,0.000,6,0.000,0.112,2631,1525,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4195,-0.91,-184.9,353.9,-8.5,338,4201,0.12,2.12,0.00,0.000,4,0.129,0.136,2568,460,3447,0,0,0,0,0,0,14.46,13.80,28.83
$GC,4299,-0.91,-184.9,362.2,-9.2,341,4307,0.00,1.98,0.00,0.000,6,0.000,0.083,2565,1523,3447,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4611,-0.89,-184.9,391.1,-8.7,352,4617,0.12,2.12,0.00,0.000,4,0.252,0.137,2596,461,3446,0,0,0,0,0,0,14.16,13.80,28.83
$GC,4710,-0.89,-184.9,398.9,-8.7,355,4716,0.00,1.90,0.00,0.000,6,0.000,0.085,2592,1491,3446,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5030,-0.89,-184.9,426.5,-8.5,366,5036,0.00,2.08,0.00,0.000,4,0.000,0.107,2592,2573,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5121,-0.89,-184.9,434.0,-8.3,369,5128,0.00,2.10,0.00,0.000,6,0.000,0.115,2592,1503,3445,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5451,-0.89,-184.9,461.2,-8.1,380,5456,0.00,2.08,0.00,0.000,4,0.000,0.138,2592,461,3444,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5602,-0.86,-184.9,473.8,-8.4,385,5608,0.00,1.90,0.00,0.000,6,0.000,0.086,2591,1486,3444,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5930,-0.86,-184.9,498.6,-7.2,396,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1487,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6232,-0.86,-184.9,518.8,-6.4,406,6237,0.00,2.08,0.00,0.000,4,0.000,0.138,2592,459,3442,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6321,-0.86,-184.9,524.7,-6.4,409,6329,0.00,1.90,0.00,0.000,6,0.000,0.084,2591,1479,3441,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6654,-0.86,-184.9,543.9,-5.8,420,6659,0.00,2.05,0.00,0.000,4,0.000,0.138,2591,457,3440,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6773,-0.86,-184.9,551.4,-6.3,424,6778,0.00,1.88,0.00,0.000,6,0.000,0.086,2591,1476,3439,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7103,-0.86,-184.9,574.2,-7.5,435,7108,0.00,2.10,0.00,0.000,4,0.000,0.108,2587,2577,3439,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7180,-0.86,-184.9,578.9,-7.9,437,7188,0.00,2.20,0.00,0.000,6,0.000,0.119,2586,1470,3439,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7491,-0.86,-184.9,609.4,-9.8,448,7497,0.00,2.08,0.00,0.000,4,0.000,0.138,2587,454,3437,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7550,-0.86,-184.9,615.6,-10.2,450,7557,0.00,1.90,0.00,0.000,6,0.000,0.086,2583,1470,3437,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7881,-0.86,-184.9,648.9,-10.2,461,7888,0.00,2.12,0.00,0.000,4,0.000,0.110,2579,2578,3436,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7971,-0.86,-184.9,657.6,-9.7,464,7977,0.00,2.17,0.00,0.000,6,0.000,0.118,2579,1472,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8304,-0.86,-184.9,688.5,-9.1,475,8310,0.00,2.05,0.00,0.000,4,0.000,0.138,2579,453,3435,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8440,-0.84,-184.9,700.0,-9.5,479,8450,0.10,1.88,0.00,0.000,6,0.220,0.087,2607,1459,3434,0,0,0,0,0,0,13.59,13.86,28.83
$GC,8755,-0.84,-184.9,727.6,-8.2,490,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1459,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9050,-0.84,-184.9,752.0,-8.1,500,9056,0.00,2.17,0.00,0.000,4,0.000,0.109,2605,2574,3432,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9150,-0.84,-184.9,759.2,-8.0,503,9157,0.00,2.20,0.00,0.000,6,0.000,0.119,2605,1469,3432,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9470,-0.84,-184.9,785.6,-8.2,514,9477,0.00,2.08,0.00,0.000,4,0.000,0.142,2605,462,3431,0,0,0,0,0,0,28.83,13.60,28.83
$GC,9509,-0.84,-184.9,788.0,-8.3,515,9516,0.00,1.90,0.00,0.000,6,0.000,0.088,2604,1466,3431,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9835,-0.86,-184.9,815.9,-8.6,526,9840,0.00,2.12,0.00,0.000,4,0.000,0.109,2605,2577,3430,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9909,-0.86,-184.9,820.8,-8.4,528,9918,0.00,2.22,0.00,0.000,6,0.000,0.118,2605,1468,3429,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10225,-0.88,-184.9,848.8,-8.6,539,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1468,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,-0.90,-184.9,872.6,-7.6,549,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1468,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10822,-0.93,-184.9,891.2,-5.8,559,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1468,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11121,-0.95,-184.9,907.2,-5.2,569,11127,0.00,2.15,0.00,0.000,4,0.000,0.112,2605,2577,3425,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11181,-0.97,-184.9,910.3,-5.2,571,11187,0.00,2.20,0.00,0.000,6,0.000,0.119,2604,1469,3425,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11515,-0.99,-184.9,931.1,-6.9,582,11521,0.12,2.05,0.00,0.000,4,0.146,0.139,2555,455,3424,0,0,0,0,0,0,14.24,13.82,28.83
$GC,11571,-0.99,-184.9,936.1,-7.8,584,11577,0.00,1.90,0.00,0.000,6,0.000,0.086,2552,1476,3424,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11904,-0.99,-184.9,967.5,-10.1,595,11910,0.00,2.15,0.00,0.000,4,0.000,0.109,2549,2582,3421,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11970,-0.99,-184.9,973.6,-10.1,597,11977,0.00,2.25,0.00,0.000,6,0.000,0.124,2549,1477,3423,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,12047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12047,begin apogee
$GC,12057,-0.42,0.0,983.0,-10.4,600,12247,0.70,0.00,184.40,1.834,4,0.205,0.000,2741,1519,2690,0,0,0,0,0,0,13.72,28.83,12.96
$STATE,12252,end apogee,CONTROL_FINISHED_OK
$STATE,12252,begin climb
$GC,12255,1.15,184.9,996.0,0.0,606,12462,1.67,2.05,194.05,1.828,4,0.151,0.122,3246,2577,1940,0,0,0,0,0,0,13.96,13.99,13.01
$GC,12472,1.01,185.9,988.5,7.1,614,12479,0.15,2.12,0.00,0.000,6,0.306,0.135,3218,1526,1931,0,0,0,0,0,0,13.82,14.00,28.83
$GC,12805,0.93,185.9,957.8,9.7,625,12812,0.12,2.03,0.00,0.000,4,0.330,0.122,3189,2580,1924,0,0,0,0,0,0,13.93,14.16,28.83
$GC,12842,0.85,185.9,954.7,9.9,626,12850,0.12,2.12,0.00,0.000,6,0.269,0.137,3164,1526,1923,0,0,0,0,0,0,13.84,14.02,28.83
$GC,13165,0.80,185.9,924.7,9.2,637,13171,0.00,2.08,0.00,0.000,4,0.000,0.124,3164,2584,1923,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13365,0.75,185.9,907.1,9.8,643,13373,0.17,2.08,0.00,0.000,6,0.288,0.138,3133,1541,1921,0,0,0,0,0,0,13.75,13.97,28.83
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$STATE,23718,end climb,SURFACE_DEPTH_REACHED
$STATE,23719,begin surface coast
$FINISH,1.7,1.022824
$STATE,23753,end surface coast,CONTROL_FINISHED_OK
$STATE,23753,begin surface
$SM_CCo,23778,36.10,0.127,0,0,1266,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.56
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.70
$XPDR_PINGS,5
$SC_FREEKB,7556992
$24V_AH,13.0,233.387
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.300,186.800,478.350,36.100,0.000,0.000,0.000,416.750,1.250,0.000,19.106,3427.689,16554.736,925.366,2799.754,821.259,0.000,2610.138,0.000,2332.001,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.788,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43345,1174
$CAP_FILE_SIZE,251958,0
$CFSIZE,260034560,176771072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,268.2,1
$GPS,010313,223328,2427.011,-3816.684,38,0.8,39,-14.1