version: 66.11
glider: 190
mission: 6
dive: 616
start: 3 17 113 21 32 37
data:
$ID,190
$MISSION,6
$DIVE,616
$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,340
$T_MISSION,450
$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,200
$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,0.0099999998
$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,-13759.518
$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,15
$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,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,12
$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
$GPS1,170313,212029,2427.666,-3840.577,37,0.8,37,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-57.8
$GPS2,170313,213206,2427.600,-3840.705,18,0.8,18,-14.2
$SPEED_LIMITS,0.166,0.291
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,99.5,88635,-14.3,-9.608,-18.30
$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,-1.07,-194.6,0.0,0.0,0,35,0.00,0.00,-10.35,0.000,2,0.000,0.000,140,1517,1137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.07,-194.6,2.5,0.0,1,166,10.10,2.08,-107.55,0.000,4,0.317,0.155,2520,459,3486,0,0,0,0,0,0,14.01,14.02,14.57
$GC,330,-0.97,-194.6,27.2,-15.3,30,338,0.17,1.98,0.00,0.000,6,0.267,0.080,2551,1530,3487,0,0,0,0,0,0,13.70,14.00,28.83
$GC,643,-0.93,-194.6,55.1,-9.5,61,651,0.00,2.15,0.00,0.000,4,0.000,0.130,2551,456,3486,0,0,0,0,0,0,28.83,13.94,28.83
$GC,795,-0.87,-194.6,71.0,-11.0,76,802,0.15,1.92,0.00,0.000,6,0.261,0.080,2582,1495,3486,0,0,0,0,0,0,13.81,14.04,28.83
$GC,1102,-0.87,-194.6,100.5,-9.4,107,1109,0.00,2.10,0.00,0.000,4,0.000,0.130,2582,458,3486,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1282,-0.84,-194.6,117.4,-9.2,125,1290,0.00,1.88,0.00,0.000,6,0.000,0.079,2579,1466,3486,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1593,-0.84,-194.6,143.3,-7.9,156,1600,0.00,2.03,0.00,0.000,4,0.000,0.129,2580,455,3486,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1725,-0.80,-194.6,153.9,-7.7,169,1733,0.15,1.83,0.00,0.000,6,0.252,0.079,2612,1445,3486,0,0,0,0,0,0,13.79,14.04,28.83
$GC,2036,-0.80,-194.6,177.8,-8.1,200,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1444,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-0.80,-194.6,205.0,-9.2,231,2350,0.00,2.15,0.00,0.000,4,0.000,0.100,2605,2577,3486,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2503,-0.82,-194.6,219.3,-9.1,247,2510,0.00,2.25,0.00,0.000,6,0.000,0.112,2605,1416,3486,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2815,-0.82,-194.6,245.7,-8.0,278,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1416,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-0.82,-194.6,272.5,-8.1,293,3152,0.00,2.22,0.00,0.000,4,0.000,0.098,2605,2583,3486,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3264,-0.85,-194.6,282.0,-8.0,297,3270,0.00,2.22,0.00,0.000,6,0.000,0.108,2605,1437,3486,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3596,-0.85,-194.6,308.9,-8.3,308,3601,0.00,1.95,0.00,0.000,4,0.000,0.131,2605,456,3485,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3703,-0.85,-194.6,316.4,-8.3,311,3711,0.00,1.83,0.00,0.000,6,0.000,0.079,2605,1433,3484,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4013,-0.85,-194.6,342.7,-8.2,322,4019,0.00,2.22,0.00,0.000,4,0.000,0.105,2605,2582,3484,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4123,-0.87,-194.6,350.1,-8.3,325,4130,0.00,2.22,0.00,0.000,6,0.000,0.109,2605,1433,3484,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4433,-0.87,-194.6,376.5,-8.0,336,4439,0.00,2.20,0.00,0.000,4,0.000,0.103,2605,2579,3483,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4493,-0.87,-194.6,381.0,-7.6,338,4499,0.00,2.20,0.00,0.000,6,0.000,0.109,2605,1459,3483,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4828,-0.89,-194.6,407.6,-8.2,349,4834,0.00,2.17,0.00,0.000,4,0.000,0.104,2605,2582,3483,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4873,-0.91,-194.6,410.2,-8.3,350,4883,0.00,2.20,0.00,0.000,6,0.000,0.112,2605,1473,3483,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5188,-0.94,-194.6,441.1,-9.9,361,5195,0.12,2.05,0.00,0.000,4,0.129,0.133,2546,454,3482,0,0,0,0,0,0,14.31,13.88,28.83
$GC,5253,-0.94,-194.6,448.0,-10.6,363,5260,0.00,1.92,0.00,0.000,6,0.000,0.081,2540,1474,3481,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5579,-0.91,-194.6,485.0,-11.1,374,5585,0.12,2.05,0.00,0.000,4,0.252,0.129,2574,457,3481,0,0,0,0,0,0,13.83,13.85,28.83
$GC,5683,-0.89,-194.6,494.5,-10.6,377,5692,0.00,1.83,0.00,0.000,6,0.000,0.079,2569,1430,3480,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5996,-0.89,-194.6,523.1,-8.2,388,6001,0.00,2.22,0.00,0.000,4,0.000,0.108,2565,2578,3479,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6115,-0.89,-194.6,532.5,-7.8,392,6121,0.00,2.25,0.00,0.000,6,0.000,0.112,2565,1445,3479,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6449,-0.89,-194.6,558.7,-8.3,403,6454,0.00,2.20,0.00,0.000,4,0.000,0.106,2565,2579,3479,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6493,-0.89,-194.6,561.3,-8.4,404,6502,0.00,2.25,0.00,0.000,6,0.000,0.112,2565,1447,3478,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6804,-0.89,-194.6,590.1,-9.0,415,6810,0.00,2.03,0.00,0.000,4,0.000,0.138,2565,461,3477,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6845,-0.89,-194.6,592.8,-9.0,416,6850,0.00,1.85,0.00,0.000,6,0.000,0.084,2560,1446,3477,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7167,-0.89,-194.6,622.4,-8.9,427,7173,0.00,2.20,0.00,0.000,4,0.000,0.109,2552,2578,3476,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7213,-0.89,-194.6,625.0,-8.9,428,7222,0.00,2.22,0.00,0.000,6,0.000,0.113,2553,1458,3476,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7526,-0.89,-194.6,653.9,-8.6,439,7531,0.00,2.03,0.00,0.000,4,0.000,0.138,2553,460,3475,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7564,-0.89,-194.6,656.6,-8.6,440,7570,0.00,1.90,0.00,0.000,6,0.000,0.086,2552,1462,3475,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7889,-0.89,-194.6,683.9,-8.0,451,7891,0.12,0.00,0.00,0.000,6,0.249,0.000,2581,1462,3474,0,0,0,0,0,0,13.90,28.83,28.83
$GC,8184,-0.89,-194.6,706.6,-7.6,461,8191,0.00,2.17,0.00,0.000,4,0.000,0.106,2579,2575,3472,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8235,-0.89,-194.6,709.0,-7.8,462,8242,0.00,2.17,0.00,0.000,6,0.000,0.111,2575,1462,3472,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8544,-0.89,-194.6,737.2,-8.8,473,8551,0.00,2.05,0.00,0.000,4,0.000,0.136,2579,460,3471,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8674,-0.89,-194.6,748.2,-9.2,477,8680,0.00,1.85,0.00,0.000,6,0.000,0.084,2578,1440,3470,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8999,-0.89,-194.6,778.0,-9.0,488,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1440,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9294,-0.89,-194.6,805.0,-9.1,498,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1438,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9596,-0.89,-194.6,832.2,-9.3,508,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1440,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9894,-0.89,-194.6,859.5,-9.1,518,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1440,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10196,-0.89,-194.6,886.6,-8.9,528,10202,0.00,2.03,0.00,0.000,4,0.000,0.135,2579,455,3465,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10323,-0.89,-194.6,897.3,-9.0,532,10330,0.00,1.90,0.00,0.000,6,0.000,0.086,2577,1441,3464,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10649,-0.89,-194.6,924.1,-7.9,543,10654,0.00,2.00,0.00,0.000,4,0.000,0.140,2579,458,3463,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10783,-0.89,-194.6,933.8,-8.1,547,10793,0.00,1.85,0.00,0.000,6,0.000,0.090,2579,1412,3462,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11099,-0.89,-194.6,958.7,-7.5,558,11104,0.00,1.98,0.00,0.000,4,0.000,0.149,2579,460,3461,0,0,0,0,0,0,28.83,13.92,28.83
$GC,11194,-0.89,-194.6,966.0,-8.0,561,11200,0.00,1.77,0.00,0.000,6,0.000,0.090,2578,1393,3461,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,11360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11360,begin apogee
$GC,11370,-0.33,0.0,981.3,-8.6,567,11573,0.62,0.00,193.38,1.844,4,0.178,0.000,2758,1897,2686,0,0,0,0,0,0,13.80,28.83,13.08
$STATE,11579,end apogee,CONTROL_FINISHED_OK
$STATE,11579,begin climb
$GC,11583,1.07,194.6,992.9,0.0,574,11798,1.50,2.05,203.27,1.857,4,0.132,0.112,3213,2960,1899,0,0,0,0,0,0,13.76,13.74,13.09
$GC,11918,1.02,244.4,977.8,7.9,585,11975,0.00,2.05,52.45,1.782,6,0.000,0.108,3221,1902,1696,0,0,0,0,0,0,28.83,13.83,13.14
$GC,12279,0.99,294.0,947.3,8.0,597,12338,0.12,2.20,53.17,1.766,4,0.295,0.147,3203,837,1489,0,0,0,0,0,0,13.94,14.10,13.23
$GC,12427,0.97,336.7,935.9,8.2,602,12479,0.00,2.00,46.60,1.753,6,0.000,0.104,3203,1868,1320,0,0,0,0,0,0,28.83,14.04,13.20
$GC,12798,0.97,336.7,897.7,10.8,615,12804,0.00,2.12,0.00,0.000,4,0.000,0.156,3210,840,1299,0,0,0,0,0,0,28.83,13.96,28.83
$GC,12907,0.97,336.7,887.2,11.6,618,12917,0.00,2.00,0.00,0.000,6,0.000,0.105,3210,1861,1298,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13219,0.97,336.7,848.6,11.7,629,13224,0.00,2.12,0.00,0.000,4,0.000,0.154,3218,838,1298,0,0,0,0,0,0,28.83,13.95,28.83
$GC,13297,0.95,336.7,841.4,11.9,631,13306,0.12,1.95,0.00,0.000,6,0.229,0.096,3182,1853,1297,0,0,0,0,0,0,13.85,14.07,28.83
$GC,13612,0.95,336.7,805.4,10.8,642,13617,0.00,2.08,0.00,0.000,4,0.000,0.111,3182,2957,1296,0,0,0,0,0,0,28.83,13.99,28.83
$GC,13687,0.95,336.7,798.7,10.9,644,13695,0.00,2.12,0.00,0.000,6,0.000,0.105,3190,1853,1296,0,0,0,0,0,0,28.83,14.02,28.83
$GC,14000,0.95,336.7,763.6,10.4,655,14005,0.00,2.08,0.00,0.000,4,0.000,0.146,3198,840,1295,0,0,0,0,0,0,28.83,14.00,28.83
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$STATE,20848,end climb,SURFACE_DEPTH_REACHED
$STATE,20848,begin surface coast
$FINISH,1.7,1.001144
$STATE,20869,end surface coast,CONTROL_FINISHED_OK
$STATE,20869,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,63.82
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,22.20
$XPDR_PINGS,4
$SC_FREEKB,7534976
$24V_AH,13.1,257.730
$10V_AH,12.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.000,179.475,646.325,0.000,0.000,0.000,0.000,382.200,1.000,0.000,19.924,2893.535,14564.527,993.315,2385.810,797.243,0.000,2477.635,0.000,1960.375,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344740
$DATA_FILE_SIZE,39923,1027
$CAP_FILE_SIZE,222762,0
$CFSIZE,260034560,170303488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.176,261.0,1
$GPS,180313,032304,2427.625,-3840.917,27,0.9,27,-14.2