version: 66.11
glider: 190
mission: 6
dive: 223
start: 11 27 112 19 13 52
data:
$ID,190
$MISSION,6
$DIVE,223
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,570
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,110
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-13075.451
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$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,12
$MINV_10V,12
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,271112,190135,2508.322,-3801.814,27,1.6,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-65.6
$GPS2,271112,191323,2508.366,-3801.819,15,1.2,15,-13.9
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,311.4,71003,-11.8,-5.789,-17.25
$D_GRID,990
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.52,-107.1,0.0,0.0,0,36,0.00,0.00,-11.15,0.000,2,0.000,0.000,146,1515,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.52,-107.1,2.4,0.0,1,133,11.62,1.62,-75.93,0.000,4,0.368,0.135,2711,2398,3428,0,0,0,0,0,0,14.29,14.42,14.75
$GC,365,-0.52,-107.1,18.2,-10.0,33,370,0.00,1.62,0.00,0.000,6,0.000,0.119,2712,1522,3426,0,0,0,0,0,0,28.83,14.35,28.83
$GC,678,-0.52,-107.1,39.0,-6.4,64,683,0.00,1.60,0.00,0.000,4,0.000,0.104,2712,2405,3425,0,0,0,0,0,0,28.83,14.45,28.83
$GC,775,-0.52,-107.1,44.7,-6.5,73,782,0.00,1.70,0.00,0.000,6,0.000,0.119,2711,1519,3426,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1082,-0.52,-107.1,67.6,-6.9,104,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1519,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1381,-0.52,-107.1,88.3,-6.7,134,1386,0.00,1.67,0.00,0.000,4,0.000,0.138,2712,636,3426,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1459,-0.50,-107.1,93.6,-7.2,141,1465,0.00,1.55,0.00,0.000,6,0.000,0.086,2709,1519,3426,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1765,-0.52,-107.1,115.0,-7.0,172,1770,0.00,1.70,0.00,0.000,4,0.000,0.138,2709,632,3426,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1821,-0.52,-107.1,119.0,-7.5,177,1829,0.00,1.55,0.00,0.000,6,0.000,0.088,2707,1510,3426,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2130,-0.55,-107.1,137.4,-5.3,208,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1510,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2438,-0.58,-107.1,154.8,-6.0,239,2443,0.00,1.67,0.00,0.000,4,0.000,0.137,2707,633,3426,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2602,-0.60,-107.1,166.9,-7.9,255,2608,0.00,1.55,0.00,0.000,6,0.000,0.085,2707,1512,3426,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2917,-0.64,-107.1,191.7,-7.2,286,2922,0.00,1.60,0.00,0.000,4,0.000,0.104,2707,2399,3426,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2944,-0.67,-107.1,193.2,-6.7,288,2951,0.00,1.67,0.00,0.000,6,0.000,0.120,2707,1510,3426,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3250,-0.71,-107.1,213.0,-6.4,319,3256,0.12,1.62,0.00,0.000,4,0.135,0.132,2641,637,3426,0,0,0,0,0,0,14.65,14.41,28.83
$GC,3487,-0.66,-107.1,232.5,-8.5,342,3494,0.12,1.52,0.00,0.000,6,0.262,0.086,2669,1485,3426,0,0,0,0,0,0,14.36,14.50,28.83
$GC,3816,-0.65,-107.1,253.5,-5.6,370,3821,0.00,1.62,0.00,0.000,4,0.000,0.138,2670,632,3425,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3935,-0.63,-107.1,259.2,-5.7,373,3942,0.00,1.52,0.00,0.000,6,0.000,0.089,2666,1500,3425,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4240,-0.61,-107.1,279.6,-6.7,384,4245,0.00,1.62,0.00,0.000,4,0.000,0.109,2664,2406,3424,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4342,-0.61,-107.1,286.6,-7.3,387,4347,0.00,1.73,0.00,0.000,6,0.000,0.123,2665,1490,3424,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4667,-0.60,-107.1,313.5,-8.1,398,4673,0.12,1.62,0.00,0.000,4,0.233,0.138,2702,633,3423,0,0,0,0,0,0,14.47,14.45,28.83
$GC,4725,-0.59,-107.1,316.3,-7.8,399,4733,0.00,1.52,0.00,0.000,6,0.000,0.093,2701,1493,3422,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5034,-0.63,-107.1,338.5,-6.4,410,5039,0.00,1.65,0.00,0.000,4,0.000,0.144,2699,636,3422,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5136,-0.65,-107.1,344.6,-6.2,413,5141,0.00,1.48,0.00,0.000,6,0.000,0.091,2701,1459,3422,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5462,-0.69,-107.1,366.6,-6.9,424,5467,0.12,1.70,0.00,0.000,4,0.134,0.110,2636,2399,3420,0,0,0,0,0,0,14.72,14.52,28.83
$GC,5666,-0.68,-107.1,381.3,-7.9,430,5672,0.10,1.77,0.00,0.000,6,0.199,0.126,2668,1478,3420,0,0,0,0,0,0,14.37,14.45,28.83
$GC,5983,-0.68,-107.1,404.8,-6.7,441,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1478,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6280,-0.68,-107.1,422.5,-5.5,451,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1478,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6582,-0.69,-107.1,439.1,-5.6,461,6587,0.00,1.58,0.00,0.000,4,0.000,0.135,2668,637,3417,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6669,-0.70,-107.1,443.2,-5.9,463,6675,0.00,1.48,0.00,0.000,6,0.000,0.086,2665,1463,3416,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6978,-0.72,-107.1,465.8,-7.3,474,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1463,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7275,-0.74,-107.1,487.9,-7.4,484,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1463,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7576,-0.76,-107.1,508.9,-6.8,494,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1463,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7875,-0.77,-107.1,527.4,-6.0,504,7880,0.00,1.70,0.00,0.000,4,0.000,0.108,2668,2405,3412,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7964,-0.79,-107.1,531.0,-5.7,506,7971,0.00,1.77,0.00,0.000,6,0.000,0.118,2664,1473,3412,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8269,-0.81,-107.1,550.8,-6.3,517,8271,0.12,0.00,0.00,0.000,6,0.135,0.000,2608,1473,3410,0,0,0,0,0,0,14.73,28.83,28.83
$GC,8570,-0.77,-107.1,573.9,-8.0,527,8572,0.12,0.00,0.00,0.000,6,0.239,0.000,2639,1473,3409,0,0,0,0,0,0,14.45,28.83,28.83
$GC,8869,-0.75,-107.1,595.9,-7.3,537,8874,0.00,1.60,0.00,0.000,4,0.000,0.129,2640,634,3409,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9067,-0.71,-107.1,609.4,-7.2,543,9072,0.00,1.48,0.00,0.000,6,0.000,0.085,2633,1459,3408,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9387,-0.68,-107.1,630.9,-6.6,554,9389,0.12,0.00,0.00,0.000,6,0.256,0.000,2665,1459,3408,0,0,0,0,0,0,14.42,28.83,28.83
$GC,9687,-0.68,-107.1,651.0,-7.1,564,9692,0.00,1.73,0.00,0.000,4,0.000,0.109,2660,2399,3406,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9723,-0.70,-107.1,653.6,-7.3,565,9729,0.00,1.80,0.00,0.000,6,0.000,0.122,2661,1449,3406,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10055,-0.72,-107.1,683.4,-9.5,576,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1449,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10353,-0.74,-107.1,710.9,-8.9,586,10358,0.00,1.52,0.00,0.000,4,0.000,0.133,2662,632,3404,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10559,-0.74,-107.1,725.9,-8.0,592,10566,0.00,1.50,0.00,0.000,6,0.000,0.089,2661,1462,3403,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10868,-0.76,-107.1,748.9,-6.9,603,10873,0.00,1.58,0.00,0.000,4,0.000,0.135,2661,639,3402,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10953,-0.77,-107.1,753.5,-6.9,605,10958,0.00,1.45,0.00,0.000,6,0.000,0.090,2661,1440,3402,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11268,-0.80,-107.1,776.2,-6.9,616,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1440,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11567,-0.82,-107.1,796.8,-6.9,626,11573,0.12,1.55,0.00,0.000,4,0.142,0.134,2602,636,3400,0,0,0,0,0,0,14.62,14.36,28.83
$GC,11802,-0.75,-107.1,814.7,-8.4,633,11808,0.12,1.40,0.00,0.000,6,0.237,0.090,2640,1410,3399,0,0,0,0,0,0,14.22,14.45,28.83
$GC,12118,-0.74,-107.1,838.4,-7.0,644,12123,0.00,1.83,0.00,0.000,4,0.000,0.114,2634,2399,3398,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12260,-0.74,-107.1,847.1,-7.0,648,12265,0.00,1.85,0.00,0.000,6,0.000,0.125,2634,1430,3397,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12576,-0.72,-107.1,872.7,-8.1,659,12581,0.00,1.83,0.00,0.000,4,0.000,0.117,2632,2398,3396,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12653,-0.71,-107.1,878.1,-8.2,661,12660,0.12,1.85,0.00,0.000,6,0.238,0.126,2662,1435,3396,0,0,0,0,0,0,14.37,14.41,28.83
$GC,12976,-0.73,-107.1,905.6,-8.4,672,12981,0.00,1.80,0.00,0.000,4,0.000,0.119,2661,2399,3396,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13069,-0.75,-107.1,913.2,-8.1,675,13075,0.00,1.85,0.00,0.000,6,0.000,0.129,2662,1457,3395,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13405,-0.78,-107.1,939.6,-7.6,686,13410,0.00,1.60,0.00,0.000,4,0.000,0.145,2662,632,3394,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13433,-0.81,-107.1,939.6,-7.6,686,13440,0.00,1.45,0.00,0.000,6,0.000,0.096,2661,1421,3394,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13740,-0.83,-107.1,962.8,-6.7,697,13746,0.12,1.55,0.00,0.000,4,0.156,0.142,2612,640,3393,0,0,0,0,0,0,14.55,14.30,28.83
$GC,13899,-0.79,-107.1,974.9,-7.9,702,13904,0.00,1.48,0.00,0.000,6,0.000,0.094,2606,1437,3392,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,14105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14105,begin apogee
$GC,14112,-0.19,0.0,990.2,-7.2,709,14258,0.75,0.00,136.35,1.559,4,0.219,0.000,2818,1696,2987,0,0,0,0,0,0,14.31,28.83,13.50
$STATE,14260,end apogee,CONTROL_FINISHED_OK
$STATE,14260,begin climb
$GC,14262,0.52,107.1,996.1,0.0,714,14380,0.70,1.80,107.60,1.830,4,0.116,0.145,3061,817,2550,0,0,0,0,0,0,14.18,14.12,13.32
$GC,14579,0.51,160.3,991.7,3.8,724,14637,0.00,1.65,52.47,1.811,6,0.000,0.103,3061,1702,2332,0,0,0,0,0,0,28.83,14.35,13.47
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$STATE,28446,end climb,SURFACE_DEPTH_REACHED
$STATE,28446,begin surface coast
$FINISH,1.2,1.025369
$STATE,28478,end surface coast,CONTROL_FINISHED_OK
$STATE,28478,begin surface
$SM_CCo,28499,2.33,0.151,0,0,1560,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,54.80
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.90
$XPDR_PINGS,3
$SC_FREEKB,7684672
$TM_FREEKB,5540608
$24V_AH,13.3,93.104
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.550,165.875,492.500,2.325,0.000,0.000,0.000,385.725,0.750,0.000,16.455,4855.062,18954.363,708.646,4117.369,554.086,0.000,2930.511,0.000,3516.144,0.000,0.541,0.000
$DEVICE_MAMPS,367.965,149.175,1829.880,151.470,0.000,0.000,0.000,195.075,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28517.000,7174.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.673,13.305,0.000,0.000
$MEM,344980
$DATA_FILE_SIZE,49909,1404
$CAP_FILE_SIZE,322581,0
$CFSIZE,260034560,219828224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,129.8,1
$GPS,281112,031004,2508.698,-3803.112,25,0.9,25,-13.9