version: 66.11
glider: 190
mission: 6
dive: 284
start: 12 16 112 3 33 49
data:
$ID,190
$MISSION,6
$DIVE,284
$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,440
$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,180
$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,610.797
$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,-13251.663
$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,22
$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,25
$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,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,2.0999999
$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,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
$GPS1,161212,032158,2409.158,-3753.505,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-57.6
$GPS2,161212,033318,2409.174,-3753.506,17,0.9,17,-14.0
$SPEED_LIMITS,0.130,0.140
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,60.6,76573,-15.8,-7.500,-28.24
$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,24,-0.82,-175.2,0.0,0.0,0,37,0.00,0.00,-10.88,0.000,2,0.000,0.000,137,1533,808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.82,-175.2,2.1,0.0,1,193,10.38,1.55,-134.85,0.000,4,0.318,0.126,2618,2390,3706,0,0,0,0,0,0,14.31,14.34,14.71
$GC,355,-0.82,-175.2,18.7,-8.2,32,360,0.00,1.65,0.00,0.000,6,0.000,0.116,2618,1519,3707,0,0,0,0,0,0,28.83,14.25,28.83
$GC,668,-0.82,-175.2,50.6,-8.9,63,673,0.00,1.62,0.00,0.000,4,0.000,0.100,2618,2400,3707,0,0,0,0,0,0,28.83,14.32,28.83
$GC,712,-0.82,-175.2,54.3,-8.6,67,717,0.00,1.67,0.00,0.000,6,0.000,0.116,2618,1524,3707,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1025,-0.82,-175.2,84.2,-10.2,98,1030,0.00,1.58,0.00,0.000,4,0.000,0.100,2618,2393,3707,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1063,-0.82,-175.2,87.7,-10.8,101,1070,0.00,1.62,0.00,0.000,6,0.000,0.116,2618,1534,3706,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1369,-0.82,-175.2,122.5,-10.0,132,1374,0.00,1.60,0.00,0.000,4,0.000,0.101,2618,2390,3706,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1558,-0.85,-175.2,138.3,-8.2,150,1566,0.00,1.58,0.00,0.000,6,0.000,0.115,2618,1556,3706,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1864,-0.85,-175.2,166.7,-9.4,181,1870,0.00,1.73,0.00,0.000,4,0.000,0.133,2618,635,3706,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1980,-0.85,-175.2,178.0,-9.7,192,1985,0.00,1.60,0.00,0.000,6,0.000,0.080,2618,1537,3706,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2297,-0.87,-175.2,203.0,-7.3,223,2302,0.00,1.58,0.00,0.000,4,0.000,0.102,2617,2405,3706,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2393,-0.90,-175.2,209.6,-7.0,232,2399,0.00,1.62,0.00,0.000,6,0.000,0.113,2617,1558,3706,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2708,-0.95,-175.2,233.7,-8.5,263,2713,0.00,1.77,0.00,0.000,4,0.000,0.135,2617,629,3705,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2854,-0.97,-175.2,248.5,-10.6,277,2860,0.12,1.60,0.00,0.000,6,0.141,0.082,2567,1536,3705,0,0,0,0,0,0,14.47,14.45,28.83
$GC,3178,-0.97,-175.2,288.8,-12.6,289,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1536,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3478,-0.97,-175.2,323.8,-11.1,299,3483,0.00,1.60,0.00,0.000,4,0.000,0.101,2561,2406,3704,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3526,-0.97,-175.2,327.2,-10.8,300,3532,0.00,1.65,0.00,0.000,6,0.000,0.115,2561,1539,3704,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3846,-0.97,-175.2,358.0,-8.7,311,3852,0.00,1.73,0.00,0.000,4,0.000,0.132,2561,638,3703,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3900,-0.97,-175.2,361.4,-8.8,312,3905,0.00,1.60,0.00,0.000,6,0.000,0.086,2555,1546,3703,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4213,-0.97,-175.2,391.1,-9.3,323,4219,0.00,1.75,0.00,0.000,4,0.000,0.132,2555,641,3702,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4272,-0.94,-175.2,394.7,-9.7,324,4279,0.12,1.58,0.00,0.000,6,0.286,0.088,2580,1535,3701,0,0,0,0,0,0,14.26,14.51,28.83
$GC,4581,-0.94,-175.2,429.4,-10.9,335,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1535,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,-0.94,-175.2,462.0,-10.7,345,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1535,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5178,-0.94,-175.2,492.8,-10.0,355,5184,0.00,1.75,0.00,0.000,4,0.000,0.135,2580,637,3697,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5303,-0.94,-175.2,505.5,-10.2,359,5309,0.00,1.60,0.00,0.000,6,0.000,0.089,2576,1533,3697,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5639,-0.94,-175.2,533.8,-8.2,370,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1533,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5937,-0.94,-175.2,559.7,-9.0,380,5942,0.00,1.75,0.00,0.000,4,0.000,0.136,2577,638,3695,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6000,-0.94,-175.2,565.9,-9.5,382,6005,0.00,1.58,0.00,0.000,6,0.000,0.089,2570,1525,3694,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6336,-0.94,-175.2,599.6,-10.5,393,6341,0.00,1.60,0.00,0.000,4,0.000,0.111,2565,2401,3693,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6383,-0.94,-175.2,603.4,-10.6,394,6388,0.00,1.67,0.00,0.000,6,0.000,0.119,2565,1517,3693,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6703,-0.94,-175.2,641.4,-11.5,405,6709,0.00,1.67,0.00,0.000,4,0.000,0.138,2565,639,3692,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6812,-0.94,-175.2,653.0,-11.8,408,6817,0.00,1.55,0.00,0.000,6,0.000,0.090,2559,1509,3691,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7133,-0.94,-175.2,689.5,-10.7,419,7134,0.10,0.00,0.00,0.000,6,0.283,0.000,2581,1509,3690,0,0,0,0,0,0,14.42,28.83,28.83
$GC,7430,-0.94,-175.2,717.7,-9.0,429,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1509,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7731,-0.94,-175.2,742.3,-8.0,439,7736,0.00,1.65,0.00,0.000,4,0.000,0.110,2577,2399,3686,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7808,-0.94,-175.2,747.2,-7.8,441,7814,0.00,1.70,0.00,0.000,6,0.000,0.123,2577,1506,3686,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8130,-0.94,-175.2,772.8,-7.9,452,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1509,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.94,-175.2,797.8,-8.6,462,8432,0.00,1.67,0.00,0.000,4,0.000,0.112,2572,2399,3683,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8479,-0.94,-175.2,800.8,-8.6,463,8484,0.00,1.70,0.00,0.000,6,0.000,0.124,2572,1517,3682,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8793,-0.94,-175.2,831.7,-9.7,474,8798,0.00,1.73,0.00,0.000,4,0.000,0.146,2573,633,3681,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8880,-0.94,-175.2,838.5,-10.3,476,8887,0.00,1.58,0.00,0.000,6,0.000,0.096,2566,1501,3680,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9187,-0.94,-175.2,876.0,-11.7,487,9192,0.00,1.70,0.00,0.000,4,0.000,0.145,2566,636,3679,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9239,-0.94,-175.2,880.1,-11.7,488,9245,0.00,1.58,0.00,0.000,6,0.000,0.097,2560,1502,3679,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9553,-0.94,-175.2,918.4,-11.1,499,9559,0.00,1.70,0.00,0.000,4,0.000,0.121,2555,2401,3678,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9667,-0.94,-175.2,928.3,-10.7,502,9673,0.12,1.73,0.00,0.000,6,0.236,0.126,2585,1507,3678,0,0,0,0,0,0,14.19,14.26,28.83
$GC,9984,-0.98,-175.2,957.4,-8.1,513,9989,0.00,1.70,0.00,0.000,4,0.000,0.150,2585,633,3676,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10086,-1.01,-175.2,965.2,-8.1,516,10091,0.00,1.58,0.00,0.000,6,0.000,0.099,2581,1494,3676,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,10410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10410,begin apogee
$GC,10416,-0.23,0.0,990.3,-7.5,527,10657,0.77,0.00,232.80,1.508,4,0.194,0.000,2807,1519,2986,0,0,0,0,0,0,14.13,28.83,13.39
$STATE,10659,end apogee,CONTROL_FINISHED_OK
$STATE,10659,begin climb
$GC,10662,0.82,175.2,1003.0,0.0,535,10847,1.10,1.80,176.00,1.782,4,0.125,0.158,3152,634,2272,0,0,0,0,0,0,14.10,14.03,13.21
$GC,11076,0.78,176.9,985.6,7.4,549,11081,0.00,1.65,0.00,0.000,6,0.000,0.104,3152,1530,2257,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11408,0.75,201.6,962.5,6.8,560,11439,0.00,1.62,26.35,1.721,4,0.000,0.125,3152,2403,2162,0,0,0,0,0,0,28.83,14.42,13.64
$GC,11542,0.71,201.6,953.1,7.6,564,11548,0.15,1.70,0.00,0.000,6,0.306,0.138,3126,1530,2154,0,0,0,0,0,0,14.23,14.38,28.83
$GC,11864,0.71,201.6,927.3,7.9,575,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1530,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12161,0.71,201.6,903.0,8.0,585,12166,0.00,1.65,0.00,0.000,4,0.000,0.123,3126,2408,2151,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12274,0.71,201.6,895.4,7.9,588,12280,0.00,1.67,0.00,0.000,6,0.000,0.138,3132,1543,2150,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12590,0.72,215.4,870.7,7.1,599,12606,0.00,0.00,13.90,1.649,6,0.000,0.000,3132,1543,2110,0,0,0,0,0,0,28.83,28.83,13.73
$GC,12888,0.74,253.0,850.8,6.4,609,12930,0.00,0.00,39.83,1.697,6,0.000,0.000,3132,1541,1957,0,0,0,0,0,0,28.83,28.83,13.61
$GC,13219,0.76,280.0,828.8,6.7,620,13253,0.00,1.83,27.73,1.657,4,0.000,0.155,3140,637,1841,0,0,0,0,0,0,28.83,14.33,13.62
$GC,13306,0.77,299.9,824.3,6.9,622,13334,0.00,1.65,21.70,1.608,6,0.000,0.097,3139,1538,1761,0,0,0,0,0,0,28.83,14.36,13.53
$GC,13643,0.77,299.9,794.0,8.9,634,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1538,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13943,0.77,299.9,765.9,9.6,644,13948,0.00,1.60,0.00,0.000,4,0.000,0.118,3140,2406,1747,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14006,0.77,299.9,759.4,9.9,646,14011,0.00,1.67,0.00,0.000,6,0.000,0.137,3145,1548,1747,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14341,0.77,299.9,727.0,9.5,657,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1548,1746,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22435,end climb,SURFACE_DEPTH_REACHED
$STATE,22435,begin surface coast
$FINISH,1.3,1.007396
$STATE,22466,end surface coast,CONTROL_FINISHED_OK
$STATE,22469,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,53.62
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$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7661216
$TM_FREEKB,4944896
$24V_AH,13.2,120.512
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.825,131.625,584.200,133.975,0.000,0.000,0.000,358.550,0.500,0.000,19.163,3610.851,15065.760,884.036,3200.743,532.439,0.000,2715.053,0.000,2673.195,0.000,0.542,0.000
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$MEM,345556
$DATA_FILE_SIZE,39955,1113
$CAP_FILE_SIZE,248916,0
$CFSIZE,260034560,210280448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,184.1,1
$GPS,161212,095205,2409.417,-3752.093,25,1.1,25,-14.0