version: 66.11
glider: 190
mission: 6
dive: 398
start: 1 16 113 1 45 54
data:
$ID,190
$MISSION,6
$DIVE,398
$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,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,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,-13416.362
$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,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,14
$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,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,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,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
$GPS1,160113,013104,2431.408,-3805.945,28,1.2,28,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-60.3
$GPS2,160113,014523,2431.436,-3805.793,17,1.2,18,-14.0
$SPEED_LIMITS,0.124,0.130
$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,61.8,7961,-16.4,-7.174,-28.86
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.05,0.000,2,0.000,0.000,137,1514,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.3,0.0,1,148,11.07,2.05,-88.90,0.000,4,0.347,0.127,2611,2588,3626,0,0,0,0,0,0,14.09,14.23,14.65
$GC,381,-0.84,-155.7,24.1,-9.3,35,388,0.00,2.03,0.00,0.000,6,0.000,0.116,2611,1520,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,689,-0.84,-155.7,55.8,-10.8,66,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,998,-0.87,-155.7,85.6,-9.3,97,1007,0.00,2.08,0.00,0.000,4,0.000,0.139,2610,462,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1050,-0.87,-155.7,90.5,-9.8,102,1057,0.00,1.90,0.00,0.000,6,0.000,0.087,2605,1517,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1360,-0.90,-155.7,117.4,-7.8,133,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1517,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,-0.93,-155.7,141.3,-7.6,164,1677,0.00,2.08,0.00,0.000,4,0.000,0.141,2605,457,3626,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1849,-0.93,-155.7,154.7,-7.4,182,1857,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1504,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2159,-0.97,-155.7,177.3,-8.4,213,2168,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,461,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2229,-0.97,-155.7,183.8,-9.3,220,2237,0.00,1.88,0.00,0.000,6,0.000,0.086,2605,1494,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2540,-1.01,-155.7,211.4,-8.7,251,2547,0.12,2.03,0.00,0.000,4,0.138,0.139,2552,454,3627,0,0,0,0,0,0,14.53,14.14,28.83
$GC,2609,-0.97,-155.7,218.1,-9.8,258,2617,0.00,1.88,0.00,0.000,6,0.000,0.089,2552,1483,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2920,-0.97,-155.7,244.7,-8.5,289,2928,0.00,2.05,0.00,0.000,4,0.000,0.112,2552,2592,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2958,-0.97,-155.7,247.8,-7.6,293,2968,0.00,2.17,0.00,0.000,6,0.000,0.122,2552,1481,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3292,-0.97,-155.7,274.1,-8.0,306,3297,0.00,2.08,0.00,0.000,4,0.000,0.112,2552,2582,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3348,-0.97,-155.7,279.0,-7.9,308,3355,0.00,2.12,0.00,0.000,6,0.000,0.123,2552,1494,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3679,-0.97,-155.7,309.0,-9.7,319,3686,0.00,2.00,0.00,0.000,4,0.000,0.135,2552,460,3624,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3728,-0.97,-155.7,312.2,-9.9,320,3736,0.00,1.88,0.00,0.000,6,0.000,0.087,2552,1491,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4038,-0.97,-155.7,348.2,-11.3,331,4046,0.00,2.03,0.00,0.000,4,0.000,0.113,2552,2570,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4089,-0.97,-155.7,351.4,-11.2,332,4097,0.00,2.10,0.00,0.000,6,0.000,0.122,2552,1488,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4398,-0.97,-155.7,386.5,-10.4,343,4406,0.00,2.05,0.00,0.000,4,0.000,0.112,2552,2572,3623,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4448,-0.97,-155.7,389.7,-10.5,344,4457,0.00,2.10,0.00,0.000,6,0.000,0.123,2552,1498,3624,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4759,-0.97,-155.7,424.4,-10.7,355,4766,0.00,2.05,0.00,0.000,4,0.000,0.145,2552,458,3623,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4960,-0.94,-155.7,445.4,-11.7,361,4968,0.08,1.88,0.00,0.000,6,0.246,0.094,2588,1479,3622,0,0,0,0,0,0,14.05,14.28,28.83
$GC,5272,-0.98,-155.7,479.0,-9.8,372,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1479,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-1.02,-155.7,505.4,-8.3,382,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1480,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,-1.05,-155.7,529.8,-8.0,392,5871,0.12,0.00,0.00,0.000,6,0.144,0.000,2536,1479,3620,0,0,0,0,0,0,14.60,28.83,28.83
$GC,6169,-1.05,-155.7,558.0,-9.8,402,6175,0.00,2.03,0.00,0.000,4,0.000,0.145,2536,460,3617,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6238,-1.05,-155.7,564.4,-10.4,404,6247,0.00,1.90,0.00,0.000,6,0.000,0.096,2536,1481,3619,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6558,-1.05,-155.7,600.5,-11.0,415,6566,0.00,2.08,0.00,0.000,4,0.000,0.112,2536,2578,3617,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6688,-1.05,-155.7,613.5,-10.8,419,6695,0.00,2.12,0.00,0.000,6,0.000,0.119,2536,1485,3617,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7011,-1.05,-155.7,648.1,-10.2,430,7016,0.00,1.98,0.00,0.000,4,0.000,0.138,2535,457,3615,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7098,-1.05,-155.7,657.8,-10.5,433,7105,0.00,1.88,0.00,0.000,6,0.000,0.088,2535,1481,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7432,-1.05,-155.7,690.0,-9.7,444,7437,0.00,2.08,0.00,0.000,4,0.000,0.116,2535,2580,3613,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7497,-1.05,-155.7,695.8,-9.7,446,7504,0.00,2.15,0.00,0.000,6,0.000,0.118,2536,1480,3613,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7819,-1.05,-155.7,731.3,-11.2,457,7825,0.00,2.10,0.00,0.000,4,0.000,0.116,2535,2573,3612,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7867,-1.05,-155.7,734.7,-11.3,458,7876,0.00,2.12,0.00,0.000,6,0.000,0.117,2535,1483,3612,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8178,-1.05,-155.7,771.7,-11.0,469,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1483,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8479,-1.05,-155.7,802.8,-10.1,479,8486,0.00,2.00,0.00,0.000,4,0.000,0.137,2536,465,3609,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8587,-1.05,-155.7,812.0,-10.1,482,8596,0.00,1.90,0.00,0.000,6,0.000,0.087,2535,1496,3609,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8899,-1.05,-155.7,839.4,-7.8,493,8905,0.00,2.05,0.00,0.000,4,0.000,0.113,2535,2571,3607,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8997,-1.05,-155.7,846.0,-7.3,496,9005,0.00,2.12,0.00,0.000,6,0.000,0.123,2535,1497,3606,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9318,-1.05,-155.7,873.3,-8.7,507,9326,0.00,2.05,0.00,0.000,4,0.000,0.139,2535,460,3606,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9379,-1.05,-155.7,879.2,-9.3,509,9385,0.00,1.90,0.00,0.000,6,0.000,0.089,2525,1494,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9711,-1.05,-155.7,913.4,-10.9,520,9716,0.00,2.08,0.00,0.000,4,0.000,0.113,2523,2588,3604,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9818,-1.05,-155.7,923.6,-11.5,523,9827,0.00,2.12,0.00,0.000,6,0.000,0.119,2524,1503,3604,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10129,-1.05,-155.7,963.9,-12.4,534,10135,0.00,2.08,0.00,0.000,4,0.000,0.143,2523,461,3603,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10178,-1.03,-155.7,967.8,-12.6,535,10187,0.12,1.98,0.00,0.000,6,0.301,0.096,2550,1513,3602,0,0,0,0,0,0,13.88,14.21,28.83
$STATE,10366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10366,begin apogee
$GC,10374,-0.23,0.0,992.9,-11.7,542,10536,0.93,0.00,154.68,1.855,4,0.208,0.000,2812,1514,2986,0,0,0,0,0,0,13.83,28.83,13.07
$STATE,10540,end apogee,CONTROL_FINISHED_OK
$STATE,10540,begin climb
$GC,10543,0.84,155.7,1005.9,0.0,547,10715,1.10,2.05,160.98,1.843,4,0.116,0.116,3161,2581,2355,0,0,0,0,0,0,14.12,14.09,13.10
$GC,10872,0.82,202.5,1004.1,5.7,559,10929,0.00,2.12,50.03,1.794,6,0.000,0.135,3169,1515,2159,0,0,0,0,0,0,28.83,14.28,13.25
$GC,11234,0.78,202.5,974.2,9.2,571,11242,0.00,2.10,0.00,0.000,4,0.000,0.158,3177,460,2148,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11324,0.74,202.5,964.7,10.2,574,11331,0.15,1.95,0.00,0.000,6,0.280,0.098,3137,1519,2148,0,0,0,0,0,0,14.12,14.40,28.83
$GC,11657,0.74,202.5,933.7,9.0,585,11662,0.00,1.98,0.00,0.000,4,0.000,0.119,3137,2581,2145,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11752,0.74,202.5,925.9,8.7,588,11761,0.00,2.12,0.00,0.000,6,0.000,0.139,3145,1514,2145,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12077,0.76,230.2,902.4,6.3,599,12111,0.00,2.00,28.50,1.747,4,0.000,0.125,3145,2574,2044,0,0,0,0,0,0,28.83,14.43,13.45
$GC,12194,0.78,271.0,895.4,5.9,603,12243,0.00,2.10,44.25,1.750,6,0.000,0.145,3152,1529,1886,0,0,0,0,0,0,28.83,14.23,13.31
$GC,12554,0.80,305.3,873.2,6.1,615,12596,0.00,2.08,36.97,1.727,4,0.000,0.128,3158,2576,1740,0,0,0,0,0,0,28.83,14.28,13.38
$GC,12634,0.82,329.1,867.8,6.4,618,12667,0.00,2.10,27.52,1.690,6,0.000,0.146,3159,1533,1647,0,0,0,0,0,0,28.83,14.18,13.30
$GC,12985,0.82,329.1,838.9,8.9,630,12992,0.00,2.05,0.00,0.000,4,0.000,0.126,3160,2587,1632,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13045,0.82,329.1,832.9,9.4,632,13052,0.00,2.08,0.00,0.000,6,0.000,0.145,3166,1548,1632,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13378,0.82,329.1,798.6,10.7,643,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1550,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13675,0.82,329.1,766.1,10.9,653,13683,0.00,2.00,0.00,0.000,4,0.000,0.124,3166,2576,1628,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,21564,end climb,SURFACE_DEPTH_REACHED
$STATE,21564,begin surface coast
$FINISH,1.2,1.003194
$STATE,21596,end surface coast,CONTROL_FINISHED_OK
$STATE,21596,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.25
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7617824
$TM_FREEKB,3941568
$24V_AH,13.1,169.255
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.125,187.400,502.925,8.375,0.000,0.000,0.000,475.600,0.250,0.000,19.397,3065.403,15152.586,933.436,2626.473,697.977,0.000,2542.680,0.000,2048.224,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.890,13.224,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,40064,1087
$CAP_FILE_SIZE,231610,0
$CFSIZE,260034560,195194880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,124.5,1
$GPS,160113,074735,2432.135,-3803.599,24,0.9,24,-14.0