version: 66.11
glider: 190
mission: 6
dive: 519
start: 2 18 113 11 6 44
data:
$ID,190
$MISSION,6
$DIVE,519
$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,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,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,-13568.847
$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,20
$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,10
$R_STBD_OVSHOOT,15
$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
$GPS1,180213,105422,2441.439,-3812.976,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-59.5
$GPS2,180213,110611,2441.464,-3813.138,19,0.8,19,-14.0
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,165.9,39325,-16.1,-7.101,-28.69
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.70,0.000,2,0.000,0.000,132,1528,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.6,0.0,1,136,11.18,2.15,-80.47,0.000,4,0.353,0.166,2577,459,3329,0,0,0,0,0,0,14.13,14.03,14.67
$GC,297,-0.85,-155.7,22.1,-9.8,27,304,0.00,1.92,0.00,0.000,6,0.000,0.086,2571,1530,3329,0,0,0,0,0,0,28.83,14.15,28.83
$GC,608,-0.81,-155.7,45.3,-7.3,58,615,0.12,0.00,0.00,0.000,6,0.272,0.000,2604,1530,3329,0,0,0,0,0,0,13.99,28.83,28.83
$GC,917,-0.81,-155.7,67.0,-7.2,89,925,0.00,2.12,0.00,0.000,4,0.000,0.142,2605,459,3329,0,0,0,0,0,0,28.83,13.95,28.83
$GC,956,-0.79,-155.7,70.4,-8.5,93,966,0.00,1.92,0.00,0.000,6,0.000,0.084,2605,1515,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1267,-0.79,-155.7,98.6,-8.2,124,1274,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,459,3329,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1346,-0.76,-155.7,105.6,-8.7,132,1354,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1503,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1656,-0.76,-155.7,132.8,-9.1,163,1664,0.00,2.10,0.00,0.000,4,0.000,0.140,2605,453,3329,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1707,-0.76,-155.7,137.7,-9.6,168,1714,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1494,3329,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2016,-0.76,-155.7,162.1,-6.5,199,2024,0.00,2.08,0.00,0.000,4,0.000,0.138,2606,457,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2067,-0.76,-155.7,165.5,-6.9,204,2074,0.00,1.88,0.00,0.000,6,0.000,0.083,2604,1485,3329,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2378,-0.76,-155.7,182.1,-5.1,235,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1482,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-0.76,-155.7,202.4,-7.5,266,2695,0.00,2.00,0.00,0.000,4,0.000,0.135,2604,458,3330,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2796,-0.76,-155.7,211.7,-8.5,277,2805,0.00,1.83,0.00,0.000,6,0.000,0.081,2604,1465,3332,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3106,-0.76,-155.7,241.1,-9.7,308,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1464,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,-0.76,-155.7,269.1,-8.0,325,3426,0.00,1.98,0.00,0.000,4,0.000,0.136,2604,461,3330,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3546,-0.76,-155.7,277.8,-7.3,329,3553,0.00,1.77,0.00,0.000,6,0.000,0.082,2604,1447,3329,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3869,-0.76,-155.7,297.7,-6.0,340,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1447,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-0.76,-155.7,318.0,-7.2,350,4173,0.00,2.10,0.00,0.000,4,0.000,0.103,2604,2570,3328,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4245,-0.76,-155.7,322.6,-7.5,352,4254,0.00,2.15,0.00,0.000,6,0.000,0.115,2604,1466,3329,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4556,-0.76,-155.7,349.4,-8.4,363,4562,0.00,2.00,0.00,0.000,4,0.000,0.140,2604,461,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4725,-0.76,-155.7,362.6,-8.7,368,4733,0.00,1.80,0.00,0.000,6,0.000,0.083,2604,1444,3328,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5037,-0.76,-155.7,390.4,-8.2,379,5043,0.00,2.12,0.00,0.000,4,0.000,0.108,2604,2579,3327,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5135,-0.78,-155.7,397.5,-7.9,382,5143,0.00,2.20,0.00,0.000,6,0.000,0.120,2604,1464,3327,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5461,-0.80,-155.7,423.5,-7.8,393,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1464,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.82,-155.7,446.6,-7.7,403,5763,0.00,2.12,0.00,0.000,4,0.000,0.108,2604,2571,3325,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5816,-0.85,-155.7,451.3,-7.7,405,5824,0.00,2.17,0.00,0.000,6,0.000,0.121,2604,1465,3325,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6151,-0.87,-155.7,478.7,-8.7,416,6156,0.00,2.00,0.00,0.000,4,0.000,0.145,2604,459,3324,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6195,-0.87,-155.7,481.4,-8.8,417,6203,0.00,1.85,0.00,0.000,6,0.000,0.089,2604,1461,3324,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6511,-0.89,-155.7,511.2,-9.0,428,6516,0.00,2.00,0.00,0.000,4,0.000,0.142,2604,459,3323,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6615,-0.89,-155.7,519.7,-9.3,431,6625,0.00,1.83,0.00,0.000,6,0.000,0.090,2604,1440,3321,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6931,-0.91,-155.7,546.6,-7.6,442,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1440,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,-0.94,-155.7,568.0,-7.1,452,7229,0.12,0.00,0.00,0.000,6,0.141,0.000,2551,1441,3319,0,0,0,0,0,0,14.50,28.83,28.83
$GC,7526,-0.94,-155.7,591.6,-7.9,462,7533,0.00,1.98,0.00,0.000,4,0.000,0.141,2551,463,3320,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7637,-0.91,-155.7,599.0,-8.2,465,7644,0.00,1.80,0.00,0.000,6,0.000,0.091,2549,1439,3319,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7947,-0.91,-155.7,627.8,-8.9,476,7953,0.00,1.98,0.00,0.000,4,0.000,0.142,2549,462,3318,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8017,-0.88,-155.7,633.2,-8.9,478,8024,0.10,1.77,0.00,0.000,6,0.239,0.092,2577,1423,3318,0,0,0,0,0,0,13.74,14.06,28.83
$GC,8339,-0.88,-155.7,660.4,-8.2,489,8345,0.00,2.20,0.00,0.000,4,0.000,0.112,2569,2572,3317,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8436,-0.88,-155.7,667.8,-8.2,492,8443,0.00,2.22,0.00,0.000,6,0.000,0.123,2569,1450,3317,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8756,-0.88,-155.7,696.2,-8.6,503,8763,0.00,2.00,0.00,0.000,4,0.000,0.146,2565,459,3317,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8876,-0.88,-155.7,707.0,-8.9,507,8883,0.00,1.80,0.00,0.000,6,0.000,0.091,2564,1427,3316,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9207,-0.88,-155.7,735.0,-8.4,518,9213,0.00,1.95,0.00,0.000,4,0.000,0.145,2564,461,3314,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9306,-0.88,-155.7,743.0,-8.8,521,9312,0.00,1.80,0.00,0.000,6,0.000,0.090,2558,1424,3314,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9628,-0.88,-155.7,770.0,-7.8,532,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1424,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9926,-0.88,-155.7,793.3,-7.9,542,9933,0.00,1.95,0.00,0.000,4,0.000,0.142,2558,462,3312,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10048,-0.86,-155.7,803.7,-8.7,546,10053,0.15,1.73,0.00,0.000,6,0.267,0.090,2586,1402,3310,0,0,0,0,0,0,13.65,14.07,28.83
$GC,10379,-0.86,-155.7,831.5,-8.8,557,10385,0.00,1.92,0.00,0.000,4,0.000,0.147,2585,460,3309,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10527,-0.86,-155.7,845.1,-9.0,562,10532,0.00,1.73,0.00,0.000,6,0.000,0.092,2580,1382,3309,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10859,-0.86,-155.7,872.9,-8.2,573,10865,0.00,1.88,0.00,0.000,4,0.000,0.148,2580,461,3308,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10996,-0.86,-155.7,883.2,-8.6,577,11004,0.00,1.67,0.00,0.000,6,0.000,0.093,2578,1356,3307,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11307,-0.86,-155.7,909.3,-7.8,588,11313,0.00,1.85,0.00,0.000,4,0.000,0.150,2578,463,3307,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11435,-0.86,-155.7,919.7,-8.7,592,11442,0.00,1.65,0.00,0.000,6,0.000,0.093,2578,1337,3306,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11757,-0.86,-155.7,947.6,-8.4,603,11763,0.00,1.80,0.00,0.000,4,0.000,0.151,2578,459,3305,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11876,-0.86,-155.7,958.2,-8.8,607,11883,0.00,1.62,0.00,0.000,6,0.000,0.093,2577,1320,3305,0,0,0,0,0,0,28.83,13.99,28.83
$STATE,12143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12143,begin apogee
$GC,12152,-0.25,0.0,981.2,-8.6,616,12314,0.75,0.00,155.98,1.817,4,0.213,0.000,2782,1517,2690,0,0,0,0,0,0,13.65,28.83,12.99
$STATE,12318,end apogee,CONTROL_FINISHED_OK
$STATE,12318,begin climb
$GC,12322,0.90,155.7,989.3,0.0,621,12498,1.20,2.05,163.60,1.781,4,0.135,0.120,3156,2581,2056,0,0,0,0,0,0,14.10,14.09,13.07
$GC,12527,0.88,210.1,983.9,5.4,628,12590,0.00,2.12,58.10,1.729,6,0.000,0.142,3164,1525,1836,0,0,0,0,0,0,28.83,14.09,13.12
$GC,12887,0.88,210.1,952.1,8.6,640,12894,0.00,2.05,0.00,0.000,4,0.000,0.124,3163,2577,1818,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13016,0.88,210.1,941.6,8.8,644,13024,0.00,2.12,0.00,0.000,6,0.000,0.148,3170,1535,1817,0,0,0,0,0,0,28.83,14.15,28.83
$GC,13339,0.88,210.1,911.9,9.1,655,13344,0.00,2.03,0.00,0.000,4,0.000,0.125,3170,2580,1816,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13416,0.88,210.1,906.2,9.3,657,13425,0.00,2.08,0.00,0.000,6,0.000,0.144,3178,1553,1816,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13729,0.88,210.1,874.0,9.9,668,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1553,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14027,0.88,210.1,843.8,10.1,678,14034,0.00,2.00,0.00,0.000,4,0.000,0.123,3177,2571,1814,0,0,0,0,0,0,28.83,14.08,28.83
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$STATE,23744,end climb,SURFACE_DEPTH_REACHED
$STATE,23745,begin surface coast
$FINISH,1.7,1.025941
$STATE,23770,end surface coast,CONTROL_FINISHED_OK
$STATE,23770,begin surface
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$HUMID,57.12
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$TCM_TEMP,23.00
$XPDR_PINGS,1
$SC_FREEKB,7571712
$24V_AH,13.0,218.855
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.150,184.625,377.675,70.375,0.000,0.000,0.000,401.575,0.250,0.000,20.666,3471.057,16691.627,869.107,2756.382,774.151,0.000,2502.943,0.000,2294.469,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344896
$DATA_FILE_SIZE,43314,1194
$CAP_FILE_SIZE,245486,0
$CFSIZE,260034560,181202944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,294.6,1
$GPS,180213,174557,2441.100,-3813.285,38,1.1,41,-14.0