version: 66.11
glider: 190
mission: 6
dive: 602
start: 3 14 113 1 40 33
data:
$ID,190
$MISSION,6
$DIVE,602
$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,190
$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,-13741.329
$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,11
$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
$GPS1,140313,012728,2427.796,-3835.453,45,0.8,45,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-61.4
$GPS2,140313,014000,2427.718,-3835.399,17,1.3,17,-14.2
$SPEED_LIMITS,0.123,0.141
$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,93.6,57446,-13.4,-7.101,-26.77
$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,23,-0.78,-184.9,0.0,0.0,0,35,0.00,0.00,-10.20,0.000,2,0.000,0.000,133,1512,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.78,-184.9,2.4,0.0,1,155,10.85,2.03,-95.32,0.000,4,0.331,0.125,2607,2575,3448,0,0,0,0,0,0,14.02,14.04,14.60
$GC,349,-0.78,-184.9,21.6,-8.9,32,356,0.00,2.05,0.00,0.000,6,0.000,0.112,2607,1514,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,660,-0.78,-184.9,49.3,-8.9,63,666,0.00,2.10,0.00,0.000,4,0.000,0.132,2607,458,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,729,-0.75,-184.9,55.5,-8.9,70,736,0.00,1.98,0.00,0.000,6,0.000,0.080,2605,1532,3449,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1038,-0.75,-184.9,84.0,-10.0,101,1047,0.00,2.17,0.00,0.000,4,0.000,0.131,2605,460,3448,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1172,-0.72,-184.9,98.9,-11.6,114,1180,0.12,1.92,0.00,0.000,6,0.247,0.080,2635,1507,3448,0,0,0,0,0,0,13.79,14.00,28.83
$GC,1482,-0.72,-184.9,128.2,-8.1,145,1489,0.00,2.00,0.00,0.000,4,0.000,0.100,2631,2579,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1571,-0.74,-184.9,134.2,-6.3,154,1578,0.00,2.08,0.00,0.000,6,0.000,0.112,2632,1514,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1881,-0.74,-184.9,151.0,-4.3,185,1888,0.00,2.10,0.00,0.000,4,0.000,0.132,2631,458,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1979,-0.74,-184.9,156.2,-5.7,195,1987,0.00,1.92,0.00,0.000,6,0.000,0.077,2632,1496,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2290,-0.74,-184.9,175.8,-6.9,226,2297,0.00,2.08,0.00,0.000,4,0.000,0.129,2632,456,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2360,-0.74,-184.9,180.8,-7.1,233,2368,0.00,1.88,0.00,0.000,6,0.000,0.076,2631,1483,3448,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2671,-0.76,-184.9,202.6,-7.3,264,2677,0.00,2.05,0.00,0.000,4,0.000,0.099,2636,2578,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2759,-0.78,-184.9,208.6,-6.6,273,2767,0.00,2.15,0.00,0.000,6,0.000,0.109,2631,1480,3449,0,0,0,0,0,0,28.83,13.89,28.83
$GC,3069,-0.81,-184.9,233.4,-8.6,304,3077,0.00,2.10,0.00,0.000,4,0.000,0.099,2631,2574,3447,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3131,-0.83,-184.9,238.5,-8.4,310,3138,0.00,2.12,0.00,0.000,6,0.000,0.109,2631,1479,3449,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3450,-0.85,-184.9,264.9,-8.2,330,3456,0.10,2.10,0.00,0.000,4,0.145,0.099,2579,2579,3448,0,0,0,0,0,0,14.40,13.91,28.83
$GC,3580,-0.85,-184.9,274.7,-8.2,334,3585,0.00,2.17,0.00,0.000,6,0.000,0.109,2579,1456,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3899,-0.85,-184.9,300.9,-7.8,345,3905,0.00,2.00,0.00,0.000,4,0.000,0.128,2579,466,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3999,-0.82,-184.9,308.2,-8.0,348,4006,0.00,1.80,0.00,0.000,6,0.000,0.075,2576,1438,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4319,-0.82,-184.9,334.7,-8.1,359,4326,0.00,2.17,0.00,0.000,4,0.000,0.100,2567,2571,3446,0,0,0,0,0,0,28.83,13.72,28.83
$GC,4388,-0.82,-184.9,340.0,-8.5,361,4396,0.12,2.22,0.00,0.000,6,0.219,0.110,2598,1447,3446,0,0,0,0,0,0,13.80,13.85,28.83
$GC,4713,-0.82,-184.9,368.8,-8.6,372,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1447,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-0.82,-184.9,395.2,-8.8,382,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1448,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5310,-0.82,-184.9,419.4,-7.7,392,5315,0.00,2.12,0.00,0.000,4,0.000,0.093,2592,2575,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5399,-0.82,-184.9,426.4,-7.6,395,5406,0.00,2.20,0.00,0.000,6,0.000,0.107,2592,1451,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5731,-0.82,-184.9,451.3,-7.6,406,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1452,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-0.82,-184.9,476.8,-8.9,416,6035,0.00,2.00,0.00,0.000,4,0.000,0.126,2592,463,3445,0,0,0,0,0,0,28.83,13.70,28.83
$GC,6098,-0.82,-184.9,482.5,-9.2,418,6105,0.00,1.85,0.00,0.000,6,0.000,0.073,2586,1460,3442,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6421,-0.82,-184.9,515.3,-10.1,429,6426,0.00,2.03,0.00,0.000,4,0.000,0.127,2586,458,3442,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6469,-0.82,-184.9,518.4,-10.1,430,6476,0.00,1.83,0.00,0.000,6,0.000,0.076,2581,1442,3442,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6780,-0.82,-184.9,550.2,-9.2,441,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1442,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,-0.82,-184.9,575.7,-8.2,451,7086,0.00,2.00,0.00,0.000,4,0.000,0.130,2581,466,3439,0,0,0,0,0,0,28.83,13.69,28.83
$GC,7170,-0.80,-184.9,583.4,-8.5,454,7176,0.12,1.80,0.00,0.000,6,0.256,0.079,2607,1436,3438,0,0,0,0,0,0,13.69,13.94,28.83
$GC,7503,-0.80,-184.9,609.6,-7.9,465,7508,0.00,2.20,0.00,0.000,4,0.000,0.106,2605,2576,3438,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7559,-0.80,-184.9,614.2,-7.8,467,7566,0.00,2.25,0.00,0.000,6,0.000,0.116,2605,1442,3438,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7891,-0.80,-184.9,639.9,-7.6,478,7896,0.00,1.98,0.00,0.000,4,0.000,0.130,2605,461,3437,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7928,-0.80,-184.9,642.0,-7.5,479,7935,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1441,3437,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8249,-0.80,-184.9,665.8,-7.3,490,8255,0.00,2.20,0.00,0.000,4,0.000,0.105,2604,2569,3436,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8379,-0.80,-184.9,674.9,-7.6,494,8385,0.00,2.20,0.00,0.000,6,0.000,0.116,2605,1464,3435,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8699,-0.80,-184.9,702.3,-8.7,505,8705,0.00,2.03,0.00,0.000,4,0.000,0.129,2604,464,3435,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8781,-0.80,-184.9,708.0,-9.1,507,8787,0.00,1.88,0.00,0.000,6,0.000,0.080,2604,1476,3434,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9089,-0.80,-184.9,739.3,-9.7,518,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1476,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9389,-0.80,-184.9,767.4,-9.1,528,9395,0.00,2.10,0.00,0.000,4,0.000,0.137,2605,463,3432,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9489,-0.80,-184.9,775.4,-9.0,531,9495,0.00,1.88,0.00,0.000,6,0.000,0.085,2605,1449,3431,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9809,-0.80,-184.9,802.5,-7.8,542,9815,0.00,2.20,0.00,0.000,4,0.000,0.109,2604,2574,3431,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9920,-0.82,-184.9,809.4,-7.7,545,9927,0.00,2.20,0.00,0.000,6,0.000,0.114,2604,1468,3430,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10229,-0.82,-184.9,831.3,-6.2,556,10235,0.00,2.08,0.00,0.000,4,0.000,0.138,2604,461,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10350,-0.82,-184.9,838.9,-6.4,560,10356,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1457,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10682,-0.82,-184.9,857.1,-5.5,571,10688,0.00,2.03,0.00,0.000,4,0.000,0.141,2604,462,3428,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10810,-0.82,-184.9,864.7,-6.3,575,10815,0.00,1.80,0.00,0.000,6,0.000,0.087,2604,1427,3427,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11133,-0.82,-184.9,886.6,-7.0,586,11138,0.00,1.98,0.00,0.000,4,0.000,0.139,2604,457,3426,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11259,-0.82,-184.9,896.1,-7.9,590,11265,0.00,1.80,0.00,0.000,6,0.000,0.088,2604,1393,3425,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11583,-0.84,-184.9,925.0,-9.3,601,11588,0.00,2.33,0.00,0.000,4,0.000,0.118,2605,2577,3424,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11708,-0.87,-184.9,936.1,-9.3,605,11715,0.00,2.35,0.00,0.000,6,0.000,0.122,2604,1409,3423,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12034,-0.89,-184.9,967.2,-9.1,616,12039,0.00,2.30,0.00,0.000,4,0.000,0.112,2604,2579,3423,0,0,0,0,0,0,28.83,13.93,28.83
$GC,12149,-0.91,-184.9,977.2,-8.3,620,12155,0.00,2.42,0.00,0.000,6,0.000,0.126,2604,1378,3423,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,12205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12205,begin apogee
$GC,12216,-0.25,0.0,981.9,-7.9,622,12430,0.62,0.00,197.65,2.267,4,0.183,0.000,2778,1526,2696,0,0,0,0,1,0,13.78,28.83,12.75
$STATE,12431,end apogee,CONTROL_FINISHED_OK
$STATE,12431,begin climb
$GC,12435,0.78,184.9,992.8,0.0,629,12646,1.10,2.05,199.18,1.819,4,0.126,0.116,3121,2577,1939,0,0,0,0,0,0,13.83,13.80,13.07
$GC,12785,0.76,184.9,972.1,9.2,641,12792,0.00,2.12,0.00,0.000,6,0.000,0.135,3129,1527,1924,0,0,0,0,0,0,28.83,13.86,28.83
$GC,13110,0.73,184.9,944.5,7.8,652,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1527,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13407,0.73,208.6,924.1,6.5,662,13436,0.00,2.20,24.00,1.733,4,0.000,0.155,3137,453,1837,0,0,0,0,0,0,28.83,14.21,13.34
$GC,13570,0.71,228.9,914.6,6.6,667,13598,0.15,2.03,22.77,1.717,6,0.261,0.092,3103,1559,1759,0,0,0,0,0,0,13.96,14.18,13.29
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$STATE,22817,end climb,SURFACE_DEPTH_REACHED
$STATE,22817,begin surface coast
$FINISH,1.6,1.025878
$STATE,22853,end surface coast,CONTROL_FINISHED_OK
$STATE,22854,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,62.60
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.30
$XPDR_PINGS,2
$SC_FREEKB,7540224
$24V_AH,12.7,251.794
$10V_AH,12.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.500,206.875,531.150,20.275,0.000,0.000,0.000,427.125,0.500,0.000,19.343,3282.088,15907.227,918.211,2682.931,844.578,0.000,2553.701,0.000,2212.071,0.000,0.543,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.957,0.000,0.000,0.000
$MEM,344916
$DATA_FILE_SIZE,43404,1142
$CAP_FILE_SIZE,241311,0
$CFSIZE,260034560,171814912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.090,238.2,1
$GPS,140313,080334,2427.430,-3835.445,36,0.8,36,-14.2