version: 66.11
glider: 190
mission: 6
dive: 592
start: 3 11 113 5 59 16
data:
$ID,190
$MISSION,6
$DIVE,592
$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,-13728.182
$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
$GPS1,110313,054634,2428.753,-3832.668,23,1.0,24,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-61.3
$GPS2,110313,055842,2428.649,-3832.699,19,0.9,19,-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,71.0,52649,-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,22,-0.78,-184.9,0.0,0.0,0,34,0.00,0.00,-9.85,0.000,2,0.000,0.000,141,1528,1492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.4,0.0,1,154,10.98,1.98,-95.38,0.000,4,0.338,0.127,2614,2573,3449,0,0,0,0,0,0,14.04,14.08,14.63
$GC,387,-0.78,-184.9,17.5,-8.7,36,395,0.00,2.05,0.00,0.000,6,0.000,0.114,2614,1526,3449,0,0,0,0,0,0,28.83,13.81,28.83
$GC,699,-0.78,-184.9,45.2,-8.7,67,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1527,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-0.78,-184.9,72.0,-8.5,98,1016,0.00,2.12,0.00,0.000,4,0.000,0.135,2614,460,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1140,-0.76,-184.9,83.8,-9.1,111,1147,0.00,1.95,0.00,0.000,6,0.000,0.077,2609,1522,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1448,-0.76,-184.9,111.9,-9.1,142,1455,0.00,2.00,0.00,0.000,4,0.000,0.102,2605,2574,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1477,-0.76,-184.9,114.6,-9.2,145,1486,0.00,2.08,0.00,0.000,6,0.000,0.112,2605,1520,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1787,-0.76,-184.9,142.5,-8.5,176,1795,0.00,2.03,0.00,0.000,4,0.000,0.100,2605,2578,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1932,-0.76,-184.9,153.3,-7.2,190,1939,0.00,2.15,0.00,0.000,6,0.000,0.114,2605,1482,3449,0,0,0,0,0,0,28.83,13.91,28.83
$GC,2239,-0.76,-184.9,176.4,-7.9,221,2247,0.00,2.10,0.00,0.000,4,0.000,0.100,2605,2587,3449,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2382,-0.76,-184.9,187.9,-8.7,235,2389,0.00,2.20,0.00,0.000,6,0.000,0.112,2605,1462,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2689,-0.76,-184.9,217.9,-9.5,266,2697,0.00,2.00,0.00,0.000,4,0.000,0.133,2605,457,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2832,-0.74,-184.9,231.8,-9.5,280,2839,0.00,1.83,0.00,0.000,6,0.000,0.074,2605,1460,3449,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3139,-0.74,-184.9,257.9,-8.0,305,3145,0.00,2.00,0.00,0.000,4,0.000,0.129,2605,460,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3258,-0.74,-184.9,266.9,-7.6,309,3266,0.00,1.75,0.00,0.000,6,0.000,0.074,2605,1420,3449,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3593,-0.74,-184.9,286.6,-5.5,320,3598,0.00,1.92,0.00,0.000,4,0.000,0.126,2605,457,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3727,-0.74,-184.9,293.7,-5.9,324,3735,0.00,1.73,0.00,0.000,6,0.000,0.072,2605,1400,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4038,-0.74,-184.9,316.1,-7.6,335,4044,0.00,1.90,0.00,0.000,4,0.000,0.126,2605,461,3448,0,0,0,0,0,0,28.83,13.68,28.83
$GC,4109,-0.74,-184.9,321.3,-8.3,337,4114,0.00,1.65,0.00,0.000,6,0.000,0.073,2604,1384,3448,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4429,-0.74,-184.9,353.9,-10.6,348,4434,0.00,2.28,0.00,0.000,4,0.000,0.099,2605,2586,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4519,-0.74,-184.9,363.4,-10.6,351,4524,0.00,2.35,0.00,0.000,6,0.000,0.115,2604,1381,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4848,-0.74,-184.9,397.6,-10.0,362,4854,0.00,1.85,0.00,0.000,4,0.000,0.132,2605,464,3446,0,0,0,0,0,0,28.83,13.68,28.83
$GC,4917,-0.74,-184.9,403.4,-9.7,364,4923,0.00,1.70,0.00,0.000,6,0.000,0.074,2605,1384,3445,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5239,-0.74,-184.9,430.5,-7.5,375,5245,0.00,2.28,0.00,0.000,4,0.000,0.102,2605,2579,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5367,-0.74,-184.9,438.9,-7.0,379,5374,0.00,2.35,0.00,0.000,6,0.000,0.115,2605,1394,3445,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5690,-0.74,-184.9,463.6,-7.8,390,5695,0.00,1.88,0.00,0.000,4,0.000,0.134,2605,461,3444,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5748,-0.74,-184.9,468.9,-8.4,392,5754,0.00,1.75,0.00,0.000,6,0.000,0.078,2605,1409,3444,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6080,-0.74,-184.9,498.4,-9.0,403,6085,0.00,2.25,0.00,0.000,4,0.000,0.103,2605,2582,3443,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6187,-0.74,-184.9,506.5,-9.0,406,6196,0.00,2.30,0.00,0.000,6,0.000,0.115,2605,1421,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6498,-0.74,-184.9,533.3,-7.7,417,6506,0.10,1.95,0.00,0.000,4,0.240,0.135,2629,462,3442,0,0,0,0,0,0,14.21,13.70,28.83
$GC,6538,-0.74,-184.9,535.6,-7.6,418,6545,0.00,1.75,0.00,0.000,6,0.000,0.078,2626,1412,3442,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6861,-0.76,-184.9,557.5,-6.5,429,6867,0.00,2.25,0.00,0.000,4,0.000,0.106,2626,2582,3440,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6929,-0.79,-184.9,561.1,-6.2,431,6934,0.00,2.28,0.00,0.000,6,0.000,0.114,2625,1418,3440,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7251,-0.82,-184.9,583.4,-7.2,442,7256,0.00,1.92,0.00,0.000,4,0.000,0.135,2625,458,3439,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7357,-0.82,-184.9,590.6,-7.8,445,7365,0.00,1.77,0.00,0.000,6,0.000,0.078,2621,1414,3438,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7670,-0.84,-184.9,618.2,-8.4,456,7675,0.00,1.92,0.00,0.000,4,0.000,0.135,2621,460,3438,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7728,-0.84,-184.9,623.4,-8.6,458,7734,0.00,1.73,0.00,0.000,6,0.000,0.081,2619,1387,3437,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8063,-0.86,-184.9,649.8,-7.5,469,8068,0.00,1.90,0.00,0.000,4,0.000,0.136,2618,460,3437,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8187,-0.86,-184.9,658.8,-7.5,473,8194,0.00,1.70,0.00,0.000,6,0.000,0.082,2618,1364,3436,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8514,-0.89,-184.9,679.6,-6.2,484,8519,0.00,1.85,0.00,0.000,4,0.000,0.140,2618,461,3435,0,0,0,0,0,0,28.83,13.77,28.83
$GC,8658,-0.89,-184.9,689.1,-6.4,489,8665,0.00,1.62,0.00,0.000,6,0.000,0.082,2618,1326,3435,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8993,-0.91,-184.9,711.2,-7.0,500,9000,0.12,1.80,0.00,0.000,4,0.132,0.138,2561,466,3434,0,0,0,0,0,0,14.33,13.72,28.83
$GC,9183,-0.88,-184.9,727.5,-9.3,506,9189,0.12,1.55,0.00,0.000,6,0.262,0.083,2588,1305,3433,0,0,0,0,0,0,13.62,13.85,28.83
$GC,9503,-0.88,-184.9,758.1,-9.5,517,9510,0.00,1.75,0.00,0.000,4,0.000,0.142,2585,456,3432,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9628,-0.88,-184.9,770.2,-10.0,521,9635,0.00,1.55,0.00,0.000,6,0.000,0.083,2580,1274,3431,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9951,-0.88,-184.9,801.6,-9.4,532,9956,0.00,1.67,0.00,0.000,4,0.000,0.143,2580,461,3430,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10009,-0.88,-184.9,807.3,-9.3,534,10015,0.00,1.52,0.00,0.000,6,0.000,0.085,2579,1264,3429,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10342,-0.88,-184.9,835.9,-8.7,545,10348,0.00,2.58,0.00,0.000,4,0.000,0.112,2579,2583,3428,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10400,-0.88,-184.9,840.8,-8.5,547,10405,0.00,2.60,0.00,0.000,6,0.000,0.121,2579,1255,3428,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10729,-0.88,-184.9,867.4,-7.8,558,10735,0.00,1.62,0.00,0.000,4,0.000,0.136,2579,460,3427,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10791,-0.88,-184.9,872.3,-8.0,560,10796,0.00,1.52,0.00,0.000,6,0.000,0.082,2574,1293,3427,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11119,-0.88,-184.9,897.7,-7.6,571,11125,0.00,2.50,0.00,0.000,4,0.000,0.106,2567,2576,3426,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11168,-0.88,-184.9,899.9,-7.6,572,11176,0.00,2.62,0.00,0.000,6,0.000,0.118,2567,1264,3425,0,0,0,0,0,0,28.83,13.86,28.83
$GC,11480,-0.88,-184.9,926.1,-8.1,583,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1264,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11779,-0.88,-184.9,951.4,-8.5,593,11786,0.00,2.60,0.00,0.000,4,0.000,0.111,2565,2572,3423,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11819,-0.88,-184.9,954.0,-8.6,594,11826,0.00,2.60,0.00,0.000,6,0.000,0.115,2565,1271,3423,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,12107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12107,begin apogee
$GC,12116,-0.25,0.0,980.3,-8.8,604,12306,0.77,0.00,183.50,1.836,4,0.192,0.000,2783,1522,2688,0,0,0,0,0,0,13.81,28.83,13.07
$STATE,12312,end apogee,CONTROL_FINISHED_OK
$STATE,12312,begin climb
$GC,12316,0.78,184.9,990.5,0.0,610,12520,1.08,2.05,193.50,1.864,4,0.122,0.112,3117,2579,1938,0,0,0,0,0,0,13.88,13.86,13.05
$GC,12650,0.78,184.9,975.1,7.4,622,12656,0.00,2.12,0.00,0.000,6,0.000,0.132,3125,1517,1924,0,0,0,0,0,0,28.83,13.95,28.83
$GC,12983,0.75,184.9,950.6,7.7,633,12989,0.00,2.20,0.00,0.000,4,0.000,0.166,3133,459,1921,0,0,0,0,0,0,28.83,13.93,28.83
$GC,13019,0.73,184.9,948.3,7.7,634,13027,0.00,2.05,0.00,0.000,6,0.000,0.094,3133,1548,1921,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13344,0.70,184.9,920.6,8.5,645,13351,0.12,2.22,0.00,0.000,4,0.281,0.153,3110,459,1919,0,0,0,0,0,0,13.88,13.92,28.83
$GC,13499,0.70,184.9,907.4,8.9,650,13507,0.00,2.15,0.00,0.000,6,0.000,0.090,3110,1590,1918,0,0,0,0,0,0,28.83,14.02,28.83
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$STATE,24469,end climb,SURFACE_DEPTH_REACHED
$STATE,24469,begin surface coast
$FINISH,1.7,1.025528
$STATE,24499,end surface coast,CONTROL_FINISHED_OK
$STATE,24499,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.26
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$TCM_TEMP,22.70
$XPDR_PINGS,3
$SC_FREEKB,7544064
$24V_AH,13.1,247.486
$10V_AH,12.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.850,232.525,543.075,0.000,0.000,0.000,0.000,403.475,0.750,0.000,20.884,3510.102,17094.781,964.059,2867.357,859.500,0.000,2681.327,0.000,2407.918,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.880,0.000,0.000,0.000
$MEM,344936
$DATA_FILE_SIZE,46709,1201
$CAP_FILE_SIZE,255672,0
$CFSIZE,260034560,172937216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,233.9,1
$GPS,110313,125023,2428.718,-3833.099,38,0.9,39,-14.2