version: 66.11
glider: 190
mission: 6
dive: 260
start: 12 9 112 3 52 42
data:
$ID,190
$MISSION,6
$DIVE,260
$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,480
$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,150
$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,0.0099999998
$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,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,-13128.979
$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,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$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,49
$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
$GPS1,091212,033834,2420.569,-3824.670,38,0.9,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-65.7
$GPS2,091212,035211,2420.587,-3824.632,17,0.9,17,-14.2
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpSW
$TGT_LATLONG,2356.000,-3800.000
$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,139.1,61741,-11.8,-6.875,-16.86
$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,24,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.73,0.000,2,0.000,0.000,138,1433,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,143,11.45,1.77,-82.43,0.000,4,0.361,0.179,2681,555,3586,0,0,0,0,0,0,14.28,14.34,14.71
$GC,291,-0.60,-146.0,17.4,-10.1,25,298,0.00,1.60,0.00,0.000,6,0.000,0.093,2676,1443,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,598,-0.58,-146.0,44.9,-9.6,56,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1443,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,899,-0.57,-146.0,70.2,-7.1,86,904,0.00,1.65,0.00,0.000,4,0.000,0.105,2675,2325,3587,0,0,0,0,0,0,28.83,14.26,28.83
$GC,945,-0.57,-146.0,73.7,-7.9,90,952,0.08,1.73,0.00,0.000,6,0.181,0.125,2701,1444,3587,0,0,0,0,0,0,14.24,14.24,28.83
$GC,1256,-0.60,-146.0,95.0,-6.8,121,1261,0.00,1.73,0.00,0.000,4,0.000,0.145,2701,552,3587,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1402,-0.63,-146.0,105.1,-6.6,135,1407,0.00,1.55,0.00,0.000,6,0.000,0.088,2706,1419,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1717,-0.67,-146.0,127.3,-8.0,166,1722,0.00,1.67,0.00,0.000,4,0.000,0.141,2701,553,3588,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1785,-0.71,-146.0,132.5,-8.0,172,1792,0.08,1.48,0.00,0.000,6,0.092,0.087,2654,1372,3587,0,0,0,0,0,0,14.38,14.34,28.83
$GC,2093,-0.72,-146.0,159.2,-8.4,203,2098,0.00,1.58,0.00,0.000,4,0.000,0.144,2654,555,3588,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2259,-0.72,-146.0,173.8,-8.9,219,2264,0.00,1.42,0.00,0.000,6,0.000,0.087,2652,1346,3588,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2574,-0.73,-146.0,200.7,-8.7,250,2579,0.00,1.52,0.00,0.000,4,0.000,0.143,2652,555,3588,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2657,-0.73,-146.0,208.2,-8.9,258,2662,0.00,1.40,0.00,0.000,6,0.000,0.086,2647,1331,3588,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2971,-0.75,-146.0,234.5,-8.0,289,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1332,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-0.76,-146.0,256.6,-6.8,313,3276,0.00,1.50,0.00,0.000,4,0.000,0.142,2650,542,3587,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3349,-0.77,-146.0,261.1,-6.9,315,3354,0.00,1.40,0.00,0.000,6,0.000,0.087,2650,1330,3587,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3671,-0.79,-146.0,283.2,-6.7,326,3676,0.00,1.50,0.00,0.000,4,0.000,0.143,2650,559,3586,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3714,-0.80,-146.0,285.8,-6.8,327,3719,0.00,1.35,0.00,0.000,6,0.000,0.088,2650,1320,3586,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4040,-0.83,-146.0,313.4,-8.9,338,4045,0.00,1.85,0.00,0.000,4,0.000,0.107,2650,2327,3586,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4134,-0.85,-146.0,322.1,-9.1,341,4139,0.00,1.92,0.00,0.000,6,0.000,0.128,2650,1324,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4470,-0.87,-146.0,350.9,-8.1,352,4476,0.12,1.45,0.00,0.000,4,0.133,0.142,2588,553,3585,0,0,0,0,0,0,14.70,14.40,28.83
$GC,4705,-0.80,-146.0,371.4,-9.6,359,4711,0.15,1.35,0.00,0.000,6,0.220,0.091,2638,1307,3584,0,0,0,0,0,0,14.22,14.50,28.83
$GC,5020,-0.80,-146.0,396.6,-7.3,370,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1307,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5320,-0.80,-146.0,420.6,-8.5,380,5325,0.00,1.85,0.00,0.000,4,0.000,0.107,2632,2328,3581,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5384,-0.81,-146.0,426.2,-8.7,382,5389,0.00,1.98,0.00,0.000,6,0.000,0.127,2632,1300,3581,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5720,-0.81,-146.0,459.8,-10.2,393,5725,0.00,1.45,0.00,0.000,4,0.000,0.147,2632,557,3580,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5762,-0.81,-146.0,463.4,-10.2,394,5767,0.00,1.35,0.00,0.000,6,0.000,0.093,2632,1307,3580,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6087,-0.81,-146.0,493.1,-8.2,405,6092,0.00,1.88,0.00,0.000,4,0.000,0.114,2631,2318,3578,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6184,-0.82,-146.0,499.9,-7.4,408,6190,0.00,1.92,0.00,0.000,6,0.000,0.131,2631,1316,3578,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6515,-0.82,-146.0,522.3,-6.7,419,6520,0.00,1.50,0.00,0.000,4,0.000,0.149,2631,553,3577,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6579,-0.82,-146.0,527.0,-6.9,421,6584,0.00,1.38,0.00,0.000,6,0.000,0.094,2632,1307,3577,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6914,-0.82,-146.0,550.6,-7.2,432,6919,0.00,1.90,0.00,0.000,4,0.000,0.113,2631,2327,3575,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7008,-0.84,-146.0,557.7,-7.4,435,7013,0.00,1.98,0.00,0.000,6,0.000,0.131,2631,1308,3575,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7343,-0.84,-146.0,585.5,-8.7,446,7348,0.00,1.90,0.00,0.000,4,0.000,0.112,2631,2321,3573,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7392,-0.85,-146.0,588.5,-8.7,447,7398,0.00,1.92,0.00,0.000,6,0.000,0.132,2631,1323,3573,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7714,-0.86,-146.0,618.8,-9.3,458,7719,0.00,1.88,0.00,0.000,4,0.000,0.113,2631,2323,3572,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7772,-0.87,-146.0,622.0,-9.2,459,7779,0.00,1.90,0.00,0.000,6,0.000,0.132,2631,1338,3572,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8079,-0.88,-146.0,653.0,-9.3,470,8084,0.00,1.83,0.00,0.000,4,0.000,0.114,2631,2319,3570,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8131,-0.90,-146.0,656.1,-9.2,471,8136,0.00,1.85,0.00,0.000,6,0.000,0.130,2631,1359,3570,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8448,-0.91,-146.0,685.5,-8.6,482,8453,0.12,1.80,0.00,0.000,4,0.139,0.112,2570,2323,3570,0,0,0,0,0,0,14.64,14.41,28.83
$GC,8557,-0.90,-146.0,694.2,-9.0,485,8563,0.12,1.85,0.00,0.000,6,0.237,0.128,2600,1362,3568,0,0,0,0,0,0,14.30,14.38,28.83
$GC,8879,-0.86,-146.0,721.9,-7.9,496,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1362,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,-0.83,-146.0,743.1,-6.6,506,9183,0.00,1.80,0.00,0.000,4,0.000,0.115,2593,2324,3566,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9231,-0.80,-146.0,745.4,-6.4,507,9237,0.15,1.83,0.00,0.000,6,0.221,0.128,2632,1374,3566,0,0,0,0,0,0,14.31,14.38,28.83
$GC,9547,-0.81,-146.0,763.3,-5.3,518,9552,0.00,1.77,0.00,0.000,4,0.000,0.116,2632,2327,3565,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9606,-0.83,-146.0,765.2,-5.3,519,9612,0.00,1.83,0.00,0.000,6,0.000,0.132,2631,1386,3564,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9913,-0.85,-146.0,785.6,-6.8,530,9918,0.00,1.77,0.00,0.000,4,0.000,0.117,2626,2322,3563,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9987,-0.87,-146.0,790.3,-7.0,532,9992,0.00,1.77,0.00,0.000,6,0.000,0.133,2632,1410,3563,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10312,-0.89,-146.0,817.9,-8.8,543,10317,0.00,1.70,0.00,0.000,4,0.000,0.118,2631,2318,3562,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10370,-0.91,-146.0,821.0,-8.8,544,10379,0.12,1.73,0.00,0.000,6,0.138,0.133,2581,1432,3562,0,0,0,0,0,0,14.50,14.32,28.83
$GC,10677,-0.90,-146.0,855.5,-10.8,555,10683,0.00,1.73,0.00,0.000,4,0.000,0.151,2581,553,3561,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10865,-0.84,-146.0,876.6,-11.5,561,10872,0.15,1.58,0.00,0.000,6,0.269,0.101,2613,1410,3560,0,0,0,0,0,0,14.16,14.38,28.83
$GC,11195,-0.84,-146.0,910.7,-10.2,572,11200,0.00,1.73,0.00,0.000,4,0.000,0.123,2611,2324,3559,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11272,-0.84,-146.0,916.8,-9.9,574,11277,0.00,1.77,0.00,0.000,6,0.000,0.136,2611,1419,3559,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11593,-0.84,-146.0,949.0,-9.4,585,11598,0.00,1.73,0.00,0.000,4,0.000,0.158,2611,552,3557,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11640,-0.84,-146.0,952.5,-9.4,586,11646,0.00,1.60,0.00,0.000,6,0.000,0.103,2609,1422,3557,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11961,-0.84,-146.0,981.3,-8.3,597,11966,0.00,1.70,0.00,0.000,4,0.000,0.125,2609,2322,3555,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12025,-0.84,-146.0,986.5,-8.2,599,12030,0.00,1.75,0.00,0.000,6,0.000,0.135,2608,1434,3556,0,0,0,0,0,0,28.83,14.29,28.83
$STATE,12086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12086,begin apogee
$GC,12092,-0.23,0.0,991.5,-7.9,601,12241,0.68,0.00,138.80,1.844,4,0.194,0.000,2808,1644,2984,0,0,0,0,0,0,14.26,28.83,13.28
$STATE,12243,end apogee,CONTROL_FINISHED_OK
$STATE,12243,begin climb
$GC,12245,0.63,146.0,999.2,0.0,606,12399,0.82,1.75,145.15,1.838,4,0.108,0.130,3092,2517,2393,0,0,0,0,0,0,14.12,14.08,13.24
$GC,12630,0.58,157.2,986.9,6.5,618,12638,0.00,1.70,3.45,1.048,6,0.000,0.131,3098,1639,2351,0,0,0,0,0,0,28.83,14.33,13.43
$GC,12939,0.52,157.3,964.1,6.9,629,12944,0.17,0.00,2.25,0.447,6,0.279,0.000,3057,1640,2347,0,0,0,0,0,0,14.26,28.83,13.31
$GC,13239,0.52,197.8,946.7,5.6,639,13296,0.00,0.00,49.70,1.799,6,0.000,0.000,3057,1640,2175,0,0,0,0,0,0,28.83,28.83,13.58
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$STATE,24412,end climb,SURFACE_DEPTH_REACHED
$STATE,24413,begin surface coast
$FINISH,1.2,1.013127
$STATE,24444,end surface coast,CONTROL_FINISHED_OK
$STATE,24444,begin surface
$SM_CCo,24525,0.00,0.000,0,0,1265,423.14
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$TT8_MAMPS,0.023968,0.023968
$HUMID,56.81
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.50
$XPDR_PINGS,1
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$TM_FREEKB,5171072
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$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.275,164.250,562.900,0.000,0.000,0.000,0.000,459.425,0.250,0.000,19.921,4312.700,15760.406,742.940,3874.781,607.809,0.000,2905.572,0.000,3230.322,0.000,0.542,0.000
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$MEM,344584
$DATA_FILE_SIZE,43320,1188
$CAP_FILE_SIZE,289985,0
$CFSIZE,260034560,213884928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,285.6,1
$GPS,091212,104234,2419.212,-3823.424,25,0.9,26,-14.2