version: 66.11
glider: 190
mission: 6
dive: 370
start: 1 8 113 11 45 5
data:
$ID,190
$MISSION,6
$DIVE,370
$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,-13381.05
$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,10
$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
$GPS1,080113,112804,2430.069,-3834.173,26,1.1,26,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-66.9
$GPS2,080113,114435,2429.990,-3834.168,16,1.2,16,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,151.8,84127,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.65,0.000,2,0.000,0.000,145,1506,1662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,150,11.35,2.08,-90.82,0.000,4,0.360,0.166,2616,463,3626,0,0,0,0,0,0,14.12,14.21,14.69
$GC,222,-0.81,-155.7,10.7,-11.5,19,230,0.00,1.98,0.00,0.000,6,0.000,0.089,2609,1532,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,534,-0.81,-155.7,39.8,-9.3,50,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1532,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-0.81,-155.7,70.2,-9.5,81,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1532,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.81,-155.7,96.4,-7.8,111,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1533,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1442,-0.84,-155.7,122.7,-10.7,141,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1533,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-0.88,-155.7,154.0,-8.7,171,1751,0.00,2.10,0.00,0.000,4,0.000,0.133,2609,457,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1814,-0.88,-155.7,160.0,-8.4,178,1821,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1517,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2126,-0.91,-155.7,179.3,-6.5,209,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1517,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2433,-0.95,-155.7,204.7,-9.3,240,2441,0.00,2.05,0.00,0.000,4,0.000,0.134,2605,465,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2533,-0.95,-155.7,214.6,-10.2,250,2541,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1527,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2843,-0.99,-155.7,247.1,-10.7,281,2852,0.00,1.92,0.00,0.000,4,0.000,0.103,2604,2572,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2885,-1.03,-155.7,250.8,-9.6,285,2892,0.15,1.98,0.00,0.000,6,0.122,0.111,2542,1521,3626,0,0,0,0,0,0,14.47,14.31,28.83
$GC,3206,-1.01,-155.7,282.6,-9.3,296,3213,0.00,2.03,0.00,0.000,4,0.000,0.137,2545,460,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3293,-0.97,-155.7,291.3,-9.6,299,3300,0.10,1.90,0.00,0.000,6,0.241,0.084,2568,1515,3625,0,0,0,0,0,0,14.03,14.28,28.83
$GC,3625,-0.97,-155.7,317.9,-8.2,310,3630,0.00,1.92,0.00,0.000,4,0.000,0.105,2560,2579,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3661,-0.97,-155.7,320.4,-8.3,311,3665,0.00,2.03,0.00,0.000,6,0.000,0.116,2560,1524,3624,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3975,-0.97,-155.7,350.0,-9.5,322,3980,0.00,2.05,0.00,0.000,4,0.000,0.137,2560,456,3624,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4082,-0.95,-155.7,358.9,-9.8,325,4093,0.12,1.92,0.00,0.000,6,0.276,0.085,2580,1521,3622,0,0,0,0,0,0,14.21,14.44,28.83
$GC,4396,-0.95,-155.7,384.9,-7.3,336,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1521,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.98,-155.7,407.8,-8.1,346,4700,0.00,2.08,0.00,0.000,4,0.000,0.135,2580,457,3622,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4774,-0.98,-155.7,413.4,-8.8,348,4782,0.00,1.90,0.00,0.000,6,0.000,0.084,2574,1515,3624,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5087,-1.00,-155.7,448.0,-11.4,359,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1515,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5383,-1.03,-155.7,484.1,-12.1,369,5390,0.00,2.05,0.00,0.000,4,0.000,0.136,2574,463,3619,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5463,-1.03,-155.7,491.5,-12.3,371,5471,0.00,1.90,0.00,0.000,6,0.000,0.084,2567,1514,3619,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5776,-1.05,-155.7,526.2,-9.4,382,5782,0.00,2.05,0.00,0.000,4,0.000,0.138,2567,457,3618,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5842,-1.05,-155.7,531.8,-9.3,384,5846,0.00,1.90,0.00,0.000,6,0.000,0.086,2561,1501,3618,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6155,-1.05,-155.7,559.2,-8.4,395,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1501,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6455,-1.05,-155.7,587.5,-9.7,405,6461,0.00,2.05,0.00,0.000,4,0.000,0.139,2561,458,3614,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6515,-1.05,-155.7,593.7,-10.1,407,6521,0.00,1.90,0.00,0.000,6,0.000,0.088,2554,1500,3615,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6844,-1.05,-155.7,626.9,-9.8,418,6852,0.00,2.05,0.00,0.000,4,0.000,0.112,2549,2581,3613,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6904,-1.05,-155.7,632.6,-9.5,420,6911,0.00,2.10,0.00,0.000,6,0.000,0.116,2549,1496,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7235,-1.05,-155.7,661.7,-8.6,431,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1496,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,-1.05,-155.7,686.3,-8.1,441,7541,0.00,2.03,0.00,0.000,4,0.000,0.142,2549,467,3610,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7664,-1.03,-155.7,697.3,-9.2,445,7671,0.00,1.90,0.00,0.000,6,0.000,0.090,2546,1500,3609,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7984,-1.03,-155.7,728.2,-9.6,456,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1500,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8285,-1.03,-155.7,757.8,-9.7,466,8292,0.00,2.05,0.00,0.000,4,0.000,0.144,2545,460,3606,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8344,-1.03,-155.7,763.9,-10.0,468,8351,0.00,1.90,0.00,0.000,6,0.000,0.090,2540,1489,3606,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8677,-1.03,-155.7,794.8,-9.0,479,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1487,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,-1.03,-155.7,821.5,-8.9,489,8981,0.00,2.03,0.00,0.000,4,0.000,0.145,2540,461,3604,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9095,-1.00,-155.7,833.0,-9.6,493,9102,0.00,1.90,0.00,0.000,6,0.000,0.096,2540,1481,3603,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9425,-1.00,-155.7,867.1,-10.9,504,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1481,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,-1.00,-155.7,903.1,-12.2,514,9732,0.00,2.05,0.00,0.000,4,0.000,0.148,2539,462,3601,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9815,-1.00,-155.7,914.8,-12.8,517,9822,0.08,1.88,0.00,0.000,6,0.268,0.095,2557,1467,3600,0,0,0,0,0,0,13.90,14.19,28.83
$GC,10147,-1.00,-155.7,952.5,-11.1,528,10152,0.00,2.03,0.00,0.000,4,0.000,0.151,2557,460,3599,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10204,-1.00,-155.7,959.4,-11.2,530,10212,0.00,1.88,0.00,0.000,6,0.000,0.094,2553,1462,3599,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,10501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10509,-0.23,0.0,990.4,-10.0,540,10666,0.93,0.00,152.10,1.851,4,0.210,0.000,2811,1528,2990,0,0,0,0,0,0,13.90,28.83,13.10
$STATE,10669,end apogee,CONTROL_FINISHED_OK
$STATE,10670,begin climb
$GC,10672,0.84,155.7,1000.5,0.0,545,10844,1.08,2.03,161.07,1.902,4,0.116,0.122,3157,2578,2354,0,0,0,0,0,0,14.12,14.07,13.09
$GC,10862,0.91,375.6,1004.0,0.2,552,11106,0.00,2.17,233.70,1.883,6,0.000,0.142,3165,1519,1457,0,0,0,0,0,0,28.83,14.07,13.11
$GC,11424,0.93,375.6,952.2,9.8,571,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1519,1435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11727,0.96,375.6,920.0,11.1,581,11732,0.00,2.03,0.00,0.000,4,0.000,0.125,3164,2579,1433,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11785,0.98,375.6,912.9,11.5,583,11791,0.00,2.08,0.00,0.000,6,0.000,0.146,3172,1535,1433,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12118,1.00,375.6,872.9,12.3,594,12125,0.12,2.15,0.00,0.000,4,0.159,0.174,3224,458,1430,0,0,0,0,0,0,14.56,14.30,28.83
$GC,12253,1.00,375.6,856.4,13.8,598,12257,0.00,1.98,0.00,0.000,6,0.000,0.102,3224,1520,1431,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12554,1.00,375.6,816.5,11.5,608,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1519,1431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12855,1.00,375.6,786.5,9.6,618,12861,0.00,2.20,0.00,0.000,4,0.000,0.173,3232,457,1430,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12963,1.00,375.6,777.1,10.3,621,12972,0.00,1.98,0.00,0.000,6,0.000,0.096,3232,1519,1429,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13275,1.00,375.6,742.8,10.8,632,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1519,1430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13574,1.00,375.6,706.3,12.7,642,13581,0.00,2.05,0.00,0.000,4,0.000,0.120,3232,2577,1429,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13605,1.00,375.6,702.1,13.1,643,13611,0.00,2.15,0.00,0.000,6,0.000,0.143,3240,1508,1429,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13938,0.98,375.6,656.0,14.2,654,13944,0.12,2.12,0.00,0.000,4,0.315,0.162,3218,455,1429,0,0,0,0,0,0,14.04,14.14,28.83
$GC,14013,0.96,375.6,647.6,14.1,656,14022,0.00,1.95,0.00,0.000,6,0.000,0.096,3218,1504,1428,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14326,0.96,375.6,605.0,12.2,667,14331,0.00,2.05,0.00,0.000,4,0.000,0.123,3218,2577,1429,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,19942,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,36712,1017
$CAP_FILE_SIZE,208836,0
$CFSIZE,260034560,198922240
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$CURRENT,0.061,208.1,1
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