version: 66.11
glider: 190
mission: 6
dive: 522
start: 2 19 113 8 8 55
data:
$ID,190
$MISSION,6
$DIVE,522
$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,-13572.62
$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,17
$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
$GPS1,190213,075452,2440.222,-3812.986,47,0.9,47,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-61.7
$GPS2,190213,080823,2440.200,-3813.061,18,0.9,18,-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,168.6,37038,-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,22,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.10,0.000,2,0.000,0.000,144,1511,1500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.80,2.05,-87.10,0.000,4,0.339,0.162,2584,460,3328,0,0,0,0,0,0,14.15,14.02,14.66
$GC,379,-0.84,-155.7,15.6,-8.0,35,386,0.00,1.92,0.00,0.000,6,0.000,0.083,2577,1526,3327,0,0,0,0,0,0,28.83,14.15,28.83
$GC,687,-0.81,-155.7,40.4,-8.8,66,694,0.12,0.00,0.00,0.000,6,0.267,0.000,2610,1527,3328,0,0,0,0,0,0,14.04,28.83,28.83
$GC,996,-0.81,-155.7,71.1,-11.3,97,1003,0.00,2.12,0.00,0.000,4,0.000,0.135,2611,453,3328,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1045,-0.78,-155.7,76.4,-10.5,102,1054,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1516,3328,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1355,-0.78,-155.7,102.9,-8.6,133,1363,0.00,2.12,0.00,0.000,4,0.000,0.138,2605,459,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1416,-0.76,-155.7,108.2,-9.2,139,1423,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1505,3328,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1725,-0.76,-155.7,133.8,-8.2,170,1734,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,461,3328,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1796,-0.76,-155.7,139.8,-8.6,177,1803,0.00,1.88,0.00,0.000,6,0.000,0.080,2605,1493,3328,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2106,-0.76,-155.7,164.1,-8.0,208,2113,0.00,2.03,0.00,0.000,4,0.000,0.134,2605,459,3328,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2215,-0.76,-155.7,174.0,-9.1,219,2223,0.00,1.85,0.00,0.000,6,0.000,0.079,2605,1476,3328,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2525,-0.76,-155.7,199.2,-7.3,250,2534,0.00,2.00,0.00,0.000,4,0.000,0.135,2604,465,3328,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2659,-0.76,-155.7,209.0,-7.4,263,2666,0.00,1.80,0.00,0.000,6,0.000,0.080,2604,1450,3327,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2966,-0.76,-155.7,231.4,-7.2,294,2974,0.00,1.92,0.00,0.000,4,0.000,0.134,2605,454,3328,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3065,-0.76,-155.7,239.5,-8.2,304,3073,0.00,1.77,0.00,0.000,6,0.000,0.079,2605,1432,3328,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3385,-0.76,-155.7,264.5,-8.0,324,3392,0.00,1.92,0.00,0.000,4,0.000,0.133,2605,456,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3455,-0.76,-155.7,269.6,-8.3,326,3461,0.00,1.77,0.00,0.000,6,0.000,0.079,2605,1423,3328,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3777,-0.76,-155.7,295.8,-7.7,337,3782,0.00,1.90,0.00,0.000,4,0.000,0.132,2605,453,3328,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3925,-0.76,-155.7,307.7,-8.0,342,3933,0.00,1.73,0.00,0.000,6,0.000,0.079,2605,1402,3328,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4256,-0.76,-155.7,333.1,-8.1,353,4262,0.00,1.85,0.00,0.000,4,0.000,0.132,2605,461,3327,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4387,-0.76,-155.7,343.4,-8.5,357,4392,0.00,1.60,0.00,0.000,6,0.000,0.079,2604,1380,3327,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4705,-0.76,-155.7,371.8,-8.9,368,4712,0.00,2.25,0.00,0.000,4,0.000,0.103,2604,2576,3326,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4797,-0.78,-155.7,379.5,-8.6,371,4802,0.00,2.33,0.00,0.000,6,0.000,0.120,2604,1379,3326,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5125,-0.78,-155.7,407.9,-8.6,382,5132,0.00,2.28,0.00,0.000,4,0.000,0.106,2605,2573,3325,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5328,-0.80,-155.7,422.3,-8.0,388,5336,0.00,2.35,0.00,0.000,6,0.000,0.122,2604,1363,3325,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5635,-0.80,-155.7,448.2,-7.9,399,5642,0.00,1.77,0.00,0.000,4,0.000,0.142,2605,466,3325,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5805,-0.80,-155.7,460.8,-8.4,404,5814,0.00,1.58,0.00,0.000,6,0.000,0.085,2605,1335,3324,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6115,-0.80,-155.7,489.3,-8.9,415,6122,0.00,2.35,0.00,0.000,4,0.000,0.107,2604,2573,3323,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6176,-0.83,-155.7,494.5,-8.9,417,6182,0.00,2.40,0.00,0.000,6,0.000,0.122,2605,1340,3323,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6509,-0.85,-155.7,523.2,-8.3,428,6515,0.00,1.73,0.00,0.000,4,0.000,0.142,2604,458,3322,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6674,-0.85,-155.7,535.3,-8.1,433,6682,0.00,1.60,0.00,0.000,6,0.000,0.084,2604,1328,3321,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6987,-0.85,-155.7,558.5,-6.8,444,6992,0.00,1.73,0.00,0.000,4,0.000,0.140,2604,459,3320,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7064,-0.85,-155.7,562.9,-7.0,446,7072,0.00,1.58,0.00,0.000,6,0.000,0.086,2604,1307,3319,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7380,-0.87,-155.7,587.1,-7.5,457,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1307,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7676,-0.89,-155.7,610.3,-7.8,467,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1307,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7977,-0.92,-155.7,634.0,-7.8,477,7982,0.00,2.40,0.00,0.000,4,0.000,0.106,2604,2575,3317,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8065,-0.94,-155.7,640.6,-7.4,480,8072,0.08,2.53,0.00,0.000,6,0.095,0.123,2560,1299,3317,0,0,0,0,0,0,13.95,13.83,28.83
$GC,8399,-0.94,-155.7,667.0,-7.7,491,8404,0.00,1.65,0.00,0.000,4,0.000,0.145,2560,459,3316,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8495,-0.92,-155.7,673.8,-7.5,494,8502,0.00,1.55,0.00,0.000,6,0.000,0.086,2554,1296,3316,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8820,-0.92,-155.7,695.8,-6.3,505,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1296,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9115,-0.92,-155.7,714.8,-6.6,515,9122,0.00,1.70,0.00,0.000,4,0.000,0.142,2554,458,3314,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9284,-0.89,-155.7,725.6,-7.2,520,9294,0.12,1.55,0.00,0.000,6,0.275,0.088,2578,1288,3312,0,0,0,0,0,0,13.78,14.10,28.83
$GC,9599,-0.89,-155.7,750.1,-7.6,531,9604,0.00,1.67,0.00,0.000,4,0.000,0.143,2578,456,3311,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9704,-0.89,-155.7,757.8,-8.3,534,9707,0.00,1.52,0.00,0.000,6,0.000,0.087,2574,1267,3311,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10006,-0.89,-155.7,784.1,-8.3,544,10012,0.00,1.62,0.00,0.000,4,0.000,0.145,2574,459,3310,0,0,0,0,0,0,28.83,13.72,28.83
$GC,10074,-0.89,-155.7,789.6,-8.8,546,10077,0.00,1.48,0.00,0.000,6,0.000,0.088,2570,1253,3310,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10387,-0.89,-155.7,818.3,-9.2,557,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1253,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10686,-0.89,-155.7,846.7,-9.5,567,10693,0.00,1.65,0.00,0.000,4,0.000,0.147,2570,452,3308,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10725,-0.89,-155.7,849.6,-9.6,568,10728,0.00,1.50,0.00,0.000,6,0.000,0.089,2566,1250,3307,0,0,0,0,0,0,28.83,14.08,28.83
$GC,11039,-0.89,-155.7,879.6,-9.2,579,11044,0.00,2.58,0.00,0.000,4,0.000,0.114,2561,2581,3306,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11106,-0.89,-155.7,884.8,-9.0,581,11114,0.00,2.72,0.00,0.000,6,0.000,0.128,2561,1234,3306,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11429,-0.89,-155.7,912.5,-8.3,592,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1234,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11727,-0.89,-155.7,936.6,-7.8,602,11735,0.00,2.62,0.00,0.000,4,0.000,0.112,2555,2570,3304,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11787,-0.89,-155.7,941.1,-7.6,604,11794,0.00,2.65,0.00,0.000,6,0.000,0.128,2555,1255,3304,0,0,0,0,0,0,28.83,13.74,28.83
$GC,12122,-0.89,-155.7,965.4,-7.1,615,12127,0.00,1.60,0.00,0.000,4,0.000,0.151,2555,460,3303,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12186,-0.89,-155.7,969.9,-7.2,617,12189,0.00,1.48,0.00,0.000,6,0.000,0.090,2553,1245,3302,0,0,0,0,0,0,28.83,14.03,28.83
$STATE,12345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12345,begin apogee
$GC,12355,-0.25,0.0,981.6,-6.8,623,12516,0.85,0.00,155.10,1.812,4,0.216,0.000,2783,1519,2690,0,0,0,0,0,0,13.69,28.83,12.98
$STATE,12520,end apogee,CONTROL_FINISHED_OK
$STATE,12520,begin climb
$GC,12524,0.90,155.7,986.0,0.0,628,12700,1.20,2.03,165.35,1.851,4,0.132,0.120,3158,2577,2058,0,0,0,0,0,0,14.10,14.09,13.02
$GC,12879,0.87,155.7,962.1,9.3,640,12887,0.00,2.12,0.00,0.000,6,0.000,0.142,3166,1520,2043,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13194,0.84,155.7,935.2,7.6,651,13200,0.00,2.17,0.00,0.000,4,0.000,0.171,3173,456,2040,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13382,0.79,159.9,922.5,7.0,657,13388,0.20,1.98,0.00,0.000,6,0.269,0.100,3127,1542,2042,0,0,0,0,0,0,13.94,14.26,28.83
$GC,13704,0.83,227.9,905.7,5.0,668,13788,0.00,2.25,75.03,1.737,4,0.000,0.164,3134,455,1757,0,0,0,0,0,0,28.83,14.09,13.15
$GC,13899,0.84,242.9,894.4,6.6,674,13920,0.00,2.10,16.38,1.629,6,0.000,0.098,3134,1567,1702,0,0,0,0,0,0,28.83,14.23,13.24
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$STATE,23539,end climb,SURFACE_DEPTH_REACHED
$STATE,23539,begin surface coast
$FINISH,1.6,1.001677
$STATE,23570,end surface coast,CONTROL_FINISHED_OK
$STATE,23570,begin surface
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$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344944
$DATA_FILE_SIZE,43288,1176
$CAP_FILE_SIZE,248652,0
$CFSIZE,260034560,180858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,260.9,1
$GPS,190213,144422,2439.148,-3813.062,36,0.8,36,-14.1