version: 66.11
glider: 190
mission: 6
dive: 574
start: 3 6 113 4 47 36
data:
$ID,190
$MISSION,6
$DIVE,574
$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,-13679.938
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,18
$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,0.00018
$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
$GPS1,060313,043022,2432.922,-3824.025,38,0.8,38,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-58.5
$GPS2,060313,044706,2432.983,-3824.078,15,1.1,15,-14.1
$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,91.0,37234,-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,-1.15,-184.9,0.0,0.0,0,35,0.00,0.00,-10.75,0.000,2,0.000,0.000,136,1514,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.15,-184.9,2.6,0.0,1,147,10.38,2.05,-90.60,0.000,4,0.330,0.125,2505,2585,3449,0,0,0,0,0,0,14.11,14.17,14.64
$GC,384,-1.05,-184.9,28.0,-10.3,35,392,0.15,2.05,0.00,0.000,6,0.243,0.113,2541,1519,3449,0,0,0,0,0,0,13.76,13.92,28.83
$GC,693,-0.98,-184.9,59.8,-9.2,66,700,0.00,2.00,0.00,0.000,4,0.000,0.104,2536,2577,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,761,-0.91,-184.9,66.1,-8.9,73,770,0.17,2.08,0.00,0.000,6,0.197,0.116,2587,1519,3449,0,0,0,0,0,0,13.76,13.83,28.83
$GC,1072,-0.89,-184.9,94.5,-9.8,104,1079,0.00,2.12,0.00,0.000,4,0.000,0.137,2587,455,3449,0,0,0,0,0,0,28.83,13.75,28.83
$GC,1161,-0.83,-184.9,104.2,-10.9,113,1170,0.10,1.95,0.00,0.000,6,0.213,0.083,2609,1507,3448,0,0,0,0,0,0,13.73,13.97,28.83
$GC,1471,-0.83,-184.9,133.1,-9.2,144,1479,0.00,2.03,0.00,0.000,4,0.000,0.104,2605,2572,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1502,-0.83,-184.9,135.8,-9.0,147,1509,0.00,2.08,0.00,0.000,6,0.000,0.116,2605,1508,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1813,-0.83,-184.9,162.7,-8.3,178,1821,0.00,2.05,0.00,0.000,4,0.000,0.104,2605,2580,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1990,-0.83,-184.9,177.3,-8.0,196,1998,0.00,2.15,0.00,0.000,6,0.000,0.115,2605,1483,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2301,-0.83,-184.9,201.3,-7.6,227,2308,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,465,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2435,-0.80,-184.9,211.2,-7.5,240,2442,0.00,1.90,0.00,0.000,6,0.000,0.080,2605,1501,3448,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2741,-0.80,-184.9,234.5,-7.2,271,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1501,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-0.80,-184.9,259.6,-7.9,295,3068,0.00,2.10,0.00,0.000,4,0.000,0.133,2605,461,3449,0,0,0,0,0,0,28.83,13.71,28.83
$GC,3183,-0.80,-184.9,270.3,-8.9,299,3188,0.00,1.85,0.00,0.000,6,0.000,0.080,2605,1477,3448,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3515,-0.80,-184.9,300.7,-9.2,310,3520,0.00,2.05,0.00,0.000,4,0.000,0.131,2605,460,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3682,-0.80,-184.9,314.6,-9.2,315,3690,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1440,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3992,-0.80,-184.9,343.0,-8.6,326,3998,0.00,1.98,0.00,0.000,4,0.000,0.131,2604,460,3447,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4143,-0.78,-184.9,356.2,-8.9,331,4148,0.00,1.73,0.00,0.000,6,0.000,0.082,2605,1412,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4472,-0.78,-184.9,384.8,-8.7,342,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1411,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.78,-184.9,411.7,-9.1,352,4779,0.00,1.92,0.00,0.000,4,0.000,0.134,2605,455,3446,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4801,-0.78,-184.9,414.4,-9.0,353,4809,0.00,1.73,0.00,0.000,6,0.000,0.082,2605,1391,3445,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5132,-0.78,-184.9,443.1,-8.5,364,5138,0.00,2.22,0.00,0.000,4,0.000,0.106,2605,2574,3445,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5172,-0.78,-184.9,445.4,-8.2,365,5178,0.00,2.33,0.00,0.000,6,0.000,0.116,2605,1373,3445,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5492,-0.78,-184.9,471.1,-7.5,376,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1373,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5793,-0.78,-184.9,492.9,-7.2,386,5798,0.00,1.85,0.00,0.000,4,0.000,0.137,2605,453,3443,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5860,-0.78,-184.9,497.4,-7.4,388,5867,0.00,1.80,0.00,0.000,6,0.000,0.083,2605,1413,3443,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6182,-0.78,-184.9,525.6,-9.2,399,6188,0.00,2.22,0.00,0.000,4,0.000,0.106,2605,2569,3442,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6273,-0.78,-184.9,534.1,-9.5,402,6278,0.00,2.28,0.00,0.000,6,0.000,0.119,2605,1411,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6602,-0.78,-184.9,565.9,-9.2,413,6609,0.00,1.92,0.00,0.000,4,0.000,0.137,2605,462,3440,0,0,0,0,0,0,28.83,13.67,28.83
$GC,6670,-0.78,-184.9,571.2,-9.0,415,6677,0.00,1.80,0.00,0.000,6,0.000,0.086,2605,1416,3440,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6993,-0.78,-184.9,598.5,-8.2,426,6998,0.00,1.92,0.00,0.000,4,0.000,0.141,2605,458,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7091,-0.78,-184.9,605.8,-8.1,429,7098,0.00,1.75,0.00,0.000,6,0.000,0.086,2605,1389,3439,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7414,-0.78,-184.9,633.1,-8.4,440,7419,0.00,1.88,0.00,0.000,4,0.000,0.139,2605,456,3438,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7510,-0.78,-184.9,641.3,-9.0,443,7517,0.00,1.73,0.00,0.000,6,0.000,0.085,2605,1371,3437,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7833,-0.78,-184.9,671.2,-9.0,454,7838,0.00,1.85,0.00,0.000,4,0.000,0.141,2605,459,3437,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7932,-0.78,-184.9,679.1,-8.8,457,7938,0.00,1.65,0.00,0.000,6,0.000,0.086,2605,1343,3436,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8252,-0.78,-184.9,704.1,-7.2,468,8258,0.00,1.83,0.00,0.000,4,0.000,0.142,2604,460,3435,0,0,0,0,0,0,28.83,13.65,28.83
$GC,8352,-0.78,-184.9,710.5,-7.1,471,8358,0.00,1.62,0.00,0.000,6,0.000,0.087,2604,1323,3434,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8675,-0.78,-184.9,732.2,-6.6,482,8680,0.00,2.42,0.00,0.000,4,0.000,0.109,2605,2576,3433,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8752,-0.78,-184.9,736.2,-6.7,484,8759,0.00,2.50,0.00,0.000,6,0.000,0.120,2604,1314,3433,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9062,-0.78,-184.9,763.1,-9.0,495,9068,0.00,1.75,0.00,0.000,4,0.000,0.144,2605,464,3432,0,0,0,0,0,0,28.83,13.68,28.83
$GC,9110,-0.78,-184.9,765.8,-9.1,496,9119,0.00,1.62,0.00,0.000,6,0.000,0.087,2605,1322,3432,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9423,-0.78,-184.9,799.3,-10.3,507,9428,0.00,2.45,0.00,0.000,4,0.000,0.112,2605,2580,3431,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9491,-0.78,-184.9,805.3,-10.2,509,9498,0.00,2.53,0.00,0.000,6,0.000,0.120,2605,1320,3431,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9813,-0.78,-184.9,839.1,-10.2,520,9819,0.00,2.47,0.00,0.000,4,0.000,0.112,2604,2581,3430,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9880,-0.78,-184.9,845.0,-9.9,522,9888,0.00,2.50,0.00,0.000,6,0.000,0.122,2605,1341,3429,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10202,-0.78,-184.9,875.0,-8.6,533,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1341,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10504,-0.80,-184.9,897.0,-6.9,543,10509,0.00,2.40,0.00,0.000,4,0.000,0.110,2604,2574,3426,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10553,-0.82,-184.9,898.8,-6.6,544,10559,0.00,2.40,0.00,0.000,6,0.000,0.124,2605,1356,3426,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10867,-0.84,-184.9,917.8,-5.5,555,10872,0.00,1.83,0.00,0.000,4,0.000,0.142,2605,458,3426,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11045,-0.84,-184.9,928.3,-5.9,561,11050,0.00,1.62,0.00,0.000,6,0.000,0.086,2605,1331,3425,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11377,-0.84,-184.9,948.0,-6.4,572,11382,0.00,2.42,0.00,0.000,4,0.000,0.111,2605,2574,3424,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11411,-0.84,-184.9,949.7,-6.3,573,11418,0.00,2.47,0.00,0.000,6,0.000,0.128,2605,1355,3424,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11733,-0.84,-184.9,974.9,-8.2,584,11739,0.00,2.42,0.00,0.000,4,0.000,0.119,2604,2574,3422,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,11818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11818,begin apogee
$GC,11828,-0.42,0.0,982.4,-8.2,587,12019,0.50,0.00,183.02,1.822,4,0.191,0.000,2746,1520,2690,0,0,0,0,0,0,13.66,28.83,13.02
$STATE,12024,end apogee,CONTROL_FINISHED_OK
$STATE,12025,begin climb
$GC,12028,1.15,184.9,993.4,0.0,593,12233,1.67,2.20,193.35,1.818,4,0.155,0.158,3245,456,1937,0,0,0,0,0,0,13.92,13.85,13.04
$GC,12423,1.03,184.9,968.7,9.8,607,12429,0.00,1.98,0.00,0.000,6,0.000,0.099,3245,1514,1922,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12755,0.93,184.9,935.7,10.3,618,12761,0.22,2.17,0.00,0.000,4,0.297,0.163,3199,458,1919,0,0,0,0,0,0,13.67,13.97,28.83
$GC,12982,0.85,184.9,914.2,10.2,625,12991,0.12,2.03,0.00,0.000,6,0.262,0.102,3166,1522,1918,0,0,0,0,0,0,13.74,14.02,28.83
$GC,13296,0.80,184.9,882.7,9.3,636,13301,0.00,2.03,0.00,0.000,4,0.000,0.118,3165,2578,1916,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13444,0.74,184.9,869.2,9.0,641,13450,0.20,2.10,0.00,0.000,6,0.279,0.139,3129,1540,1913,0,0,0,0,0,0,13.76,13.95,28.83
$GC,13777,0.72,184.9,844.1,7.3,652,13783,0.00,2.05,0.00,0.000,4,0.000,0.128,3129,2585,1915,0,0,0,0,0,0,28.83,13.97,28.83
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$STATE,22924,end climb,SURFACE_DEPTH_REACHED
$STATE,22924,begin surface coast
$FINISH,1.8,1.025764
$STATE,22956,end surface coast,CONTROL_FINISHED_OK
$STATE,22956,begin surface
$SM_CCo,22980,22.67,0.127,0,0,1266,350.04
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$HUMID,60.31
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$TCM_TEMP,22.80
$XPDR_PINGS,3
$SC_FREEKB,7550848
$24V_AH,13.0,239.895
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344888
$DATA_FILE_SIZE,43290,1126
$CAP_FILE_SIZE,245499,0
$CFSIZE,260034560,174977024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,270.7,1
$GPS,060313,111222,2433.441,-3824.131,36,0.9,37,-14.1