version: 66.11
glider: 190
mission: 6
dive: 578
start: 3 7 113 7 55 3
data:
$ID,190
$MISSION,6
$DIVE,578
$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,-13696.249
$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
$GPS1,070313,074234,2433.833,-3825.054,22,1.0,23,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-61.6
$GPS2,070313,075429,2433.823,-3825.124,22,1.2,22,-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,83.8,38951,-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,-9.90,0.000,2,0.000,0.000,134,1513,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.78,-184.9,2.6,0.0,1,153,11.20,2.10,-92.70,0.000,4,0.348,0.151,2613,457,3449,0,0,0,0,0,0,14.13,14.07,14.65
$GC,337,-0.74,-184.9,18.8,-8.8,31,344,0.00,1.95,0.00,0.000,6,0.000,0.078,2609,1529,3449,0,0,0,0,0,0,28.83,14.09,28.83
$GC,648,-0.74,-184.9,46.8,-9.5,62,655,0.00,2.15,0.00,0.000,4,0.000,0.133,2609,455,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,736,-0.71,-184.9,55.5,-9.9,71,744,0.10,1.92,0.00,0.000,6,0.207,0.079,2635,1495,3449,0,0,0,0,0,0,13.74,13.95,28.83
$GC,1047,-0.71,-184.9,81.0,-7.9,102,1054,0.00,2.08,0.00,0.000,4,0.000,0.132,2635,461,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1217,-0.71,-184.9,94.1,-7.6,119,1224,0.00,1.85,0.00,0.000,6,0.000,0.076,2632,1464,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1528,-0.71,-184.9,118.6,-8.0,150,1535,0.00,1.98,0.00,0.000,4,0.000,0.128,2632,459,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1636,-0.71,-184.9,127.9,-8.7,161,1645,0.00,1.77,0.00,0.000,6,0.000,0.074,2632,1431,3449,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1948,-0.71,-184.9,153.7,-8.9,192,1954,0.00,1.98,0.00,0.000,4,0.000,0.132,2632,458,3449,0,0,0,0,0,0,28.83,13.80,28.83
$GC,2056,-0.71,-184.9,163.9,-9.5,203,2064,0.00,1.75,0.00,0.000,6,0.000,0.075,2632,1412,3449,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2366,-0.71,-184.9,190.1,-8.3,234,2374,0.00,2.17,0.00,0.000,4,0.000,0.097,2632,2571,3449,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2408,-0.71,-184.9,193.5,-8.5,238,2414,0.00,2.22,0.00,0.000,6,0.000,0.112,2632,1412,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2718,-0.71,-184.9,215.9,-7.1,269,2725,0.00,1.90,0.00,0.000,4,0.000,0.132,2632,453,3449,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2736,-0.71,-184.9,217.3,-7.0,271,2744,0.00,1.70,0.00,0.000,6,0.000,0.076,2632,1384,3452,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3049,-0.73,-184.9,241.5,-8.2,302,3055,0.00,2.22,0.00,0.000,4,0.000,0.097,2631,2585,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3127,-0.75,-184.9,247.9,-7.8,310,3134,0.00,2.38,0.00,0.000,6,0.000,0.113,2632,1355,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3460,-0.75,-184.9,274.7,-8.2,323,3465,0.00,1.77,0.00,0.000,4,0.000,0.131,2632,455,3449,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3585,-0.75,-184.9,284.8,-8.4,327,3592,0.00,1.65,0.00,0.000,6,0.000,0.075,2632,1353,3449,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3911,-0.77,-184.9,311.2,-7.9,338,3916,0.00,2.30,0.00,0.000,4,0.000,0.099,2632,2583,3449,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3975,-0.80,-184.9,315.6,-7.6,340,3983,0.00,2.40,0.00,0.000,6,0.000,0.112,2632,1353,3449,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4301,-0.82,-184.9,338.9,-7.0,351,4307,0.00,2.33,0.00,0.000,4,0.000,0.099,2632,2583,3448,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4447,-0.85,-184.9,348.9,-6.7,356,4453,0.12,2.45,0.00,0.000,6,0.127,0.114,2573,1318,3448,0,0,0,0,0,0,14.09,13.90,28.83
$GC,4780,-0.85,-184.9,376.4,-8.6,367,4785,0.00,1.70,0.00,0.000,4,0.000,0.132,2573,459,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4836,-0.82,-184.9,381.9,-8.9,369,4844,0.10,1.58,0.00,0.000,6,0.209,0.079,2598,1317,3447,0,0,0,0,0,0,13.68,13.99,28.83
$GC,5171,-0.82,-184.9,410.6,-8.9,380,5176,0.00,2.35,0.00,0.000,4,0.000,0.099,2592,2578,3446,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5265,-0.82,-184.9,418.8,-9.0,383,5272,0.00,2.45,0.00,0.000,6,0.000,0.111,2592,1331,3446,0,0,0,0,0,0,28.83,13.86,28.83
$GC,5586,-0.82,-184.9,448.0,-8.9,394,5592,0.00,1.75,0.00,0.000,4,0.000,0.132,2592,458,3445,0,0,0,0,0,0,28.83,13.68,28.83
$GC,5666,-0.82,-184.9,453.5,-8.9,396,5674,0.00,1.60,0.00,0.000,6,0.000,0.079,2592,1331,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5976,-0.82,-184.9,481.2,-8.3,407,5982,0.00,2.38,0.00,0.000,4,0.000,0.103,2591,2573,3444,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6015,-0.82,-184.9,483.4,-8.1,408,6022,0.00,2.47,0.00,0.000,6,0.000,0.114,2592,1322,3444,0,0,0,0,0,0,28.83,13.87,28.83
$GC,6337,-0.82,-184.9,509.7,-8.1,419,6343,0.00,1.70,0.00,0.000,4,0.000,0.135,2592,459,3444,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6446,-0.82,-184.9,517.1,-8.2,422,6454,0.00,1.60,0.00,0.000,6,0.000,0.080,2592,1322,3443,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6757,-0.82,-184.9,543.7,-8.3,433,6764,0.00,2.40,0.00,0.000,4,0.000,0.103,2592,2584,3441,0,0,0,0,0,0,28.83,13.77,28.83
$GC,6805,-0.82,-184.9,546.0,-8.2,434,6814,0.00,2.50,0.00,0.000,6,0.000,0.116,2592,1317,3441,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7116,-0.82,-184.9,574.4,-9.0,445,7124,0.00,1.73,0.00,0.000,4,0.000,0.135,2592,461,3441,0,0,0,0,0,0,28.83,13.66,28.83
$GC,7267,-0.82,-184.9,588.5,-9.4,450,7272,0.00,1.55,0.00,0.000,6,0.000,0.081,2592,1300,3440,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7596,-0.82,-184.9,616.5,-8.2,461,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1300,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7897,-0.82,-184.9,639.6,-7.4,471,7902,0.00,1.70,0.00,0.000,4,0.000,0.137,2592,460,3438,0,0,0,0,0,0,28.83,13.73,28.83
$GC,8085,-0.82,-184.9,653.2,-7.6,477,8092,0.00,1.55,0.00,0.000,6,0.000,0.080,2592,1291,3437,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8411,-0.82,-184.9,676.5,-7.1,488,8416,0.00,1.70,0.00,0.000,4,0.000,0.137,2592,455,3437,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8556,-0.82,-184.9,688.5,-8.1,493,8563,0.00,1.50,0.00,0.000,6,0.000,0.080,2592,1264,3436,0,0,0,0,0,0,28.83,14.02,28.83
$GC,8888,-0.82,-184.9,718.6,-9.9,504,8893,0.00,2.50,0.00,0.000,4,0.000,0.103,2592,2577,3435,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8995,-0.82,-184.9,728.0,-10.4,507,9005,0.00,2.60,0.00,0.000,6,0.000,0.117,2592,1269,3435,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9307,-0.82,-184.9,763.9,-10.9,518,9313,0.00,2.55,0.00,0.000,4,0.000,0.105,2592,2582,3434,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9385,-0.82,-184.9,770.0,-10.4,520,9394,0.00,2.60,0.00,0.000,6,0.000,0.119,2592,1276,3433,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9696,-0.82,-184.9,802.1,-9.3,531,9702,0.00,1.67,0.00,0.000,4,0.000,0.141,2592,459,3432,0,0,0,0,0,0,28.83,13.65,28.83
$GC,9767,-0.82,-184.9,807.5,-9.0,533,9772,0.00,1.52,0.00,0.000,6,0.000,0.084,2592,1271,3431,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10090,-0.82,-184.9,830.7,-6.0,544,10095,0.00,1.67,0.00,0.000,4,0.000,0.144,2592,458,3431,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10227,-0.82,-184.9,837.7,-5.8,548,10234,0.00,1.60,0.00,0.000,6,0.000,0.086,2592,1308,3430,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10540,-0.82,-184.9,855.3,-5.3,559,10545,0.00,2.47,0.00,0.000,4,0.000,0.112,2592,2576,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10626,-0.82,-184.9,860.4,-5.6,562,10632,0.00,2.55,0.00,0.000,6,0.000,0.123,2592,1306,3429,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10957,-0.82,-184.9,883.1,-7.4,573,10963,0.00,1.73,0.00,0.000,4,0.000,0.147,2592,461,3428,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11035,-0.82,-184.9,888.0,-7.8,575,11045,0.00,1.62,0.00,0.000,6,0.000,0.086,2592,1315,3427,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11347,-0.82,-184.9,915.9,-8.9,586,11353,0.00,2.47,0.00,0.000,4,0.000,0.114,2591,2578,3426,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11515,-0.82,-184.9,928.9,-8.7,591,11525,0.00,2.53,0.00,0.000,6,0.000,0.126,2591,1337,3426,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11827,-0.82,-184.9,956.5,-8.0,602,11833,0.00,1.80,0.00,0.000,4,0.000,0.152,2592,455,3424,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11935,-0.82,-184.9,964.0,-8.2,605,11943,0.00,1.67,0.00,0.000,6,0.000,0.090,2592,1327,3424,0,0,0,0,0,0,28.83,13.86,28.83
$STATE,12152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12152,begin apogee
$GC,12163,-0.25,0.0,981.8,-7.3,613,12353,0.68,0.00,183.85,1.859,4,0.191,0.000,2781,1519,2689,0,0,0,0,0,0,13.71,28.83,13.01
$STATE,12358,end apogee,CONTROL_FINISHED_OK
$STATE,12358,begin climb
$GC,12362,0.78,184.9,989.2,0.0,619,12568,1.12,2.20,193.10,1.820,4,0.145,0.157,3119,461,1936,0,0,0,0,0,0,13.89,13.79,13.04
$GC,12717,0.75,184.9,968.8,8.4,631,12725,0.00,1.98,0.00,0.000,6,0.000,0.095,3119,1515,1924,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13029,0.77,210.6,945.7,6.4,642,13057,0.00,0.00,26.08,1.726,6,0.000,0.000,3119,1514,1834,0,0,0,0,0,0,28.83,28.83,13.27
$GC,13361,0.81,277.3,926.7,5.3,653,13439,0.00,2.22,72.55,1.765,4,0.000,0.166,3126,461,1558,0,0,0,0,0,0,28.83,14.04,13.12
$GC,13489,0.84,330.3,920.2,5.7,656,13557,0.00,2.03,57.80,1.737,6,0.000,0.094,3125,1538,1341,0,0,0,0,0,0,28.83,14.15,13.07
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$STATE,22307,end climb,SURFACE_DEPTH_REACHED
$STATE,22307,begin surface coast
$FINISH,1.6,1.015025
$STATE,22328,end surface coast,CONTROL_FINISHED_OK
$STATE,22328,begin surface
$SM_CCo,22353,8.60,0.132,0,0,1264,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,62.16
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$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,7549312
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$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.975,204.750,533.375,8.600,0.000,0.000,0.000,393.450,0.250,0.000,26.260,3216.717,15472.752,942.853,2632.081,798.783,0.000,2539.119,0.000,2170.282,0.000,0.541,0.000
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$MEM,344932
$DATA_FILE_SIZE,43262,1118
$CAP_FILE_SIZE,235551,0
$CFSIZE,260034560,174534656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,225.1,1
$GPS,070313,140904,2433.807,-3825.199,32,0.8,32,-14.1