version: 66.11
glider: 190
mission: 6
dive: 552
start: 2 27 113 22 43 51
data:
$ID,190
$MISSION,6
$DIVE,552
$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,-13610.844
$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,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,0.00060000003
$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
$GPS1,270213,223128,2421.921,-3814.624,42,0.8,42,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-59.0
$GPS2,270213,224318,2421.873,-3814.548,16,1.2,16,-14.1
$SPEED_LIMITS,0.123,0.130
$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,35.5,30840,-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,18,begin dive
$GC,22,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.15,0.000,2,0.000,0.000,148,1513,1495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.52,2.08,-87.75,0.000,4,0.325,0.158,2574,458,3328,0,0,0,0,0,0,14.02,14.08,14.63
$GC,336,-0.84,-155.7,23.1,-10.3,31,344,0.12,1.92,0.00,0.000,6,0.270,0.088,2591,1522,3329,0,0,0,0,0,0,13.78,14.01,28.83
$GC,647,-0.84,-155.7,47.0,-9.3,62,653,0.00,2.12,0.00,0.000,4,0.000,0.141,2594,461,3329,0,0,0,0,0,0,28.83,13.85,28.83
$GC,726,-0.80,-155.7,54.6,-9.5,70,733,0.00,1.90,0.00,0.000,6,0.000,0.087,2591,1498,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1035,-0.80,-155.7,82.7,-9.9,101,1044,0.00,2.12,0.00,0.000,4,0.000,0.140,2591,457,3329,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1195,-0.77,-155.7,98.5,-9.7,117,1204,0.10,1.90,0.00,0.000,6,0.231,0.084,2613,1477,3328,0,0,0,0,0,0,13.72,14.02,28.83
$GC,1507,-0.77,-155.7,123.5,-7.9,148,1513,0.00,2.05,0.00,0.000,4,0.000,0.140,2614,454,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1658,-0.77,-155.7,135.6,-8.0,163,1664,0.00,1.83,0.00,0.000,6,0.000,0.084,2609,1455,3329,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1966,-0.77,-155.7,158.7,-7.9,194,1973,0.00,2.00,0.00,0.000,4,0.000,0.139,2609,454,3329,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2087,-0.77,-155.7,169.4,-9.0,206,2093,0.00,1.77,0.00,0.000,6,0.000,0.084,2603,1433,3329,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2396,-0.77,-155.7,197.8,-9.1,237,2403,0.00,1.95,0.00,0.000,4,0.000,0.138,2605,457,3330,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2554,-0.77,-155.7,211.6,-8.6,253,2564,0.00,1.80,0.00,0.000,6,0.000,0.082,2605,1432,3329,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2866,-0.77,-155.7,234.5,-7.0,284,2873,0.00,1.95,0.00,0.000,4,0.000,0.138,2605,454,3329,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3011,-0.77,-155.7,244.3,-6.9,298,3018,0.00,1.70,0.00,0.000,6,0.000,0.083,2605,1392,3329,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3337,-0.77,-155.7,264.2,-5.9,315,3343,0.00,1.88,0.00,0.000,4,0.000,0.136,2605,458,3329,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3489,-0.77,-155.7,274.0,-6.5,320,3494,0.00,1.65,0.00,0.000,6,0.000,0.080,2605,1373,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3817,-0.77,-155.7,297.3,-7.7,331,3823,0.00,1.83,0.00,0.000,4,0.000,0.135,2605,458,3328,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3908,-0.77,-155.7,305.4,-8.7,334,3913,0.00,1.60,0.00,0.000,6,0.000,0.081,2605,1339,3329,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4237,-0.77,-155.7,335.7,-9.3,345,4244,0.00,1.75,0.00,0.000,4,0.000,0.135,2606,462,3328,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4358,-0.77,-155.7,346.5,-9.0,349,4365,0.00,1.58,0.00,0.000,6,0.000,0.081,2605,1325,3328,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4691,-0.77,-155.7,368.2,-5.6,360,4697,0.00,1.75,0.00,0.000,4,0.000,0.137,2605,460,3328,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4816,-0.77,-155.7,374.8,-5.5,364,4823,0.00,1.55,0.00,0.000,6,0.000,0.083,2605,1301,3327,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5142,-0.77,-155.7,391.0,-5.1,375,5147,0.00,2.42,0.00,0.000,4,0.000,0.106,2605,2577,3326,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5227,-0.79,-155.7,395.8,-5.3,378,5233,0.00,2.47,0.00,0.000,6,0.000,0.120,2605,1302,3326,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5558,-0.79,-155.7,420.4,-8.9,389,5565,0.00,1.65,0.00,0.000,4,0.000,0.131,2605,458,3326,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5696,-0.79,-155.7,433.4,-10.9,393,5704,0.00,1.55,0.00,0.000,6,0.000,0.079,2605,1304,3325,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6009,-0.79,-155.7,471.1,-11.4,404,6014,0.00,1.67,0.00,0.000,4,0.000,0.132,2605,457,3324,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6076,-0.79,-155.7,478.0,-11.4,406,6083,0.00,1.52,0.00,0.000,6,0.000,0.080,2605,1288,3324,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6399,-0.79,-155.7,509.5,-8.5,417,6405,0.00,2.45,0.00,0.000,4,0.000,0.103,2605,2578,3323,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6527,-0.82,-155.7,518.4,-7.4,421,6533,0.00,2.55,0.00,0.000,6,0.000,0.119,2604,1289,3322,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6853,-0.84,-155.7,540.2,-6.1,432,6858,0.00,1.65,0.00,0.000,4,0.000,0.139,2605,459,3322,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6896,-0.84,-155.7,542.0,-6.0,433,6904,0.00,1.50,0.00,0.000,6,0.000,0.087,2604,1263,3322,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7212,-0.87,-155.7,563.3,-7.1,444,7217,0.00,2.50,0.00,0.000,4,0.000,0.106,2604,2577,3321,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7308,-0.89,-155.7,570.2,-7.6,447,7314,0.00,2.60,0.00,0.000,6,0.000,0.116,2604,1231,3320,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7630,-0.92,-155.7,602.5,-10.6,458,7635,0.00,1.52,0.00,0.000,4,0.000,0.132,2604,454,3319,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7827,-0.92,-155.7,622.0,-10.8,464,7835,0.00,1.40,0.00,0.000,6,0.000,0.077,2604,1225,3319,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8140,-0.94,-155.7,653.2,-8.8,475,8146,0.12,2.55,0.00,0.000,4,0.138,0.101,2541,2577,3318,0,0,0,0,0,0,14.39,13.90,28.83
$GC,8198,-0.94,-155.7,658.1,-8.4,477,8205,0.00,2.67,0.00,0.000,6,0.000,0.120,2541,1200,3318,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8528,-0.94,-155.7,684.1,-7.6,488,8533,0.00,1.48,0.00,0.000,4,0.000,0.135,2544,462,3318,0,0,0,0,0,0,28.83,13.71,28.83
$GC,8607,-0.91,-155.7,688.8,-7.6,490,8616,0.15,1.38,0.00,0.000,6,0.262,0.080,2573,1206,3317,0,0,0,0,0,0,13.71,14.10,28.83
$GC,8922,-0.91,-155.7,710.1,-6.1,501,8928,0.00,1.52,0.00,0.000,4,0.000,0.145,2573,460,3313,0,0,0,0,0,0,28.83,13.70,28.83
$GC,8986,-0.91,-155.7,714.2,-6.4,503,8993,0.00,1.38,0.00,0.000,6,0.000,0.086,2568,1193,3315,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9309,-0.91,-155.7,737.4,-7.5,514,9314,0.00,1.52,0.00,0.000,4,0.000,0.145,2568,439,3315,0,0,0,0,0,0,28.83,13.69,28.83
$GC,9406,-0.91,-155.7,745.2,-8.4,517,9413,0.00,1.38,0.00,0.000,6,0.000,0.088,2565,1170,3314,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9729,-0.91,-155.7,774.0,-8.8,528,9734,0.00,1.48,0.00,0.000,4,0.000,0.148,2565,465,3313,0,0,0,0,0,0,28.83,13.62,28.83
$GC,9907,-0.91,-155.7,789.9,-8.7,534,9913,0.00,1.38,0.00,0.000,6,0.000,0.088,2563,1198,3312,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10239,-0.91,-155.7,814.8,-7.2,545,10245,0.00,2.67,0.00,0.000,4,0.000,0.109,2553,2585,3311,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10376,-0.91,-155.7,823.0,-6.8,549,10385,0.00,2.78,0.00,0.000,6,0.000,0.120,2553,1195,3311,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10692,-0.91,-155.7,845.9,-6.9,560,10698,0.00,2.67,0.00,0.000,4,0.000,0.106,2549,2580,3310,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10747,-0.91,-155.7,850.1,-7.0,562,10754,0.00,2.75,0.00,0.000,6,0.000,0.121,2549,1191,3310,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11080,-0.91,-155.7,876.3,-8.1,573,11086,0.00,1.50,0.00,0.000,4,0.000,0.140,2549,439,3309,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11147,-0.91,-155.7,881.6,-8.4,575,11154,0.00,1.42,0.00,0.000,6,0.000,0.083,2549,1209,3309,0,0,0,0,0,0,28.83,13.96,28.83
$GC,11467,-0.91,-155.7,911.0,-9.1,586,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1209,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11770,-0.91,-155.7,938.3,-9.2,596,11775,0.00,2.65,0.00,0.000,4,0.000,0.109,2548,2577,3306,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11888,-0.91,-155.7,949.1,-9.0,600,11894,0.00,2.72,0.00,0.000,6,0.000,0.117,2548,1198,3306,0,0,0,0,0,0,28.83,13.92,28.83
$GC,12219,-0.91,-155.7,977.6,-8.4,611,12224,0.00,2.67,0.00,0.000,4,0.000,0.106,2540,2577,3304,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12256,-0.91,-155.7,979.8,-8.2,612,12264,0.10,2.75,0.00,0.000,6,0.209,0.125,2568,1208,3304,0,0,0,0,0,0,13.64,13.81,28.83
$STATE,12274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12274,begin apogee
$GC,12283,-0.25,0.0,982.3,-8.0,613,12445,0.77,0.00,155.60,1.836,4,0.210,0.000,2779,1519,2690,0,0,0,0,0,0,13.71,28.83,12.95
$STATE,12451,end apogee,CONTROL_FINISHED_OK
$STATE,12451,begin climb
$GC,12454,0.90,155.7,988.2,0.0,618,12629,1.23,2.05,164.35,1.796,4,0.133,0.119,3157,2585,2059,0,0,0,0,0,0,14.06,14.06,13.00
$GC,12862,0.87,155.7,959.6,10.0,631,12868,0.00,2.10,0.00,0.000,6,0.000,0.136,3165,1519,2043,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13172,0.84,155.7,929.4,8.4,642,13177,0.00,2.12,0.00,0.000,4,0.000,0.155,3174,461,2041,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13209,0.81,155.7,926.8,8.4,643,13215,0.17,1.98,0.00,0.000,6,0.269,0.089,3134,1551,2041,0,0,0,0,0,0,13.89,14.21,28.83
$GC,13532,0.82,178.0,903.8,6.4,654,13559,0.00,1.98,22.75,1.699,4,0.000,0.113,3134,2583,1963,0,0,0,0,0,0,28.83,14.35,13.32
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$STATE,24047,end climb,SURFACE_DEPTH_REACHED
$STATE,24047,begin surface coast
$FINISH,1.6,1.002988
$STATE,24078,end surface coast,CONTROL_FINISHED_OK
$STATE,24078,begin surface
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$HUMID,60.59
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$XPDR_PINGS,3
$SC_FREEKB,7559296
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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,344952
$DATA_FILE_SIZE,43331,1185
$CAP_FILE_SIZE,251249,0
$CFSIZE,260034560,177455104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,214.9,1
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