version: 66.11
glider: 190
mission: 6
dive: 570
start: 3 5 113 1 28 46
data:
$ID,190
$MISSION,6
$DIVE,570
$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,-13669.368
$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,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,0.00018
$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
$GPS1,050313,011604,2431.857,-3822.560,37,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-65.7
$GPS2,050313,012812,2431.794,-3822.622,14,1.2,14,-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,89.0,34975,-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,23,-1.15,-184.9,0.0,0.0,0,35,0.00,0.00,-10.32,0.000,2,0.000,0.000,143,1525,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.15,-184.9,2.6,0.0,1,154,10.73,2.12,-93.07,0.000,4,0.346,0.155,2511,459,3448,0,0,0,0,0,0,14.02,14.06,14.64
$GC,381,-1.03,-184.9,31.3,-11.6,35,389,0.17,1.95,0.00,0.000,6,0.261,0.083,2548,1527,3448,0,0,0,0,0,0,13.67,14.00,28.83
$GC,690,-0.96,-184.9,61.8,-9.8,66,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1527,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.90,-184.9,92.5,-10.0,97,1007,0.12,0.00,0.00,0.000,6,0.250,0.000,2583,1527,3448,0,0,0,0,0,0,14.00,28.83,28.83
$GC,1309,-0.88,-184.9,121.6,-9.7,128,1316,0.00,2.12,0.00,0.000,4,0.000,0.127,2584,454,3448,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1468,-0.83,-184.9,137.2,-9.9,144,1476,0.10,1.95,0.00,0.000,6,0.209,0.078,2608,1514,3448,0,0,0,0,0,0,13.71,13.97,28.83
$GC,1781,-0.83,-184.9,164.1,-8.8,175,1787,0.00,2.10,0.00,0.000,4,0.000,0.129,2609,458,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1932,-0.83,-184.9,178.5,-10.1,190,1939,0.00,1.90,0.00,0.000,6,0.000,0.076,2605,1503,3448,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2239,-0.83,-184.9,206.6,-8.6,221,2247,0.00,2.08,0.00,0.000,4,0.000,0.129,2605,457,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2361,-0.80,-184.9,217.0,-8.5,233,2369,0.00,1.85,0.00,0.000,6,0.000,0.076,2605,1479,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2669,-0.80,-184.9,240.6,-7.0,264,2676,0.00,2.05,0.00,0.000,4,0.000,0.129,2605,456,3449,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2778,-0.77,-184.9,248.8,-7.5,275,2786,0.08,1.83,0.00,0.000,6,0.213,0.076,2627,1457,3448,0,0,0,0,0,0,13.71,13.97,28.83
$GC,3101,-0.77,-184.9,268.8,-6.2,287,3107,0.00,2.00,0.00,0.000,4,0.000,0.130,2628,454,3448,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3229,-0.77,-184.9,276.4,-6.3,291,3234,0.00,1.77,0.00,0.000,6,0.000,0.076,2626,1425,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3548,-0.77,-184.9,298.8,-7.2,302,3554,0.00,2.17,0.00,0.000,4,0.000,0.099,2622,2574,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3649,-0.77,-184.9,305.6,-7.5,305,3654,0.00,2.25,0.00,0.000,6,0.000,0.111,2623,1423,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3968,-0.77,-184.9,333.4,-8.8,316,3974,0.00,1.92,0.00,0.000,4,0.000,0.129,2623,458,3447,0,0,0,0,0,0,28.83,13.72,28.83
$GC,4118,-0.77,-184.9,347.4,-9.4,321,4126,0.00,1.73,0.00,0.000,6,0.000,0.076,2622,1409,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4450,-0.77,-184.9,377.6,-9.1,332,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1409,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.77,-184.9,403.3,-8.4,342,4755,0.00,1.92,0.00,0.000,4,0.000,0.129,2619,455,3446,0,0,0,0,0,0,28.83,13.69,28.83
$GC,4878,-0.77,-184.9,413.4,-8.3,346,4885,0.00,1.73,0.00,0.000,6,0.000,0.078,2618,1394,3445,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5201,-0.77,-184.9,436.4,-6.7,357,5208,0.00,1.88,0.00,0.000,4,0.000,0.132,2620,458,3444,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5249,-0.77,-184.9,438.5,-6.7,358,5256,0.00,1.67,0.00,0.000,6,0.000,0.078,2618,1383,3444,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5558,-0.77,-184.9,459.8,-6.4,369,5565,0.00,2.28,0.00,0.000,4,0.000,0.103,2618,2573,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5618,-0.77,-184.9,463.4,-6.3,371,5624,0.00,2.35,0.00,0.000,6,0.000,0.114,2618,1383,3443,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5953,-0.77,-184.9,484.6,-6.6,382,5958,0.00,1.85,0.00,0.000,4,0.000,0.135,2618,458,3442,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6117,-0.77,-184.9,494.9,-7.0,387,6127,0.00,1.67,0.00,0.000,6,0.000,0.079,2618,1361,3442,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6429,-0.77,-184.9,519.3,-7.6,398,6435,0.00,2.33,0.00,0.000,4,0.000,0.104,2618,2579,3441,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6587,-0.80,-184.9,531.6,-8.2,403,6594,0.00,2.38,0.00,0.000,6,0.000,0.113,2618,1371,3441,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6909,-0.80,-184.9,562.8,-10.1,414,6915,0.00,2.33,0.00,0.000,4,0.000,0.103,2618,2576,3443,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6998,-0.82,-184.9,571.6,-9.9,417,7005,0.00,2.35,0.00,0.000,6,0.000,0.114,2618,1387,3440,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7333,-0.84,-184.9,605.3,-10.1,428,7338,0.00,1.88,0.00,0.000,4,0.000,0.139,2618,457,3438,0,0,0,0,0,0,28.83,13.71,28.83
$GC,7478,-0.84,-184.9,620.2,-9.9,433,7486,0.00,1.70,0.00,0.000,6,0.000,0.083,2618,1375,3439,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7813,-0.86,-184.9,648.5,-8.2,444,7818,0.00,2.28,0.00,0.000,4,0.000,0.103,2618,2575,3436,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7899,-0.89,-184.9,655.2,-7.7,447,7905,0.00,2.38,0.00,0.000,6,0.000,0.112,2618,1374,3436,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8234,-0.91,-184.9,679.4,-7.1,458,8239,0.00,1.85,0.00,0.000,4,0.000,0.134,2618,457,3435,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8359,-0.91,-184.9,687.6,-6.9,462,8366,0.00,1.67,0.00,0.000,6,0.000,0.077,2618,1362,3435,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8685,-0.93,-184.9,708.0,-5.9,473,8690,0.00,2.35,0.00,0.000,4,0.000,0.106,2618,2582,3434,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8852,-0.96,-184.9,716.0,-5.2,478,8860,0.12,2.38,0.00,0.000,6,0.132,0.117,2563,1379,3433,0,0,0,0,0,0,14.06,13.85,28.83
$GC,9164,-0.96,-184.9,737.9,-6.9,489,9170,0.00,1.85,0.00,0.000,4,0.000,0.135,2563,459,3432,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9352,-0.92,-184.9,752.0,-8.1,495,9358,0.12,1.65,0.00,0.000,6,0.253,0.081,2585,1358,3432,0,0,0,0,0,0,13.66,13.92,28.83
$GC,9674,-0.92,-184.9,779.8,-9.0,506,9679,0.00,1.85,0.00,0.000,4,0.000,0.138,2585,453,3431,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9819,-0.92,-184.9,794.8,-10.1,511,9826,0.00,1.62,0.00,0.000,6,0.000,0.082,2581,1329,3430,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10151,-0.92,-184.9,828.4,-10.2,522,10156,0.00,1.75,0.00,0.000,4,0.000,0.137,2581,458,3429,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10269,-0.92,-184.9,840.6,-10.2,526,10276,0.00,1.60,0.00,0.000,6,0.000,0.081,2584,1311,3428,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10604,-0.92,-184.9,869.4,-8.2,537,10610,0.00,1.75,0.00,0.000,4,0.000,0.140,2579,454,3427,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10749,-0.92,-184.9,881.6,-8.2,542,10756,0.00,1.52,0.00,0.000,6,0.000,0.083,2579,1274,3427,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11082,-0.92,-184.9,905.1,-7.1,553,11089,0.00,1.65,0.00,0.000,4,0.000,0.142,2579,460,3426,0,0,0,0,0,0,28.83,13.75,28.83
$GC,11210,-0.92,-184.9,914.4,-7.7,557,11216,0.00,1.50,0.00,0.000,6,0.000,0.084,2579,1256,3424,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11530,-0.92,-184.9,940.4,-8.1,568,11536,0.00,1.65,0.00,0.000,4,0.000,0.144,2579,462,3424,0,0,0,0,0,0,28.83,13.65,28.83
$GC,11670,-0.92,-184.9,951.0,-8.8,572,11677,0.00,1.45,0.00,0.000,6,0.000,0.085,2579,1236,3424,0,0,0,0,0,0,28.83,13.79,28.83
$STATE,11976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11977,begin apogee
$GC,11988,-0.42,0.0,980.2,-8.8,583,12177,0.60,0.00,184.30,1.853,4,0.200,0.000,2745,1522,2692,0,0,0,0,0,0,13.68,28.83,13.00
$STATE,12183,end apogee,CONTROL_FINISHED_OK
$STATE,12183,begin climb
$GC,12187,1.15,184.9,990.8,0.0,589,12393,1.67,2.03,193.85,1.831,4,0.147,0.117,3250,2577,1940,0,0,0,0,0,0,13.94,13.96,13.00
$GC,12484,1.03,184.9,973.7,9.5,599,12490,0.20,2.10,0.00,0.000,6,0.316,0.132,3217,1515,1922,0,0,0,0,0,0,13.81,14.07,28.83
$GC,12815,0.95,184.9,943.4,9.2,610,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1515,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13114,0.86,184.9,916.5,9.0,620,13120,0.20,2.05,0.00,0.000,4,0.303,0.113,3169,2583,1917,0,0,0,0,0,0,13.71,14.08,28.83
$GC,13163,0.79,184.9,914.0,8.9,621,13170,0.15,2.12,0.00,0.000,6,0.298,0.138,3145,1525,1915,0,0,0,0,0,0,13.79,13.95,28.83
$GC,13477,0.76,184.9,889.7,7.1,632,13482,0.00,2.08,0.00,0.000,4,0.000,0.125,3145,2581,1914,0,0,0,0,0,0,28.83,13.98,28.83
$GC,13655,0.73,184.9,876.6,7.4,638,13662,0.12,2.05,0.00,0.000,6,0.282,0.135,3127,1559,1912,0,0,0,0,0,0,13.78,13.91,28.83
$GC,13987,0.73,191.7,854.1,6.9,649,13992,0.00,2.00,0.00,0.000,4,0.000,0.124,3126,2578,1914,0,0,0,0,0,0,28.83,13.93,28.83
$GC,14012,0.73,196.0,851.8,7.0,650,14020,0.00,2.00,2.55,0.646,6,0.000,0.134,3133,1588,1893,0,0,0,0,0,0,28.83,13.85,13.24
$GC,14347,0.71,196.7,828.2,7.1,661,14354,0.00,2.38,1.90,0.168,4,0.000,0.160,3142,458,1890,0,0,0,0,0,0,28.83,13.95,14.00
$GC,14393,0.68,196.7,824.5,7.2,663,14400,0.12,2.17,0.00,0.000,6,0.262,0.092,3109,1608,1896,0,0,0,0,0,0,13.74,14.02,28.83
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$STATE,23702,end climb,SURFACE_DEPTH_REACHED
$STATE,23702,begin surface coast
$FINISH,1.7,1.013939
$STATE,23733,end surface coast,CONTROL_FINISHED_OK
$STATE,23733,begin surface
$SM_CCo,23757,3.47,0.143,0,0,1264,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.41
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$TCM_TEMP,22.80
$XPDR_PINGS,4
$SC_FREEKB,7552384
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$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.775,184.575,553.950,3.475,0.000,0.000,0.000,416.300,1.000,0.000,18.800,3429.993,16485.154,913.372,2798.750,847.365,0.000,2586.955,0.000,2351.685,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.719,0.000,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,43289,1142
$CAP_FILE_SIZE,248308,0
$CFSIZE,260034560,175427584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,250.6,1
$GPS,050313,080604,2432.214,-3822.848,29,0.9,30,-14.1