version: 66.11
glider: 190
mission: 6
dive: 298
start: 12 19 112 23 18 28
data:
$ID,190
$MISSION,6
$DIVE,298
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-13272.647
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$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,9
$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,2990
$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,12
$MINV_10V,12
$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,3
$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
$GPS1,191212,230505,2422.526,-3734.147,34,0.8,34,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-67.7
$GPS2,191212,231759,2422.474,-3734.134,14,1.7,14,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,36.9,35727,-16.4,-7.174,-28.86
$D_GRID,990
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.43,0.000,2,0.000,0.000,141,1518,1720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.2,0.0,1,148,11.25,1.95,-88.22,0.000,4,0.360,0.122,2610,2582,3627,0,0,0,0,0,0,14.21,14.32,14.69
$GC,337,-0.84,-155.7,21.1,-9.4,31,346,0.00,2.08,0.00,0.000,6,0.000,0.110,2610,1508,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,648,-0.84,-155.7,51.5,-9.7,62,657,0.00,2.00,0.00,0.000,4,0.000,0.100,2605,2576,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,698,-0.84,-155.7,56.3,-9.5,67,706,0.00,2.03,0.00,0.000,6,0.000,0.111,2605,1526,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1008,-0.84,-155.7,86.0,-10.1,98,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1527,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1308,-0.84,-155.7,119.2,-10.6,128,1316,0.00,2.00,0.00,0.000,4,0.000,0.102,2604,2589,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1337,-0.84,-155.7,122.2,-10.1,131,1346,0.00,2.03,0.00,0.000,6,0.000,0.111,2605,1531,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1649,-0.84,-155.7,147.5,-6.9,162,1657,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,461,3626,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1709,-0.81,-155.7,152.1,-7.5,168,1717,0.00,1.92,0.00,0.000,6,0.000,0.081,2604,1531,3626,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2019,-0.81,-155.7,173.7,-7.2,199,2027,0.00,1.92,0.00,0.000,4,0.000,0.101,2604,2573,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2098,-0.81,-155.7,179.2,-7.1,207,2106,0.00,2.00,0.00,0.000,6,0.000,0.106,2604,1525,3627,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2408,-0.81,-155.7,203.6,-8.3,238,2417,0.00,2.05,0.00,0.000,4,0.000,0.134,2604,463,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2449,-0.81,-155.7,207.5,-9.7,242,2457,0.00,1.90,0.00,0.000,6,0.000,0.078,2605,1524,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2758,-0.81,-155.7,236.1,-9.4,273,2767,0.00,1.98,0.00,0.000,4,0.000,0.101,2604,2582,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2808,-0.81,-155.7,240.8,-9.2,278,2817,0.00,2.00,0.00,0.000,6,0.000,0.106,2605,1531,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3118,-0.81,-155.7,269.6,-9.3,295,3125,0.00,2.08,0.00,0.000,4,0.000,0.132,2604,459,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3178,-0.81,-155.7,275.6,-9.6,297,3186,0.00,1.92,0.00,0.000,6,0.000,0.079,2605,1532,3626,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3509,-0.81,-155.7,302.8,-7.8,308,3515,0.00,1.92,0.00,0.000,4,0.000,0.102,2604,2580,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3588,-0.84,-155.7,307.2,-7.5,310,3597,0.00,2.00,0.00,0.000,6,0.000,0.106,2604,1524,3625,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3899,-0.84,-155.7,333.0,-8.0,321,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1524,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.84,-155.7,356.8,-7.9,331,4205,0.00,1.98,0.00,0.000,4,0.000,0.102,2604,2579,3624,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4298,-0.86,-155.7,363.7,-7.7,334,4306,0.00,1.98,0.00,0.000,6,0.000,0.106,2605,1535,3623,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4620,-0.90,-155.7,392.3,-9.1,345,4626,0.00,2.03,0.00,0.000,4,0.000,0.132,2604,457,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4727,-0.90,-155.7,401.4,-10.0,348,4730,0.00,1.92,0.00,0.000,6,0.000,0.078,2604,1528,3622,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5030,-0.94,-155.7,435.0,-10.9,358,5035,0.00,2.03,0.00,0.000,4,0.000,0.132,2605,462,3621,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5088,-0.97,-155.7,442.0,-11.4,360,5095,0.00,1.90,0.00,0.000,6,0.000,0.076,2604,1520,3621,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5421,-1.01,-155.7,478.0,-10.5,371,5423,0.12,0.00,0.00,0.000,6,0.141,0.000,2551,1521,3620,0,0,0,0,0,0,14.66,28.83,28.83
$GC,5718,-1.01,-155.7,509.0,-9.7,381,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1522,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6018,-1.01,-155.7,534.6,-8.1,391,6026,0.00,2.05,0.00,0.000,4,0.000,0.129,2551,459,3618,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6078,-0.98,-155.7,540.0,-8.5,393,6085,0.00,1.92,0.00,0.000,6,0.000,0.081,2545,1522,3618,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6411,-0.96,-155.7,568.1,-8.7,404,6416,0.12,1.95,0.00,0.000,4,0.278,0.102,2570,2574,3616,0,0,0,0,0,0,14.28,14.40,28.83
$GC,6457,-0.96,-155.7,570.6,-8.7,405,6460,0.00,2.03,0.00,0.000,6,0.000,0.107,2570,1517,3616,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6758,-0.96,-155.7,598.0,-8.9,415,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1516,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7058,-0.96,-155.7,626.7,-10.0,425,7066,0.00,1.98,0.00,0.000,4,0.000,0.105,2565,2568,3614,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7157,-0.96,-155.7,635.8,-10.1,428,7161,0.00,2.00,0.00,0.000,6,0.000,0.110,2565,1525,3614,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7470,-0.96,-155.7,668.8,-10.2,439,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1525,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7769,-0.96,-155.7,698.2,-9.5,449,7776,0.00,2.00,0.00,0.000,4,0.000,0.106,2558,2581,3611,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7858,-0.96,-155.7,706.1,-8.9,452,7866,0.00,2.03,0.00,0.000,6,0.000,0.112,2558,1525,3611,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8190,-0.96,-155.7,732.6,-7.6,463,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1525,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.96,-155.7,754.9,-7.7,473,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1525,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8790,-0.96,-155.7,782.3,-9.7,483,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1525,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9088,-0.96,-155.7,816.1,-11.9,493,9096,0.00,2.03,0.00,0.000,4,0.000,0.112,2552,2575,3605,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9188,-0.96,-155.7,826.7,-11.8,496,9195,0.00,2.03,0.00,0.000,6,0.000,0.115,2553,1531,3603,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9510,-0.96,-155.7,867.2,-12.2,507,9516,0.00,2.00,0.00,0.000,4,0.000,0.114,2549,2572,3603,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9588,-0.96,-155.7,873.9,-11.6,509,9597,0.12,2.03,0.00,0.000,6,0.247,0.113,2579,1530,3603,0,0,0,0,0,0,14.14,14.26,28.83
$GC,9902,-0.99,-155.7,906.0,-9.2,520,9908,0.00,2.08,0.00,0.000,4,0.000,0.143,2578,461,3602,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9977,-0.99,-155.7,911.5,-9.2,522,9981,0.00,1.98,0.00,0.000,6,0.000,0.085,2572,1532,3602,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10279,-0.99,-155.7,939.1,-8.5,532,10286,0.00,2.00,0.00,0.000,4,0.000,0.112,2567,2574,3601,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10339,-0.99,-155.7,944.2,-8.5,534,10347,0.00,2.00,0.00,0.000,6,0.000,0.114,2567,1539,3600,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10669,-0.99,-155.7,971.3,-7.9,545,10676,0.00,2.00,0.00,0.000,4,0.000,0.117,2566,2568,3599,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10718,-0.99,-155.7,973.6,-7.8,546,10727,0.00,2.03,0.00,0.000,6,0.000,0.117,2566,1532,3599,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,10936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10936,begin apogee
$GC,10942,-0.23,0.0,992.2,-7.6,554,11097,0.88,0.00,149.40,1.831,4,0.220,0.000,2807,1532,2985,0,0,0,0,0,0,14.02,28.83,13.23
$STATE,11099,end apogee,CONTROL_FINISHED_OK
$STATE,11102,begin climb
$GC,11104,0.84,155.7,997.9,0.0,559,11274,1.10,2.03,156.60,1.799,4,0.118,0.111,3158,2575,2348,0,0,0,0,0,0,14.10,14.08,13.20
$GC,11441,0.79,155.7,985.2,8.3,570,11450,0.00,2.10,0.00,0.000,6,0.000,0.129,3166,1519,2335,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11756,0.75,155.7,959.2,7.8,581,11761,0.12,1.98,0.00,0.000,4,0.312,0.112,3135,2576,2333,0,0,0,0,0,0,14.23,14.47,28.83
$GC,11873,0.72,163.6,950.9,6.9,585,11880,0.00,2.05,0.00,0.000,6,0.000,0.132,3143,1532,2333,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12207,0.73,238.5,932.8,4.8,596,12295,0.00,2.08,83.32,1.763,4,0.000,0.116,3143,2575,2011,0,0,0,0,0,0,28.83,14.15,13.38
$GC,12334,0.73,300.2,927.1,5.2,600,12403,0.00,2.10,64.05,1.714,6,0.000,0.134,3151,1533,1764,0,0,0,0,0,0,28.83,14.18,13.28
$GC,12703,0.75,339.3,903.2,5.9,613,12752,0.00,2.22,41.03,1.670,4,0.000,0.168,3157,460,1598,0,0,0,0,0,0,28.83,14.19,13.51
$GC,12834,0.76,344.1,894.7,7.0,617,12841,0.00,1.98,0.00,0.000,6,0.000,0.090,3157,1523,1590,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13156,0.76,344.1,868.6,8.4,628,13161,0.00,2.12,0.00,0.000,4,0.000,0.164,3165,460,1586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13202,0.76,344.1,866.0,8.5,629,13207,0.12,1.98,0.00,0.000,6,0.277,0.090,3138,1528,1585,0,0,0,0,0,0,14.28,14.47,28.83
$GC,13506,0.79,344.1,838.9,8.5,639,13513,0.00,1.92,0.00,0.000,4,0.000,0.108,3138,2578,1584,0,0,0,0,0,0,28.83,14.46,28.83
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$STATE,21902,end climb,SURFACE_DEPTH_REACHED
$STATE,21902,begin surface coast
$FINISH,1.3,1.011352
$STATE,21933,end surface coast,CONTROL_FINISHED_OK
$STATE,21933,begin surface
$SM_CCo,21956,2.58,0.149,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.09
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7655840
$TM_FREEKB,4821120
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$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345596
$DATA_FILE_SIZE,39981,1084
$CAP_FILE_SIZE,229225,0
$CFSIZE,260034560,208379904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,109.3,1
$GPS,201212,052552,2423.982,-3732.513,40,0.8,40,-13.9