version: 66.11
glider: 190
mission: 6
dive: 454
start: 1 31 113 7 54 47
data:
$ID,190
$MISSION,6
$DIVE,454
$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,4
$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,-13487.001
$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,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,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,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
$GPS1,310113,074328,2422.060,-3749.229,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-63.2
$GPS2,310113,075417,2422.037,-3749.248,16,1.0,16,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,C_NW
$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,317.8,30859,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-11.00,0.000,2,0.000,0.000,135,1516,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,144,11.27,2.10,-88.03,0.000,4,0.352,0.160,2618,460,3624,0,0,0,0,0,0,14.15,14.16,14.70
$GC,304,-0.84,-155.7,18.4,-11.2,28,313,0.00,1.92,0.00,0.000,6,0.000,0.076,2618,1526,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,616,-0.86,-155.7,46.4,-10.5,59,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1526,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.90,-155.7,72.8,-9.8,90,934,0.00,2.10,0.00,0.000,4,0.000,0.132,2617,457,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1104,-0.90,-155.7,91.0,-10.0,108,1113,0.00,1.90,0.00,0.000,6,0.000,0.073,2618,1516,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1417,-0.94,-155.7,120.0,-9.7,139,1423,0.00,2.05,0.00,0.000,4,0.000,0.131,2618,454,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1567,-0.94,-155.7,136.5,-11.7,154,1574,0.00,1.80,0.00,0.000,6,0.000,0.074,2618,1485,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1875,-0.99,-155.7,172.2,-11.3,185,1884,0.15,2.03,0.00,0.000,4,0.119,0.132,2552,456,3627,0,0,0,0,0,0,14.41,14.02,28.83
$GC,2008,-0.95,-155.7,188.7,-12.7,198,2016,0.15,1.80,0.00,0.000,6,0.252,0.080,2584,1471,3627,0,0,0,0,0,0,14.00,14.26,28.83
$GC,2318,-0.97,-155.7,217.3,-7.8,229,2325,0.00,1.95,0.00,0.000,4,0.000,0.132,2584,460,3628,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2395,-0.97,-155.7,223.8,-8.2,237,2403,0.00,1.80,0.00,0.000,6,0.000,0.077,2582,1457,3628,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2709,-1.00,-155.7,246.0,-7.0,268,2715,0.00,1.92,0.00,0.000,4,0.000,0.132,2582,459,3628,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2890,-1.00,-155.7,260.8,-8.3,278,2896,0.00,1.70,0.00,0.000,6,0.000,0.080,2579,1431,3628,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3220,-1.02,-155.7,288.5,-8.7,289,3225,0.00,1.88,0.00,0.000,4,0.000,0.133,2579,460,3628,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3305,-1.02,-155.7,297.2,-9.5,292,3312,0.00,1.73,0.00,0.000,6,0.000,0.078,2579,1420,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3638,-1.05,-155.7,329.9,-10.1,303,3643,0.00,1.85,0.00,0.000,4,0.000,0.132,2579,459,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3756,-1.05,-155.7,342.0,-10.1,307,3762,0.00,1.67,0.00,0.000,6,0.000,0.080,2579,1395,3629,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4088,-1.08,-155.7,371.5,-8.5,318,4095,0.12,1.83,0.00,0.000,4,0.138,0.130,2519,456,3626,0,0,0,0,0,0,14.57,14.08,28.83
$GC,4217,-1.04,-155.7,383.9,-10.4,322,4223,0.15,1.60,0.00,0.000,6,0.263,0.081,2548,1370,3625,0,0,0,0,0,0,14.03,14.34,28.83
$GC,4539,-1.04,-155.7,413.8,-8.9,333,4544,0.00,1.77,0.00,0.000,4,0.000,0.132,2548,456,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4566,-1.04,-155.7,416.6,-8.9,334,4574,0.00,1.62,0.00,0.000,6,0.000,0.080,2544,1361,3622,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4896,-1.04,-155.7,448.8,-10.2,345,4902,0.00,2.25,0.00,0.000,4,0.000,0.103,2540,2571,3623,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4925,-1.04,-155.7,451.7,-10.1,346,4933,0.00,2.35,0.00,0.000,6,0.000,0.116,2540,1346,3623,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5257,-1.04,-155.7,486.3,-10.6,357,5262,0.00,1.73,0.00,0.000,4,0.000,0.135,2540,454,3622,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5315,-1.04,-155.7,493.2,-11.1,359,5322,0.00,1.62,0.00,0.000,6,0.000,0.083,2540,1351,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5646,-1.04,-155.7,529.2,-10.8,370,5653,0.00,2.25,0.00,0.000,4,0.000,0.106,2539,2579,3619,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5736,-1.04,-155.7,538.5,-10.4,373,5742,0.00,2.38,0.00,0.000,6,0.000,0.118,2540,1355,3621,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6065,-1.04,-155.7,572.2,-10.3,384,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1355,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-1.04,-155.7,603.0,-10.1,394,6373,0.00,1.73,0.00,0.000,4,0.000,0.138,2540,460,3618,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6425,-1.04,-155.7,609.4,-10.2,396,6432,0.00,1.62,0.00,0.000,6,0.000,0.085,2539,1352,3618,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6757,-1.04,-155.7,642.0,-10.0,407,6762,0.00,2.28,0.00,0.000,4,0.000,0.107,2539,2575,3616,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6824,-1.04,-155.7,647.8,-9.9,409,6831,0.00,2.40,0.00,0.000,6,0.000,0.119,2539,1351,3616,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7145,-1.04,-155.7,682.0,-10.6,420,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1351,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7446,-1.04,-155.7,714.9,-11.2,430,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1350,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7745,-1.04,-155.7,745.5,-9.8,440,7752,0.00,1.80,0.00,0.000,4,0.000,0.143,2539,456,3613,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7785,-1.04,-155.7,748.3,-9.7,441,7792,0.00,1.67,0.00,0.000,6,0.000,0.087,2539,1365,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8105,-1.04,-155.7,779.0,-9.3,452,8112,0.00,1.83,0.00,0.000,4,0.000,0.144,2539,457,3611,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8175,-1.04,-155.7,784.7,-9.5,454,8182,0.00,1.65,0.00,0.000,6,0.000,0.087,2539,1351,3610,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8497,-1.04,-155.7,815.8,-9.5,465,8502,0.00,1.77,0.00,0.000,4,0.000,0.147,2539,460,3608,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8564,-1.04,-155.7,822.0,-9.9,467,8568,0.00,1.62,0.00,0.000,6,0.000,0.088,2539,1342,3608,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8878,-1.04,-155.7,855.6,-10.9,478,8883,0.00,2.33,0.00,0.000,4,0.000,0.117,2539,2570,3607,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8966,-1.04,-155.7,865.2,-10.8,481,8974,0.00,2.42,0.00,0.000,6,0.000,0.125,2539,1346,3606,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9297,-1.04,-155.7,901.5,-10.8,492,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1347,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,-1.04,-155.7,933.7,-10.7,502,9603,0.00,2.35,0.00,0.000,4,0.000,0.116,2539,2573,3604,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9635,-1.04,-155.7,936.6,-10.6,503,9643,0.00,2.45,0.00,0.000,6,0.000,0.128,2539,1350,3604,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9957,-1.04,-155.7,968.8,-9.5,514,9963,0.00,1.80,0.00,0.000,4,0.000,0.150,2539,462,3603,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10017,-1.04,-155.7,974.5,-9.3,516,10023,0.00,1.62,0.00,0.000,6,0.000,0.092,2539,1345,3602,0,0,0,0,0,0,28.83,14.08,28.83
$STATE,10195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10195,begin apogee
$GC,10203,-0.23,0.0,991.2,-9.2,522,10364,0.95,0.00,155.75,1.844,4,0.195,0.000,2808,1519,2987,0,0,0,0,0,0,13.78,28.83,13.05
$STATE,10369,end apogee,CONTROL_FINISHED_OK
$STATE,10369,begin climb
$GC,10372,0.84,155.7,1001.2,0.0,527,10539,1.05,0.00,162.38,1.819,6,0.108,0.000,3156,1520,2354,0,0,0,0,0,0,14.12,28.83,13.10
$GC,10852,0.84,229.0,991.5,4.9,544,10941,0.00,2.05,77.55,1.786,4,0.000,0.120,3156,2569,2048,0,0,0,0,0,0,28.83,14.13,13.18
$GC,11040,0.82,239.9,979.8,6.8,550,11061,0.00,2.10,11.77,1.643,6,0.000,0.138,3164,1524,2007,0,0,0,0,0,0,28.83,14.23,13.31
$GC,11364,0.82,239.9,954.2,8.3,561,11369,0.00,2.03,0.00,0.000,4,0.000,0.126,3164,2582,2000,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11451,0.80,239.9,946.3,8.7,564,11458,0.00,2.03,0.00,0.000,6,0.000,0.138,3171,1558,1999,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11785,0.78,239.9,916.2,9.2,575,11790,0.00,2.15,0.00,0.000,4,0.000,0.155,3180,458,1998,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11830,0.75,239.9,913.5,9.2,576,11839,0.17,2.03,0.00,0.000,6,0.271,0.090,3140,1559,1997,0,0,0,0,0,0,14.10,14.40,28.83
$GC,12145,0.75,239.9,886.1,8.2,587,12150,0.00,1.90,0.00,0.000,4,0.000,0.114,3140,2575,1996,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12342,0.75,239.9,871.7,7.9,593,12349,0.00,1.98,0.00,0.000,6,0.000,0.140,3146,1577,1995,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12651,0.75,239.9,846.6,7.6,604,12658,0.00,1.92,0.00,0.000,4,0.000,0.125,3147,2566,1995,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12729,0.75,239.9,842.1,7.5,606,12739,0.00,2.00,0.00,0.000,6,0.000,0.143,3154,1581,1994,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13042,0.75,239.9,815.1,8.4,617,13047,0.00,1.95,0.00,0.000,4,0.000,0.124,3154,2569,1994,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13079,0.75,239.9,812.6,8.5,618,13086,0.00,2.00,0.00,0.000,6,0.000,0.142,3160,1590,1994,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13401,0.75,239.9,784.0,8.4,629,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1590,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13702,0.75,239.9,760.2,7.6,639,13707,0.00,1.92,0.00,0.000,4,0.000,0.125,3161,2579,1993,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,22439,end climb,SURFACE_DEPTH_REACHED
$STATE,22439,begin surface coast
$FINISH,1.5,1.025663
$STATE,22470,end surface coast,CONTROL_FINISHED_OK
$STATE,22470,begin surface
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$TCM_TEMP,23.10
$XPDR_PINGS,4
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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,344972
$DATA_FILE_SIZE,43310,1125
$CAP_FILE_SIZE,236856,0
$CFSIZE,260034560,188465152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,348.0,1
$GPS,310113,141129,2423.281,-3750.987,40,0.8,40,-14.0