version: 66.11
glider: 190
mission: 6
dive: 466
start: 2 3 113 13 49 22
data:
$ID,190
$MISSION,6
$DIVE,466
$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,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,-13502.092
$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,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
$GPS1,030213,133754,2436.786,-3806.284,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-63.0
$GPS2,030213,134849,2436.843,-3806.270,21,1.0,22,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$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,313.9,26560,-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,-10.75,0.000,2,0.000,0.000,143,1526,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.5,0.0,1,143,11.43,2.15,-82.15,0.000,4,0.357,0.161,2611,452,3627,0,0,0,0,0,0,14.02,14.12,14.69
$GC,378,-0.84,-155.7,29.4,-9.7,35,384,0.00,1.95,0.00,0.000,6,0.000,0.087,2609,1529,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,687,-0.86,-155.7,55.9,-9.0,66,694,0.00,2.10,0.00,0.000,4,0.000,0.138,2609,459,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,814,-0.86,-155.7,67.7,-8.9,79,823,0.00,1.92,0.00,0.000,6,0.000,0.084,2605,1501,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1126,-0.90,-155.7,93.5,-9.2,110,1133,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,452,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1258,-0.90,-155.7,106.1,-9.6,123,1264,0.00,1.85,0.00,0.000,6,0.000,0.082,2605,1479,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1567,-0.93,-155.7,131.6,-8.3,154,1574,0.00,2.00,0.00,0.000,4,0.000,0.135,2605,453,3630,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1674,-0.93,-155.7,141.2,-8.7,165,1683,0.00,1.88,0.00,0.000,6,0.000,0.080,2605,1478,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1985,-0.97,-155.7,165.6,-7.8,196,1993,0.00,2.00,0.00,0.000,4,0.000,0.133,2606,459,3628,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2155,-0.97,-155.7,179.8,-8.5,213,2164,0.00,1.77,0.00,0.000,6,0.000,0.080,2605,1440,3628,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2466,-1.01,-155.7,204.7,-8.2,244,2473,0.12,0.00,0.00,0.000,6,0.135,0.000,2550,1441,3628,0,0,0,0,0,0,14.55,28.83,28.83
$GC,2775,-1.01,-155.7,235.8,-10.4,275,2783,0.00,1.95,0.00,0.000,4,0.000,0.132,2550,459,3628,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2907,-0.98,-155.7,250.5,-11.3,288,2912,0.00,1.77,0.00,0.000,6,0.000,0.083,2549,1449,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3226,-0.98,-155.7,283.5,-10.0,299,3231,0.00,1.92,0.00,0.000,4,0.000,0.135,2549,454,3628,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3354,-0.96,-155.7,295.5,-9.9,303,3363,0.12,1.77,0.00,0.000,6,0.259,0.083,2577,1422,3627,0,0,0,0,0,0,13.91,14.14,28.83
$GC,3679,-0.98,-155.7,321.7,-7.6,314,3685,0.00,1.90,0.00,0.000,4,0.000,0.137,2577,453,3627,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3724,-0.98,-155.7,324.1,-7.7,315,3733,0.00,1.77,0.00,0.000,6,0.000,0.086,2576,1424,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4035,-1.01,-155.7,349.3,-7.9,326,4043,0.00,2.15,0.00,0.000,4,0.000,0.108,2568,2571,3625,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4096,-1.04,-155.7,354.3,-8.2,328,4102,0.00,2.22,0.00,0.000,6,0.000,0.118,2568,1411,3628,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4428,-1.06,-155.7,385.4,-9.9,339,4433,0.00,1.88,0.00,0.000,4,0.000,0.135,2567,441,3625,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4555,-1.06,-155.7,398.5,-10.9,343,4562,0.00,1.75,0.00,0.000,6,0.000,0.086,2565,1406,3625,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4879,-1.08,-155.7,431.9,-9.7,354,4885,0.00,2.17,0.00,0.000,4,0.000,0.109,2558,2580,3623,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4924,-1.08,-155.7,434.6,-9.7,355,4933,0.00,2.30,0.00,0.000,6,0.000,0.119,2555,1406,3624,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5236,-1.08,-155.7,464.9,-9.0,366,5242,0.00,1.85,0.00,0.000,4,0.000,0.138,2557,463,3623,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5333,-1.08,-155.7,473.5,-9.4,369,5337,0.00,1.70,0.00,0.000,6,0.000,0.085,2553,1396,3623,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5647,-1.08,-155.7,501.4,-8.6,380,5653,0.00,1.85,0.00,0.000,4,0.000,0.140,2553,459,3621,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5714,-1.08,-155.7,506.9,-8.9,382,5722,0.00,1.73,0.00,0.000,6,0.000,0.089,2552,1389,3621,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6037,-1.08,-155.7,537.5,-9.7,393,6043,0.00,1.85,0.00,0.000,4,0.000,0.142,2553,455,3621,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6134,-1.08,-155.7,547.2,-10.6,396,6138,0.00,1.70,0.00,0.000,6,0.000,0.088,2553,1373,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6447,-1.08,-155.7,580.0,-10.3,407,6453,0.00,2.25,0.00,0.000,4,0.000,0.106,2552,2571,3619,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6487,-1.08,-155.7,583.0,-10.2,408,6493,0.00,2.35,0.00,0.000,6,0.000,0.114,2553,1362,3619,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6807,-1.08,-155.7,616.9,-10.2,419,6813,0.00,1.77,0.00,0.000,4,0.000,0.135,2552,459,3618,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6946,-1.08,-155.7,629.5,-10.5,423,6954,0.00,1.62,0.00,0.000,6,0.000,0.084,2552,1343,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7258,-1.08,-155.7,662.7,-9.9,434,7264,0.00,1.80,0.00,0.000,4,0.000,0.142,2552,455,3616,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7366,-1.08,-155.7,672.0,-10.4,437,7374,0.00,1.60,0.00,0.000,6,0.000,0.088,2552,1325,3615,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7678,-1.08,-155.7,704.0,-9.4,448,7684,0.00,1.75,0.00,0.000,4,0.000,0.145,2552,457,3614,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7736,-1.08,-155.7,709.8,-9.5,450,7743,0.00,1.58,0.00,0.000,6,0.000,0.087,2552,1312,3613,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8068,-1.08,-155.7,739.4,-8.9,461,8073,0.00,1.73,0.00,0.000,4,0.000,0.145,2552,459,3612,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8107,-1.08,-155.7,742.1,-8.9,462,8113,0.00,1.55,0.00,0.000,6,0.000,0.088,2552,1306,3612,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8427,-1.08,-155.7,770.4,-8.4,473,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1306,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8728,-1.08,-155.7,795.9,-8.5,483,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1307,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,-1.08,-155.7,822.3,-8.9,493,9034,0.00,1.75,0.00,0.000,4,0.000,0.148,2552,454,3609,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9075,-1.08,-155.7,824.9,-8.9,494,9079,0.00,1.60,0.00,0.000,6,0.000,0.092,2552,1309,3608,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9378,-1.08,-155.7,855.8,-9.9,504,9383,0.00,2.42,0.00,0.000,4,0.000,0.117,2552,2572,3607,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9426,-1.10,-155.7,858.8,-10.0,505,9435,0.00,2.55,0.00,0.000,6,0.000,0.127,2552,1297,3607,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9741,-1.12,-155.7,893.1,-10.9,516,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1297,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10037,-1.12,-155.7,927.7,-11.7,526,10044,0.00,2.47,0.00,0.000,4,0.000,0.115,2552,2565,3605,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10106,-1.14,-155.7,934.6,-11.6,528,10113,0.00,2.50,0.00,0.000,6,0.000,0.129,2552,1313,3605,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10431,-1.16,-155.7,971.7,-11.0,539,10436,0.12,1.73,0.00,0.000,4,0.155,0.147,2506,459,3604,0,0,0,0,0,0,14.36,13.79,28.83
$GC,10547,-1.13,-155.7,986.5,-12.3,543,10554,0.00,1.60,0.00,0.000,6,0.000,0.095,2502,1317,3604,0,0,0,0,0,0,28.83,14.07,28.83
$STATE,10573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10573,begin apogee
$GC,10583,-0.23,0.0,990.0,-12.5,544,10756,1.15,0.00,163.12,2.461,4,0.227,0.000,2807,1516,2990,0,0,0,0,1,0,13.69,28.83,12.64
$STATE,10760,end apogee,CONTROL_FINISHED_OK
$STATE,10760,begin climb
$GC,10763,0.84,155.7,1004.4,0.0,550,10943,1.10,2.05,168.48,1.812,4,0.106,0.119,3164,2578,2354,0,0,0,0,0,0,14.09,14.04,13.07
$GC,11174,0.83,226.2,1000.3,4.9,564,11254,0.00,2.10,74.50,1.782,6,0.000,0.146,3172,1522,2068,0,0,0,0,0,0,28.83,14.25,13.13
$GC,11552,0.80,226.2,974.0,7.5,576,11558,0.00,2.17,0.00,0.000,4,0.000,0.177,3179,463,2053,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11692,0.75,226.2,963.9,8.4,580,11701,0.15,1.98,0.00,0.000,6,0.264,0.103,3139,1530,2052,0,0,0,0,0,0,14.04,14.32,28.83
$GC,12004,0.75,226.2,937.5,8.1,591,12009,0.00,1.98,0.00,0.000,4,0.000,0.117,3138,2579,2051,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12230,0.75,226.2,919.7,8.6,598,12239,0.00,2.05,0.00,0.000,6,0.000,0.135,3146,1550,2049,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12542,0.75,226.2,890.3,8.9,609,12548,0.00,2.00,0.00,0.000,4,0.000,0.125,3146,2578,2048,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12692,0.75,226.2,876.8,9.0,614,12699,0.00,2.00,0.00,0.000,6,0.000,0.142,3153,1581,2047,0,0,0,0,0,0,28.83,13.96,28.83
$GC,13025,0.75,226.2,848.6,8.3,625,13030,0.00,1.92,0.00,0.000,4,0.000,0.124,3153,2580,2047,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13102,0.75,226.2,843.6,8.2,627,13110,0.00,1.98,0.00,0.000,6,0.000,0.140,3160,1597,2046,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13412,0.75,226.2,817.0,8.0,638,13419,0.00,1.90,0.00,0.000,4,0.000,0.123,3160,2568,2046,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13480,0.75,226.2,812.1,8.0,640,13488,0.15,1.98,0.00,0.000,6,0.293,0.140,3135,1596,2045,0,0,0,0,0,0,13.86,14.05,28.83
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$STATE,23246,end climb,SURFACE_DEPTH_REACHED
$STATE,23246,begin surface coast
$FINISH,1.6,1.019045
$STATE,23277,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,22.90
$XPDR_PINGS,2
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$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344980
$DATA_FILE_SIZE,43371,1173
$CAP_FILE_SIZE,247880,0
$CFSIZE,260034560,187154432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.072, 23.3,1
$GPS,030213,201928,2437.910,-3807.575,39,0.9,39,-14.0