version: 66.11
glider: 190
mission: 6
dive: 492
start: 2 10 113 15 27 39
data:
$ID,190
$MISSION,6
$DIVE,492
$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,-13534.794
$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,16
$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
$GPS1,100213,151604,2442.448,-3813.619,32,0.8,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-63.7
$GPS2,100213,152706,2442.488,-3813.661,19,1.0,19,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-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,178.2,41073,-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,-10.85,0.000,2,0.000,0.000,136,1511,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.6,0.0,1,144,10.98,2.15,-84.18,0.000,4,0.339,0.163,2612,453,3626,0,0,0,0,0,0,14.04,14.03,14.69
$GC,264,-0.84,-155.7,16.4,-10.3,24,273,0.00,1.95,0.00,0.000,6,0.000,0.087,2605,1513,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,575,-0.87,-155.7,47.0,-9.8,55,583,0.00,2.12,0.00,0.000,4,0.000,0.142,2605,462,3627,0,0,0,0,0,0,28.83,13.91,28.83
$GC,626,-0.87,-155.7,52.2,-10.7,60,633,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1512,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,936,-0.90,-155.7,81.4,-9.2,91,943,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2580,3626,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1005,-0.94,-155.7,87.3,-8.3,98,1013,0.00,2.08,0.00,0.000,6,0.000,0.118,2604,1522,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1317,-0.97,-155.7,113.0,-8.3,129,1324,0.00,2.10,0.00,0.000,4,0.000,0.142,2605,458,3626,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1468,-0.97,-155.7,126.4,-8.3,144,1475,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1498,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1776,-1.00,-155.7,154.0,-9.6,175,1783,0.12,0.00,0.00,0.000,6,0.136,0.000,2544,1499,3626,0,0,0,0,0,0,14.47,28.83,28.83
$GC,2085,-1.00,-155.7,185.3,-9.5,206,2093,0.00,2.05,0.00,0.000,4,0.000,0.135,2544,462,3627,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2127,-0.97,-155.7,189.2,-9.9,210,2134,0.15,1.85,0.00,0.000,6,0.268,0.087,2572,1488,3627,0,0,0,0,0,0,13.92,14.22,28.83
$GC,2439,-0.97,-155.7,213.3,-7.1,241,2447,0.00,2.05,0.00,0.000,4,0.000,0.107,2565,2583,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2506,-1.00,-155.7,218.4,-7.3,248,2514,0.00,2.15,0.00,0.000,6,0.000,0.119,2565,1481,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2816,-1.00,-155.7,245.9,-9.8,279,2824,0.00,2.00,0.00,0.000,4,0.000,0.135,2565,462,3627,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2896,-0.97,-155.7,252.0,-10.2,285,2904,0.00,1.85,0.00,0.000,6,0.000,0.081,2558,1484,3627,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3206,-0.97,-155.7,286.3,-10.4,296,3212,0.00,2.05,0.00,0.000,4,0.000,0.106,2553,2573,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3245,-0.97,-155.7,289.4,-10.4,297,3252,0.00,2.15,0.00,0.000,6,0.000,0.119,2552,1477,3626,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3568,-0.97,-155.7,324.8,-10.8,308,3573,0.00,1.98,0.00,0.000,4,0.000,0.135,2552,462,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3635,-0.97,-155.7,331.6,-11.0,310,3643,0.00,1.85,0.00,0.000,6,0.000,0.083,2549,1479,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3957,-0.97,-155.7,367.7,-10.8,321,3963,0.00,2.00,0.00,0.000,4,0.000,0.136,2549,456,3625,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4046,-0.97,-155.7,378.0,-11.3,324,4052,0.00,1.80,0.00,0.000,6,0.000,0.086,2549,1447,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4376,-0.97,-155.7,411.5,-10.0,335,4382,0.00,2.12,0.00,0.000,4,0.000,0.111,2542,2566,3624,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4416,-0.97,-155.7,414.3,-9.9,336,4423,0.10,2.17,0.00,0.000,6,0.194,0.119,2573,1454,3624,0,0,0,0,0,0,13.90,14.00,28.83
$GC,4739,-1.00,-155.7,445.0,-9.3,347,4744,0.00,2.12,0.00,0.000,4,0.000,0.107,2565,2575,3623,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4797,-1.02,-155.7,450.4,-9.1,349,4803,0.00,2.12,0.00,0.000,6,0.000,0.119,2565,1464,3623,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5129,-1.05,-155.7,480.0,-8.5,360,5134,0.00,1.98,0.00,0.000,4,0.000,0.142,2565,462,3621,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5165,-1.05,-155.7,482.6,-8.5,361,5172,0.00,1.85,0.00,0.000,6,0.000,0.084,2558,1472,3622,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5488,-1.05,-155.7,510.6,-8.7,372,5493,0.00,2.00,0.00,0.000,4,0.000,0.138,2559,461,3621,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5535,-1.05,-155.7,513.3,-8.9,373,5543,0.00,1.83,0.00,0.000,6,0.000,0.085,2554,1458,3620,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5848,-1.05,-155.7,545.8,-9.9,384,5853,0.00,1.98,0.00,0.000,4,0.000,0.141,2553,461,3619,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5896,-1.05,-155.7,548.9,-10.1,385,5904,0.00,1.80,0.00,0.000,6,0.000,0.087,2550,1447,3619,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6207,-1.05,-155.7,582.3,-10.1,396,6213,0.00,2.15,0.00,0.000,4,0.000,0.116,2549,2566,3617,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6256,-1.05,-155.7,585.2,-10.0,397,6264,0.00,2.20,0.00,0.000,6,0.000,0.125,2549,1453,3617,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6566,-1.05,-155.7,616.3,-9.2,408,6572,0.00,1.98,0.00,0.000,4,0.000,0.144,2549,465,3616,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6736,-1.05,-155.7,631.0,-9.8,413,6744,0.00,1.75,0.00,0.000,6,0.000,0.090,2549,1415,3615,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7046,-1.05,-155.7,659.8,-8.6,424,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1415,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7346,-1.05,-155.7,685.9,-8.8,434,7352,0.00,1.92,0.00,0.000,4,0.000,0.143,2550,460,3613,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7426,-1.05,-155.7,691.6,-9.1,436,7434,0.00,1.77,0.00,0.000,6,0.000,0.090,2549,1420,3613,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7736,-1.05,-155.7,722.7,-9.6,447,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1420,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8037,-1.05,-155.7,752.3,-9.9,457,8044,0.00,1.95,0.00,0.000,4,0.000,0.145,2549,459,3608,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8075,-1.05,-155.7,755.3,-9.8,458,8083,0.00,1.80,0.00,0.000,6,0.000,0.091,2549,1424,3610,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8396,-1.05,-155.7,784.6,-8.5,469,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1424,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,-1.07,-155.7,807.6,-7.4,479,8703,0.00,1.92,0.00,0.000,4,0.000,0.145,2549,457,3607,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8726,-1.07,-155.7,809.8,-7.4,480,8733,0.00,1.77,0.00,0.000,6,0.000,0.090,2549,1413,3607,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9060,-1.09,-155.7,835.5,-8.2,491,9066,0.00,2.22,0.00,0.000,4,0.000,0.112,2549,2576,3606,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9105,-1.11,-155.7,837.9,-8.2,492,9114,0.00,2.28,0.00,0.000,6,0.000,0.116,2549,1424,3606,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9419,-1.13,-155.7,867.2,-9.1,503,9424,0.00,1.90,0.00,0.000,4,0.000,0.135,2549,462,3604,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9568,-1.13,-155.7,882.5,-10.3,508,9573,0.00,1.73,0.00,0.000,6,0.000,0.084,2549,1406,3604,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9899,-1.16,-155.7,916.6,-10.6,519,9904,0.00,2.22,0.00,0.000,4,0.000,0.111,2549,2581,3603,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9936,-1.18,-155.7,919.8,-10.6,520,9943,0.10,2.35,0.00,0.000,6,0.098,0.127,2506,1408,3603,0,0,0,0,0,0,13.91,13.76,28.83
$GC,10259,-1.15,-155.7,958.2,-11.6,531,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1407,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10553,begin apogee
$GC,10562,-0.23,0.0,991.9,-11.0,541,10723,1.15,0.00,154.98,1.801,4,0.232,0.000,2807,1517,2986,0,0,0,0,0,0,13.66,28.83,13.00
$STATE,10727,end apogee,CONTROL_FINISHED_OK
$STATE,10727,begin climb
$GC,10731,0.84,155.7,1002.8,0.0,546,10896,1.08,0.00,160.48,1.797,6,0.117,0.000,3158,1519,2354,0,0,0,0,0,0,14.11,28.83,13.08
$GC,11209,0.80,169.5,987.8,6.7,563,11228,0.00,2.08,13.85,1.670,4,0.000,0.123,3158,2582,2294,0,0,0,0,0,0,28.83,14.40,13.34
$GC,11458,0.76,169.5,970.0,7.9,570,11467,0.08,2.10,0.00,0.000,6,0.281,0.139,3146,1531,2285,0,0,0,0,0,0,14.03,14.18,28.83
$GC,11773,0.73,169.5,944.5,7.8,581,11779,0.00,2.00,0.00,0.000,4,0.000,0.124,3146,2578,2284,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11960,0.70,169.5,930.7,7.6,587,11966,0.15,2.05,0.00,0.000,6,0.305,0.138,3122,1537,2283,0,0,0,0,0,0,13.95,14.16,28.83
$GC,12283,0.72,194.6,908.6,6.4,598,12316,0.00,1.98,27.15,1.730,4,0.000,0.127,3122,2582,2189,0,0,0,0,0,0,28.83,14.42,13.35
$GC,12498,0.73,217.5,895.1,6.5,605,12528,0.00,2.03,24.67,1.712,6,0.000,0.134,3129,1566,2103,0,0,0,0,0,0,28.83,14.21,13.33
$GC,12839,0.76,271.4,874.3,5.5,617,12905,0.00,2.00,58.25,1.713,4,0.000,0.116,3129,2583,1874,0,0,0,0,0,0,28.83,14.19,13.20
$GC,13089,0.80,309.5,860.2,6.0,625,13139,0.00,1.98,40.40,1.672,6,0.000,0.129,3137,1584,1721,0,0,0,0,0,0,28.83,14.14,13.26
$GC,13439,0.84,314.5,836.6,7.0,637,13445,0.00,2.25,0.00,0.000,4,0.000,0.155,3146,463,1712,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13560,0.84,314.5,827.2,7.9,641,13565,0.00,2.15,0.00,0.000,6,0.000,0.090,3146,1627,1709,0,0,0,0,0,0,28.83,14.25,28.83
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$STATE,22727,end climb,SURFACE_DEPTH_REACHED
$STATE,22727,begin surface coast
$FINISH,1.5,1.023533
$STATE,22761,end surface coast,CONTROL_FINISHED_OK
$STATE,22761,begin surface
$SM_CCo,22783,19.23,0.126,0,0,1561,350.04
$SM_GC,2.22,8.88,0.65,19.23,0.071,0.142,0.126,138,1514,1561,-8.55,0.20,350.04,0,0,0,0,0,0,14.21,13.99,14.15
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$TT8_MAMPS,0.024717,0.024717
$HUMID,59.52
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.00
$XPDR_PINGS,3
$SC_FREEKB,7581984
$24V_AH,13.0,208.421
$10V_AH,12.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.150,181.325,479.775,19.225,0.000,0.000,0.000,362.700,0.750,0.000,20.028,3273.122,15969.288,883.897,2594.086,730.296,0.000,2430.342,0.000,2174.419,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.059,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43285,1138
$CAP_FILE_SIZE,237364,0
$CFSIZE,260034560,184303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,310.1,1
$GPS,100213,214905,2441.805,-3813.660,37,0.9,37,-14.0