version: 66.11
glider: 190
mission: 6
dive: 549
start: 2 27 113 2 31 50
data:
$ID,190
$MISSION,6
$DIVE,549
$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,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,-13606.972
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,14
$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,0.00060000003
$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
$GPS1,270213,021852,2421.159,-3815.069,41,0.7,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-66.8
$GPS2,270213,023118,2421.073,-3814.996,21,0.8,21,-14.1
$SPEED_LIMITS,0.123,0.130
$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,51.4,32439,-16.1,-7.101,-28.69
$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,22,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-9.95,0.000,2,0.000,0.000,147,1515,1494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.90,-155.7,2.4,0.0,1,144,10.95,2.08,-84.50,0.000,4,0.346,0.126,2570,2591,3329,0,0,0,0,0,0,14.12,14.07,14.66
$GC,296,-0.87,-155.7,17.1,-8.8,27,303,0.00,2.08,0.00,0.000,6,0.000,0.116,2569,1518,3331,0,0,0,0,0,0,28.83,13.93,28.83
$GC,608,-0.85,-155.7,43.1,-8.2,58,614,0.00,2.10,0.00,0.000,4,0.000,0.137,2569,458,3331,0,0,0,0,0,0,28.83,13.90,28.83
$GC,695,-0.80,-155.7,51.2,-9.2,67,703,0.12,1.95,0.00,0.000,6,0.226,0.080,2601,1513,3331,0,0,0,0,0,0,13.71,13.96,28.83
$GC,1006,-0.80,-155.7,76.3,-8.3,98,1013,0.00,2.10,0.00,0.000,4,0.000,0.134,2601,454,3331,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1184,-0.80,-155.7,93.3,-10.0,116,1193,0.00,1.88,0.00,0.000,6,0.000,0.079,2595,1478,3331,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1496,-0.80,-155.7,123.5,-9.9,147,1503,0.00,2.03,0.00,0.000,4,0.000,0.134,2595,458,3331,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1655,-0.78,-155.7,138.8,-9.5,163,1663,0.00,1.85,0.00,0.000,6,0.000,0.080,2592,1465,3332,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1966,-0.78,-155.7,163.9,-8.1,194,1974,0.00,2.03,0.00,0.000,4,0.000,0.134,2592,458,3332,0,0,0,0,0,0,28.83,13.71,28.83
$GC,2110,-0.76,-155.7,176.2,-8.9,208,2117,0.12,1.77,0.00,0.000,6,0.256,0.079,2619,1445,3330,0,0,0,0,0,0,13.86,14.12,28.83
$GC,2421,-0.78,-155.7,204.4,-9.3,239,2428,0.00,1.95,0.00,0.000,4,0.000,0.132,2620,460,3332,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2586,-0.78,-155.7,220.6,-9.2,256,2595,0.00,1.75,0.00,0.000,6,0.000,0.079,2618,1414,3332,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2901,-0.80,-155.7,244.7,-6.8,287,2907,0.00,1.90,0.00,0.000,4,0.000,0.132,2618,456,3332,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3060,-0.80,-155.7,255.1,-7.1,298,3065,0.00,1.67,0.00,0.000,6,0.000,0.080,2618,1391,3330,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3381,-0.82,-155.7,274.0,-5.6,309,3386,0.00,1.85,0.00,0.000,4,0.000,0.134,2618,459,3331,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3498,-0.82,-155.7,281.5,-6.3,313,3503,0.00,1.65,0.00,0.000,6,0.000,0.080,2618,1371,3332,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3830,-0.85,-155.7,304.4,-7.5,324,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1371,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4129,-0.87,-155.7,328.8,-8.2,334,4135,0.00,1.83,0.00,0.000,4,0.000,0.135,2618,454,3331,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4316,-0.87,-155.7,344.3,-8.7,340,4323,0.00,1.65,0.00,0.000,6,0.000,0.081,2618,1354,3330,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4641,-0.90,-155.7,371.2,-8.1,351,4648,0.12,1.80,0.00,0.000,4,0.135,0.135,2558,455,3329,0,0,0,0,0,0,14.42,13.81,28.83
$GC,4769,-0.87,-155.7,382.4,-9.3,355,4774,0.15,1.58,0.00,0.000,6,0.257,0.083,2586,1330,3329,0,0,0,0,0,0,13.76,14.07,28.83
$GC,5093,-0.87,-155.7,412.0,-9.3,366,5099,0.00,1.73,0.00,0.000,4,0.000,0.138,2586,462,3329,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5177,-0.87,-155.7,421.1,-9.9,369,5184,0.00,1.60,0.00,0.000,6,0.000,0.081,2581,1328,3330,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5509,-0.87,-155.7,453.0,-9.7,380,5514,0.00,2.38,0.00,0.000,4,0.000,0.106,2575,2583,3328,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5568,-0.87,-155.7,458.8,-9.6,382,5574,0.00,2.50,0.00,0.000,6,0.000,0.118,2575,1315,3327,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5898,-0.87,-155.7,488.1,-8.5,393,5904,0.00,1.70,0.00,0.000,4,0.000,0.137,2575,461,3327,0,0,0,0,0,0,28.83,13.72,28.83
$GC,5989,-0.87,-155.7,495.9,-8.7,396,5994,0.00,1.58,0.00,0.000,6,0.000,0.084,2570,1315,3327,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6318,-0.87,-155.7,523.2,-8.4,407,6325,0.00,2.42,0.00,0.000,4,0.000,0.109,2565,2576,3325,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6368,-0.87,-155.7,525.5,-8.3,408,6376,0.00,2.50,0.00,0.000,6,0.000,0.121,2565,1298,3326,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6678,-0.87,-155.7,553.5,-8.4,419,6685,0.00,1.67,0.00,0.000,4,0.000,0.140,2565,466,3324,0,0,0,0,0,0,28.83,13.72,28.83
$GC,6786,-0.87,-155.7,561.4,-8.6,422,6795,0.00,1.55,0.00,0.000,6,0.000,0.085,2560,1299,3324,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7099,-0.87,-155.7,586.1,-6.8,433,7105,0.00,2.42,0.00,0.000,4,0.000,0.109,2553,2581,3323,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7137,-0.87,-155.7,588.0,-6.7,434,7145,0.10,2.55,0.00,0.000,6,0.207,0.120,2581,1295,3323,0,0,0,0,0,0,13.67,13.81,28.83
$GC,7462,-0.87,-155.7,607.7,-6.0,445,7467,0.00,1.67,0.00,0.000,4,0.000,0.143,2581,461,3322,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7578,-0.87,-155.7,615.3,-6.4,449,7585,0.00,1.52,0.00,0.000,6,0.000,0.087,2578,1288,3321,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7909,-0.87,-155.7,639.2,-7.7,460,7914,0.00,1.67,0.00,0.000,4,0.000,0.141,2578,458,3320,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7987,-0.87,-155.7,644.3,-8.3,462,7995,0.00,1.52,0.00,0.000,6,0.000,0.085,2573,1276,3320,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8298,-0.87,-155.7,676.0,-10.0,473,8304,0.00,2.53,0.00,0.000,4,0.000,0.112,2565,2577,3319,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8359,-0.87,-155.7,681.7,-9.8,475,8365,0.00,2.60,0.00,0.000,6,0.000,0.123,2565,1265,3318,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8688,-0.87,-155.7,712.1,-8.7,486,8694,0.00,1.62,0.00,0.000,4,0.000,0.143,2565,461,3318,0,0,0,0,0,0,28.83,13.64,28.83
$GC,8758,-0.87,-155.7,717.2,-8.4,488,8765,0.00,1.48,0.00,0.000,6,0.000,0.086,2561,1263,3318,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9081,-0.87,-155.7,739.4,-6.3,499,9087,0.00,2.58,0.00,0.000,4,0.000,0.110,2554,2586,3316,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9177,-0.87,-155.7,744.7,-5.8,502,9185,0.10,2.60,0.00,0.000,6,0.205,0.123,2582,1282,3316,0,0,0,0,0,0,13.64,13.74,28.83
$GC,9502,-0.87,-155.7,768.1,-7.8,513,9507,0.00,1.65,0.00,0.000,4,0.000,0.147,2582,461,3315,0,0,0,0,0,0,28.83,13.73,28.83
$GC,9597,-0.87,-155.7,775.5,-8.2,516,9604,0.00,1.55,0.00,0.000,6,0.000,0.087,2579,1286,3315,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9919,-0.87,-155.7,805.4,-9.4,527,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1286,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10218,-0.87,-155.7,834.8,-9.9,537,10224,0.00,2.53,0.00,0.000,4,0.000,0.116,2579,2573,3312,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10329,-0.87,-155.7,843.2,-9.5,540,10336,0.00,2.62,0.00,0.000,6,0.000,0.128,2579,1265,3312,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10638,-0.87,-155.7,872.2,-8.4,551,10645,0.00,2.60,0.00,0.000,4,0.000,0.112,2574,2582,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10717,-0.87,-155.7,876.9,-8.2,553,10727,0.00,2.60,0.00,0.000,6,0.000,0.125,2574,1289,3311,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11029,-0.87,-155.7,901.9,-7.3,564,11034,0.00,2.53,0.00,0.000,4,0.000,0.112,2565,2584,3310,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11088,-0.87,-155.7,906.1,-7.1,566,11094,0.00,2.58,0.00,0.000,6,0.000,0.129,2565,1299,3310,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11419,-0.87,-155.7,929.9,-7.3,577,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1300,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11718,-0.87,-155.7,952.9,-7.6,587,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1299,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12018,-0.87,-155.7,975.1,-7.4,597,12024,0.00,2.58,0.00,0.000,4,0.000,0.118,2565,2576,3306,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12068,-0.87,-155.7,977.1,-7.3,598,12076,0.00,2.60,0.00,0.000,6,0.000,0.134,2565,1311,3307,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,12105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12105,begin apogee
$GC,12114,-0.25,0.0,981.4,-7.1,600,12275,0.80,0.00,155.48,1.815,4,0.212,0.000,2783,1523,2690,0,0,0,0,0,0,13.75,28.83,12.97
$STATE,12281,end apogee,CONTROL_FINISHED_OK
$STATE,12281,begin climb
$GC,12285,0.90,155.7,987.9,0.0,605,12459,1.20,2.03,164.12,1.780,4,0.128,0.111,3160,2578,2058,0,0,0,0,0,0,14.06,14.05,13.00
$GC,12659,0.87,155.7,967.4,8.1,617,12667,0.00,2.08,0.00,0.000,6,0.000,0.129,3167,1529,2042,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12971,0.84,155.7,942.9,7.3,628,12977,0.00,2.15,0.00,0.000,4,0.000,0.158,3176,458,2040,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13019,0.80,155.7,940.9,7.2,629,13027,0.15,2.05,0.00,0.000,6,0.259,0.093,3136,1557,2040,0,0,0,0,0,0,13.81,14.15,28.83
$GC,13331,0.82,178.7,919.9,6.4,640,13359,0.00,2.28,23.23,1.698,4,0.000,0.166,3145,453,1960,0,0,0,0,0,0,28.83,14.28,13.31
$GC,13528,0.82,178.7,905.2,7.4,647,13535,0.00,2.12,0.00,0.000,6,0.000,0.102,3144,1582,1953,0,0,0,0,0,0,28.83,14.20,28.83
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$STATE,23098,end climb,SURFACE_DEPTH_REACHED
$STATE,23098,begin surface coast
$FINISH,1.5,1.025943
$STATE,23133,end surface coast,CONTROL_FINISHED_OK
$STATE,23133,begin surface
$SM_CCo,23156,34.83,0.127,0,0,1266,350.04
$SM_GC,2.26,8.93,0.73,34.83,0.070,0.136,0.127,147,1518,1266,-8.46,0.31,350.04,0,0,0,0,0,0,14.12,13.82,14.15
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.82
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.30
$XPDR_PINGS,4
$SC_FREEKB,7560448
$24V_AH,13.0,230.004
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.200,197.025,449.900,34.825,0.000,0.000,0.000,425.950,1.000,0.000,24.151,3327.714,16210.780,871.632,2705.263,806.119,0.000,2508.655,0.000,2219.967,0.000,0.540,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344972
$DATA_FILE_SIZE,43361,1128
$CAP_FILE_SIZE,241039,0
$CFSIZE,260034560,177811456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,186.3,1
$GPS,270213,085934,2421.215,-3814.665,25,0.9,25,-14.1