version: 66.11
glider: 190
mission: 6
dive: 615
start: 3 17 113 15 33 16
data:
$ID,190
$MISSION,6
$DIVE,615
$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,340
$T_MISSION,450
$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,200
$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,0.0099999998
$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,-13758.26
$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,15
$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,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,11
$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
$GPS1,170313,152134,2427.447,-3840.556,38,1.0,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-61.8
$GPS2,170313,153245,2427.427,-3840.579,18,1.6,18,-14.2
$SPEED_LIMITS,0.166,0.291
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,97.2,88446,-14.3,-9.608,-18.30
$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,23,-1.07,-194.6,0.0,0.0,0,35,0.00,0.00,-10.25,0.000,2,0.000,0.000,134,1515,1383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.07,-194.6,2.5,0.0,1,156,10.00,2.12,-100.12,0.000,4,0.308,0.152,2527,459,3488,0,0,0,0,0,0,14.12,14.01,14.58
$GC,319,-0.97,-194.6,22.7,-11.6,29,328,0.10,1.98,0.00,0.000,6,0.254,0.081,2547,1520,3489,0,0,0,0,0,0,13.62,13.89,28.83
$GC,630,-0.92,-194.6,53.7,-9.8,60,636,0.00,2.03,0.00,0.000,4,0.000,0.104,2540,2578,3489,0,0,0,0,0,0,28.83,13.93,28.83
$GC,670,-0.87,-194.6,57.8,-10.3,64,678,0.17,2.03,0.00,0.000,6,0.227,0.110,2587,1519,3489,0,0,0,0,0,0,13.78,13.96,28.83
$GC,981,-0.87,-194.6,86.8,-9.4,95,987,0.00,2.12,0.00,0.000,4,0.000,0.131,2584,456,3489,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1159,-0.84,-194.6,105.2,-10.2,113,1167,0.00,1.92,0.00,0.000,6,0.000,0.080,2579,1487,3489,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1470,-0.84,-194.6,134.7,-9.4,144,1476,0.00,2.05,0.00,0.000,4,0.000,0.131,2579,460,3491,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1616,-0.80,-194.6,148.8,-10.2,158,1623,0.15,1.90,0.00,0.000,6,0.249,0.080,2608,1485,3489,0,0,0,0,0,0,13.76,14.04,28.83
$GC,1927,-0.80,-194.6,177.5,-9.0,189,1935,0.00,2.05,0.00,0.000,4,0.000,0.132,2609,459,3489,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2048,-0.80,-194.6,189.2,-9.6,201,2055,0.00,1.83,0.00,0.000,6,0.000,0.080,2605,1465,3487,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2355,-0.80,-194.6,218.4,-9.3,232,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1465,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.80,-194.6,245.4,-7.8,263,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1465,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.80,-194.6,267.4,-6.9,278,2985,0.00,2.03,0.00,0.000,4,0.000,0.128,2605,457,3489,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3065,-0.80,-194.6,274.1,-7.3,281,3071,0.00,1.83,0.00,0.000,6,0.000,0.076,2605,1443,3492,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3399,-0.80,-194.6,299.6,-8.0,292,3404,0.00,1.98,0.00,0.000,4,0.000,0.129,2605,459,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3515,-0.80,-194.6,310.0,-8.6,296,3521,0.00,1.77,0.00,0.000,6,0.000,0.076,2604,1411,3488,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3849,-0.80,-194.6,338.4,-8.6,307,3856,0.00,2.22,0.00,0.000,4,0.000,0.104,2605,2577,3488,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3884,-0.80,-194.6,340.9,-8.5,308,3892,0.00,2.33,0.00,0.000,6,0.000,0.110,2604,1397,3488,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4210,-0.82,-194.6,369.0,-8.7,319,4216,0.00,1.88,0.00,0.000,4,0.000,0.131,2604,460,3488,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4356,-0.82,-194.6,382.7,-9.1,324,4362,0.00,1.70,0.00,0.000,6,0.000,0.077,2605,1374,3487,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4690,-0.82,-194.6,411.5,-8.8,335,4696,0.00,2.30,0.00,0.000,4,0.000,0.104,2605,2579,3486,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4777,-0.85,-194.6,419.3,-8.5,338,4782,0.00,2.30,0.00,0.000,6,0.000,0.112,2605,1387,3486,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5109,-0.85,-194.6,447.4,-8.4,349,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1387,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5408,-0.87,-194.6,470.9,-7.6,359,5414,0.00,2.30,0.00,0.000,4,0.000,0.103,2604,2579,3484,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5526,-0.87,-194.6,478.9,-6.7,363,5533,0.00,2.33,0.00,0.000,6,0.000,0.112,2605,1405,3484,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5861,-0.89,-194.6,499.5,-6.0,374,5867,0.00,1.92,0.00,0.000,4,0.000,0.136,2605,454,3484,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5896,-0.89,-194.6,501.3,-6.0,375,5902,0.00,1.75,0.00,0.000,6,0.000,0.080,2604,1389,3481,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6222,-0.91,-194.6,522.2,-6.7,386,6227,0.00,2.28,0.00,0.000,4,0.000,0.108,2604,2581,3482,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6307,-0.94,-194.6,528.8,-7.2,389,6313,0.12,2.33,0.00,0.000,6,0.130,0.115,2553,1395,3482,0,0,0,0,0,0,14.12,13.95,28.83
$GC,6641,-0.94,-194.6,561.6,-10.9,400,6646,0.00,1.88,0.00,0.000,4,0.000,0.137,2553,456,3481,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6757,-0.91,-194.6,576.6,-12.5,404,6763,0.00,1.75,0.00,0.000,6,0.000,0.083,2552,1385,3480,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7088,-0.91,-194.6,617.0,-12.0,415,7094,0.00,1.90,0.00,0.000,4,0.000,0.135,2552,454,3479,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7155,-0.91,-194.6,624.1,-11.8,417,7162,0.00,1.75,0.00,0.000,6,0.000,0.083,2549,1375,3479,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7480,-0.91,-194.6,657.3,-9.4,428,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1375,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7779,-0.91,-194.6,681.2,-7.4,438,7784,0.00,1.85,0.00,0.000,4,0.000,0.135,2549,458,3477,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7867,-0.88,-194.6,688.3,-7.8,441,7873,0.12,1.70,0.00,0.000,6,0.233,0.083,2578,1359,3477,0,0,0,0,0,0,13.61,13.88,28.83
$GC,8202,-0.88,-194.6,711.5,-7.4,452,8207,0.00,2.35,0.00,0.000,4,0.000,0.110,2570,2571,3475,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8276,-0.88,-194.6,716.1,-7.6,454,8284,0.00,2.38,0.00,0.000,6,0.000,0.116,2570,1377,3475,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8588,-0.88,-194.6,746.5,-9.8,465,8593,0.00,1.85,0.00,0.000,4,0.000,0.139,2570,454,3475,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8625,-0.88,-194.6,749.7,-10.1,466,8632,0.00,1.77,0.00,0.000,6,0.000,0.083,2565,1386,3473,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8947,-0.88,-194.6,785.2,-11.0,477,8953,0.00,2.28,0.00,0.000,4,0.000,0.109,2558,2574,3472,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8997,-0.88,-194.6,788.2,-10.9,478,9004,0.00,2.38,0.00,0.000,6,0.000,0.118,2558,1381,3472,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9307,-0.88,-194.6,821.8,-9.7,489,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1381,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9607,-0.88,-194.6,848.0,-8.3,499,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1381,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9908,-0.88,-194.6,872.0,-7.8,509,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1381,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10207,-0.88,-194.6,896.7,-8.4,519,10214,0.00,2.35,0.00,0.000,4,0.000,0.111,2552,2574,3467,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10277,-0.88,-194.6,902.0,-8.6,521,10284,0.12,2.38,0.00,0.000,6,0.235,0.119,2581,1371,3466,0,0,0,0,0,0,13.89,13.97,28.83
$GC,10600,-0.88,-194.6,931.4,-9.2,532,10605,0.00,2.35,0.00,0.000,4,0.000,0.112,2577,2574,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10708,-0.90,-194.6,939.5,-9.0,535,10715,0.00,2.33,0.00,0.000,6,0.000,0.120,2577,1399,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11021,-0.90,-194.6,968.6,-8.6,546,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1399,3465,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11163,begin apogee
$GC,11174,-0.33,0.0,981.2,-8.3,551,11376,0.62,0.00,193.98,1.863,4,0.192,0.000,2753,1902,2689,0,0,0,0,0,0,13.78,28.83,13.07
$STATE,11380,end apogee,CONTROL_FINISHED_OK
$STATE,11380,begin climb
$GC,11384,1.07,194.6,991.7,0.0,558,11601,1.52,2.08,204.05,1.863,4,0.138,0.122,3209,2962,1900,0,0,0,0,0,0,13.75,13.74,13.09
$GC,11610,0.98,219.5,979.7,8.8,566,11643,0.10,2.10,26.88,1.735,6,0.274,0.121,3192,1900,1798,0,0,0,0,0,0,13.57,13.79,13.09
$GC,11963,0.94,219.5,944.7,9.9,578,11968,0.00,2.17,0.00,0.000,4,0.000,0.155,3200,840,1778,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11992,0.89,219.5,941.8,9.8,579,12000,0.12,2.08,0.00,0.000,6,0.251,0.106,3166,1904,1778,0,0,0,0,0,0,13.77,13.97,28.83
$GC,12327,0.86,219.5,910.2,9.7,590,12332,0.00,2.00,0.00,0.000,4,0.000,0.122,3166,2960,1777,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12443,0.83,219.5,897.5,10.5,594,12449,0.12,2.03,0.00,0.000,6,0.249,0.113,3140,1917,1775,0,0,0,0,0,0,13.76,13.93,28.83
$GC,12778,0.83,219.5,862.9,10.9,605,12783,0.00,2.03,0.00,0.000,4,0.000,0.119,3140,2962,1774,0,0,0,0,0,0,28.83,13.96,28.83
$GC,12923,0.83,219.5,846.2,11.2,610,12929,0.00,1.98,0.00,0.000,6,0.000,0.111,3147,1943,1774,0,0,0,0,0,0,28.83,13.90,28.83
$GC,13257,0.83,232.1,813.6,9.2,621,13270,0.00,1.90,6.95,1.476,4,0.000,0.119,3147,2962,1749,0,0,0,0,0,0,28.83,14.22,13.44
$GC,13362,0.85,251.7,805.6,9.0,624,13395,0.00,1.90,28.33,1.620,6,0.000,0.110,3154,1960,1666,0,0,0,0,0,0,28.83,14.09,13.38
$GC,13698,0.89,319.5,778.7,7.3,635,13775,0.00,1.95,72.62,1.638,4,0.000,0.119,3154,2960,1386,0,0,0,0,0,0,28.83,14.11,13.25
$GC,13934,0.94,358.4,760.4,8.3,642,13983,0.00,1.85,41.58,1.610,6,0.000,0.107,3161,1991,1226,0,0,0,0,0,0,28.83,14.04,13.25
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$STATE,20646,end climb,SURFACE_DEPTH_REACHED
$STATE,20651,begin surface coast
$FINISH,1.7,1.012052
$STATE,20667,end surface coast,CONTROL_FINISHED_OK
$STATE,20667,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,63.82
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$XPDR_PINGS,3
$SC_FREEKB,7535360
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$10V_AH,12.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344672
$DATA_FILE_SIZE,36684,1005
$CAP_FILE_SIZE,220371,0
$CFSIZE,260034560,170414080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,264.4,1
$GPS,170313,212029,2427.666,-3840.577,37,0.8,37,-14.2