version: 66.11
glider: 190
mission: 6
dive: 457
start: 2 1 113 3 35 43
data:
$ID,190
$MISSION,6
$DIVE,457
$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,-13490.772
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,010213,032404,2425.632,-3753.696,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-66.2
$GPS2,010213,033511,2425.690,-3753.708,20,1.1,20,-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,304.4,20784,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.45,0.000,2,0.000,0.000,145,1510,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.3,0.0,1,154,11.45,2.00,-94.68,0.000,4,0.363,0.126,2605,2573,3626,0,0,0,0,0,0,14.11,14.17,14.71
$GC,286,-0.84,-155.7,15.3,-9.8,26,296,0.00,2.03,0.00,0.000,6,0.000,0.111,2605,1518,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,596,-0.84,-155.7,43.6,-10.5,57,605,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,458,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,741,-0.82,-155.7,59.7,-12.1,71,747,0.00,1.90,0.00,0.000,6,0.000,0.086,2605,1509,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1048,-0.82,-155.7,95.7,-10.0,102,1055,0.00,1.95,0.00,0.000,4,0.000,0.102,2604,2583,3625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1116,-0.84,-155.7,102.4,-9.6,109,1124,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1514,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1427,-0.87,-155.7,131.4,-8.8,140,1434,0.00,1.98,0.00,0.000,4,0.000,0.100,2604,2574,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1596,-0.91,-155.7,145.3,-7.8,157,1604,0.00,2.10,0.00,0.000,6,0.000,0.111,2604,1479,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1908,-0.94,-155.7,170.4,-8.5,188,1915,0.00,1.98,0.00,0.000,4,0.000,0.138,2605,460,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2051,-0.96,-155.7,184.2,-10.2,202,2059,0.00,1.80,0.00,0.000,6,0.000,0.078,2604,1474,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2358,-1.00,-155.7,215.0,-10.1,233,2366,0.12,1.98,0.00,0.000,4,0.136,0.135,2549,463,3627,0,0,0,0,0,0,14.59,14.03,28.83
$GC,2527,-0.97,-155.7,235.4,-11.8,250,2536,0.00,1.75,0.00,0.000,6,0.000,0.081,2549,1442,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2847,-0.97,-155.7,269.6,-10.3,270,2849,0.12,0.00,0.00,0.000,6,0.261,0.000,2578,1442,3627,0,0,0,0,0,0,14.28,28.83,28.83
$GC,3148,-0.99,-155.7,296.3,-8.4,280,3154,0.00,1.92,0.00,0.000,4,0.000,0.132,2579,457,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3227,-0.99,-155.7,301.4,-8.4,282,3235,0.00,1.77,0.00,0.000,6,0.000,0.078,2577,1441,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3541,-1.01,-155.7,328.2,-7.9,293,3546,0.00,1.90,0.00,0.000,4,0.000,0.134,2577,459,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3646,-1.01,-155.7,335.8,-8.2,296,3650,0.00,1.73,0.00,0.000,6,0.000,0.080,2575,1416,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3949,-1.04,-155.7,362.8,-8.6,306,3954,0.00,1.85,0.00,0.000,4,0.000,0.135,2575,458,3625,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4037,-1.04,-155.7,371.4,-9.5,309,4044,0.00,1.70,0.00,0.000,6,0.000,0.080,2570,1400,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4369,-1.04,-155.7,402.5,-9.4,320,4375,0.00,1.83,0.00,0.000,4,0.000,0.133,2570,454,3624,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4476,-1.04,-155.7,411.6,-10.0,323,4480,0.00,1.65,0.00,0.000,6,0.000,0.079,2567,1373,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4780,-1.06,-155.7,444.4,-10.5,333,4785,0.00,1.77,0.00,0.000,4,0.000,0.135,2566,459,3623,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4906,-1.06,-155.7,457.2,-10.7,337,4909,0.00,1.60,0.00,0.000,6,0.000,0.080,2562,1346,3622,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5219,-1.06,-155.7,488.7,-9.5,348,5225,0.00,1.75,0.00,0.000,4,0.000,0.135,2562,459,3621,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5357,-1.06,-155.7,500.0,-9.4,352,5360,0.00,1.58,0.00,0.000,6,0.000,0.081,2557,1329,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5659,-1.06,-155.7,526.5,-8.0,362,5665,0.00,1.70,0.00,0.000,4,0.000,0.138,2557,464,3620,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5719,-1.06,-155.7,531.7,-8.2,364,5725,0.00,1.52,0.00,0.000,6,0.000,0.082,2553,1309,3619,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6048,-1.06,-155.7,558.5,-8.4,375,6056,0.00,1.67,0.00,0.000,4,0.000,0.138,2553,460,3619,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6118,-1.06,-155.7,564.2,-8.9,377,6125,0.00,1.52,0.00,0.000,6,0.000,0.082,2552,1302,3618,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6438,-1.06,-155.7,597.1,-10.5,388,6445,0.00,1.67,0.00,0.000,4,0.000,0.138,2553,453,3617,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6517,-1.06,-155.7,603.9,-11.1,390,6520,0.00,1.52,0.00,0.000,6,0.000,0.083,2552,1290,3616,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6820,-1.06,-155.7,639.9,-11.2,400,6825,0.00,2.40,0.00,0.000,4,0.000,0.108,2552,2573,3615,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6858,-1.06,-155.7,643.0,-11.0,401,6865,0.00,2.50,0.00,0.000,6,0.000,0.119,2552,1286,3613,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7180,-1.06,-155.7,678.4,-10.6,412,7185,0.00,1.62,0.00,0.000,4,0.000,0.140,2552,455,3614,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7367,-1.06,-155.7,697.4,-10.6,418,7370,0.00,1.48,0.00,0.000,6,0.000,0.083,2552,1264,3613,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7680,-1.06,-155.7,727.5,-9.1,429,7686,0.00,2.45,0.00,0.000,4,0.000,0.107,2552,2575,3611,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7779,-1.08,-155.7,735.3,-8.6,432,7786,0.00,2.53,0.00,0.000,6,0.000,0.118,2552,1280,3611,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8100,-1.08,-155.7,764.2,-8.8,443,8106,0.00,1.62,0.00,0.000,4,0.000,0.142,2552,460,3609,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8130,-1.08,-155.7,766.8,-8.7,444,8137,0.00,1.48,0.00,0.000,6,0.000,0.083,2550,1276,3609,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8460,-1.08,-155.7,798.1,-9.9,455,8466,0.00,2.42,0.00,0.000,4,0.000,0.109,2549,2578,3607,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8519,-1.08,-155.7,804.0,-10.0,457,8526,0.00,2.55,0.00,0.000,6,0.000,0.119,2549,1279,3607,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8850,-1.08,-155.7,838.5,-10.5,468,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1280,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9149,-1.08,-155.7,868.4,-9.7,478,9156,0.00,2.47,0.00,0.000,4,0.000,0.109,2549,2564,3605,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9250,-1.11,-155.7,876.7,-9.2,481,9257,0.00,2.53,0.00,0.000,6,0.000,0.122,2549,1291,3605,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9572,-1.13,-155.7,906.9,-9.3,492,9579,0.00,1.65,0.00,0.000,4,0.000,0.148,2549,460,3604,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9661,-1.13,-155.7,915.8,-9.8,495,9666,0.00,1.50,0.00,0.000,6,0.000,0.087,2549,1273,3603,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9992,-1.15,-155.7,946.9,-9.4,506,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1274,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10291,-1.15,-155.7,975.5,-9.4,516,10297,0.00,2.50,0.00,0.000,4,0.000,0.115,2549,2571,3600,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10398,-1.17,-155.7,983.8,-9.3,519,10408,0.08,2.58,0.00,0.000,6,0.112,0.127,2515,1277,3599,0,0,0,0,0,0,13.93,13.86,28.83
$STATE,10466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10466,begin apogee
$GC,10474,-0.23,0.0,992.5,-9.5,522,10636,1.08,0.00,154.57,1.851,4,0.213,0.000,2808,1518,2984,0,0,0,0,0,0,13.71,28.83,13.02
$STATE,10641,end apogee,CONTROL_FINISHED_OK
$STATE,10642,begin climb
$GC,10645,0.84,155.7,1002.2,0.0,527,10815,1.08,2.03,160.93,1.815,4,0.101,0.119,3162,2577,2354,0,0,0,0,0,0,14.17,14.11,13.09
$GC,11048,0.80,173.9,992.9,6.6,541,11072,0.00,2.05,18.90,1.714,6,0.000,0.135,3170,1521,2278,0,0,0,0,0,0,28.83,14.26,13.33
$GC,11396,0.75,173.9,967.1,7.3,553,11402,0.15,2.10,0.00,0.000,4,0.302,0.161,3145,458,2266,0,0,0,0,0,0,14.14,14.21,28.83
$GC,11614,0.73,190.8,952.8,6.6,560,11637,0.00,1.98,18.65,1.716,6,0.000,0.097,3145,1522,2211,0,0,0,0,0,0,28.83,14.38,13.40
$GC,11956,0.75,225.1,930.9,6.1,572,11998,0.00,2.08,37.75,1.756,4,0.000,0.125,3145,2581,2066,0,0,0,0,0,0,28.83,14.31,13.31
$GC,12131,0.75,233.5,919.3,6.9,578,12138,0.00,2.08,2.28,0.451,6,0.000,0.138,3153,1530,2037,0,0,0,0,0,0,28.83,14.22,13.00
$GC,12451,0.75,233.5,897.3,7.2,589,12457,0.00,2.00,0.00,0.000,4,0.000,0.122,3153,2577,2046,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12556,0.75,233.5,890.3,7.6,592,12566,0.00,2.05,0.00,0.000,6,0.000,0.138,3159,1556,2046,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12868,0.75,233.5,861.3,9.3,603,12874,0.00,1.98,0.00,0.000,4,0.000,0.120,3160,2575,2045,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12946,0.75,233.5,855.4,9.7,605,12956,0.15,2.03,0.00,0.000,6,0.296,0.136,3136,1565,2045,0,0,0,0,0,0,13.93,14.12,28.83
$GC,13262,0.75,233.5,824.5,9.2,616,13267,0.00,1.95,0.00,0.000,4,0.000,0.123,3136,2582,2045,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13396,0.75,233.5,813.5,9.2,620,13406,0.00,1.98,0.00,0.000,6,0.000,0.135,3139,1597,2045,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13709,0.75,233.5,785.7,8.1,631,13714,0.00,1.90,0.00,0.000,4,0.000,0.119,3143,2575,2045,0,0,0,0,0,0,28.83,14.14,28.83
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$STATE,23266,end climb,SURFACE_DEPTH_REACHED
$STATE,23266,begin surface coast
$FINISH,1.4,1.025727
$STATE,23291,end surface coast,CONTROL_FINISHED_OK
$STATE,23291,begin surface
$SM_CCo,23313,14.70,0.129,0,0,1560,350.04
$SM_GC,2.48,8.70,0.43,14.70,0.065,0.138,0.129,138,1513,1560,-8.55,0.23,350.04,0,0,0,0,0,0,14.33,14.17,14.24
$IRIDIUM_FIX,2413.38,-3752.29,310113,202041
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.74
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,7595296
$24V_AH,13.0,194.484
$10V_AH,12.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.350,183.025,501.300,14.700,0.000,0.000,0.000,379.100,0.000,0.000,21.084,3334.375,16376.503,893.235,2655.165,725.465,0.000,2472.161,0.000,2230.055,0.000,0.541,0.000
$DEVICE_MAMPS,362.610,160.650,1850.535,128.520,0.000,0.000,0.000,166.005,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23342.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.052,0.000,0.000,0.000
$MEM,344956
$DATA_FILE_SIZE,43349,1144
$CAP_FILE_SIZE,243860,0
$CFSIZE,260034560,188125184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,  0.3,1
$GPS,010213,100558,2426.537,-3755.333,40,0.9,40,-14.0