version: 66.11
glider: 190
mission: 6
dive: 458
start: 2 1 113 10 17 49
data:
$ID,190
$MISSION,6
$DIVE,458
$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,-13492.03
$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
$GPS1,010213,100558,2426.537,-3755.333,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-66.9
$GPS2,010213,101717,2426.605,-3755.368,19,0.8,19,-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,320.4,17673,-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,-10.50,0.000,2,0.000,0.000,134,1509,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.2,0.0,1,144,11.30,2.00,-87.40,0.000,4,0.355,0.121,2605,2588,3625,0,0,0,0,0,0,14.12,14.21,14.69
$GC,378,-0.84,-155.7,29.1,-13.5,35,385,0.00,2.05,0.00,0.000,6,0.000,0.111,2604,1512,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,687,-0.86,-155.7,58.3,-7.9,66,694,0.00,2.05,0.00,0.000,4,0.000,0.132,2605,456,3625,0,0,0,0,0,0,28.83,14.08,28.83
$GC,784,-0.86,-155.7,67.3,-9.6,76,793,0.00,1.92,0.00,0.000,6,0.000,0.078,2605,1526,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1095,-0.86,-155.7,95.5,-8.9,107,1103,0.00,2.10,0.00,0.000,4,0.000,0.133,2605,465,3625,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1165,-0.86,-155.7,102.9,-10.7,114,1173,0.00,1.85,0.00,0.000,6,0.000,0.079,2604,1494,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1475,-0.89,-155.7,135.3,-10.2,145,1484,0.00,2.05,0.00,0.000,4,0.000,0.135,2604,460,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1634,-0.89,-155.7,152.3,-10.2,161,1644,0.00,1.88,0.00,0.000,6,0.000,0.078,2605,1487,3625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1946,-0.92,-155.7,181.6,-8.9,192,1953,0.00,1.98,0.00,0.000,4,0.000,0.134,2605,460,3626,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2115,-0.92,-155.7,197.6,-9.1,209,2124,0.00,1.77,0.00,0.000,6,0.000,0.076,2604,1449,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2426,-0.96,-155.7,223.6,-8.4,240,2433,0.00,1.92,0.00,0.000,4,0.000,0.132,2604,465,3626,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2568,-0.96,-155.7,236.3,-9.1,254,2574,0.00,1.70,0.00,0.000,6,0.000,0.074,2604,1431,3626,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2875,-1.00,-155.7,264.9,-9.4,275,2882,0.12,1.90,0.00,0.000,4,0.132,0.132,2549,461,3626,0,0,0,0,0,0,14.52,14.02,28.83
$GC,3057,-0.98,-155.7,285.6,-11.6,281,3063,0.00,1.62,0.00,0.000,6,0.000,0.075,2549,1401,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3386,-0.98,-155.7,319.4,-9.6,292,3391,0.00,1.80,0.00,0.000,4,0.000,0.129,2549,460,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3513,-0.98,-155.7,330.7,-9.4,296,3517,0.00,1.65,0.00,0.000,6,0.000,0.076,2549,1385,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3827,-0.98,-155.7,357.3,-8.4,307,3832,0.00,1.80,0.00,0.000,4,0.000,0.133,2549,455,3625,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3915,-0.98,-155.7,365.6,-9.1,310,3922,0.00,1.65,0.00,0.000,6,0.000,0.078,2549,1375,3624,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4247,-0.98,-155.7,396.1,-9.4,321,4252,0.00,1.77,0.00,0.000,4,0.000,0.135,2548,466,3621,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4294,-0.98,-155.7,399.1,-9.6,322,4298,0.00,1.60,0.00,0.000,6,0.000,0.079,2548,1361,3623,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4596,-0.98,-155.7,431.6,-10.2,332,4602,0.00,1.75,0.00,0.000,4,0.000,0.135,2548,464,3622,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4646,-0.98,-155.7,434.7,-10.2,333,4654,0.00,1.60,0.00,0.000,6,0.000,0.080,2548,1353,3623,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4955,-0.98,-155.7,466.9,-9.4,344,4962,0.00,2.25,0.00,0.000,4,0.000,0.103,2544,2567,3621,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4994,-0.98,-155.7,469.6,-9.3,345,5003,0.12,2.38,0.00,0.000,6,0.224,0.113,2574,1339,3621,0,0,0,0,0,0,14.09,14.17,28.83
$GC,5320,-1.00,-155.7,498.2,-8.8,356,5325,0.00,1.70,0.00,0.000,4,0.000,0.136,2575,459,3620,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5425,-1.00,-155.7,506.7,-9.2,359,5433,0.00,1.60,0.00,0.000,6,0.000,0.080,2570,1349,3620,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5740,-1.03,-155.7,536.7,-9.0,370,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1350,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6036,-1.06,-155.7,563.2,-9.0,380,6042,0.00,1.75,0.00,0.000,4,0.000,0.135,2570,462,3617,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6116,-1.06,-155.7,568.7,-8.9,382,6124,0.00,1.58,0.00,0.000,6,0.000,0.081,2566,1338,3616,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6429,-1.08,-155.7,596.4,-8.1,393,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1338,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-1.10,-155.7,622.1,-8.8,403,6733,0.00,1.73,0.00,0.000,4,0.000,0.138,2566,463,3615,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6916,-1.10,-155.7,639.7,-10.0,409,6923,0.00,1.58,0.00,0.000,6,0.000,0.081,2562,1331,3617,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7239,-1.13,-155.7,672.3,-10.0,420,7244,0.00,1.73,0.00,0.000,4,0.000,0.140,2561,457,3613,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7285,-1.13,-155.7,675.3,-10.1,421,7294,0.00,1.58,0.00,0.000,6,0.000,0.081,2557,1325,3613,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7599,-1.15,-155.7,707.9,-9.7,432,7600,0.12,0.00,0.00,0.000,6,0.142,0.000,2507,1325,3612,0,0,0,0,0,0,14.54,28.83,28.83
$GC,7897,-1.15,-155.7,738.8,-10.1,442,7904,0.00,1.73,0.00,0.000,4,0.000,0.140,2507,460,3610,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7935,-1.12,-155.7,742.1,-10.2,443,7943,0.00,1.58,0.00,0.000,6,0.000,0.083,2501,1323,3610,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8260,-1.08,-155.7,776.5,-10.5,454,8267,0.12,2.35,0.00,0.000,4,0.283,0.104,2524,2572,3608,0,0,0,0,0,0,14.08,14.11,28.83
$GC,8375,-1.08,-155.7,788.3,-9.8,458,8384,0.00,2.45,0.00,0.000,6,0.000,0.117,2524,1323,3608,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8706,-1.08,-155.7,820.5,-9.8,469,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1323,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9007,-1.08,-155.7,851.1,-10.6,479,9012,0.00,1.73,0.00,0.000,4,0.000,0.142,2524,462,3606,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9054,-1.08,-155.7,854.6,-10.8,480,9058,0.00,1.60,0.00,0.000,6,0.000,0.086,2523,1332,3603,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9358,-1.06,-155.7,891.5,-11.8,490,9363,0.00,2.38,0.00,0.000,4,0.000,0.112,2523,2575,3604,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9454,-1.06,-155.7,902.0,-11.7,493,9463,0.00,2.45,0.00,0.000,6,0.000,0.119,2523,1335,3604,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9776,-1.06,-155.7,940.7,-11.6,504,9783,0.00,2.40,0.00,0.000,4,0.000,0.112,2523,2567,3602,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9837,-1.06,-155.7,947.2,-11.2,506,9842,0.00,2.40,0.00,0.000,6,0.000,0.122,2523,1345,3602,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10166,-1.06,-155.7,982.0,-10.2,517,10172,0.00,2.40,0.00,0.000,4,0.000,0.112,2522,2571,3600,0,0,0,0,0,0,28.83,13.91,28.83
$STATE,10252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10252,begin apogee
$GC,10263,-0.23,0.0,990.5,-9.6,520,10435,1.05,0.00,157.85,2.484,4,0.220,0.000,2805,1521,2991,0,0,0,0,1,0,13.69,28.83,12.71
$STATE,10439,end apogee,CONTROL_FINISHED_OK
$STATE,10439,begin climb
$GC,10442,0.84,155.7,1002.0,0.0,526,10626,1.10,2.03,168.57,2.511,4,0.109,0.115,3161,2573,2355,0,0,0,0,1,0,14.12,14.09,12.76
$GC,10684,0.86,294.0,1004.1,2.8,534,10845,0.00,2.10,152.12,1.802,6,0.000,0.133,3169,1522,1783,0,0,0,0,0,0,28.83,14.21,13.14
$GC,11145,0.86,294.0,959.9,9.7,550,11152,0.00,2.03,0.00,0.000,4,0.000,0.122,3169,2569,1775,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11275,0.86,294.0,948.3,9.6,554,11282,0.00,2.05,0.00,0.000,6,0.000,0.127,3176,1524,1774,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11597,0.86,294.0,918.9,8.8,565,11602,0.00,1.98,0.00,0.000,4,0.000,0.112,3176,2578,1772,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11715,0.86,294.0,907.8,9.2,569,11722,0.00,2.03,0.00,0.000,6,0.000,0.128,3184,1544,1772,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12049,0.86,294.0,877.1,9.5,580,12055,0.00,1.95,0.00,0.000,4,0.000,0.112,3184,2581,1771,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12114,0.86,294.0,871.1,9.8,582,12121,0.00,2.03,0.00,0.000,6,0.000,0.127,3191,1552,1771,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12437,0.86,294.0,838.9,9.7,593,12442,0.00,1.95,0.00,0.000,4,0.000,0.111,3191,2575,1770,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12514,0.86,294.0,832.9,9.9,595,12524,0.12,1.98,0.00,0.000,6,0.314,0.126,3173,1569,1769,0,0,0,0,0,0,14.04,14.25,28.83
$GC,12828,0.86,294.0,802.8,8.9,606,12833,0.00,1.88,0.00,0.000,4,0.000,0.109,3173,2573,1769,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12896,0.86,294.0,797.3,9.1,608,12902,0.00,1.92,0.00,0.000,6,0.000,0.124,3181,1589,1768,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13216,0.86,294.0,767.2,9.3,619,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1589,1768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13517,0.86,294.0,737.1,10.3,629,13522,0.00,1.88,0.00,0.000,4,0.000,0.111,3180,2569,1768,0,0,0,0,0,0,28.83,14.18,28.83
$GC,13594,0.86,294.0,730.7,10.5,631,13603,0.00,1.92,0.00,0.000,6,0.000,0.125,3187,1596,1766,0,0,0,0,0,0,28.83,14.16,28.83
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$STATE,21553,end climb,SURFACE_DEPTH_REACHED
$STATE,21553,begin surface coast
$FINISH,1.5,1.015836
$STATE,21588,end surface coast,CONTROL_FINISHED_OK
$STATE,21588,begin surface
$SM_CCo,21671,0.00,0.000,0,0,1554,352.25
$SM_GC,2.24,8.77,0.30,0.00,0.064,0.164,0.000,144,1520,1554,-8.53,0.51,352.25,0,0,0,0,0,0,14.28,14.13,28.83
$IRIDIUM_FIX,2415.74,-3758.93,010213,030345
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.01
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,7594912
$24V_AH,12.7,194.946
$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,23.250,170.450,534.975,0.000,0.000,0.000,0.000,388.775,0.000,0.000,20.246,3058.194,15211.966,914.049,2476.975,672.674,0.000,2416.739,0.000,2033.118,0.000,0.542,0.000
$DEVICE_MAMPS,354.960,164.475,2511.495,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21632.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.047,0.000,0.000,0.000
$MEM,344952
$DATA_FILE_SIZE,39952,1078
$CAP_FILE_SIZE,223689,0
$CFSIZE,260034560,188039168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.106,  6.1,1
$GPS,010213,162022,2428.421,-3756.917,39,0.8,39,-14.0