version: 66.11
glider: 190
mission: 6
dive: 461
start: 2 2 113 6 13 6
data:
$ID,190
$MISSION,6
$DIVE,461
$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,-13495.804
$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
$GPS1,020213,055634,2430.886,-3759.539,25,1.0,25,-14.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-62.4
$GPS2,020213,061236,2431.021,-3759.553,21,0.8,21,-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,306.6,6887,-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,22,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-9.80,0.000,2,0.000,0.000,147,1512,1778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.3,0.0,1,137,11.12,2.10,-82.32,0.000,4,0.346,0.162,2612,460,3626,0,0,0,0,0,0,14.00,14.14,14.71
$GC,371,-0.84,-155.7,27.4,-10.7,34,378,0.00,1.92,0.00,0.000,6,0.000,0.086,2609,1529,3626,0,0,0,0,0,0,28.83,14.17,28.83
$GC,679,-0.87,-155.7,62.4,-9.8,65,687,0.00,1.95,0.00,0.000,4,0.000,0.104,2606,2580,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,728,-0.90,-155.7,66.5,-8.4,70,735,0.00,2.05,0.00,0.000,6,0.000,0.116,2605,1515,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1037,-0.93,-155.7,96.7,-10.0,101,1046,0.00,2.00,0.00,0.000,4,0.000,0.104,2605,2578,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1208,-0.97,-155.7,114.4,-9.5,118,1215,0.00,2.10,0.00,0.000,6,0.000,0.116,2605,1491,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1519,-1.00,-155.7,142.8,-9.1,149,1527,0.12,2.05,0.00,0.000,4,0.135,0.103,2542,2583,3626,0,0,0,0,0,0,14.51,14.13,28.83
$GC,1687,-1.00,-155.7,159.7,-10.2,166,1695,0.00,2.17,0.00,0.000,6,0.000,0.118,2542,1461,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1998,-0.97,-155.7,189.4,-8.9,197,2007,0.12,1.95,0.00,0.000,4,0.251,0.137,2572,464,3627,0,0,0,0,0,0,14.26,14.00,28.83
$GC,2078,-0.97,-155.7,196.7,-9.1,205,2086,0.00,1.80,0.00,0.000,6,0.000,0.085,2566,1462,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2388,-0.97,-155.7,224.0,-9.1,236,2395,0.00,1.98,0.00,0.000,4,0.000,0.138,2566,461,3625,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2577,-0.97,-155.7,242.2,-9.5,255,2585,0.00,1.77,0.00,0.000,6,0.000,0.081,2561,1442,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2907,-0.97,-155.7,273.1,-9.6,272,2914,0.00,1.92,0.00,0.000,4,0.000,0.135,2561,460,3624,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3067,-0.95,-155.7,288.8,-10.5,277,3074,0.00,1.70,0.00,0.000,6,0.000,0.082,2556,1411,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3387,-0.95,-155.7,320.4,-9.1,288,3394,0.00,1.88,0.00,0.000,4,0.000,0.135,2556,459,3625,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3466,-0.95,-155.7,326.2,-9.3,290,3475,0.12,1.73,0.00,0.000,6,0.257,0.084,2582,1407,3624,0,0,0,0,0,0,14.11,14.34,28.83
$GC,3781,-0.98,-155.7,354.9,-8.8,301,3786,0.00,1.85,0.00,0.000,4,0.000,0.138,2582,459,3625,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3856,-1.00,-155.7,360.5,-9.1,303,3864,0.00,1.70,0.00,0.000,6,0.000,0.085,2579,1389,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4172,-1.03,-155.7,391.4,-9.3,314,4177,0.00,1.80,0.00,0.000,4,0.000,0.140,2579,459,3623,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4336,-1.03,-155.7,405.7,-9.6,319,4339,0.00,1.65,0.00,0.000,6,0.000,0.087,2579,1358,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4639,-1.06,-155.7,432.7,-8.0,329,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1358,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-1.09,-155.7,456.8,-8.4,339,4944,0.12,2.28,0.00,0.000,4,0.140,0.106,2523,2570,3620,0,0,0,0,0,0,14.57,14.14,28.83
$GC,4986,-1.11,-155.7,459.6,-8.6,340,4995,0.00,2.38,0.00,0.000,6,0.000,0.114,2523,1349,3620,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5298,-1.11,-155.7,495.0,-11.3,351,5304,0.00,1.75,0.00,0.000,4,0.000,0.138,2523,462,3620,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5346,-1.11,-155.7,498.6,-11.5,352,5349,0.00,1.65,0.00,0.000,6,0.000,0.089,2522,1359,3619,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5649,-1.09,-155.7,535.9,-11.3,362,5654,0.00,2.25,0.00,0.000,4,0.000,0.108,2512,2578,3618,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5756,-1.06,-155.7,545.5,-10.8,365,5766,0.12,2.38,0.00,0.000,6,0.249,0.115,2540,1356,3618,0,0,0,0,0,0,14.02,14.15,28.83
$GC,6071,-1.06,-155.7,578.2,-9.4,376,6076,0.00,1.73,0.00,0.000,4,0.000,0.131,2541,458,3616,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6176,-1.06,-155.7,587.0,-9.6,379,6179,0.00,1.62,0.00,0.000,6,0.000,0.080,2536,1354,3619,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6477,-1.06,-155.7,616.2,-8.8,389,6484,0.00,1.77,0.00,0.000,4,0.000,0.137,2536,460,3615,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6557,-1.06,-155.7,621.9,-9.3,391,6567,0.00,1.60,0.00,0.000,6,0.000,0.084,2535,1335,3615,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6867,-1.06,-155.7,652.1,-9.4,402,6874,0.00,2.35,0.00,0.000,4,0.000,0.109,2535,2574,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6947,-1.06,-155.7,657.6,-9.3,404,6955,0.00,2.40,0.00,0.000,6,0.000,0.112,2535,1333,3613,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7257,-1.06,-155.7,691.4,-10.5,415,7264,0.00,1.73,0.00,0.000,4,0.000,0.132,2535,454,3612,0,0,0,0,0,0,28.83,14.01,28.83
$GC,7397,-1.04,-155.7,705.1,-11.5,419,7406,0.00,1.60,0.00,0.000,6,0.000,0.080,2535,1333,3611,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7709,-1.04,-155.7,740.0,-10.3,430,7714,0.00,2.30,0.00,0.000,4,0.000,0.103,2527,2576,3610,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7806,-1.04,-155.7,749.0,-10.0,433,7814,0.00,2.45,0.00,0.000,6,0.000,0.119,2527,1327,3609,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8129,-1.04,-155.7,781.3,-9.5,444,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1327,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8427,-1.04,-155.7,810.2,-9.6,454,8434,0.00,2.40,0.00,0.000,4,0.000,0.111,2523,2569,3606,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8476,-1.04,-155.7,813.1,-9.8,455,8486,0.12,2.45,0.00,0.000,6,0.247,0.120,2551,1334,3606,0,0,0,0,0,0,13.91,14.02,28.83
$GC,8791,-1.04,-155.7,845.6,-10.2,466,8796,0.00,1.73,0.00,0.000,4,0.000,0.138,2551,459,3605,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8877,-1.04,-155.7,855.3,-10.7,469,8884,0.00,1.60,0.00,0.000,6,0.000,0.081,2546,1332,3605,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9209,-1.04,-155.7,891.4,-10.9,480,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1332,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9507,-1.04,-155.7,921.7,-9.6,490,9514,0.00,2.38,0.00,0.000,4,0.000,0.106,2539,2578,3602,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9537,-1.04,-155.7,924.4,-9.4,491,9544,0.00,2.47,0.00,0.000,6,0.000,0.122,2540,1326,3602,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9868,-1.04,-155.7,954.4,-9.0,502,9874,0.00,1.75,0.00,0.000,4,0.000,0.140,2540,457,3600,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9897,-1.04,-155.7,957.2,-9.0,503,9903,0.00,1.62,0.00,0.000,6,0.000,0.091,2540,1326,3600,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10228,-1.04,-155.7,986.6,-9.0,514,10234,0.00,2.38,0.00,0.000,4,0.000,0.109,2540,2576,3599,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,10284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10285,begin apogee
$GC,10294,-0.23,0.0,991.9,-9.0,516,10454,0.98,0.00,155.62,1.825,4,0.207,0.000,2808,1518,2988,0,0,0,0,0,0,13.69,28.83,13.02
$STATE,10460,end apogee,CONTROL_FINISHED_OK
$STATE,10460,begin climb
$GC,10463,0.84,155.7,1001.8,0.0,521,10636,1.08,2.05,161.55,1.810,4,0.109,0.117,3158,2576,2352,0,0,0,0,0,0,14.14,14.12,13.09
$GC,10665,0.93,413.1,1007.8,-1.0,528,10950,0.00,2.12,273.85,1.785,6,0.000,0.128,3165,1515,1302,0,0,0,0,0,0,28.83,14.14,13.13
$GC,11250,0.97,413.1,957.4,9.5,548,11257,0.10,2.10,0.00,0.000,4,0.170,0.158,3208,457,1286,0,0,0,0,0,0,14.51,14.28,28.83
$GC,11378,0.97,413.1,944.4,11.0,552,11384,0.00,2.03,0.00,0.000,6,0.000,0.098,3208,1550,1285,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11700,0.97,413.1,907.0,11.6,563,11706,0.00,1.90,0.00,0.000,4,0.000,0.113,3208,2584,1285,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11818,0.97,413.1,892.1,12.4,567,11824,0.00,2.00,0.00,0.000,6,0.000,0.140,3213,1569,1284,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12149,0.97,413.1,851.9,12.2,578,12155,0.00,2.22,0.00,0.000,4,0.000,0.171,3222,459,1282,0,0,0,0,0,0,28.83,14.20,28.83
$GC,12208,0.97,413.1,844.4,12.3,580,12215,0.00,2.05,0.00,0.000,6,0.000,0.096,3222,1566,1282,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12540,0.97,413.1,803.1,12.3,591,12545,0.00,1.92,0.00,0.000,4,0.000,0.119,3226,2586,1282,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12597,0.97,413.1,795.7,12.3,593,12604,0.08,2.03,0.00,0.000,6,0.286,0.136,3209,1570,1281,0,0,0,0,0,0,13.96,14.15,28.83
$GC,12930,0.97,413.1,759.0,10.7,604,12937,0.00,1.95,0.00,0.000,4,0.000,0.122,3209,2585,1281,0,0,0,0,0,0,28.83,14.22,28.83
$GC,13026,0.97,413.1,749.4,10.6,607,13033,0.00,1.98,0.00,0.000,6,0.000,0.136,3216,1598,1281,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13348,0.97,413.1,714.9,10.5,618,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1598,1281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13647,0.97,413.1,682.8,10.9,628,13655,0.00,1.92,0.00,0.000,4,0.000,0.119,3216,2582,1281,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,19815,end climb,SURFACE_DEPTH_REACHED
$STATE,19815,begin surface coast
$FINISH,1.5,1.025684
$STATE,19835,end surface coast,CONTROL_FINISHED_OK
$STATE,19835,begin surface
$SM_CCo,19919,0.00,0.000,0,0,1282,418.97
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.41
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,7593888
$24V_AH,13.0,196.151
$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,23.625,176.375,591.025,0.000,0.000,0.000,0.000,511.625,0.500,0.000,21.812,2814.897,14046.752,941.016,2434.345,624.497,0.000,2507.087,0.000,1873.811,0.000,0.541,0.000
$DEVICE_MAMPS,345.780,171.360,1825.290,0.000,0.000,0.000,0.000,159.120,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.970,0.000,0.000,0.000
$MEM,344932
$DATA_FILE_SIZE,36653,981
$CAP_FILE_SIZE,209860,0
$CFSIZE,260034560,187731968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,352.3,1
$GPS,020213,114628,2431.765,-3800.912,40,0.8,40,-14.0