version: 66.11
glider: 190
mission: 6
dive: 463
start: 2 2 113 18 21 40
data:
$ID,190
$MISSION,6
$DIVE,463
$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,-13498.32
$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,11
$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
$GPS1,020213,180928,2434.407,-3801.896,40,0.8,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-61.2
$GPS2,020213,182107,2434.582,-3801.896,16,0.9,17,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,NW
$TGT_LATLONG,2447.500,-3816.840
$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,292.1,34694,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-11.35,0.000,2,0.000,0.000,139,1509,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,144,11.20,2.12,-83.80,0.000,4,0.350,0.165,2611,459,3626,0,0,0,0,0,0,14.07,14.06,14.70
$GC,315,-0.84,-155.7,19.3,-7.8,29,324,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1515,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,625,-0.87,-155.7,47.2,-9.3,60,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1515,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.89,-155.7,79.7,-10.8,91,943,0.00,2.10,0.00,0.000,4,0.000,0.136,2605,458,3626,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1025,-0.89,-155.7,89.5,-10.6,100,1033,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1517,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1336,-0.92,-155.7,118.3,-8.2,131,1343,0.00,2.08,0.00,0.000,4,0.000,0.140,2605,460,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1414,-0.92,-155.7,125.4,-8.6,139,1423,0.00,1.92,0.00,0.000,6,0.000,0.083,2605,1506,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1726,-0.95,-155.7,151.7,-8.5,170,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1507,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,-0.99,-155.7,180.4,-9.6,201,2044,0.12,2.08,0.00,0.000,4,0.139,0.137,2551,462,3627,0,0,0,0,0,0,14.42,13.99,28.83
$GC,2169,-0.95,-155.7,195.8,-12.4,214,2176,0.12,1.88,0.00,0.000,6,0.268,0.086,2577,1504,3627,0,0,0,0,0,0,14.02,14.26,28.83
$GC,2479,-0.97,-155.7,226.6,-8.7,245,2487,0.00,2.05,0.00,0.000,4,0.000,0.137,2577,456,3627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2566,-0.97,-155.7,234.9,-9.4,254,2574,0.00,1.85,0.00,0.000,6,0.000,0.081,2572,1484,3628,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2895,-0.97,-155.7,264.0,-9.0,277,2903,0.00,2.00,0.00,0.000,4,0.000,0.136,2572,464,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3004,-0.97,-155.7,273.0,-9.9,280,3013,0.00,1.83,0.00,0.000,6,0.000,0.083,2567,1468,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3317,-0.97,-155.7,305.5,-9.9,291,3322,0.00,1.98,0.00,0.000,4,0.000,0.137,2567,462,3627,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3445,-0.97,-155.7,318.1,-10.6,295,3452,0.00,1.77,0.00,0.000,6,0.000,0.080,2565,1446,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3767,-0.97,-155.7,351.1,-9.9,306,3772,0.00,1.90,0.00,0.000,4,0.000,0.135,2565,460,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3885,-0.97,-155.7,363.4,-10.2,310,3892,0.00,1.73,0.00,0.000,6,0.000,0.079,2562,1418,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4216,-0.97,-155.7,395.5,-9.7,321,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1418,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4517,-0.97,-155.7,422.4,-8.7,331,4522,0.00,1.88,0.00,0.000,4,0.000,0.133,2562,454,3623,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4576,-0.97,-155.7,427.6,-8.6,333,4583,0.00,1.73,0.00,0.000,6,0.000,0.080,2556,1417,3624,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4908,-0.97,-155.7,455.3,-8.4,344,4913,0.00,1.88,0.00,0.000,4,0.000,0.133,2557,454,3623,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4974,-0.97,-155.7,460.7,-8.7,346,4978,0.00,1.73,0.00,0.000,6,0.000,0.083,2553,1404,3623,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5287,-0.97,-155.7,490.5,-9.5,357,5294,0.00,1.83,0.00,0.000,4,0.000,0.133,2553,469,3622,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5417,-0.97,-155.7,503.1,-10.6,361,5425,0.00,1.65,0.00,0.000,6,0.000,0.083,2553,1380,3621,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5737,-0.97,-155.7,537.3,-10.4,372,5744,0.00,1.83,0.00,0.000,4,0.000,0.137,2553,457,3618,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5858,-0.97,-155.7,550.1,-10.7,376,5865,0.00,1.62,0.00,0.000,6,0.000,0.084,2552,1354,3620,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6187,-0.97,-155.7,579.0,-7.9,387,6194,0.00,1.77,0.00,0.000,4,0.000,0.137,2552,459,3619,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6327,-0.97,-155.7,588.5,-7.9,391,6335,0.00,1.60,0.00,0.000,6,0.000,0.083,2552,1343,3618,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6637,-0.97,-155.7,611.5,-7.2,402,6643,0.00,1.73,0.00,0.000,4,0.000,0.138,2553,466,3618,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6789,-0.97,-155.7,624.3,-8.7,407,6794,0.00,1.55,0.00,0.000,6,0.000,0.085,2552,1330,3616,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7117,-0.97,-155.7,658.1,-10.9,418,7123,0.00,1.70,0.00,0.000,4,0.000,0.138,2552,466,3615,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7236,-0.97,-155.7,672.4,-11.9,422,7243,0.00,1.52,0.00,0.000,6,0.000,0.084,2552,1303,3614,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7568,-0.97,-155.7,706.0,-9.8,433,7573,0.00,1.67,0.00,0.000,4,0.000,0.142,2552,463,3614,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7666,-0.97,-155.7,715.1,-10.0,436,7673,0.00,1.50,0.00,0.000,6,0.000,0.085,2553,1284,3614,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7988,-0.97,-155.7,744.8,-8.6,447,7993,0.00,1.62,0.00,0.000,4,0.000,0.144,2552,461,3612,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8107,-0.97,-155.7,755.3,-8.8,451,8114,0.00,1.45,0.00,0.000,6,0.000,0.085,2552,1264,3612,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8438,-0.97,-155.7,783.1,-8.7,462,8443,0.00,2.50,0.00,0.000,4,0.000,0.112,2553,2577,3609,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8486,-1.00,-155.7,785.7,-8.7,463,8495,0.00,2.60,0.00,0.000,6,0.000,0.123,2552,1262,3613,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8797,-1.00,-155.7,818.4,-10.5,474,8803,0.00,1.62,0.00,0.000,4,0.000,0.145,2558,457,3609,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8907,-1.00,-155.7,828.9,-11.5,477,8915,0.00,1.42,0.00,0.000,6,0.000,0.085,2549,1245,3608,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9217,-1.00,-155.7,865.9,-11.0,488,9224,0.00,1.60,0.00,0.000,4,0.000,0.143,2549,450,3607,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9297,-1.00,-155.7,872.8,-11.3,490,9306,0.00,1.45,0.00,0.000,6,0.000,0.086,2549,1235,3607,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9607,-1.00,-155.7,906.2,-9.6,501,9613,0.00,1.58,0.00,0.000,4,0.000,0.147,2549,460,3604,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9696,-1.00,-155.7,914.7,-9.6,504,9704,0.00,1.40,0.00,0.000,6,0.000,0.086,2549,1218,3605,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10031,-1.02,-155.7,943.9,-8.8,515,10036,0.00,1.52,0.00,0.000,4,0.000,0.149,2549,460,3604,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10125,-1.02,-155.7,952.1,-9.0,518,10129,0.00,1.38,0.00,0.000,6,0.000,0.087,2549,1205,3604,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10439,-1.02,-155.7,980.4,-8.8,529,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1205,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10554,begin apogee
$GC,10562,-0.23,0.0,990.9,-8.7,533,10725,0.93,0.00,155.32,1.840,4,0.202,0.000,2806,1527,2985,0,0,0,0,0,0,13.74,28.83,13.02
$STATE,10730,end apogee,CONTROL_FINISHED_OK
$STATE,10730,begin climb
$GC,10734,0.84,155.7,999.8,0.0,538,10906,1.10,2.00,161.10,1.808,4,0.109,0.115,3164,2575,2351,0,0,0,0,0,0,14.15,14.12,13.09
$GC,10967,0.85,278.7,1000.5,3.3,546,11105,0.00,2.10,130.00,1.789,6,0.000,0.137,3170,1524,1847,0,0,0,0,0,0,28.83,14.18,13.12
$GC,11427,0.85,278.7,957.0,9.2,562,11435,0.00,2.03,0.00,0.000,4,0.000,0.122,3170,2571,1832,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11641,0.85,278.7,936.8,9.7,569,11647,0.00,2.03,0.00,0.000,6,0.000,0.136,3178,1537,1831,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11971,0.85,278.7,906.4,9.2,580,11977,0.00,1.95,0.00,0.000,4,0.000,0.116,3178,2581,1829,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12119,0.85,278.7,892.7,9.1,585,12124,0.00,1.98,0.00,0.000,6,0.000,0.126,3185,1556,1829,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12450,0.85,278.7,865.1,8.0,596,12455,0.00,1.95,0.00,0.000,4,0.000,0.115,3185,2585,1828,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12572,0.83,278.7,855.4,8.1,600,12578,0.15,1.98,0.00,0.000,6,0.300,0.127,3160,1568,1826,0,0,0,0,0,0,13.97,14.19,28.83
$GC,12900,0.83,278.7,830.0,8.1,611,12905,0.00,1.88,0.00,0.000,4,0.000,0.112,3160,2574,1826,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13027,0.83,278.7,819.2,9.0,615,13035,0.00,1.95,0.00,0.000,6,0.000,0.130,3167,1589,1825,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13347,0.83,278.7,786.5,10.4,626,13355,0.00,1.90,0.00,0.000,4,0.000,0.116,3167,2573,1826,0,0,0,0,0,0,28.83,14.13,28.83
$GC,13417,0.83,278.7,780.0,10.6,628,13424,0.00,1.90,0.00,0.000,6,0.000,0.126,3174,1608,1826,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13737,0.83,278.7,744.2,10.8,639,13744,0.00,1.88,0.00,0.000,4,0.000,0.116,3174,2577,1826,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13827,0.83,278.7,734.2,10.9,642,13835,0.00,1.90,0.00,0.000,6,0.000,0.125,3181,1621,1828,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,22495,end climb,SURFACE_DEPTH_REACHED
$STATE,22495,begin surface coast
$FINISH,1.5,1.025334
$STATE,22536,end surface coast,CONTROL_FINISHED_OK
$STATE,22537,begin surface
$SM_CCo,22563,18.25,0.129,0,0,1562,350.04
$SM_GC,2.43,8.65,0.38,18.25,0.055,0.138,0.129,137,1517,1562,-8.55,0.34,350.04,0,0,0,0,0,0,14.32,14.13,14.19
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$TT8_MAMPS,0.023968,0.023968
$HUMID,58.26
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,7593120
$24V_AH,13.0,196.923
$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,22.850,178.150,464.825,18.250,0.000,0.000,0.000,412.325,0.000,0.000,18.272,3286.528,15712.256,899.544,2667.730,704.483,0.000,2506.868,0.000,2197.589,0.000,0.540,0.000
$DEVICE_MAMPS,349.605,165.240,1839.825,128.520,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.193,0.000,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43318,1137
$CAP_FILE_SIZE,235554,0
$CFSIZE,260034560,187494400
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082, 10.6,1
$GPS,030213,003924,2435.191,-3803.492,37,2.0,37,-14.0