version: 66.11
glider: 190
mission: 6
dive: 464
start: 2 3 113 0 51 1
data:
$ID,190
$MISSION,6
$DIVE,464
$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,-13499.577
$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
$GPS1,030213,003924,2435.191,-3803.492,37,2.0,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-61.7
$GPS2,030213,005029,2435.281,-3803.490,18,0.9,18,-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,297.9,31873,-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,-155.7,0.0,0.0,0,35,0.00,0.00,-11.23,0.000,2,0.000,0.000,135,1514,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,145,11.05,2.12,-84.28,0.000,4,0.340,0.162,2613,461,3626,0,0,0,0,0,0,14.04,13.99,14.69
$GC,370,-0.84,-155.7,24.0,-12.6,34,376,0.00,1.90,0.00,0.000,6,0.000,0.083,2609,1519,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,677,-0.86,-155.7,53.8,-9.2,65,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1518,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-0.89,-155.7,82.9,-9.9,96,994,0.00,1.98,0.00,0.000,4,0.000,0.102,2605,2577,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1140,-0.94,-155.7,98.2,-9.8,111,1146,0.00,2.05,0.00,0.000,6,0.000,0.114,2605,1510,3626,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1447,-0.97,-155.7,130.0,-10.1,142,1454,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,464,3627,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1476,-0.99,-155.7,133.1,-10.1,145,1486,0.08,1.85,0.00,0.000,6,0.100,0.083,2563,1480,3627,0,0,0,0,0,0,14.18,14.20,28.83
$GC,1786,-0.99,-155.7,166.0,-10.8,176,1794,0.00,2.05,0.00,0.000,4,0.000,0.103,2556,2574,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1896,-0.99,-155.7,177.4,-10.3,187,1904,0.00,2.15,0.00,0.000,6,0.000,0.117,2556,1469,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2208,-0.99,-155.7,208.9,-10.5,218,2214,0.00,1.95,0.00,0.000,4,0.000,0.138,2555,456,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2358,-0.97,-155.7,226.5,-12.1,233,2366,0.00,1.77,0.00,0.000,6,0.000,0.082,2553,1456,3627,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2687,-0.97,-155.7,262.7,-10.3,258,2692,0.00,1.95,0.00,0.000,4,0.000,0.135,2553,462,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2784,-0.97,-155.7,272.0,-10.3,261,2791,0.00,1.75,0.00,0.000,6,0.000,0.079,2553,1431,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3107,-0.97,-155.7,301.1,-8.7,272,3112,0.00,1.90,0.00,0.000,4,0.000,0.133,2553,462,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3255,-0.97,-155.7,315.1,-9.4,277,3262,0.00,1.70,0.00,0.000,6,0.000,0.080,2552,1406,3626,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3587,-0.97,-155.7,345.2,-9.4,288,3592,0.00,1.85,0.00,0.000,4,0.000,0.132,2553,458,3625,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3755,-0.95,-155.7,360.7,-10.4,293,3765,0.12,1.67,0.00,0.000,6,0.260,0.078,2581,1388,3625,0,0,0,0,0,0,14.07,14.33,28.83
$GC,4070,-0.97,-155.7,390.3,-8.4,304,4075,0.00,1.80,0.00,0.000,4,0.000,0.135,2578,461,3624,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4174,-0.97,-155.7,397.6,-8.1,307,4178,0.00,1.62,0.00,0.000,6,0.000,0.082,2579,1360,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4480,-1.00,-155.7,419.3,-6.3,317,4486,0.00,1.73,0.00,0.000,4,0.000,0.135,2580,460,3623,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4596,-1.00,-155.7,427.8,-7.1,321,4604,0.00,1.58,0.00,0.000,6,0.000,0.082,2579,1335,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4930,-1.03,-155.7,453.3,-8.3,332,4936,0.00,1.73,0.00,0.000,4,0.000,0.137,2579,462,3622,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5064,-1.03,-155.7,464.6,-9.4,336,5068,0.00,1.55,0.00,0.000,6,0.000,0.083,2579,1318,3621,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5368,-1.06,-155.7,497.9,-11.1,346,5373,0.00,2.35,0.00,0.000,4,0.000,0.106,2579,2576,3620,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5407,-1.09,-155.7,501.3,-11.2,347,5413,0.12,2.45,0.00,0.000,6,0.133,0.119,2526,1307,3620,0,0,0,0,0,0,14.27,14.09,28.83
$GC,5731,-1.06,-155.7,541.3,-11.7,358,5736,0.00,2.35,0.00,0.000,4,0.000,0.105,2522,2575,3618,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5815,-1.06,-155.7,551.1,-11.1,361,5822,0.00,2.42,0.00,0.000,6,0.000,0.116,2522,1324,3619,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6146,-1.06,-155.7,585.1,-9.9,372,6152,0.00,1.67,0.00,0.000,4,0.000,0.136,2522,466,3617,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6207,-1.06,-155.7,590.9,-9.8,374,6212,0.00,1.55,0.00,0.000,6,0.000,0.082,2518,1337,3617,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6535,-1.06,-155.7,620.6,-8.7,385,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1338,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6837,-1.06,-155.7,647.0,-9.0,395,6843,0.00,1.73,0.00,0.000,4,0.000,0.136,2518,466,3614,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6915,-1.04,-155.7,652.9,-9.5,397,6925,0.17,1.55,0.00,0.000,6,0.256,0.083,2553,1317,3614,0,0,0,0,0,0,13.92,14.28,28.83
$GC,7228,-1.04,-155.7,684.4,-9.7,408,7233,0.00,1.67,0.00,0.000,4,0.000,0.138,2553,462,3613,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7287,-1.04,-155.7,690.5,-10.0,410,7292,0.00,1.50,0.00,0.000,6,0.000,0.084,2553,1287,3612,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7616,-1.04,-155.7,724.3,-10.4,421,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1290,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-1.04,-155.7,754.5,-9.8,431,7924,0.00,1.67,0.00,0.000,4,0.000,0.141,2552,456,3611,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7945,-1.04,-155.7,757.4,-9.8,432,7952,0.00,1.52,0.00,0.000,6,0.000,0.083,2550,1293,3611,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8276,-1.04,-155.7,788.0,-9.2,443,8283,0.00,2.45,0.00,0.000,4,0.000,0.111,2549,2573,3609,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8337,-1.06,-155.7,793.3,-9.1,445,8342,0.00,2.50,0.00,0.000,6,0.000,0.122,2549,1289,3608,0,0,0,0,0,0,28.83,13.99,28.83
$GC,8665,-1.06,-155.7,823.5,-9.3,456,8672,0.00,2.47,0.00,0.000,4,0.000,0.110,2549,2573,3607,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8705,-1.08,-155.7,826.1,-9.2,457,8712,0.00,2.50,0.00,0.000,6,0.000,0.122,2549,1302,3607,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9027,-1.08,-155.7,855.1,-8.6,468,9032,0.00,1.67,0.00,0.000,4,0.000,0.146,2549,468,3606,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9104,-1.08,-155.7,860.2,-8.5,470,9108,0.00,1.55,0.00,0.000,6,0.000,0.087,2549,1302,3606,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9407,-1.08,-155.7,887.1,-8.3,480,9412,0.00,1.70,0.00,0.000,4,0.000,0.148,2549,459,3605,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9447,-1.08,-155.7,889.8,-8.4,481,9452,0.00,1.52,0.00,0.000,6,0.000,0.088,2549,1288,3605,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9770,-1.10,-155.7,918.8,-8.9,492,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1288,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10066,-1.12,-155.7,946.5,-9.3,502,10072,0.00,1.67,0.00,0.000,4,0.000,0.144,2549,465,3603,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10194,-1.12,-155.7,958.8,-10.2,506,10198,0.00,1.52,0.00,0.000,6,0.000,0.084,2549,1291,3602,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,10507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10507,begin apogee
$GC,10515,-0.23,0.0,991.2,-10.3,517,10676,0.93,0.00,155.93,1.841,4,0.194,0.000,2808,1521,2989,0,0,0,0,0,0,13.72,28.83,12.99
$STATE,10681,end apogee,CONTROL_FINISHED_OK
$STATE,10681,begin climb
$GC,10684,0.84,155.7,1003.0,0.0,522,10857,1.08,2.05,163.15,1.857,4,0.103,0.116,3161,2582,2355,0,0,0,0,0,0,14.14,14.09,13.03
$GC,11089,0.81,185.5,996.6,6.2,536,11125,0.00,2.08,31.67,1.751,6,0.000,0.138,3169,1522,2232,0,0,0,0,0,0,28.83,14.26,13.26
$GC,11437,0.77,185.5,970.3,7.7,548,11444,0.12,2.12,0.00,0.000,4,0.307,0.163,3151,460,2219,0,0,0,0,0,0,14.17,14.19,28.83
$GC,11666,0.73,185.5,953.9,7.9,555,11676,0.00,1.98,0.00,0.000,6,0.000,0.097,3151,1524,2218,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11981,0.71,185.5,927.9,8.0,566,11987,0.12,1.98,0.00,0.000,4,0.314,0.113,3121,2584,2216,0,0,0,0,0,0,14.07,14.27,28.83
$GC,12148,0.71,185.5,916.3,7.8,571,12156,0.00,2.08,0.00,0.000,6,0.000,0.140,3128,1539,2215,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12460,0.72,207.7,893.4,6.5,582,12488,0.00,2.03,22.90,1.725,4,0.000,0.123,3128,2581,2139,0,0,0,0,0,0,28.83,14.45,13.38
$GC,12537,0.73,231.7,888.2,6.4,585,12569,0.00,2.05,27.02,1.712,6,0.000,0.140,3136,1552,2044,0,0,0,0,0,0,28.83,14.23,13.30
$GC,12889,0.76,273.3,866.3,5.9,597,12938,0.00,2.03,44.75,1.713,4,0.000,0.122,3136,2578,1871,0,0,0,0,0,0,28.83,14.24,13.28
$GC,13069,0.77,301.3,855.7,6.3,602,13105,0.00,2.03,30.48,1.676,6,0.000,0.142,3143,1561,1760,0,0,0,0,0,0,28.83,14.15,13.28
$GC,13418,0.78,302.9,831.0,7.1,614,13424,0.00,1.98,0.00,0.000,4,0.000,0.120,3143,2577,1745,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13598,0.78,302.9,817.1,7.7,620,13604,0.00,1.98,0.00,0.000,6,0.000,0.139,3150,1592,1745,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13931,0.78,302.9,789.5,8.4,631,13936,0.00,1.88,0.00,0.000,4,0.000,0.119,3150,2582,1747,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14086,0.78,302.9,776.6,8.7,636,14093,0.00,1.95,0.00,0.000,6,0.000,0.138,3157,1615,1743,0,0,0,0,0,0,28.83,14.12,28.83
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$STATE,23094,end climb,SURFACE_DEPTH_REACHED
$STATE,23094,begin surface coast
$FINISH,1.5,1.025651
$STATE,23126,end surface coast,CONTROL_FINISHED_OK
$STATE,23126,begin surface
$SM_CCo,23148,15.45,0.130,0,0,1561,350.04
$SM_GC,2.60,9.00,0.60,15.45,0.079,0.121,0.130,143,1513,1561,-8.54,0.28,350.04,0,0,0,0,0,0,14.26,14.14,14.23
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.29
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7592736
$24V_AH,13.0,197.317
$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,23.225,185.350,494.400,15.450,0.000,0.000,0.000,375.175,0.250,0.000,18.695,3307.157,16234.560,883.099,2670.471,721.738,0.000,2468.767,0.000,2227.489,0.000,0.542,0.000
$DEVICE_MAMPS,339.660,162.945,1856.655,130.050,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23165.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.907,0.000,0.000,0.000
$MEM,344956
$DATA_FILE_SIZE,43268,1123
$CAP_FILE_SIZE,241046,0
$CFSIZE,260034560,187379712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088, 14.6,1
$GPS,030213,071828,2436.247,-3804.675,37,0.8,37,-14.0