version: 66.11
glider: 190
mission: 6
dive: 465
start: 2 3 113 7 30 2
data:
$ID,190
$MISSION,6
$DIVE,465
$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,-13500.835
$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,13
$R_STBD_OVSHOOT,17
$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
$GPS1,030213,071828,2436.247,-3804.675,37,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-62.4
$GPS2,030213,072930,2436.347,-3804.693,18,0.9,18,-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,293.8,29048,-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,-10.88,0.000,2,0.000,0.000,142,1511,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,145,10.93,2.08,-85.72,0.000,4,0.337,0.164,2617,466,3625,0,0,0,0,0,0,14.12,14.09,14.69
$GC,379,-0.84,-155.7,23.4,-9.2,35,385,0.00,1.90,0.00,0.000,6,0.000,0.083,2616,1528,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,688,-0.88,-155.7,52.0,-9.2,66,695,0.00,2.10,0.00,0.000,4,0.000,0.137,2617,458,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,755,-0.88,-155.7,58.7,-9.6,73,765,0.00,1.92,0.00,0.000,6,0.000,0.076,2614,1512,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1067,-0.91,-155.7,88.9,-9.8,104,1074,0.00,2.05,0.00,0.000,4,0.000,0.135,2614,461,3627,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1208,-0.91,-155.7,103.8,-10.7,118,1215,0.00,1.83,0.00,0.000,6,0.000,0.080,2609,1486,3627,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1516,-0.94,-155.7,132.7,-8.8,149,1525,0.00,2.03,0.00,0.000,4,0.000,0.135,2609,460,3627,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1650,-0.94,-155.7,143.8,-8.6,162,1656,0.00,1.80,0.00,0.000,6,0.000,0.080,2605,1453,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1957,-0.98,-155.7,168.4,-8.1,193,1964,0.00,1.95,0.00,0.000,4,0.000,0.136,2605,456,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2007,-1.00,-155.7,172.9,-9.3,198,2014,0.08,1.77,0.00,0.000,6,0.096,0.082,2552,1437,3627,0,0,0,0,0,0,14.26,14.23,28.83
$GC,2315,-1.00,-155.7,203.1,-9.7,229,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1437,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,-1.00,-155.7,229.5,-8.2,259,2624,0.00,1.92,0.00,0.000,4,0.000,0.132,2552,459,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2646,-1.00,-155.7,232.1,-8.6,262,2654,0.00,1.77,0.00,0.000,6,0.000,0.079,2551,1443,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2975,-1.00,-155.7,257.5,-7.6,289,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1443,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3277,-1.00,-155.7,281.6,-8.3,299,3282,0.00,1.90,0.00,0.000,4,0.000,0.130,2552,469,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3415,-1.00,-155.7,293.0,-9.5,303,3425,0.00,1.75,0.00,0.000,6,0.000,0.076,2550,1436,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3727,-1.00,-155.7,324.1,-9.6,314,3733,0.00,1.90,0.00,0.000,4,0.000,0.134,2550,465,3626,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3855,-0.98,-155.7,336.3,-10.2,318,3863,0.00,1.73,0.00,0.000,6,0.000,0.079,2548,1416,3625,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4177,-0.98,-155.7,369.4,-10.3,329,4183,0.00,1.85,0.00,0.000,4,0.000,0.132,2549,457,3625,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4266,-0.98,-155.7,379.3,-10.9,332,4272,0.00,1.67,0.00,0.000,6,0.000,0.077,2549,1395,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4596,-0.98,-155.7,413.3,-10.2,343,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1394,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4897,-0.98,-155.7,444.7,-10.3,353,4903,0.00,1.80,0.00,0.000,4,0.000,0.132,2548,462,3623,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5097,-0.96,-155.7,464.4,-11.0,359,5105,0.12,1.65,0.00,0.000,6,0.264,0.080,2577,1397,3623,0,0,0,0,0,0,14.01,14.29,28.83
$GC,5410,-0.99,-155.7,495.2,-8.9,370,5415,0.00,1.83,0.00,0.000,4,0.000,0.135,2577,461,3622,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5455,-1.01,-155.7,498.0,-9.0,371,5464,0.00,1.65,0.00,0.000,6,0.000,0.080,2574,1375,3621,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5770,-1.03,-155.7,524.8,-7.9,382,5775,0.00,1.77,0.00,0.000,4,0.000,0.135,2574,462,3621,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5885,-1.03,-155.7,534.9,-8.5,386,5892,0.00,1.60,0.00,0.000,6,0.000,0.081,2569,1347,3620,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6220,-1.06,-155.7,562.6,-8.7,397,6226,0.00,1.73,0.00,0.000,4,0.000,0.138,2570,464,3619,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6314,-1.06,-155.7,571.2,-9.4,400,6318,0.00,1.60,0.00,0.000,6,0.000,0.083,2566,1337,3619,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6630,-1.08,-155.7,604.1,-10.5,411,6635,0.00,1.73,0.00,0.000,4,0.000,0.138,2566,460,3618,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6787,-1.08,-155.7,620.4,-10.8,416,6793,0.00,1.52,0.00,0.000,6,0.000,0.084,2564,1301,3618,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7110,-1.11,-155.7,651.3,-8.7,427,7115,0.00,1.67,0.00,0.000,4,0.000,0.140,2564,456,3616,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7206,-1.11,-155.7,658.4,-8.0,430,7213,0.00,1.52,0.00,0.000,6,0.000,0.082,2561,1296,3616,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7530,-1.13,-155.7,681.6,-6.8,441,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1297,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7829,-1.15,-155.7,703.6,-7.8,451,7834,0.12,1.62,0.00,0.000,4,0.143,0.139,2507,462,3613,0,0,0,0,0,0,14.50,13.90,28.83
$GC,7979,-1.09,-155.7,719.4,-10.9,456,7987,0.10,1.50,0.00,0.000,6,0.255,0.086,2529,1280,3613,0,0,0,0,0,0,13.72,14.08,28.83
$GC,8313,-1.07,-155.7,755.8,-11.4,467,8318,0.00,2.45,0.00,0.000,4,0.000,0.109,2523,2579,3611,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8506,-1.07,-155.7,776.3,-11.4,473,8515,0.00,2.50,0.00,0.000,6,0.000,0.119,2523,1303,3610,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8818,-1.07,-155.7,814.5,-11.4,484,8825,0.00,2.42,0.00,0.000,4,0.000,0.110,2522,2574,3609,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8907,-1.07,-155.7,824.3,-11.0,487,8913,0.00,2.47,0.00,0.000,6,0.000,0.121,2522,1319,3608,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9241,-1.05,-155.7,860.3,-10.9,498,9247,0.12,2.40,0.00,0.000,4,0.251,0.109,2549,2576,3607,0,0,0,0,0,0,14.09,14.03,28.83
$GC,9366,-1.05,-155.7,872.3,-10.0,502,9373,0.00,2.47,0.00,0.000,6,0.000,0.121,2549,1329,3606,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9688,-1.05,-155.7,905.9,-10.2,513,9693,0.00,1.75,0.00,0.000,4,0.000,0.148,2549,462,3604,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9876,-1.05,-155.7,924.8,-10.5,519,9879,0.00,1.58,0.00,0.000,6,0.000,0.090,2549,1310,3605,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10190,-1.05,-155.7,955.1,-9.1,530,10195,0.00,1.70,0.00,0.000,4,0.000,0.148,2549,463,3604,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10308,-1.05,-155.7,966.3,-9.3,534,10314,0.00,1.52,0.00,0.000,6,0.000,0.090,2549,1287,3604,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,10574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10574,begin apogee
$GC,10584,-0.23,0.0,990.1,-8.9,543,10809,0.93,0.00,215.95,1.520,4,0.199,0.000,2807,1526,2988,0,0,0,0,0,0,13.71,28.83,13.21
$STATE,10810,end apogee,CONTROL_FINISHED_OK
$STATE,10810,begin climb
$GC,10814,0.84,155.7,1004.1,0.0,550,10988,1.08,2.03,161.70,1.799,4,0.104,0.116,3160,2585,2351,0,0,0,0,0,0,14.17,14.12,13.09
$GC,11046,0.86,301.2,1006.5,2.6,558,11208,0.00,2.12,153.68,1.785,6,0.000,0.134,3169,1524,1756,0,0,0,0,0,0,28.83,14.21,13.11
$GC,11508,0.86,301.2,962.7,10.1,574,11514,0.00,2.05,0.00,0.000,4,0.000,0.125,3169,2579,1742,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11616,0.86,301.2,953.1,10.5,577,11625,0.00,2.08,0.00,0.000,6,0.000,0.132,3176,1527,1741,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11929,0.86,301.2,920.8,9.6,588,11935,0.00,1.98,0.00,0.000,4,0.000,0.112,3176,2582,1739,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12007,0.86,301.2,914.8,9.7,590,12016,0.00,2.05,0.00,0.000,6,0.000,0.129,3180,1541,1739,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12318,0.86,301.2,884.4,9.0,601,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1541,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12619,0.86,301.2,859.4,8.1,611,12625,0.00,2.00,0.00,0.000,4,0.000,0.112,3182,2582,1737,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12656,0.86,301.2,856.9,8.2,612,12664,0.00,2.05,0.00,0.000,6,0.000,0.127,3191,1545,1737,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12979,0.86,301.2,828.0,9.0,623,12984,0.00,2.00,0.00,0.000,4,0.000,0.112,3191,2585,1736,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13057,0.84,301.2,822.1,9.4,625,13066,0.15,2.03,0.00,0.000,6,0.303,0.127,3166,1564,1736,0,0,0,0,0,0,13.93,14.16,28.83
$GC,13372,0.84,301.2,791.3,9.5,636,13377,0.00,1.90,0.00,0.000,4,0.000,0.111,3166,2582,1736,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13496,0.84,301.2,779.6,9.8,640,13504,0.00,1.98,0.00,0.000,6,0.000,0.125,3173,1585,1735,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13818,0.84,301.2,746.8,9.8,651,13824,0.00,1.92,0.00,0.000,4,0.000,0.112,3173,2583,1735,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13879,0.84,301.2,740.7,9.9,653,13885,0.00,1.92,0.00,0.000,6,0.000,0.125,3181,1605,1734,0,0,0,0,0,0,28.83,14.03,28.83
$GC,14211,0.84,301.2,707.3,10.1,664,14216,0.00,2.30,0.00,0.000,4,0.000,0.148,3189,454,1734,0,0,0,0,0,0,28.83,13.99,28.83
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$STATE,21915,end climb,SURFACE_DEPTH_REACHED
$STATE,21915,begin surface coast
$FINISH,1.6,1.009229
$STATE,21940,end surface coast,CONTROL_FINISHED_OK
$STATE,21940,begin surface
$SM_CCo,21964,22.92,0.125,0,0,1561,350.04
$SM_GC,2.17,8.93,1.98,22.92,0.071,0.086,0.125,144,1523,1561,-8.53,-0.45,350.04,0,0,0,0,0,0,14.19,14.10,14.14
$IRIDIUM_FIX,2425.21,-3805.18,030213,000006
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.56
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,20.60
$XPDR_PINGS,1
$SC_FREEKB,7592352
$24V_AH,13.1,197.712
$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,23.000,174.250,531.325,22.925,0.000,0.000,0.000,371.200,0.250,0.000,18.905,3178.706,15289.317,920.931,2567.131,680.434,0.000,2449.429,0.000,2125.883,0.000,0.541,0.000
$DEVICE_MAMPS,337.365,164.475,1798.515,125.460,0.000,0.000,0.000,166.770,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21996.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.150,0.000,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,40000,1101
$CAP_FILE_SIZE,228173,0
$CFSIZE,260034560,187285504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051, 10.2,1
$GPS,030213,133754,2436.786,-3806.284,38,0.9,38,-14.0