version: 66.11
glider: 190
mission: 6
dive: 468
start: 2 4 113 2 39 14
data:
$ID,190
$MISSION,6
$DIVE,468
$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,-13504.609
$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,9
$R_STBD_OVSHOOT,15
$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
$GPS1,040213,022735,2438.317,-3808.811,26,1.1,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-62.1
$GPS2,040213,023841,2438.317,-3808.824,19,1.2,19,-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,308.9,21699,-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,18,begin dive
$GC,21,-0.84,-155.7,0.0,0.0,0,34,0.00,0.00,-10.60,0.000,2,0.000,0.000,135,1517,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.84,-155.7,2.4,0.0,1,147,11.00,2.10,-91.55,0.000,4,0.338,0.160,2617,457,3626,0,0,0,0,0,0,14.12,14.15,14.69
$GC,363,-0.84,-155.7,23.4,-9.3,33,371,0.00,1.92,0.00,0.000,6,0.000,0.085,2615,1529,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,671,-0.87,-155.7,52.9,-10.0,64,678,0.00,2.10,0.00,0.000,4,0.000,0.138,2615,463,3627,0,0,0,0,0,0,28.83,14.05,28.83
$GC,731,-0.87,-155.7,59.0,-10.2,70,738,0.00,1.90,0.00,0.000,6,0.000,0.084,2610,1503,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1042,-0.90,-155.7,87.0,-8.0,101,1049,0.00,2.05,0.00,0.000,4,0.000,0.139,2610,457,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1192,-0.90,-155.7,100.1,-8.7,116,1199,0.00,1.85,0.00,0.000,6,0.000,0.083,2605,1486,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1500,-0.94,-155.7,125.3,-8.7,147,1508,0.00,2.03,0.00,0.000,4,0.000,0.138,2605,460,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1612,-0.94,-155.7,136.2,-10.2,158,1618,0.00,1.83,0.00,0.000,6,0.000,0.084,2605,1462,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1921,-0.97,-155.7,164.4,-9.3,189,1929,0.00,1.95,0.00,0.000,4,0.000,0.137,2605,453,3628,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2053,-0.97,-155.7,177.0,-9.7,202,2059,0.00,1.77,0.00,0.000,6,0.000,0.081,2605,1437,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2360,-1.01,-155.7,202.9,-7.6,233,2369,0.12,1.92,0.00,0.000,4,0.135,0.136,2549,457,3627,0,0,0,0,0,0,14.59,14.02,28.83
$GC,2484,-0.98,-155.7,213.8,-9.4,245,2491,0.00,1.73,0.00,0.000,6,0.000,0.083,2549,1420,3627,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2791,-0.98,-155.7,241.8,-9.5,276,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1420,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,-0.98,-155.7,276.1,-10.9,293,3129,0.00,1.90,0.00,0.000,4,0.000,0.135,2549,441,3627,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3271,-0.95,-155.7,294.3,-12.2,298,3277,0.12,1.75,0.00,0.000,6,0.262,0.084,2577,1404,3627,0,0,0,0,0,0,14.04,14.23,28.83
$GC,3603,-0.98,-155.7,327.7,-9.4,309,3609,0.00,1.85,0.00,0.000,4,0.000,0.138,2577,458,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3680,-0.98,-155.7,333.2,-9.2,311,3690,0.00,1.67,0.00,0.000,6,0.000,0.084,2576,1388,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3993,-1.00,-155.7,358.0,-7.0,322,3999,0.00,1.83,0.00,0.000,4,0.000,0.139,2577,457,3625,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4111,-1.00,-155.7,367.1,-7.6,326,4117,0.00,1.62,0.00,0.000,6,0.000,0.084,2577,1356,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4443,-1.03,-155.7,394.5,-8.8,337,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1356,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4742,-1.06,-155.7,424.3,-10.5,347,4747,0.00,1.75,0.00,0.000,4,0.000,0.140,2577,458,3623,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4810,-1.06,-155.7,430.9,-10.8,349,4816,0.00,1.65,0.00,0.000,6,0.000,0.085,2574,1362,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5135,-1.08,-155.7,467.1,-10.8,360,5140,0.00,1.77,0.00,0.000,4,0.000,0.140,2574,457,3622,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5190,-1.08,-155.7,473.7,-10.8,362,5196,0.00,1.62,0.00,0.000,6,0.000,0.085,2570,1350,3622,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5523,-1.11,-155.7,507.0,-9.7,373,5525,0.12,0.00,0.00,0.000,6,0.141,0.000,2517,1350,3620,0,0,0,0,0,0,14.55,28.83,28.83
$GC,5821,-1.11,-155.7,537.9,-10.4,383,5827,0.00,1.75,0.00,0.000,4,0.000,0.141,2521,463,3620,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5959,-1.07,-155.7,551.5,-11.3,387,5970,0.15,1.62,0.00,0.000,6,0.272,0.087,2545,1350,3619,0,0,0,0,0,0,13.95,14.28,28.83
$GC,6274,-1.07,-155.7,584.1,-9.7,398,6279,0.00,1.77,0.00,0.000,4,0.000,0.142,2545,463,3618,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6370,-1.07,-155.7,593.1,-9.9,401,6376,0.00,1.60,0.00,0.000,6,0.000,0.088,2540,1334,3618,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6692,-1.07,-155.7,624.6,-9.6,412,6697,0.00,1.70,0.00,0.000,4,0.000,0.142,2540,459,3617,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6730,-1.07,-155.7,627.5,-9.7,413,6737,0.00,1.60,0.00,0.000,6,0.000,0.090,2540,1325,3616,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7051,-1.07,-155.7,659.7,-9.9,424,7057,0.00,2.35,0.00,0.000,4,0.000,0.108,2539,2573,3614,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7120,-1.07,-155.7,665.6,-9.9,426,7128,0.00,2.45,0.00,0.000,6,0.000,0.119,2539,1316,3615,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7440,-1.07,-155.7,699.8,-10.5,437,7447,0.00,1.67,0.00,0.000,4,0.000,0.135,2539,462,3614,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7571,-1.07,-155.7,712.8,-10.8,441,7577,0.00,1.52,0.00,0.000,6,0.000,0.085,2539,1305,3613,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7891,-1.07,-155.7,745.1,-9.5,452,7897,0.00,1.70,0.00,0.000,4,0.000,0.144,2539,465,3612,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7970,-1.07,-155.7,750.6,-9.3,454,7978,0.00,1.55,0.00,0.000,6,0.000,0.090,2538,1305,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8282,-1.07,-155.7,777.7,-7.9,465,8288,0.00,1.67,0.00,0.000,4,0.000,0.146,2537,459,3611,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8349,-1.07,-155.7,782.6,-8.2,467,8352,0.00,1.55,0.00,0.000,6,0.000,0.090,2536,1295,3610,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8662,-1.07,-155.7,810.1,-8.9,478,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1295,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8961,-1.07,-155.7,837.9,-9.5,488,8969,0.00,2.47,0.00,0.000,4,0.000,0.119,2536,2573,3607,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9040,-1.07,-155.7,843.5,-9.4,490,9050,0.00,2.58,0.00,0.000,6,0.000,0.129,2536,1283,3606,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9352,-1.07,-155.7,875.7,-9.9,501,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1283,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9651,-1.07,-155.7,905.0,-9.6,511,9658,0.00,2.53,0.00,0.000,4,0.000,0.118,2536,2573,3605,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9690,-1.07,-155.7,908.0,-9.7,512,9698,0.00,2.55,0.00,0.000,6,0.000,0.129,2536,1296,3604,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10013,-1.07,-155.7,939.5,-9.6,523,10018,0.00,1.70,0.00,0.000,4,0.000,0.152,2536,453,3603,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10090,-1.07,-155.7,945.6,-9.9,525,10098,0.00,1.58,0.00,0.000,6,0.000,0.093,2536,1293,3604,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10402,-1.07,-155.7,978.9,-10.3,536,10409,0.00,2.47,0.00,0.000,4,0.000,0.123,2536,2579,3601,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10450,-1.07,-155.7,981.9,-10.3,537,10459,0.00,2.60,0.00,0.000,6,0.000,0.131,2536,1286,3601,0,0,0,0,0,0,28.83,13.82,28.83
$STATE,10517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10518,begin apogee
$GC,10526,-0.23,0.0,991.1,-10.1,540,10688,0.98,0.00,155.85,1.847,4,0.207,0.000,2806,1518,2984,0,0,0,0,0,0,13.72,28.83,13.02
$STATE,10694,end apogee,CONTROL_FINISHED_OK
$STATE,10694,begin climb
$GC,10697,0.84,155.7,1002.6,0.0,545,10870,1.10,2.05,161.40,1.818,4,0.111,0.122,3161,2578,2351,0,0,0,0,0,0,14.15,14.10,13.07
$GC,11103,0.82,212.5,997.9,5.4,559,11169,0.00,2.10,60.53,1.783,6,0.000,0.148,3167,1521,2123,0,0,0,0,0,0,28.83,14.22,13.19
$GC,11482,0.79,212.5,968.8,8.3,572,11488,0.00,2.05,0.00,0.000,4,0.000,0.129,3167,2582,2104,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11694,0.76,212.5,950.7,8.8,579,11700,0.17,2.12,0.00,0.000,6,0.303,0.154,3137,1532,2100,0,0,0,0,0,0,14.02,14.19,28.83
$GC,12025,0.76,212.5,923.5,8.4,590,12030,0.00,2.03,0.00,0.000,4,0.000,0.131,3137,2577,2101,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12130,0.76,212.5,915.9,8.4,593,12138,0.00,2.08,0.00,0.000,6,0.000,0.138,3144,1541,2100,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12443,0.76,212.5,889.2,8.0,604,12448,0.00,1.98,0.00,0.000,4,0.000,0.120,3145,2578,2096,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12550,0.76,212.5,882.1,7.9,607,12560,0.00,2.03,0.00,0.000,6,0.000,0.134,3152,1565,2098,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12862,0.76,212.5,856.2,8.0,618,12868,0.00,1.95,0.00,0.000,4,0.000,0.122,3151,2578,2098,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12940,0.76,212.5,851.2,8.1,620,12948,0.00,2.03,0.00,0.000,6,0.000,0.141,3159,1575,2097,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13254,0.74,212.5,822.8,8.7,631,13260,0.12,1.92,0.00,0.000,4,0.299,0.116,3128,2580,2097,0,0,0,0,0,0,14.03,14.17,28.83
$GC,13372,0.74,212.5,813.1,8.1,635,13378,0.00,2.00,0.00,0.000,6,0.000,0.145,3135,1596,2096,0,0,0,0,0,0,28.83,13.97,28.83
$GC,13704,0.75,224.4,789.1,6.8,646,13711,0.00,1.95,2.55,0.644,4,0.000,0.125,3135,2581,2074,0,0,0,0,0,0,28.83,14.24,13.19
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$STATE,23002,end climb,SURFACE_DEPTH_REACHED
$STATE,23002,begin surface coast
$FINISH,1.5,1.012731
$STATE,23025,end surface coast,CONTROL_FINISHED_OK
$STATE,23025,begin surface
$SM_CCo,23107,0.00,0.000,0,0,1546,354.46
$SM_GC,2.53,8.90,0.62,0.00,0.074,0.142,0.000,146,1507,1546,-8.53,0.03,354.46,0,0,0,0,0,0,14.24,14.09,28.83
$IRIDIUM_FIX,2429.95,-3809.97,030213,202016
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.49
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.70
$XPDR_PINGS,5
$SC_FREEKB,7591200
$24V_AH,12.9,198.972
$10V_AH,12.5,0.000
$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,23.625,195.375,563.825,0.000,0.000,0.000,0.000,378.275,1.250,0.000,20.236,3318.901,16083.844,924.826,2666.850,764.907,0.000,2527.608,0.000,2229.072,0.000,0.541,0.000
$DEVICE_MAMPS,338.130,159.885,1928.565,0.000,0.000,0.000,0.000,164.475,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.977,0.000,0.000,0.000
$MEM,344964
$DATA_FILE_SIZE,43320,1130
$CAP_FILE_SIZE,248197,0
$CFSIZE,260034560,186937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.050, 48.8,1
$GPS,040213,090534,2438.853,-3810.011,32,0.9,32,-14.0