version: 66.11
glider: 190
mission: 6
dive: 226
start: 11 28 112 20 23 6
data:
$ID,190
$MISSION,6
$DIVE,226
$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,480
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$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,0.0099999998
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-13079.412
$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,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1480
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$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,12
$MINV_10V,12
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,281112,200922,2508.647,-3806.596,36,1.0,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-59.8
$GPS2,281112,202235,2508.621,-3806.669,18,0.9,18,-13.9
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpNW
$TGT_LATLONG,2440.000,-3844.000
$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,272.6,82201,-11.8,-6.875,-16.86
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-11.77,0.000,2,0.000,0.000,134,1473,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.2,0.0,1,151,10.98,1.65,-89.35,0.000,4,0.340,0.168,2681,603,3584,0,0,0,0,0,0,14.28,14.35,14.76
$GC,381,-0.60,-146.0,28.1,-11.8,34,387,0.00,1.58,0.00,0.000,6,0.000,0.085,2675,1491,3584,0,0,0,0,0,0,28.83,14.44,28.83
$GC,687,-0.58,-146.0,58.6,-8.2,65,693,0.00,1.73,0.00,0.000,4,0.000,0.138,2675,604,3584,0,0,0,0,0,0,28.83,14.34,28.83
$GC,771,-0.55,-146.0,66.3,-10.2,73,777,0.15,1.58,0.00,0.000,6,0.242,0.089,2712,1485,3584,0,0,0,0,0,0,14.32,14.43,28.83
$GC,1087,-0.56,-146.0,86.8,-7.6,104,1092,0.00,1.60,0.00,0.000,4,0.000,0.109,2712,2364,3582,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1216,-0.58,-146.0,95.2,-6.4,116,1223,0.00,1.65,0.00,0.000,6,0.000,0.126,2712,1493,3584,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1524,-0.63,-146.0,117.1,-7.0,147,1529,0.00,1.62,0.00,0.000,4,0.000,0.109,2712,2359,3584,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1598,-0.68,-146.0,121.9,-6.4,154,1603,0.12,1.62,0.00,0.000,6,0.128,0.126,2649,1508,3584,0,0,0,0,0,0,14.57,14.41,28.83
$GC,1913,-0.68,-146.0,145.9,-8.3,185,1918,0.00,1.75,0.00,0.000,4,0.000,0.142,2649,592,3585,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2042,-0.64,-146.0,157.7,-9.6,197,2050,0.12,1.62,0.00,0.000,6,0.256,0.092,2678,1506,3585,0,0,0,0,0,0,14.34,14.50,28.83
$GC,2350,-0.67,-146.0,182.9,-8.5,228,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1507,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.71,-146.0,204.4,-5.6,259,2664,0.00,1.73,0.00,0.000,4,0.000,0.138,2679,594,3584,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2798,-0.72,-146.0,212.7,-6.2,272,2805,0.00,1.60,0.00,0.000,6,0.000,0.087,2677,1481,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3104,-0.76,-146.0,233.8,-7.6,303,3110,0.00,1.73,0.00,0.000,4,0.000,0.142,2677,592,3582,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3158,-0.78,-146.0,238.1,-7.7,308,3164,0.12,1.55,0.00,0.000,6,0.135,0.089,2623,1469,3584,0,0,0,0,0,0,14.59,14.51,28.83
$GC,3482,-0.74,-146.0,267.5,-9.3,328,3487,0.00,1.60,0.00,0.000,4,0.000,0.112,2618,2359,3583,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3716,-0.71,-146.0,287.5,-9.4,335,3722,0.15,1.67,0.00,0.000,6,0.223,0.127,2657,1475,3583,0,0,0,0,0,0,14.40,14.47,28.83
$GC,4031,-0.71,-146.0,317.4,-8.9,346,4037,0.00,1.62,0.00,0.000,4,0.000,0.109,2654,2360,3582,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4079,-0.73,-146.0,320.4,-8.8,347,4084,0.00,1.67,0.00,0.000,6,0.000,0.129,2655,1477,3585,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4399,-0.75,-146.0,347.0,-7.3,358,4404,0.00,1.67,0.00,0.000,4,0.000,0.145,2654,597,3580,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4633,-0.73,-146.0,361.4,-6.5,365,4639,0.00,1.52,0.00,0.000,6,0.000,0.094,2652,1456,3580,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4947,-0.73,-146.0,383.7,-7.3,376,4952,0.00,1.62,0.00,0.000,4,0.000,0.112,2649,2359,3579,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4980,-0.73,-146.0,386.4,-7.6,377,4985,0.00,1.73,0.00,0.000,6,0.000,0.127,2649,1454,3579,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5315,-0.76,-146.0,414.2,-8.5,388,5320,0.00,1.62,0.00,0.000,4,0.000,0.136,2650,591,3578,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5368,-0.77,-146.0,417.1,-8.6,389,5373,0.00,1.52,0.00,0.000,6,0.000,0.088,2648,1459,3577,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5683,-0.79,-146.0,443.0,-7.5,400,5688,0.00,1.67,0.00,0.000,4,0.000,0.148,2648,594,3576,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5771,-0.79,-146.0,447.9,-7.5,402,5777,0.00,1.52,0.00,0.000,6,0.000,0.093,2648,1453,3576,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6078,-0.81,-146.0,471.8,-7.5,413,6084,0.00,1.67,0.00,0.000,4,0.000,0.148,2648,600,3575,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6112,-0.83,-146.0,474.7,-7.6,414,6117,0.00,1.55,0.00,0.000,6,0.000,0.096,2648,1462,3574,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6447,-0.85,-146.0,500.1,-7.6,425,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1462,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,-0.87,-146.0,521.7,-7.0,435,6751,0.12,1.67,0.00,0.000,4,0.138,0.147,2588,593,3572,0,0,0,0,0,0,14.66,14.40,28.83
$GC,6933,-0.80,-146.0,538.6,-9.3,441,6939,0.17,1.50,0.00,0.000,6,0.269,0.096,2625,1415,3571,0,0,0,0,0,0,14.29,14.49,28.83
$GC,7265,-0.78,-146.0,563.7,-7.5,452,7270,0.00,1.73,0.00,0.000,4,0.000,0.112,2616,2365,3571,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7473,-0.76,-146.0,577.9,-7.6,458,7479,0.00,1.80,0.00,0.000,6,0.000,0.131,2619,1426,3570,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7781,-0.74,-146.0,606.1,-8.9,469,7787,0.12,1.75,0.00,0.000,4,0.246,0.115,2648,2373,3568,0,0,0,0,0,0,14.39,14.48,28.83
$GC,7945,-0.75,-146.0,619.8,-8.7,474,7950,0.00,1.77,0.00,0.000,6,0.000,0.129,2648,1443,3568,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8270,-0.78,-146.0,649.9,-8.9,485,8275,0.00,1.62,0.00,0.000,4,0.000,0.142,2648,594,3566,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8494,-0.78,-146.0,668.5,-8.4,492,8499,0.00,1.50,0.00,0.000,6,0.000,0.093,2648,1418,3566,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8820,-0.80,-146.0,693.7,-7.3,503,8825,0.00,1.60,0.00,0.000,4,0.000,0.149,2648,597,3565,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8903,-0.82,-146.0,698.6,-7.4,505,8908,0.00,1.45,0.00,0.000,6,0.000,0.093,2648,1397,3564,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9219,-0.85,-146.0,723.4,-7.7,516,9224,0.00,1.55,0.00,0.000,4,0.000,0.146,2648,598,3562,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9301,-0.86,-146.0,728.6,-7.8,518,9307,0.08,1.40,0.00,0.000,6,0.106,0.093,2606,1372,3562,0,0,0,0,0,0,14.48,14.48,28.83
$GC,9619,-0.85,-146.0,757.6,-8.8,529,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1372,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,-0.82,-146.0,785.2,-9.3,539,9920,0.00,1.85,0.00,0.000,4,0.000,0.112,2605,2366,3560,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9992,-0.80,-146.0,791.0,-9.3,541,9997,0.00,1.90,0.00,0.000,6,0.000,0.129,2605,1367,3559,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10313,-0.77,-146.0,822.0,-9.2,552,10319,0.12,1.88,0.00,0.000,4,0.256,0.112,2633,2364,3558,0,0,0,0,0,0,14.33,14.38,28.83
$GC,10447,-0.77,-146.0,832.7,-8.3,556,10453,0.00,1.92,0.00,0.000,6,0.000,0.139,2633,1375,3558,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10772,-0.79,-146.0,858.4,-7.5,567,10777,0.00,1.88,0.00,0.000,4,0.000,0.122,2632,2360,3557,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10846,-0.81,-146.0,862.9,-7.1,569,10851,0.00,1.88,0.00,0.000,6,0.000,0.127,2632,1396,3556,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11171,-0.84,-146.0,885.2,-6.3,580,11177,0.00,1.83,0.00,0.000,4,0.000,0.116,2632,2362,3555,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11220,-0.86,-146.0,887.5,-6.3,581,11226,0.00,1.85,0.00,0.000,6,0.000,0.128,2631,1397,3555,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11541,-0.88,-146.0,906.6,-5.7,592,11546,0.00,1.83,0.00,0.000,4,0.000,0.118,2632,2362,3554,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11615,-0.90,-146.0,910.3,-5.6,594,11620,0.00,1.83,0.00,0.000,6,0.000,0.127,2631,1411,3554,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11940,-0.92,-146.0,930.5,-6.1,605,11946,0.12,1.77,0.00,0.000,4,0.162,0.115,2581,2360,3552,0,0,0,0,0,0,14.54,14.40,28.83
$GC,12046,-0.92,-146.0,937.3,-6.9,608,12051,0.00,1.80,0.00,0.000,6,0.000,0.131,2581,1430,3552,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12371,-0.87,-146.0,964.2,-8.4,619,12376,0.00,1.77,0.00,0.000,4,0.000,0.124,2579,2369,3550,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12468,-0.83,-146.0,972.1,-8.4,622,12474,0.17,1.80,0.00,0.000,6,0.241,0.132,2622,1438,3550,0,0,0,0,0,0,14.28,14.39,28.83
$STATE,12736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12736,begin apogee
$GC,12742,-0.23,0.0,992.1,-7.1,631,12889,0.65,0.00,135.05,1.873,4,0.208,0.000,2809,1676,2983,0,0,0,0,0,0,14.32,28.83,13.36
$STATE,12891,end apogee,CONTROL_FINISHED_OK
$STATE,12891,begin climb
$GC,12893,0.63,146.0,998.7,0.0,636,13050,0.85,1.75,144.73,1.840,4,0.127,0.126,3091,2557,2389,0,0,0,0,0,0,14.13,14.12,13.31
$GC,13279,0.59,171.3,987.1,6.1,648,13314,0.00,1.70,25.25,1.773,6,0.000,0.136,3098,1676,2283,0,0,0,0,0,0,28.83,14.32,13.62
$GC,13614,0.54,184.1,963.9,6.5,660,13633,0.12,1.80,13.48,1.708,4,0.298,0.166,3069,795,2235,0,0,0,0,0,0,14.28,14.46,13.79
$GC,13864,0.52,192.7,948.0,6.6,668,13872,0.00,1.65,2.78,0.802,6,0.000,0.116,3070,1679,2203,0,0,0,0,0,0,28.83,14.47,13.52
$GC,14197,0.51,211.6,927.1,6.3,679,14230,0.00,1.67,27.90,1.782,4,0.000,0.131,3069,2572,2121,0,0,0,0,0,0,28.83,14.47,13.76
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$STATE,25593,end climb,SURFACE_DEPTH_REACHED
$STATE,25593,begin surface coast
$FINISH,1.2,1.011057
$STATE,25614,end surface coast,CONTROL_FINISHED_OK
$STATE,25614,begin surface
$SM_CCo,25698,0.00,0.000,0,0,542,600.49
$SM_GC,1.95,8.80,0.38,0.00,0.075,0.151,0.000,138,1479,542,-8.54,0.37,600.49,0,0,0,0,0,0,14.54,14.38,28.83
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$TT8_MAMPS,0.023968,0.023968
$HUMID,54.41
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.00
$XPDR_PINGS,2
$SC_FREEKB,7683520
$TM_FREEKB,5507616
$24V_AH,13.3,94.432
$10V_AH,13.0,0.000
$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
$DEVICE_SECS,23.825,181.400,642.450,0.000,0.000,0.000,0.000,468.375,0.500,0.000,19.529,4605.434,16356.207,797.314,4127.867,580.584,0.000,3124.031,0.000,3457.376,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.577,13.305,0.000,0.000
$MEM,345144
$DATA_FILE_SIZE,46690,1253
$CAP_FILE_SIZE,312872,0
$CFSIZE,260034560,219336704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,107.0,1
$GPS,291112,033234,2508.038,-3808.324,29,1.1,29,-14.0