version: 66.11
glider: 190
mission: 6
dive: 228
start: 11 29 112 10 50 59
data:
$ID,190
$MISSION,6
$DIVE,228
$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,-13082.116
$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,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,17
$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
$GPS1,291112,103834,2506.738,-3810.424,35,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-60.8
$GPS2,291112,105027,2506.754,-3810.461,21,1.2,21,-14.0
$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,266.3,75108,-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,-11.80,0.000,2,0.000,0.000,141,1418,1591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.4,0.0,1,154,11.27,1.60,-93.35,0.000,4,0.356,0.151,2681,572,3584,0,0,0,0,0,0,14.31,14.39,14.75
$GC,383,-0.59,-146.0,22.3,-7.5,35,388,0.00,1.52,0.00,0.000,6,0.000,0.073,2676,1449,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,697,-0.56,-146.0,51.5,-9.5,66,702,0.12,1.55,0.00,0.000,4,0.244,0.099,2712,2320,3585,0,0,0,0,0,0,14.35,14.42,28.83
$GC,761,-0.57,-146.0,57.8,-10.1,72,766,0.00,1.62,0.00,0.000,6,0.000,0.121,2712,1462,3584,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1075,-0.60,-146.0,84.6,-7.8,103,1080,0.00,1.58,0.00,0.000,4,0.000,0.101,2711,2311,3585,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1122,-0.64,-146.0,87.9,-7.5,107,1130,0.00,1.65,0.00,0.000,6,0.000,0.121,2712,1457,3584,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1429,-0.68,-146.0,110.0,-7.4,138,1434,0.12,1.70,0.00,0.000,4,0.130,0.130,2645,551,3585,0,0,0,0,0,0,14.62,14.38,28.83
$GC,1666,-0.64,-146.0,132.7,-9.8,161,1672,0.15,1.58,0.00,0.000,6,0.243,0.077,2682,1448,3585,0,0,0,0,0,0,14.33,14.50,28.83
$GC,1983,-0.65,-146.0,156.4,-6.7,192,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1447,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.68,-146.0,173.7,-5.0,223,2297,0.00,1.58,0.00,0.000,4,0.000,0.101,2680,2323,3585,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2378,-0.72,-146.0,178.4,-5.6,231,2384,0.00,1.65,0.00,0.000,6,0.000,0.121,2682,1450,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2692,-0.75,-146.0,201.1,-8.3,262,2698,0.00,1.70,0.00,0.000,4,0.000,0.138,2681,553,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2736,-0.77,-146.0,205.2,-9.1,266,2743,0.12,1.60,0.00,0.000,6,0.136,0.083,2625,1464,3585,0,0,0,0,0,0,14.58,14.53,28.83
$GC,3053,-0.74,-146.0,235.8,-9.5,297,3059,0.00,1.55,0.00,0.000,4,0.000,0.103,2619,2321,3585,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3139,-0.71,-146.0,243.7,-9.3,305,3145,0.15,1.65,0.00,0.000,6,0.220,0.122,2658,1452,3585,0,0,0,0,0,0,14.38,14.40,28.83
$GC,3453,-0.71,-146.0,271.0,-8.7,320,3459,0.00,1.58,0.00,0.000,4,0.000,0.103,2657,2318,3585,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3512,-0.71,-146.0,273.9,-8.7,321,3518,0.00,1.62,0.00,0.000,6,0.000,0.122,2658,1455,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3817,-0.71,-146.0,302.7,-8.6,332,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1455,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4118,-0.71,-146.0,327.9,-8.3,342,4124,0.00,1.58,0.00,0.000,4,0.000,0.099,2657,2325,3582,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4181,-0.71,-146.0,333.1,-8.1,344,4187,0.00,1.62,0.00,0.000,6,0.000,0.119,2658,1460,3583,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4518,-0.73,-146.0,359.4,-7.6,355,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1459,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4816,-0.76,-146.0,380.5,-6.8,365,4821,0.00,1.70,0.00,0.000,4,0.000,0.137,2658,556,3580,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5049,-0.76,-146.0,395.1,-6.8,372,5054,0.00,1.58,0.00,0.000,6,0.000,0.083,2654,1457,3579,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5364,-0.78,-146.0,418.6,-7.3,383,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1457,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5663,-0.80,-146.0,440.4,-7.1,393,5668,0.00,1.73,0.00,0.000,4,0.000,0.138,2654,555,3577,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5721,-0.82,-146.0,442.7,-6.9,394,5727,0.00,1.58,0.00,0.000,6,0.000,0.083,2652,1458,3578,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6029,-0.85,-146.0,465.0,-6.8,405,6035,0.12,1.73,0.00,0.000,4,0.138,0.137,2591,557,3575,0,0,0,0,0,0,14.70,14.45,28.83
$GC,6078,-0.85,-146.0,467.9,-7.1,406,6083,0.00,1.58,0.00,0.000,6,0.000,0.085,2587,1452,3575,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6398,-0.79,-146.0,500.5,-10.5,417,6404,0.15,1.58,0.00,0.000,4,0.259,0.100,2622,2323,3574,0,0,0,0,0,0,14.35,14.50,28.83
$GC,6493,-0.76,-146.0,509.7,-9.7,420,6499,0.00,1.62,0.00,0.000,6,0.000,0.118,2622,1460,3573,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6830,-0.73,-146.0,543.2,-9.8,431,6832,0.12,0.00,0.00,0.000,6,0.236,0.000,2654,1460,3572,0,0,0,0,0,0,14.47,28.83,28.83
$GC,7128,-0.76,-146.0,568.5,-8.1,441,7133,0.00,1.58,0.00,0.000,4,0.000,0.104,2650,2320,3571,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7181,-0.79,-146.0,570.9,-7.7,442,7186,0.00,1.62,0.00,0.000,6,0.000,0.119,2651,1461,3571,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7498,-0.81,-146.0,593.0,-6.2,453,7504,0.00,1.70,0.00,0.000,4,0.000,0.129,2651,554,3570,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7658,-0.82,-146.0,603.4,-6.6,458,7663,0.00,1.55,0.00,0.000,6,0.000,0.078,2649,1441,3569,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7988,-0.84,-146.0,625.7,-6.9,469,7993,0.00,1.67,0.00,0.000,4,0.000,0.131,2648,556,3568,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8067,-0.86,-146.0,630.4,-7.1,471,8072,0.12,1.52,0.00,0.000,6,0.144,0.079,2598,1429,3568,0,0,0,0,0,0,14.60,14.55,28.83
$GC,8387,-0.82,-146.0,659.2,-9.1,482,8392,0.00,1.62,0.00,0.000,4,0.000,0.105,2593,2320,3566,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8507,-0.79,-146.0,668.0,-9.3,485,8514,0.15,1.70,0.00,0.000,6,0.231,0.122,2631,1426,3568,0,0,0,0,0,0,14.35,14.45,28.83
$GC,8811,-0.77,-146.0,695.6,-7.9,496,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1425,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.77,-146.0,716.3,-6.6,506,9116,0.00,1.67,0.00,0.000,4,0.000,0.107,2630,2315,3563,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9236,-0.77,-146.0,724.3,-6.4,510,9241,0.00,1.70,0.00,0.000,6,0.000,0.119,2631,1423,3563,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9571,-0.77,-146.0,749.1,-8.0,521,9576,0.00,1.65,0.00,0.000,4,0.000,0.104,2631,2319,3561,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9623,-0.77,-146.0,752.0,-8.2,522,9629,0.00,1.67,0.00,0.000,6,0.000,0.119,2631,1434,3561,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9939,-0.79,-146.0,782.7,-9.6,533,9945,0.00,1.67,0.00,0.000,4,0.000,0.133,2631,552,3559,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10158,-0.77,-146.0,802.9,-9.2,540,10163,0.00,1.52,0.00,0.000,6,0.000,0.080,2631,1417,3558,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10488,-0.75,-146.0,827.0,-6.6,551,10493,0.00,1.65,0.00,0.000,4,0.000,0.104,2631,2320,3558,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10570,-0.75,-146.0,830.8,-5.9,553,10576,0.00,1.73,0.00,0.000,6,0.000,0.121,2631,1426,3557,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10886,-0.75,-146.0,847.8,-4.8,564,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1426,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11185,-0.75,-146.0,862.7,-5.1,574,11190,0.00,1.67,0.00,0.000,4,0.000,0.106,2631,2325,3555,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11257,-0.75,-146.0,866.3,-5.4,576,11263,0.00,1.73,0.00,0.000,6,0.000,0.119,2631,1416,3555,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11583,-0.77,-146.0,888.6,-7.3,587,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1416,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11881,-0.79,-146.0,912.6,-8.3,597,11886,0.00,1.65,0.00,0.000,4,0.000,0.135,2631,554,3553,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12028,-0.79,-146.0,923.4,-8.8,601,12035,0.00,1.55,0.00,0.000,6,0.000,0.083,2631,1412,3552,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12336,-0.81,-146.0,950.8,-8.1,612,12341,0.00,1.70,0.00,0.000,4,0.000,0.110,2631,2323,3550,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12415,-0.83,-146.0,955.8,-7.8,614,12420,0.00,1.73,0.00,0.000,6,0.000,0.129,2631,1430,3550,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12735,-0.85,-146.0,980.4,-7.4,625,12741,0.00,1.70,0.00,0.000,4,0.000,0.139,2631,549,3550,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,12886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12886,begin apogee
$GC,12894,-0.23,0.0,992.0,-7.5,630,13042,0.60,0.00,136.20,1.858,4,0.201,0.000,2805,1646,2983,0,0,0,0,0,0,14.31,28.83,13.34
$STATE,13043,end apogee,CONTROL_FINISHED_OK
$STATE,13043,begin climb
$GC,13046,0.63,146.0,998.9,0.0,635,13201,0.85,1.70,145.02,1.830,4,0.122,0.115,3090,2514,2389,0,0,0,0,0,0,14.12,14.10,13.30
$GC,13346,0.58,162.7,989.7,6.3,645,13369,0.00,1.70,16.38,1.714,6,0.000,0.128,3096,1639,2322,0,0,0,0,0,0,28.83,14.26,13.57
$GC,13678,0.55,191.0,968.9,6.0,656,13716,0.00,1.73,29.52,1.774,4,0.000,0.129,3096,2514,2202,0,0,0,0,0,0,28.83,14.37,13.68
$GC,13883,0.50,191.0,956.6,7.0,662,13890,0.20,1.67,0.00,0.000,6,0.298,0.128,3057,1646,2194,0,0,0,0,0,0,14.23,14.38,28.83
$GC,14192,0.51,231.2,937.7,5.6,673,14238,0.00,1.73,40.60,1.775,4,0.000,0.120,3057,2522,2041,0,0,0,0,0,0,28.83,14.35,13.66
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$STATE,25309,end climb,SURFACE_DEPTH_REACHED
$STATE,25309,begin surface coast
$FINISH,1.2,1.006391
$STATE,25340,end surface coast,CONTROL_FINISHED_OK
$STATE,25340,begin surface
$SM_CCo,25422,0.00,0.000,0,0,1456,376.04
$SM_GC,2.16,8.62,1.25,0.00,0.074,0.079,0.000,141,1447,1456,-8.53,-0.45,376.04,0,0,0,0,0,0,14.54,14.50,28.83
$IRIDIUM_FIX,2458.45,-3805.02,291112,030336
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.67
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.80
$XPDR_PINGS,2
$SC_FREEKB,7682752
$TM_FREEKB,5488256
$24V_AH,13.3,95.357
$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,23.775,169.900,513.600,0.000,0.000,0.000,0.000,401.225,0.500,0.000,22.338,4270.919,16867.801,718.979,3735.597,524.792,0.000,2810.642,0.000,3136.551,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,169.065,1858.185,0.000,0.000,0.000,0.000,189.720,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25371.000,6063.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.490,13.298,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,43335,1224
$CAP_FILE_SIZE,294191,0
$CFSIZE,260034560,219045888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.085, 97.6,1
$GPS,291112,175559,2505.597,-3812.098,37,0.9,38,-14.0