version: 66.11
glider: 190
mission: 6
dive: 230
start: 11 30 112 1 12 53
data:
$ID,190
$MISSION,6
$DIVE,230
$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,-13084.823
$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,12
$R_STBD_OVSHOOT,20
$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
$GPS1,301112,010037,2504.680,-3813.605,25,1.1,26,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.0
$GPS2,301112,011222,2504.667,-3813.640,21,1.2,21,-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,256.8,68540,-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,24,-0.63,-146.0,0.0,0.0,0,31,0.00,0.00,-5.93,0.000,2,0.000,0.000,142,1450,1131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.63,-146.0,2.1,0.0,1,168,10.62,1.73,-113.55,0.000,4,0.324,0.162,2681,558,3587,0,0,0,0,0,0,14.30,14.38,14.75
$GC,397,-0.60,-146.0,29.6,-12.3,37,402,0.00,1.55,0.00,0.000,6,0.000,0.082,2683,1439,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,710,-0.58,-146.0,54.5,-7.0,68,715,0.00,1.70,0.00,0.000,4,0.000,0.136,2679,553,3587,0,0,0,0,0,0,28.83,14.39,28.83
$GC,809,-0.55,-146.0,65.5,-12.1,77,816,0.12,1.60,0.00,0.000,6,0.256,0.085,2705,1451,3587,0,0,0,0,0,0,14.26,14.37,28.83
$GC,1116,-0.55,-146.0,91.6,-6.7,108,1121,0.00,1.58,0.00,0.000,4,0.000,0.103,2705,2324,3587,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1195,-0.60,-146.0,96.4,-6.4,115,1203,0.00,1.65,0.00,0.000,6,0.000,0.121,2705,1448,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1501,-0.65,-146.0,118.6,-7.5,146,1506,0.00,1.70,0.00,0.000,4,0.000,0.139,2705,555,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1569,-0.66,-146.0,123.5,-7.5,152,1577,0.00,1.60,0.00,0.000,6,0.000,0.083,2705,1454,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1878,-0.71,-146.0,145.9,-6.4,183,1883,0.12,1.55,0.00,0.000,4,0.132,0.099,2641,2320,3587,0,0,0,0,0,0,14.62,14.48,28.83
$GC,2105,-0.71,-146.0,162.2,-7.4,205,2110,0.00,1.62,0.00,0.000,6,0.000,0.121,2641,1464,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2420,-0.69,-146.0,188.1,-8.7,236,2426,0.00,1.75,0.00,0.000,4,0.000,0.137,2641,558,3585,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2497,-0.65,-146.0,195.3,-10.0,243,2505,0.15,1.60,0.00,0.000,6,0.251,0.084,2676,1471,3587,0,0,0,0,0,0,14.33,14.52,28.83
$GC,2806,-0.67,-146.0,222.2,-8.8,274,2811,0.00,1.55,0.00,0.000,4,0.000,0.103,2675,2315,3587,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2902,-0.71,-146.0,230.6,-8.8,283,2907,0.00,1.58,0.00,0.000,6,0.000,0.122,2680,1481,3586,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3216,-0.75,-146.0,253.6,-5.9,310,3221,0.00,1.73,0.00,0.000,4,0.000,0.138,2675,556,3586,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3330,-0.77,-146.0,258.4,-5.2,313,3336,0.00,1.62,0.00,0.000,6,0.000,0.083,2674,1483,3586,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3647,-0.81,-146.0,273.4,-5.0,324,3653,0.12,1.75,0.00,0.000,4,0.135,0.137,2612,553,3586,0,0,0,0,0,0,14.69,14.45,28.83
$GC,3881,-0.75,-146.0,292.3,-9.6,331,3887,0.15,1.58,0.00,0.000,6,0.260,0.086,2645,1455,3585,0,0,0,0,0,0,14.35,14.57,28.83
$GC,4196,-0.73,-146.0,322.2,-8.8,342,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1455,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,-0.72,-146.0,345.9,-7.6,352,4501,0.00,1.58,0.00,0.000,4,0.000,0.106,2645,2325,3583,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4613,-0.72,-146.0,353.0,-7.5,355,4620,0.00,1.65,0.00,0.000,6,0.000,0.121,2645,1452,3583,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4921,-0.71,-146.0,378.9,-8.2,366,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1452,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,-0.71,-146.0,403.8,-8.3,376,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1452,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5519,-0.71,-146.0,427.4,-7.7,386,5524,0.00,1.60,0.00,0.000,4,0.000,0.108,2645,2322,3579,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5586,-0.72,-146.0,432.2,-7.6,388,5592,0.00,1.65,0.00,0.000,6,0.000,0.126,2645,1452,3579,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5917,-0.74,-146.0,458.5,-8.3,399,5923,0.00,1.70,0.00,0.000,4,0.000,0.141,2645,551,3578,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6125,-0.72,-146.0,475.1,-9.1,405,6133,0.00,1.58,0.00,0.000,6,0.000,0.088,2645,1440,3577,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6432,-0.72,-146.0,504.5,-8.9,416,6437,0.00,1.62,0.00,0.000,4,0.000,0.106,2645,2321,3576,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6519,-0.74,-146.0,509.9,-8.6,418,6527,0.00,1.65,0.00,0.000,6,0.000,0.123,2645,1449,3576,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6828,-0.76,-146.0,536.4,-7.8,429,6833,0.00,1.67,0.00,0.000,4,0.000,0.136,2645,553,3573,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6961,-0.76,-146.0,545.9,-7.6,433,6966,0.00,1.55,0.00,0.000,6,0.000,0.086,2645,1432,3573,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7287,-0.78,-146.0,569.4,-7.0,444,7292,0.00,1.62,0.00,0.000,4,0.000,0.103,2644,2326,3572,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7350,-0.80,-146.0,573.9,-6.9,446,7355,0.00,1.70,0.00,0.000,6,0.000,0.120,2645,1434,3572,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7685,-0.83,-146.0,599.2,-8.0,457,7690,0.00,1.65,0.00,0.000,4,0.000,0.132,2645,549,3571,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7788,-0.84,-146.0,607.7,-8.6,460,7793,0.00,1.55,0.00,0.000,6,0.000,0.083,2645,1429,3570,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8114,-0.86,-146.0,637.2,-8.9,471,8119,0.00,1.62,0.00,0.000,4,0.000,0.106,2645,2321,3569,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8208,-0.89,-146.0,645.5,-8.6,474,8214,0.12,1.70,0.00,0.000,6,0.139,0.121,2592,1432,3568,0,0,0,0,0,0,14.57,14.45,28.83
$GC,8544,-0.85,-146.0,677.7,-9.8,485,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1431,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,-0.80,-146.0,704.3,-8.5,495,8846,0.15,0.00,0.00,0.000,6,0.257,0.000,2628,1431,3566,0,0,0,0,0,0,14.33,28.83,28.83
$GC,9142,-0.79,-146.0,726.1,-7.2,505,9147,0.00,1.65,0.00,0.000,4,0.000,0.112,2622,2323,3564,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9290,-0.77,-146.0,735.4,-7.5,509,9298,0.00,1.70,0.00,0.000,6,0.000,0.120,2622,1432,3564,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9596,-0.77,-146.0,763.2,-8.8,520,9601,0.00,1.65,0.00,0.000,4,0.000,0.106,2619,2322,3562,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9640,-0.77,-146.0,766.0,-8.8,521,9645,0.00,1.67,0.00,0.000,6,0.000,0.122,2619,1441,3562,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9966,-0.77,-146.0,795.1,-8.8,532,9971,0.00,1.70,0.00,0.000,4,0.000,0.134,2618,550,3561,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10032,-0.77,-146.0,801.1,-9.0,534,10037,0.00,1.58,0.00,0.000,6,0.000,0.087,2618,1435,3560,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10363,-0.75,-146.0,829.5,-8.4,545,10368,0.00,1.65,0.00,0.000,4,0.000,0.110,2618,2322,3559,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10560,-0.75,-146.0,844.3,-7.9,551,10567,0.00,1.70,0.00,0.000,6,0.000,0.123,2618,1448,3562,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10882,-0.73,-146.0,871.7,-8.3,562,10888,0.12,1.67,0.00,0.000,4,0.246,0.110,2648,2321,3557,0,0,0,0,0,0,14.32,14.38,28.83
$GC,11007,-0.75,-146.0,881.5,-7.7,566,11012,0.00,1.67,0.00,0.000,6,0.000,0.126,2648,1454,3556,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11343,-0.78,-146.0,906.5,-7.2,577,11348,0.00,1.65,0.00,0.000,4,0.000,0.116,2648,2327,3555,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11420,-0.82,-146.0,911.0,-7.0,579,11427,0.00,1.65,0.00,0.000,6,0.000,0.127,2648,1483,3555,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11742,-0.85,-146.0,932.8,-6.5,590,11748,0.00,1.60,0.00,0.000,4,0.000,0.117,2648,2314,3555,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11886,-0.88,-146.0,940.8,-6.4,594,11892,0.15,1.70,0.00,0.000,6,0.150,0.129,2597,1435,3554,0,0,0,0,0,0,14.50,14.38,28.83
$GC,12202,-0.88,-146.0,965.9,-7.7,605,12207,0.00,1.70,0.00,0.000,4,0.000,0.145,2597,558,3553,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12239,-0.87,-146.0,968.8,-7.8,606,12245,0.00,1.60,0.00,0.000,6,0.000,0.095,2592,1441,3552,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,12535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12537,begin apogee
$GC,12544,-0.23,0.0,991.6,-7.6,616,12690,0.77,0.00,136.48,1.849,4,0.218,0.000,2811,1641,2984,0,0,0,0,0,0,14.28,28.83,13.35
$STATE,12691,end apogee,CONTROL_FINISHED_OK
$STATE,12691,begin climb
$GC,12694,0.63,146.0,997.5,0.0,621,12850,0.85,0.00,145.75,1.831,6,0.121,0.000,3089,1641,2387,0,0,0,0,0,0,14.10,28.83,13.28
$GC,13175,0.61,209.1,980.3,4.9,637,13240,0.00,0.00,62.80,1.808,6,0.000,0.000,3089,1641,2138,0,0,0,0,0,0,28.83,28.83,13.48
$GC,13535,0.61,252.3,961.0,5.5,649,13581,0.00,0.00,43.40,1.780,6,0.000,0.000,3089,1641,1962,0,0,0,0,0,0,28.83,28.83,13.58
$GC,13864,0.59,252.3,939.2,7.0,660,13869,0.00,1.67,0.00,0.000,4,0.000,0.122,3089,2529,1945,0,0,0,0,0,0,28.83,14.44,28.83
$GC,13917,0.57,252.3,936.5,7.3,661,13923,0.00,1.73,0.00,0.000,6,0.000,0.137,3095,1641,1944,0,0,0,0,0,0,28.83,14.36,28.83
$GC,14232,0.54,252.3,909.1,8.2,672,14238,0.00,1.73,0.00,0.000,4,0.000,0.158,3102,756,1942,0,0,0,0,0,0,28.83,14.42,28.83
$GC,14301,0.51,252.3,903.6,8.2,674,14307,0.15,1.65,0.00,0.000,6,0.239,0.104,3059,1638,1941,0,0,0,0,0,0,14.28,14.45,28.83
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$STATE,24988,end climb,SURFACE_DEPTH_REACHED
$STATE,24988,begin surface coast
$FINISH,1.1,1.025034
$STATE,25020,end surface coast,CONTROL_FINISHED_OK
$STATE,25021,begin surface
$SM_CCo,25102,0.00,0.000,0,0,1328,407.44
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.63
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,7681984
$TM_FREEKB,5469248
$24V_AH,13.3,96.276
$10V_AH,13.5,0.000
$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
$DEVICE_SECS,23.175,170.425,577.900,0.000,0.000,0.000,0.000,393.850,0.500,0.000,22.536,4245.422,16526.271,789.084,3680.723,548.921,0.000,2844.776,0.000,3091.610,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25051.000,6089.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.559,13.330,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,43313,1214
$CAP_FILE_SIZE,295763,0
$CFSIZE,260034560,218722304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,129.3,1
$GPS,301112,081234,2503.003,-3815.627,38,0.9,39,-14.0