version: 66.11
glider: 190
mission: 6
dive: 234
start: 12 1 112 6 6 13
data:
$ID,190
$MISSION,6
$DIVE,234
$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,-13090.14
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,011212,055353,2459.443,-3820.626,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-58.1
$GPS2,011212,060542,2459.516,-3820.650,19,0.8,19,-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,257.6,53392,-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,-11.52,0.000,2,0.000,0.000,136,1431,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.1,0.0,1,150,11.20,1.67,-89.53,0.000,4,0.351,0.160,2683,550,3585,0,0,0,0,0,0,14.32,14.38,14.73
$GC,380,-0.60,-146.0,26.5,-7.0,34,388,0.00,1.58,0.00,0.000,6,0.000,0.080,2679,1447,3585,0,0,0,0,0,0,28.83,14.45,28.83
$GC,687,-0.58,-146.0,51.8,-8.0,65,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1447,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-0.57,-146.0,74.4,-7.6,95,992,0.00,1.58,0.00,0.000,4,0.000,0.100,2675,2319,3585,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1081,-0.57,-146.0,81.8,-8.0,104,1087,0.12,1.67,0.00,0.000,6,0.213,0.119,2708,1437,3586,0,0,0,0,0,0,14.37,14.39,28.83
$GC,1397,-0.62,-146.0,108.3,-7.8,135,1402,0.00,1.60,0.00,0.000,4,0.000,0.100,2708,2319,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1440,-0.67,-146.0,111.9,-7.8,139,1445,0.00,1.65,0.00,0.000,6,0.000,0.123,2708,1457,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1755,-0.72,-146.0,133.8,-6.2,170,1761,0.12,1.58,0.00,0.000,4,0.134,0.099,2642,2328,3586,0,0,0,0,0,0,14.54,14.47,28.83
$GC,1995,-0.70,-146.0,149.5,-6.5,193,2000,0.00,1.75,0.00,0.000,6,0.000,0.122,2642,1415,3586,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2308,-0.68,-146.0,172.2,-7.4,224,2313,0.00,1.65,0.00,0.000,4,0.000,0.103,2640,2320,3586,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2507,-0.67,-146.0,187.0,-7.5,243,2515,0.12,1.70,0.00,0.000,6,0.224,0.122,2672,1423,3586,0,0,0,0,0,0,14.36,14.40,28.83
$GC,2815,-0.69,-146.0,208.6,-7.3,274,2820,0.00,1.65,0.00,0.000,4,0.000,0.104,2668,2324,3585,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2912,-0.72,-146.0,215.6,-7.4,283,2917,0.00,1.70,0.00,0.000,6,0.000,0.125,2668,1434,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3227,-0.75,-146.0,240.1,-7.8,314,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1434,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3535,-0.78,-146.0,265.1,-8.0,333,3541,0.00,1.62,0.00,0.000,4,0.000,0.103,2666,2323,3585,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3679,-0.81,-146.0,274.6,-7.7,337,3685,0.12,1.65,0.00,0.000,6,0.134,0.124,2608,1449,3585,0,0,0,0,0,0,14.62,14.46,28.83
$GC,3996,-0.77,-146.0,304.8,-9.2,348,3998,0.12,0.00,0.00,0.000,6,0.239,0.000,2638,1450,3584,0,0,0,0,0,0,14.45,28.83,28.83
$GC,4293,-0.75,-146.0,328.6,-7.4,358,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1450,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4595,-0.72,-146.0,348.3,-6.4,368,4601,0.00,1.60,0.00,0.000,4,0.000,0.105,2632,2323,3582,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4683,-0.70,-146.0,352.5,-6.5,370,4690,0.00,1.65,0.00,0.000,6,0.000,0.125,2632,1452,3581,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4991,-0.68,-146.0,379.2,-8.9,381,4997,0.12,1.58,0.00,0.000,4,0.233,0.106,2665,2318,3580,0,0,0,0,0,0,14.46,14.53,28.83
$GC,5064,-0.68,-146.0,385.0,-8.9,383,5069,0.00,1.62,0.00,0.000,6,0.000,0.127,2664,1460,3580,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5389,-0.71,-146.0,416.6,-9.3,394,5395,0.00,1.73,0.00,0.000,4,0.000,0.147,2664,554,3579,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5509,-0.73,-146.0,425.2,-9.0,397,5516,0.00,1.58,0.00,0.000,6,0.000,0.093,2662,1438,3579,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5816,-0.76,-146.0,449.1,-6.7,408,5821,0.00,1.62,0.00,0.000,4,0.000,0.114,2662,2321,3578,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5843,-0.79,-146.0,449.1,-6.7,408,5850,0.00,1.70,0.00,0.000,6,0.000,0.132,2662,1431,3577,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6151,-0.82,-146.0,468.2,-5.6,419,6157,0.12,1.67,0.00,0.000,4,0.136,0.148,2600,553,3577,0,0,0,0,0,0,14.70,14.41,28.83
$GC,6351,-0.76,-146.0,483.1,-8.3,425,6357,0.17,1.55,0.00,0.000,6,0.249,0.096,2638,1415,3575,0,0,0,0,0,0,14.33,14.52,28.83
$GC,6672,-0.76,-146.0,510.6,-8.9,436,6677,0.00,1.67,0.00,0.000,4,0.000,0.116,2633,2320,3573,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6833,-0.76,-146.0,525.5,-9.7,441,6838,0.00,1.75,0.00,0.000,6,0.000,0.134,2632,1413,3573,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7159,-0.75,-146.0,558.4,-9.7,452,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1412,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,-0.73,-146.0,584.6,-8.2,462,7462,0.00,1.70,0.00,0.000,4,0.000,0.116,2632,2320,3570,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7544,-0.73,-146.0,589.4,-7.6,464,7551,0.00,1.75,0.00,0.000,6,0.000,0.133,2631,1413,3570,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7850,-0.73,-146.0,613.6,-7.5,475,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1413,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,-0.75,-146.0,637.9,-8.4,485,8157,0.00,1.67,0.00,0.000,4,0.000,0.150,2632,561,3568,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8219,-0.75,-146.0,643.8,-8.7,487,8224,0.00,1.52,0.00,0.000,6,0.000,0.090,2632,1416,3567,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8550,-0.74,-146.0,671.7,-8.3,498,8556,0.00,1.67,0.00,0.000,4,0.000,0.112,2632,2320,3567,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8698,-0.74,-146.0,681.3,-7.6,502,8705,0.00,1.73,0.00,0.000,6,0.000,0.130,2632,1426,3566,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9007,-0.76,-146.0,704.4,-6.6,513,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1426,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9305,-0.78,-146.0,723.1,-6.0,523,9310,0.00,1.67,0.00,0.000,4,0.000,0.142,2632,555,3563,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9348,-0.79,-146.0,725.2,-6.1,524,9353,0.00,1.55,0.00,0.000,6,0.000,0.092,2631,1421,3563,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9673,-0.81,-146.0,748.5,-7.3,535,9679,0.00,1.70,0.00,0.000,4,0.000,0.145,2632,549,3561,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9707,-0.82,-146.0,751.4,-7.6,536,9712,0.00,1.55,0.00,0.000,6,0.000,0.093,2632,1408,3562,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10042,-0.84,-146.0,778.3,-8.3,547,10048,0.00,1.70,0.00,0.000,4,0.000,0.115,2632,2319,3561,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10157,-0.86,-146.0,786.1,-8.2,550,10163,0.00,1.75,0.00,0.000,6,0.000,0.132,2637,1412,3560,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10473,-0.88,-146.0,814.3,-8.5,561,10479,0.00,1.65,0.00,0.000,4,0.000,0.144,2632,556,3559,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10531,-0.90,-146.0,817.5,-8.6,562,10537,0.00,1.55,0.00,0.000,6,0.000,0.093,2632,1413,3559,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10839,-0.92,-146.0,847.5,-9.3,573,10845,0.12,1.70,0.00,0.000,4,0.150,0.115,2571,2319,3557,0,0,0,0,0,0,14.61,14.40,28.83
$GC,10957,-0.92,-146.0,857.5,-10.0,576,10964,0.00,1.75,0.00,0.000,6,0.000,0.135,2571,1420,3557,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11265,-0.86,-146.0,893.6,-11.2,587,11272,0.12,1.70,0.00,0.000,4,0.278,0.124,2604,2319,3555,0,0,0,0,0,0,14.22,14.39,28.83
$GC,11350,-0.81,-146.0,900.1,-10.4,589,11356,0.00,1.73,0.00,0.000,6,0.000,0.134,2604,1432,3555,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11666,-0.78,-146.0,929.6,-8.5,600,11673,0.12,1.67,0.00,0.000,4,0.256,0.116,2633,2324,3554,0,0,0,0,0,0,14.28,14.39,28.83
$GC,11751,-0.77,-146.0,934.4,-7.7,602,11757,0.00,1.73,0.00,0.000,6,0.000,0.137,2633,1441,3556,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12067,-0.79,-146.0,957.0,-6.5,613,12073,0.00,1.70,0.00,0.000,4,0.000,0.130,2632,2320,3555,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12146,-0.81,-146.0,960.9,-6.2,615,12152,0.00,1.67,0.00,0.000,6,0.000,0.136,2632,1461,3553,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12467,-0.83,-146.0,980.5,-5.8,626,12473,0.00,1.77,0.00,0.000,4,0.000,0.155,2633,552,3551,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12593,-0.83,-146.0,988.2,-6.1,630,12600,0.00,1.65,0.00,0.000,6,0.000,0.101,2633,1447,3551,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,12625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12625,begin apogee
$GC,12631,-0.23,0.0,990.5,-6.3,631,12774,0.62,0.00,135.80,1.868,4,0.195,0.000,2816,1641,2991,0,0,0,0,0,0,14.34,28.83,13.33
$STATE,12775,end apogee,CONTROL_FINISHED_OK
$STATE,12776,begin climb
$GC,12778,0.63,146.0,995.1,0.0,635,12934,0.82,0.00,145.95,1.828,6,0.116,0.000,3088,1641,2386,0,0,0,0,0,0,14.10,28.83,13.28
$GC,13260,0.59,174.9,975.6,5.9,651,13290,0.00,0.00,28.00,1.769,6,0.000,0.000,3088,1642,2274,0,0,0,0,0,0,28.83,28.83,13.66
$GC,13590,0.56,182.7,954.0,6.6,662,13596,0.00,1.73,1.75,0.174,4,0.000,0.125,3089,2524,2242,0,0,0,0,0,0,28.83,14.44,14.41
$GC,13658,0.52,189.8,949.6,6.6,664,13678,0.10,1.73,14.77,1.707,6,0.267,0.138,3067,1651,2217,0,0,0,0,0,0,14.27,14.38,13.77
$GC,13986,0.52,217.1,929.5,6.0,675,14021,0.00,1.77,29.45,1.766,4,0.000,0.168,3069,752,2099,0,0,0,0,0,0,28.83,14.39,13.73
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$STATE,25350,end climb,SURFACE_DEPTH_REACHED
$STATE,25351,begin surface coast
$FINISH,1.2,1.001472
$STATE,25394,end surface coast,CONTROL_FINISHED_OK
$STATE,25394,begin surface
$SM_CCo,25477,0.00,0.000,0,0,1438,380.71
$SM_GC,2.02,8.52,1.30,0.00,0.073,0.116,0.000,141,1443,1438,-8.53,-0.42,380.71,0,0,0,0,0,0,14.54,14.43,28.83
$IRIDIUM_FIX,2451.31,-3820.65,301112,222237
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.52
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.90
$XPDR_PINGS,2
$SC_FREEKB,7680448
$TM_FREEKB,5429152
$24V_AH,12.4,98.106
$10V_AH,13.2,0.000
$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,23.125,178.850,579.150,0.000,0.000,0.000,0.000,390.800,0.500,0.000,20.887,4330.008,16721.709,756.905,3759.040,598.889,0.000,2856.180,0.000,3163.857,0.000,0.542,0.000
$DEVICE_MAMPS,351.135,168.300,1868.130,0.000,0.000,0.000,0.000,188.955,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25427.000,6314.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.602,13.306,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,46683,1238
$CAP_FILE_SIZE,304549,8
$CFSIZE,260034560,218071040
$ERRORS,0,1,0,0,0,0,0,0,0,1,0,0,86,0,1,0
$CURRENT,0.078, 86.2,1
$GPS,011212,131206,2458.740,-3822.378,35,0.8,36,-14.0