version: 66.11
glider: 190
mission: 6
dive: 236
start: 12 1 112 20 54 43
data:
$ID,190
$MISSION,6
$DIVE,236
$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,-13094.274
$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,26
$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
$GPS1,011212,204223,2457.571,-3823.954,39,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-62.2
$GPS2,011212,205412,2457.517,-3823.933,13,0.7,14,-14.1
$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,253.3,46830,-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,-146.0,0.0,0.0,0,36,0.00,0.00,-11.20,0.000,2,0.000,0.000,139,1448,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.0,0.0,1,150,11.27,1.77,-89.85,0.000,4,0.356,0.167,2679,554,3586,0,0,0,0,0,0,14.33,14.38,14.73
$GC,380,-0.59,-146.0,23.7,-9.7,34,386,0.00,1.58,0.00,0.000,6,0.000,0.085,2675,1436,3587,0,0,0,0,0,0,28.83,14.44,28.83
$GC,687,-0.57,-146.0,51.1,-8.8,65,693,0.10,1.60,0.00,0.000,4,0.259,0.100,2701,2322,3587,0,0,0,0,0,0,14.39,14.37,28.83
$GC,832,-0.61,-146.0,62.9,-8.1,79,837,0.00,1.65,0.00,0.000,6,0.000,0.119,2701,1453,3587,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1147,-0.65,-146.0,86.5,-7.3,110,1152,0.00,1.73,0.00,0.000,4,0.000,0.142,2701,554,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1356,-0.65,-146.0,101.9,-7.1,130,1362,0.00,1.55,0.00,0.000,6,0.000,0.086,2701,1432,3587,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1663,-0.69,-146.0,124.5,-7.6,161,1669,0.00,1.73,0.00,0.000,4,0.000,0.138,2701,553,3587,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1752,-0.71,-146.0,131.1,-8.1,169,1759,0.12,1.50,0.00,0.000,6,0.134,0.084,2646,1396,3587,0,0,0,0,0,0,14.56,14.47,28.83
$GC,2060,-0.69,-146.0,155.6,-7.9,200,2065,0.00,1.67,0.00,0.000,4,0.000,0.102,2645,2322,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2124,-0.68,-146.0,160.5,-7.6,206,2129,0.00,1.77,0.00,0.000,6,0.000,0.121,2646,1386,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2439,-0.66,-146.0,185.7,-8.9,237,2445,0.12,1.73,0.00,0.000,4,0.232,0.103,2677,2313,3589,0,0,0,0,0,0,14.39,14.42,28.83
$GC,2486,-0.66,-146.0,189.3,-7.9,241,2493,0.00,1.75,0.00,0.000,6,0.000,0.125,2677,1406,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2794,-0.69,-146.0,216.2,-8.3,272,2799,0.00,1.67,0.00,0.000,4,0.000,0.106,2677,2317,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2840,-0.72,-146.0,219.8,-7.8,276,2845,0.00,1.73,0.00,0.000,6,0.000,0.124,2677,1411,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3156,-0.75,-146.0,242.9,-6.6,307,3162,0.00,1.70,0.00,0.000,4,0.000,0.106,2677,2320,3587,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3347,-0.79,-146.0,254.9,-6.3,321,3353,0.12,1.77,0.00,0.000,6,0.133,0.124,2618,1379,3587,0,0,0,0,0,0,14.60,14.45,28.83
$GC,3678,-0.75,-146.0,283.6,-9.3,332,3683,0.00,1.73,0.00,0.000,4,0.000,0.106,2617,2319,3586,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3822,-0.72,-146.0,294.8,-8.9,336,3828,0.10,1.77,0.00,0.000,6,0.188,0.124,2650,1394,3587,0,0,0,0,0,0,14.35,14.42,28.83
$GC,4138,-0.72,-146.0,318.9,-6.5,347,4143,0.00,1.70,0.00,0.000,4,0.000,0.106,2649,2323,3585,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4206,-0.72,-146.0,322.9,-6.4,349,4211,0.00,1.75,0.00,0.000,6,0.000,0.123,2649,1410,3586,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4536,-0.72,-146.0,345.5,-7.0,360,4541,0.00,1.67,0.00,0.000,4,0.000,0.108,2649,2323,3584,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4604,-0.72,-146.0,350.1,-7.0,362,4609,0.00,1.73,0.00,0.000,6,0.000,0.123,2648,1409,3585,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4934,-0.72,-146.0,373.1,-6.9,373,4939,0.00,1.67,0.00,0.000,4,0.000,0.107,2649,2319,3583,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5042,-0.72,-146.0,379.4,-6.7,376,5047,0.00,1.70,0.00,0.000,6,0.000,0.122,2649,1416,3582,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5362,-0.74,-146.0,403.8,-7.7,387,5367,0.00,1.65,0.00,0.000,4,0.000,0.143,2649,552,3582,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5498,-0.74,-146.0,414.2,-8.3,391,5503,0.00,1.52,0.00,0.000,6,0.000,0.088,2648,1418,3580,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5823,-0.77,-146.0,444.0,-9.4,402,5829,0.00,1.65,0.00,0.000,4,0.000,0.109,2648,2321,3579,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5928,-0.79,-146.0,453.4,-9.9,405,5933,0.00,1.73,0.00,0.000,6,0.000,0.128,2649,1416,3579,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6253,-0.82,-146.0,488.8,-10.4,416,6258,0.00,1.67,0.00,0.000,4,0.000,0.109,2648,2322,3578,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6301,-0.84,-146.0,492.4,-10.3,417,6306,0.00,1.70,0.00,0.000,6,0.000,0.125,2649,1433,3578,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6621,-0.87,-146.0,520.2,-7.4,428,6623,0.12,0.00,0.00,0.000,6,0.138,0.000,2592,1433,3577,0,0,0,0,0,0,14.72,28.83,28.83
$GC,6923,-0.83,-146.0,540.6,-6.5,438,6925,0.12,0.00,0.00,0.000,6,0.241,0.000,2622,1433,3575,0,0,0,0,0,0,14.45,28.83,28.83
$GC,7223,-0.81,-146.0,559.6,-6.5,448,7228,0.00,1.65,0.00,0.000,4,0.000,0.106,2618,2328,3574,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7386,-0.80,-146.0,570.6,-7.1,453,7391,0.00,1.67,0.00,0.000,6,0.000,0.122,2618,1442,3573,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7712,-0.77,-146.0,599.1,-9.1,464,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1442,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,-0.75,-146.0,626.8,-9.2,474,8017,0.12,1.67,0.00,0.000,4,0.242,0.108,2649,2322,3570,0,0,0,0,0,0,14.40,14.43,28.83
$GC,8149,-0.75,-146.0,637.4,-8.4,478,8154,0.00,1.67,0.00,0.000,6,0.000,0.127,2649,1446,3570,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8470,-0.78,-146.0,662.5,-7.0,489,8475,0.00,1.70,0.00,0.000,4,0.000,0.135,2649,552,3569,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8688,-0.78,-146.0,676.2,-6.1,496,8693,0.00,1.52,0.00,0.000,6,0.000,0.081,2647,1419,3568,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9018,-0.81,-146.0,693.7,-5.2,507,9024,0.00,1.65,0.00,0.000,4,0.000,0.131,2649,554,3567,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9167,-0.82,-146.0,700.5,-5.5,511,9174,0.00,1.50,0.00,0.000,6,0.000,0.082,2648,1394,3567,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9475,-0.85,-146.0,721.7,-6.9,522,9480,0.00,1.60,0.00,0.000,4,0.000,0.134,2649,555,3565,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9569,-0.87,-146.0,729.4,-7.8,525,9574,0.08,1.45,0.00,0.000,6,0.108,0.080,2597,1360,3565,0,0,0,0,0,0,14.50,14.49,28.83
$GC,9905,-0.84,-146.0,762.7,-10.6,536,9910,0.00,1.77,0.00,0.000,4,0.000,0.106,2592,2327,3563,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10039,-0.81,-146.0,776.2,-10.7,540,10045,0.10,1.83,0.00,0.000,6,0.206,0.119,2622,1377,3562,0,0,0,0,0,0,14.25,14.38,28.83
$GC,10366,-0.80,-146.0,810.4,-10.1,551,10371,0.00,1.75,0.00,0.000,4,0.000,0.106,2618,2320,3564,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10460,-0.80,-146.0,819.6,-9.6,554,10465,0.00,1.80,0.00,0.000,6,0.000,0.121,2618,1377,3561,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10796,-0.79,-146.0,847.6,-7.8,565,10801,0.00,1.75,0.00,0.000,4,0.000,0.106,2618,2318,3560,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10862,-0.79,-146.0,852.5,-7.5,567,10867,0.00,1.80,0.00,0.000,6,0.000,0.120,2618,1386,3559,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11194,-0.77,-146.0,876.8,-7.4,578,11199,0.00,1.73,0.00,0.000,4,0.000,0.110,2618,2321,3558,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11276,-0.77,-146.0,881.6,-7.4,580,11281,0.00,1.77,0.00,0.000,6,0.000,0.122,2618,1389,3558,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11592,-0.76,-146.0,908.1,-8.2,591,11597,0.00,1.75,0.00,0.000,4,0.000,0.110,2618,2322,3557,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11674,-0.76,-146.0,913.7,-8.5,593,11680,0.00,1.75,0.00,0.000,6,0.000,0.122,2618,1406,3556,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11989,-0.76,-146.0,944.4,-9.4,604,11994,0.00,1.65,0.00,0.000,4,0.000,0.139,2618,549,3556,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12114,-0.74,-146.0,956.8,-9.9,608,12120,0.12,1.52,0.00,0.000,6,0.276,0.087,2646,1384,3555,0,0,0,0,0,0,14.22,14.42,28.83
$GC,12449,-0.77,-146.0,985.2,-8.3,619,12454,0.00,1.75,0.00,0.000,4,0.000,0.113,2645,2317,3554,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12506,-0.81,-146.0,987.9,-8.2,620,12514,0.00,1.80,0.00,0.000,6,0.000,0.138,2645,1394,3555,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,12540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12540,begin apogee
$GC,12547,-0.23,0.0,992.6,-7.9,622,12694,0.55,0.00,137.02,1.861,4,0.190,0.000,2809,1635,2985,0,0,0,0,0,0,14.35,28.83,13.35
$STATE,12695,end apogee,CONTROL_FINISHED_OK
$STATE,12695,begin climb
$GC,12698,0.63,146.0,1001.0,0.0,627,12854,0.82,1.75,145.32,1.821,4,0.125,0.127,3088,2514,2390,0,0,0,0,0,0,14.12,14.09,13.29
$GC,12947,0.60,200.3,997.1,5.1,635,13006,0.00,1.73,55.15,1.775,6,0.000,0.136,3094,1639,2172,0,0,0,0,0,0,28.83,14.20,13.38
$GC,13330,0.56,200.3,968.3,7.5,648,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1639,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13631,0.52,200.3,947.0,6.9,658,13637,0.12,1.73,0.00,0.000,4,0.281,0.160,3068,756,2152,0,0,0,0,0,0,14.33,14.40,28.83
$GC,13704,0.50,209.0,942.9,6.6,660,13710,0.00,1.62,1.83,0.171,6,0.000,0.112,3068,1634,2135,0,0,0,0,0,0,28.83,14.47,14.46
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$STATE,26004,end climb,SURFACE_DEPTH_REACHED
$STATE,26004,begin surface coast
$FINISH,1.2,1.025400
$STATE,26027,end surface coast,CONTROL_FINISHED_OK
$STATE,26027,begin surface
$SM_CCo,26048,11.27,0.129,0,0,1561,350.04
$SM_GC,2.90,8.45,1.25,11.27,0.060,0.082,0.129,141,1442,1561,-8.52,-0.54,350.04,0,0,0,0,0,0,14.54,14.46,14.45
$IRIDIUM_FIX,2451.31,-3823.99,011212,131351
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.80
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.90
$XPDR_PINGS,3
$SC_FREEKB,7679680
$TM_FREEKB,5409248
$24V_AH,13.3,99.001
$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,23.525,193.800,467.475,11.275,0.000,0.000,0.000,397.050,0.750,0.000,15.768,4687.573,16670.105,693.575,4095.954,603.892,0.000,2942.234,0.000,3497.086,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,171.360,1861.245,129.285,0.000,0.000,0.000,185.895,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26058.000,6346.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.543,13.332,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,46550,1262
$CAP_FILE_SIZE,315085,0
$CFSIZE,260034560,217735168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.078, 84.2,1
$GPS,021212,041022,2456.414,-3825.332,35,0.8,36,-14.1