version: 66.11
glider: 190
mission: 6
dive: 238
start: 12 2 112 11 45 37
data:
$ID,190
$MISSION,6
$DIVE,238
$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,-13096.981
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,021212,113335,2454.825,-3827.068,25,0.9,26,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-65.0
$GPS2,021212,114506,2454.882,-3827.048,19,1.1,19,-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,253.3,39669,-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,21,begin dive
$GC,24,-0.63,-146.0,0.0,0.0,0,37,0.00,0.00,-10.98,0.000,2,0.000,0.000,142,1445,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.2,0.0,1,141,11.43,1.77,-82.20,0.000,4,0.363,0.165,2677,550,3587,0,0,0,0,0,0,14.30,14.32,14.73
$GC,370,-0.59,-146.0,21.8,-8.8,33,377,0.00,1.60,0.00,0.000,6,0.000,0.092,2675,1441,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,677,-0.57,-146.0,47.7,-8.7,64,683,0.12,1.65,0.00,0.000,4,0.241,0.106,2707,2324,3587,0,0,0,0,0,0,14.29,14.39,28.83
$GC,805,-0.62,-146.0,57.6,-8.3,76,813,0.00,1.67,0.00,0.000,6,0.000,0.125,2707,1446,3587,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1112,-0.66,-146.0,84.2,-8.8,107,1117,0.00,1.62,0.00,0.000,4,0.000,0.108,2707,2324,3587,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1287,-0.70,-146.0,98.0,-7.5,124,1293,0.15,1.75,0.00,0.000,6,0.117,0.127,2638,1413,3587,0,0,0,0,0,0,14.55,14.35,28.83
$GC,1604,-0.67,-146.0,119.8,-5.9,155,1611,0.12,0.00,0.00,0.000,6,0.234,0.000,2673,1412,3587,0,0,0,0,0,0,14.34,28.83,28.83
$GC,1911,-0.69,-146.0,139.2,-7.5,186,1917,0.00,1.67,0.00,0.000,4,0.000,0.105,2674,2324,3588,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1960,-0.71,-146.0,142.6,-7.9,190,1966,0.00,1.73,0.00,0.000,6,0.000,0.127,2674,1420,3587,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2265,-0.74,-146.0,169.3,-9.0,221,2271,0.00,1.67,0.00,0.000,4,0.000,0.146,2674,556,3588,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2350,-0.74,-146.0,177.3,-9.5,229,2356,0.00,1.55,0.00,0.000,6,0.000,0.093,2674,1421,3588,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2667,-0.77,-146.0,202.2,-6.7,260,2673,0.00,1.67,0.00,0.000,4,0.000,0.145,2674,558,3588,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2725,-0.78,-146.0,206.0,-6.7,265,2733,0.12,1.52,0.00,0.000,6,0.138,0.093,2620,1415,3588,0,0,0,0,0,0,14.56,14.48,28.83
$GC,3033,-0.74,-146.0,228.2,-7.9,296,3038,0.12,1.67,0.00,0.000,4,0.239,0.109,2650,2322,3588,0,0,0,0,0,0,14.36,14.45,28.83
$GC,3232,-0.74,-146.0,242.1,-7.5,315,3238,0.00,1.75,0.00,0.000,6,0.000,0.129,2650,1410,3588,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3538,-0.76,-146.0,268.3,-8.9,332,3544,0.00,1.67,0.00,0.000,4,0.000,0.148,2650,555,3588,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3616,-0.76,-146.0,274.3,-9.1,334,3621,0.00,1.52,0.00,0.000,6,0.000,0.093,2649,1411,3587,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3936,-0.77,-146.0,303.2,-8.4,345,3941,0.00,1.67,0.00,0.000,4,0.000,0.113,2649,2323,3587,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4014,-0.79,-146.0,308.2,-7.8,347,4020,0.00,1.77,0.00,0.000,6,0.000,0.132,2649,1410,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4335,-0.80,-146.0,329.7,-5.9,358,4341,0.00,1.73,0.00,0.000,4,0.000,0.116,2649,2322,3586,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4408,-0.82,-146.0,333.6,-5.9,360,4414,0.00,1.73,0.00,0.000,6,0.000,0.131,2649,1421,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4735,-0.84,-146.0,356.2,-7.2,371,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1421,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.86,-146.0,379.4,-7.9,381,5039,0.12,1.67,0.00,0.000,4,0.138,0.111,2584,2321,3584,0,0,0,0,0,0,14.69,14.50,28.83
$GC,5129,-0.85,-146.0,387.9,-8.8,384,5135,0.08,1.75,0.00,0.000,6,0.218,0.132,2608,1428,3583,0,0,0,0,0,0,14.33,14.42,28.83
$GC,5465,-0.81,-146.0,419.9,-9.8,395,5470,0.00,1.67,0.00,0.000,4,0.000,0.116,2605,2326,3582,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5518,-0.77,-146.0,423.4,-10.0,396,5525,0.15,1.73,0.00,0.000,6,0.224,0.132,2642,1431,3580,0,0,0,0,0,0,14.33,14.40,28.83
$GC,5834,-0.78,-146.0,455.0,-9.4,407,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1431,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6133,-0.80,-146.0,480.3,-7.8,417,6139,0.00,1.67,0.00,0.000,4,0.000,0.116,2639,2312,3580,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6176,-0.81,-146.0,482.6,-7.6,418,6181,0.00,1.70,0.00,0.000,6,0.000,0.135,2639,1433,3579,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6501,-0.83,-146.0,504.4,-6.4,429,6507,0.00,1.73,0.00,0.000,4,0.000,0.155,2639,550,3578,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6599,-0.83,-146.0,511.1,-6.9,432,6605,0.00,1.60,0.00,0.000,6,0.000,0.103,2637,1430,3578,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6930,-0.84,-146.0,535.1,-7.5,443,6935,0.00,1.70,0.00,0.000,4,0.000,0.152,2637,554,3577,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7063,-0.84,-146.0,545.2,-8.1,447,7069,0.00,1.55,0.00,0.000,6,0.000,0.104,2634,1395,3576,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7389,-0.85,-146.0,572.4,-8.3,458,7395,0.00,1.75,0.00,0.000,4,0.000,0.123,2632,2315,3575,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7462,-0.87,-146.0,578.0,-8.3,460,7468,0.00,1.77,0.00,0.000,6,0.000,0.140,2632,1402,3572,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7789,-0.88,-146.0,607.1,-8.8,471,7794,0.00,1.75,0.00,0.000,4,0.000,0.125,2631,2323,3572,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7841,-0.90,-146.0,610.2,-8.9,472,7847,0.00,1.77,0.00,0.000,6,0.000,0.140,2632,1411,3572,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8157,-0.91,-146.0,639.8,-9.1,483,8163,0.10,1.73,0.00,0.000,4,0.158,0.119,2584,2320,3571,0,0,0,0,0,0,14.71,14.43,28.83
$GC,8211,-0.91,-146.0,643.2,-9.1,484,8216,0.00,1.75,0.00,0.000,6,0.000,0.138,2584,1420,3571,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8525,-0.85,-146.0,676.0,-9.9,495,8531,0.12,1.73,0.00,0.000,4,0.259,0.122,2617,2322,3569,0,0,0,0,0,0,14.35,14.43,28.83
$GC,8614,-0.82,-146.0,681.5,-9.1,497,8621,0.00,1.73,0.00,0.000,6,0.000,0.138,2618,1438,3569,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8921,-0.79,-146.0,705.7,-7.0,508,8926,0.00,1.70,0.00,0.000,4,0.000,0.126,2618,2325,3569,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8994,-0.77,-146.0,709.7,-6.6,510,9000,0.00,1.73,0.00,0.000,6,0.000,0.139,2618,1442,3568,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9320,-0.76,-146.0,730.8,-6.2,521,9325,0.00,1.70,0.00,0.000,4,0.000,0.129,2618,2327,3566,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9379,-0.74,-146.0,733.1,-6.4,522,9386,0.12,1.73,0.00,0.000,6,0.224,0.140,2646,1444,3567,0,0,0,0,0,0,14.38,14.40,28.83
$GC,9685,-0.77,-146.0,755.8,-7.4,533,9691,0.00,1.67,0.00,0.000,4,0.000,0.128,2649,2320,3565,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9805,-0.80,-146.0,763.0,-7.4,536,9812,0.00,1.62,0.00,0.000,6,0.000,0.127,2649,1471,3565,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10110,-0.83,-146.0,790.4,-8.6,547,10116,0.00,1.60,0.00,0.000,4,0.000,0.116,2648,2322,3564,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10199,-0.86,-146.0,796.1,-8.7,549,10206,0.12,1.58,0.00,0.000,6,0.148,0.126,2602,1502,3563,0,0,0,0,0,0,14.53,14.38,28.83
$GC,10505,-0.86,-146.0,827.5,-9.6,560,10510,0.00,1.85,0.00,0.000,4,0.000,0.141,2601,557,3566,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10635,-0.82,-146.0,839.9,-9.9,564,10640,0.12,1.70,0.00,0.000,6,0.275,0.094,2623,1497,3565,0,0,0,0,0,0,14.25,14.46,28.83
$GC,10965,-0.82,-146.0,866.2,-7.4,575,10970,0.00,1.55,0.00,0.000,4,0.000,0.114,2617,2327,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11093,-0.82,-146.0,874.8,-6.9,579,11098,0.00,1.58,0.00,0.000,6,0.000,0.126,2618,1507,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11424,-0.83,-146.0,897.9,-7.0,590,11429,0.00,1.85,0.00,0.000,4,0.000,0.144,2618,554,3562,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11487,-0.83,-146.0,903.1,-7.6,592,11492,0.00,1.73,0.00,0.000,6,0.000,0.096,2618,1500,3562,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11822,-0.84,-146.0,929.1,-8.1,603,11827,0.00,1.55,0.00,0.000,4,0.000,0.119,2618,2324,3561,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11859,-0.86,-146.0,932.0,-8.2,604,11864,0.00,1.60,0.00,0.000,6,0.000,0.128,2618,1493,3559,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12190,-0.87,-146.0,959.4,-8.3,615,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1493,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12489,-0.88,-146.0,984.1,-7.9,625,12494,0.00,1.83,0.00,0.000,4,0.000,0.144,2617,556,3559,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12576,-0.88,-146.0,989.2,-8.0,627,12582,0.00,1.73,0.00,0.000,6,0.000,0.096,2618,1507,3559,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,12611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12611,begin apogee
$GC,12617,-0.23,0.0,993.6,-7.6,629,12763,0.65,0.00,137.45,1.847,4,0.207,0.000,2806,1649,2985,0,0,0,0,0,0,14.31,28.83,13.34
$STATE,12765,end apogee,CONTROL_FINISHED_OK
$STATE,12765,begin climb
$GC,12767,0.63,146.0,999.6,0.0,634,12923,0.85,1.83,145.38,1.829,4,0.129,0.146,3090,757,2391,0,0,0,0,0,0,14.11,14.07,13.28
$GC,12935,0.64,304.7,999.2,1.8,639,13102,0.00,1.67,159.62,1.790,6,0.000,0.103,3090,1638,1745,0,0,0,0,0,0,28.83,14.06,13.29
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$STATE,24852,end climb,SURFACE_DEPTH_REACHED
$STATE,24852,begin surface coast
$FINISH,1.2,1.011859
$STATE,24885,end surface coast,CONTROL_FINISHED_OK
$STATE,24885,begin surface
$SM_CCo,24968,0.00,0.000,0,0,1468,373.35
$SM_GC,2.10,8.68,0.43,0.00,0.076,0.132,0.000,150,1437,1468,-8.53,0.40,373.35,0,0,0,0,0,0,14.43,14.40,28.83
$IRIDIUM_FIX,2446.56,-3827.72,021212,040424
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.90
$XPDR_PINGS,1
$SC_FREEKB,7678912
$TM_FREEKB,5389088
$24V_AH,13.3,99.884
$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,23.575,178.425,507.000,0.000,0.000,0.000,0.000,373.850,0.250,0.000,20.931,4246.003,16441.002,719.424,3684.029,550.141,0.000,2779.931,0.000,3105.556,0.000,0.541,0.000
$DEVICE_MAMPS,362.610,165.240,1846.710,0.000,0.000,0.000,0.000,189.720,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24915.000,6304.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.682,13.324,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,43369,1226
$CAP_FILE_SIZE,294172,0
$CFSIZE,260034560,217436160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076, 98.1,1
$GPS,021212,184304,2453.429,-3828.977,37,0.8,38,-14.1