version: 66.11
glider: 190
mission: 6
dive: 240
start: 12 3 112 1 55 12
data:
$ID,190
$MISSION,6
$DIVE,240
$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,-13099.685
$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
$GPS1,031212,014234,2452.502,-3830.865,37,0.8,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-58.8
$GPS2,031212,015441,2452.555,-3830.848,16,1.0,16,-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,251.8,32102,-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,-11.65,0.000,2,0.000,0.000,135,1439,1600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.2,0.0,1,152,11.12,1.75,-91.50,0.000,4,0.348,0.173,2677,556,3586,0,0,0,0,0,0,14.32,14.36,14.73
$GC,298,-0.59,-146.0,19.2,-9.4,26,303,0.00,1.58,0.00,0.000,6,0.000,0.086,2675,1438,3586,0,0,0,0,0,0,28.83,14.31,28.83
$GC,613,-0.57,-146.0,43.4,-6.9,57,619,0.12,1.62,0.00,0.000,4,0.246,0.102,2708,2324,3587,0,0,0,0,0,0,14.29,14.30,28.83
$GC,700,-0.59,-146.0,47.5,-4.0,65,705,0.00,1.67,0.00,0.000,6,0.000,0.119,2708,1447,3586,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1014,-0.63,-146.0,69.4,-9.1,96,1019,0.00,1.62,0.00,0.000,4,0.000,0.101,2708,2333,3586,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1058,-0.67,-146.0,72.8,-7.8,100,1064,0.12,1.65,0.00,0.000,6,0.129,0.119,2651,1460,3585,0,0,0,0,0,0,14.50,14.35,28.83
$GC,1375,-0.63,-146.0,101.1,-8.7,131,1382,0.12,0.00,0.00,0.000,6,0.234,0.000,2684,1460,3586,0,0,0,0,0,0,14.33,28.83,28.83
$GC,1683,-0.66,-146.0,128.7,-8.8,162,1689,0.00,1.73,0.00,0.000,4,0.000,0.135,2684,550,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1721,-0.68,-146.0,131.8,-8.9,165,1728,0.00,1.62,0.00,0.000,6,0.000,0.083,2681,1479,3588,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2029,-0.71,-146.0,152.7,-5.6,196,2034,0.00,1.80,0.00,0.000,4,0.000,0.139,2686,538,3586,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2135,-0.72,-146.0,158.9,-6.0,206,2140,0.00,1.65,0.00,0.000,6,0.000,0.083,2680,1455,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2449,-0.75,-146.0,182.4,-8.6,237,2454,0.00,1.73,0.00,0.000,4,0.000,0.137,2680,556,3586,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2507,-0.77,-146.0,187.3,-9.0,242,2514,0.12,1.55,0.00,0.000,6,0.138,0.083,2626,1438,3586,0,0,0,0,0,0,14.52,14.46,28.83
$GC,2815,-0.74,-146.0,216.7,-9.0,273,2821,0.00,1.58,0.00,0.000,4,0.000,0.103,2621,2317,3586,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3021,-0.71,-146.0,234.0,-8.1,293,3027,0.15,1.67,0.00,0.000,6,0.219,0.122,2661,1438,3586,0,0,0,0,0,0,14.35,14.40,28.83
$GC,3356,-0.73,-146.0,256.1,-6.4,320,3362,0.00,1.60,0.00,0.000,4,0.000,0.102,2658,2317,3586,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3406,-0.75,-146.0,258.2,-6.3,321,3411,0.00,1.65,0.00,0.000,6,0.000,0.122,2658,1444,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3726,-0.77,-146.0,278.7,-6.2,332,3731,0.00,1.70,0.00,0.000,4,0.000,0.142,2658,553,3585,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3855,-0.77,-146.0,287.2,-6.8,336,3860,0.00,1.58,0.00,0.000,6,0.000,0.086,2658,1446,3584,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4185,-0.80,-146.0,311.5,-7.5,347,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1446,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.82,-146.0,334.5,-7.6,357,4490,0.00,1.70,0.00,0.000,4,0.000,0.138,2658,558,3583,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4514,-0.84,-146.0,334.5,-7.6,357,4521,0.12,1.55,0.00,0.000,6,0.138,0.085,2601,1441,3582,0,0,0,0,0,0,14.62,14.57,28.83
$GC,4820,-0.79,-146.0,362.6,-8.7,368,4826,0.12,1.62,0.00,0.000,4,0.248,0.105,2633,2315,3581,0,0,0,0,0,0,14.40,14.47,28.83
$GC,5049,-0.79,-146.0,379.2,-7.7,375,5054,0.00,1.65,0.00,0.000,6,0.000,0.124,2633,1446,3580,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5369,-0.78,-146.0,405.5,-7.9,386,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1445,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5667,-0.76,-146.0,430.3,-8.5,396,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1445,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,-0.74,-146.0,456.5,-8.7,406,5973,0.00,1.62,0.00,0.000,4,0.000,0.106,2632,2324,3577,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6070,-0.73,-146.0,464.4,-8.5,409,6075,0.00,1.67,0.00,0.000,6,0.000,0.124,2632,1442,3576,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6396,-0.71,-146.0,490.8,-7.7,420,6401,0.00,1.62,0.00,0.000,4,0.000,0.112,2632,2326,3575,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6484,-0.69,-146.0,495.7,-7.5,422,6491,0.12,1.65,0.00,0.000,6,0.221,0.126,2664,1458,3574,0,0,0,0,0,0,14.40,14.42,28.83
$GC,6792,-0.73,-146.0,519.9,-7.5,433,6798,0.00,1.62,0.00,0.000,4,0.000,0.112,2662,2328,3573,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6875,-0.76,-146.0,524.9,-7.6,435,6881,0.00,1.62,0.00,0.000,6,0.000,0.128,2661,1479,3572,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7191,-0.79,-146.0,550.9,-7.9,446,7197,0.00,1.77,0.00,0.000,4,0.000,0.145,2662,556,3572,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7385,-0.81,-146.0,565.8,-8.1,452,7390,0.00,1.60,0.00,0.000,6,0.000,0.088,2661,1440,3571,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7711,-0.84,-146.0,590.6,-7.3,463,7718,0.12,1.65,0.00,0.000,4,0.142,0.104,2599,2325,3569,0,0,0,0,0,0,14.67,14.43,28.83
$GC,7841,-0.84,-146.0,600.8,-8.1,467,7846,0.00,1.67,0.00,0.000,6,0.000,0.126,2599,1450,3569,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8170,-0.79,-146.0,630.6,-9.3,478,8177,0.12,1.62,0.00,0.000,4,0.251,0.112,2631,2327,3568,0,0,0,0,0,0,14.35,14.44,28.83
$GC,8245,-0.76,-146.0,636.2,-8.9,480,8250,0.00,1.65,0.00,0.000,6,0.000,0.129,2632,1465,3568,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8569,-0.77,-146.0,664.3,-8.3,491,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1464,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,-0.79,-146.0,685.2,-6.4,501,8874,0.00,1.75,0.00,0.000,4,0.000,0.142,2631,549,3565,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9011,-0.79,-146.0,693.3,-6.5,505,9016,0.00,1.62,0.00,0.000,6,0.000,0.092,2632,1454,3562,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9327,-0.80,-146.0,714.5,-6.6,516,9332,0.00,1.77,0.00,0.000,4,0.000,0.145,2632,548,3563,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9456,-0.80,-146.0,724.2,-7.8,520,9462,0.00,1.58,0.00,0.000,6,0.000,0.092,2632,1411,3562,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9786,-0.81,-146.0,752.9,-9.2,531,9792,0.00,1.70,0.00,0.000,4,0.000,0.146,2632,556,3561,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9900,-0.81,-146.0,762.2,-9.6,534,9906,0.00,1.52,0.00,0.000,6,0.000,0.093,2631,1404,3561,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10216,-0.83,-146.0,794.3,-9.3,545,10222,0.00,1.67,0.00,0.000,4,0.000,0.146,2631,560,3560,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10311,-0.83,-146.0,803.1,-9.2,548,10316,0.00,1.48,0.00,0.000,6,0.000,0.093,2631,1363,3560,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10645,-0.85,-146.0,830.1,-7.8,559,10650,0.00,1.80,0.00,0.000,4,0.000,0.115,2631,2322,3556,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10693,-0.87,-146.0,832.8,-7.7,560,10698,0.00,1.85,0.00,0.000,6,0.000,0.136,2631,1370,3557,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11013,-0.88,-146.0,857.8,-7.5,571,11019,0.00,1.58,0.00,0.000,4,0.000,0.146,2631,555,3557,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11152,-0.88,-146.0,868.0,-8.1,575,11157,0.00,1.45,0.00,0.000,6,0.000,0.095,2631,1349,3555,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11472,-0.90,-146.0,894.5,-7.9,586,11478,0.00,1.60,0.00,0.000,4,0.000,0.158,2631,558,3554,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11567,-0.90,-146.0,902.4,-8.2,589,11572,0.00,1.40,0.00,0.000,6,0.000,0.096,2631,1318,3554,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11901,-0.91,-146.0,930.3,-8.5,600,11907,0.12,1.48,0.00,0.000,4,0.158,0.146,2582,555,3553,0,0,0,0,0,0,14.53,14.31,28.83
$GC,12017,-0.88,-146.0,939.9,-9.8,603,12022,0.00,1.38,0.00,0.000,6,0.000,0.098,2579,1295,3552,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12332,-0.83,-146.0,971.9,-9.1,614,12339,0.12,1.95,0.00,0.000,4,0.282,0.121,2607,2327,3552,0,0,0,0,0,0,14.21,14.35,28.83
$GC,12533,-0.82,-146.0,985.4,-7.1,620,12539,0.00,2.00,0.00,0.000,6,0.000,0.142,2607,1315,3551,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,12609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12609,begin apogee
$GC,12616,-0.23,0.0,991.8,-6.8,623,12764,0.70,0.00,136.95,1.854,4,0.213,0.000,2807,1641,2983,0,0,0,0,0,0,14.26,28.83,13.32
$STATE,12765,end apogee,CONTROL_FINISHED_OK
$STATE,12765,begin climb
$GC,12768,0.63,146.0,995.9,0.0,628,12923,0.85,0.00,145.75,1.824,6,0.128,0.000,3083,1642,2387,0,0,0,0,0,0,14.10,28.83,13.28
$GC,13248,0.58,146.0,965.6,8.1,644,13253,0.00,1.70,0.00,0.000,4,0.000,0.132,3084,2526,2372,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13402,0.53,146.0,953.7,7.6,649,13407,0.00,1.75,0.00,0.000,6,0.000,0.142,3090,1640,2370,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13738,0.51,191.9,933.6,5.4,660,13786,0.15,0.00,45.30,1.765,6,0.291,0.000,3056,1640,2206,0,0,0,0,0,0,14.27,28.83,13.65
$GC,14067,0.54,255.0,917.1,4.9,671,14138,0.00,1.83,64.28,1.748,4,0.000,0.167,3063,758,1942,0,0,0,0,0,0,28.83,14.14,13.50
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$STATE,25566,end climb,SURFACE_DEPTH_REACHED
$STATE,25566,begin surface coast
$FINISH,1.3,1.010980
$STATE,25597,end surface coast,CONTROL_FINISHED_OK
$STATE,25597,begin surface
$SM_CCo,25620,3.47,0.141,0,0,1561,350.04
$SM_GC,3.19,8.60,0.45,3.47,0.070,0.145,0.141,140,1436,1561,-8.54,0.34,350.04,0,0,0,0,0,0,14.50,14.35,14.44
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$TT8_MAMPS,0.023968,0.023968
$HUMID,55.55
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.00
$XPDR_PINGS,2
$SC_FREEKB,7678144
$TM_FREEKB,5369664
$24V_AH,13.3,100.797
$10V_AH,13.4,0.000
$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,23.350,170.950,476.650,3.475,0.000,0.000,0.000,418.175,0.500,0.000,17.595,4547.711,16546.945,704.832,3976.220,559.890,0.000,2891.669,0.000,3355.408,0.000,0.541,0.000
$DEVICE_MAMPS,348.075,180.540,1853.595,140.760,0.000,0.000,0.000,182.835,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25627.000,6315.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.624,13.344,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,46636,1248
$CAP_FILE_SIZE,301310,0
$CFSIZE,260034560,217108480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063, 90.9,1
$GPS,031212,090335,2451.453,-3832.466,35,0.8,36,-14.1