version: 66.11
glider: 190
mission: 6
dive: 241
start: 12 3 112 9 15 20
data:
$ID,190
$MISSION,6
$DIVE,241
$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,-13101.039
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,031212,090335,2451.453,-3832.466,35,0.8,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-62.3
$GPS2,031212,091449,2451.471,-3832.531,14,0.9,14,-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,248.5,28703,-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,-146.0,0.0,0.0,0,36,0.00,0.00,-10.82,0.000,2,0.000,0.000,139,1433,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-0.63,-146.0,2.1,0.0,1,142,11.80,1.67,-80.32,0.000,4,0.379,0.164,2681,552,3589,0,0,0,0,0,0,14.28,14.25,14.73
$GC,298,-0.59,-146.0,18.7,-9.0,26,303,0.00,1.60,0.00,0.000,6,0.000,0.083,2675,1447,3588,0,0,0,0,0,0,28.83,14.31,28.83
$GC,613,-0.56,-146.0,47.5,-8.7,57,619,0.12,1.62,0.00,0.000,4,0.238,0.099,2712,2322,3588,0,0,0,0,0,0,14.26,14.27,28.83
$GC,772,-0.61,-146.0,60.1,-8.4,72,779,0.00,1.65,0.00,0.000,6,0.000,0.122,2712,1453,3587,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1078,-0.65,-146.0,83.2,-8.8,103,1084,0.00,1.75,0.00,0.000,4,0.000,0.138,2712,552,3585,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1284,-0.65,-146.0,97.1,-5.7,123,1289,0.00,1.55,0.00,0.000,6,0.000,0.083,2712,1430,3588,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1600,-0.69,-146.0,118.0,-6.1,154,1606,0.12,0.00,0.00,0.000,6,0.133,0.000,2647,1430,3587,0,0,0,0,0,0,14.61,28.83,28.83
$GC,1907,-0.69,-146.0,142.7,-8.7,185,1912,0.00,1.70,0.00,0.000,4,0.000,0.140,2647,549,3588,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2075,-0.65,-146.0,157.6,-9.5,201,2082,0.12,1.55,0.00,0.000,6,0.254,0.086,2676,1428,3588,0,0,0,0,0,0,14.31,14.47,28.83
$GC,2383,-0.67,-146.0,177.9,-6.5,232,2388,0.00,1.65,0.00,0.000,4,0.000,0.100,2675,2324,3588,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2438,-0.70,-146.0,181.4,-6.2,237,2444,0.00,1.73,0.00,0.000,6,0.000,0.122,2675,1418,3588,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2755,-0.73,-146.0,202.2,-6.6,268,2761,0.00,1.65,0.00,0.000,4,0.000,0.142,2675,554,3591,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2920,-0.73,-146.0,214.4,-7.7,284,2926,0.00,1.52,0.00,0.000,6,0.000,0.084,2679,1402,3588,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3235,-0.76,-146.0,238.5,-8.6,315,3241,0.00,1.60,0.00,0.000,4,0.000,0.142,2675,557,3588,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3344,-0.78,-146.0,247.4,-8.5,325,3351,0.12,1.48,0.00,0.000,6,0.138,0.086,2620,1381,3588,0,0,0,0,0,0,14.48,14.40,28.83
$GC,3670,-0.77,-146.0,277.2,-8.8,338,3675,0.00,1.67,0.00,0.000,4,0.000,0.103,2618,2322,3587,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3763,-0.75,-146.0,284.9,-8.4,341,3769,0.00,1.80,0.00,0.000,6,0.000,0.125,2618,1379,3587,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4099,-0.72,-146.0,313.0,-8.4,352,4106,0.12,1.70,0.00,0.000,4,0.236,0.102,2649,2322,3587,0,0,0,0,0,0,14.42,14.51,28.83
$GC,4205,-0.71,-146.0,320.5,-7.9,355,4211,0.00,1.77,0.00,0.000,6,0.000,0.125,2649,1384,3587,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4531,-0.72,-146.0,349.2,-8.8,366,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1384,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4829,-0.74,-146.0,375.2,-8.5,376,4835,0.00,1.58,0.00,0.000,4,0.000,0.141,2649,556,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4903,-0.74,-146.0,380.6,-8.5,378,4908,0.00,1.48,0.00,0.000,6,0.000,0.090,2648,1379,3585,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5227,-0.76,-146.0,407.0,-7.8,389,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1380,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5527,-0.78,-146.0,429.4,-7.3,399,5532,0.00,1.73,0.00,0.000,4,0.000,0.108,2648,2322,3581,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5614,-0.80,-146.0,433.9,-7.1,401,5621,0.00,1.80,0.00,0.000,6,0.000,0.128,2648,1376,3581,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5922,-0.82,-146.0,457.7,-7.4,412,5927,0.00,1.55,0.00,0.000,4,0.000,0.147,2648,558,3580,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6034,-0.82,-146.0,465.2,-7.7,415,6040,0.00,1.45,0.00,0.000,6,0.000,0.092,2648,1362,3579,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6350,-0.84,-146.0,491.3,-7.9,426,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1362,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,-0.86,-146.0,514.3,-7.5,436,6654,0.12,1.58,0.00,0.000,4,0.142,0.143,2589,562,3577,0,0,0,0,0,0,14.69,14.35,28.83
$GC,6782,-0.81,-146.0,525.7,-9.2,440,6789,0.10,1.45,0.00,0.000,6,0.228,0.092,2622,1364,3577,0,0,0,0,0,0,14.28,14.48,28.83
$GC,7109,-0.79,-146.0,552.1,-8.1,451,7114,0.00,1.77,0.00,0.000,4,0.000,0.111,2618,2321,3575,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7218,-0.77,-146.0,559.9,-8.3,454,7223,0.00,1.83,0.00,0.000,6,0.000,0.131,2618,1369,3575,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7538,-0.75,-146.0,590.0,-9.2,465,7545,0.12,1.77,0.00,0.000,4,0.246,0.109,2648,2320,3573,0,0,0,0,0,0,14.38,14.45,28.83
$GC,7582,-0.73,-146.0,593.1,-8.9,466,7588,0.00,1.83,0.00,0.000,6,0.000,0.132,2649,1370,3573,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7909,-0.76,-146.0,621.3,-8.2,477,7914,0.00,1.58,0.00,0.000,4,0.000,0.152,2649,558,3572,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7972,-0.78,-146.0,626.7,-8.2,479,7977,0.00,1.48,0.00,0.000,6,0.000,0.100,2649,1356,3571,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8307,-0.80,-146.0,653.3,-8.0,490,8312,0.00,1.58,0.00,0.000,4,0.000,0.155,2649,558,3570,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8395,-0.82,-146.0,658.7,-8.1,492,8401,0.00,1.42,0.00,0.000,6,0.000,0.100,2648,1333,3570,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8702,-0.84,-146.0,685.7,-8.2,503,8707,0.00,1.52,0.00,0.000,4,0.000,0.156,2649,559,3569,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8785,-0.86,-146.0,691.1,-8.2,505,8791,0.08,1.38,0.00,0.000,6,0.106,0.102,2606,1305,3569,0,0,0,0,0,0,14.45,14.44,28.83
$GC,9100,-0.82,-146.0,718.6,-8.1,516,9105,0.00,1.88,0.00,0.000,4,0.000,0.120,2605,2318,3567,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9303,-0.81,-146.0,732.1,-7.1,522,9309,0.00,1.92,0.00,0.000,6,0.000,0.138,2605,1332,3566,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9619,-0.77,-146.0,755.9,-7.2,533,9625,0.12,1.88,0.00,0.000,4,0.246,0.117,2633,2318,3564,0,0,0,0,0,0,14.33,14.40,28.83
$GC,9739,-0.77,-146.0,762.0,-6.4,536,9746,0.00,1.90,0.00,0.000,6,0.000,0.138,2633,1344,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10046,-0.79,-146.0,783.9,-6.8,547,10052,0.00,1.55,0.00,0.000,4,0.000,0.157,2633,557,3563,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10124,-0.80,-146.0,788.8,-7.0,549,10129,0.00,1.45,0.00,0.000,6,0.000,0.099,2632,1346,3563,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10445,-0.81,-146.0,814.8,-8.3,560,10451,0.00,1.58,0.00,0.000,4,0.000,0.157,2632,553,3562,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10583,-0.81,-146.0,826.3,-9.2,564,10588,0.00,1.42,0.00,0.000,6,0.000,0.103,2632,1320,3560,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10903,-0.83,-146.0,857.8,-9.6,575,10910,0.00,1.55,0.00,0.000,4,0.000,0.158,2631,556,3560,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10992,-0.84,-146.0,864.3,-9.8,577,10999,0.00,1.38,0.00,0.000,6,0.000,0.103,2632,1298,3559,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11299,-0.86,-146.0,895.1,-9.2,588,11305,0.00,1.95,0.00,0.000,4,0.000,0.124,2631,2320,3558,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11363,-0.88,-146.0,900.7,-8.8,590,11369,0.00,2.00,0.00,0.000,6,0.000,0.138,2632,1304,3559,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11699,-0.90,-146.0,929.8,-8.6,601,11705,0.00,1.92,0.00,0.000,4,0.000,0.114,2632,2323,3557,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11748,-0.92,-146.0,932.9,-8.4,602,11754,0.12,1.95,0.00,0.000,6,0.158,0.129,2588,1313,3557,0,0,0,0,0,0,14.47,14.39,28.83
$GC,12069,-0.89,-146.0,963.7,-9.3,613,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1313,3555,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12365,begin apogee
$GC,12371,-0.23,0.0,991.2,-8.9,623,12570,0.77,0.00,190.95,1.538,4,0.215,0.000,2807,1642,2986,0,0,0,0,0,0,14.25,28.83,13.46
$STATE,12571,end apogee,CONTROL_FINISHED_OK
$STATE,12571,begin climb
$GC,12574,0.63,146.0,999.6,0.0,629,12731,0.82,1.83,146.00,1.818,4,0.124,0.157,3087,760,2389,0,0,0,0,0,0,14.12,14.06,13.28
$GC,12875,0.57,149.8,992.5,6.8,639,12883,0.00,1.65,0.00,0.000,6,0.000,0.109,3086,1640,2375,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13182,0.52,149.8,968.1,7.4,650,13187,0.00,1.70,0.00,0.000,4,0.000,0.133,3086,2522,2373,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13325,0.47,149.8,958.8,7.4,654,13331,0.20,1.73,0.00,0.000,6,0.288,0.145,3047,1645,2372,0,0,0,0,0,0,14.24,14.38,28.83
$GC,13641,0.48,199.1,939.8,5.3,665,13699,0.00,1.77,51.53,1.779,4,0.000,0.164,3052,750,2172,0,0,0,0,0,0,28.83,14.28,13.61
$GC,13739,0.49,234.3,934.4,5.7,668,13780,0.00,1.67,36.65,1.729,6,0.000,0.109,3052,1645,2034,0,0,0,0,0,0,28.83,14.31,13.49
$GC,14093,0.49,244.0,910.8,6.6,680,14103,0.00,1.70,2.72,0.764,4,0.000,0.131,3052,2525,1994,0,0,0,0,0,0,28.83,14.50,13.43
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$STATE,25499,end climb,SURFACE_DEPTH_REACHED
$STATE,25499,begin surface coast
$FINISH,1.3,1.001667
$STATE,25540,end surface coast,CONTROL_FINISHED_OK
$STATE,25540,begin surface
$SM_CCo,25561,11.30,0.130,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,54.96
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,7677760
$TM_FREEKB,5359552
$24V_AH,13.3,101.247
$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
$DEVICE_SECS,24.000,182.400,534.550,11.300,0.000,0.000,0.000,362.125,0.250,0.000,16.161,4516.931,16458.045,760.902,3924.594,571.028,0.000,2916.722,0.000,3362.077,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25591.000,6469.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.692,13.333,0.000,0.000
$MEM,344700
$DATA_FILE_SIZE,46661,1255
$CAP_FILE_SIZE,308204,0
$CFSIZE,260034560,216940544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.068, 82.8,1
$GPS,031212,162252,2450.146,-3834.105,34,0.8,35,-14.1