version: 66.11
glider: 190
mission: 6
dive: 242
start: 12 3 112 16 35 12
data:
$ID,190
$MISSION,6
$DIVE,242
$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,-13102.393
$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,12
$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
$GPS1,031212,162252,2450.146,-3834.105,34,0.8,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-68.0
$GPS2,031212,163441,2450.141,-3834.171,19,0.8,19,-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,246.9,25028,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.12,0.000,2,0.000,0.000,138,1434,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.3,0.0,1,143,11.38,1.73,-80.20,0.000,4,0.360,0.171,2682,558,3586,0,0,0,0,0,0,14.26,14.25,14.73
$GC,353,-0.60,-146.0,22.3,-8.1,31,360,0.00,1.58,0.00,0.000,6,0.000,0.083,2680,1447,3586,0,0,0,0,0,0,28.83,14.43,28.83
$GC,659,-0.57,-146.0,49.8,-9.0,62,664,0.00,1.60,0.00,0.000,4,0.000,0.101,2676,2322,3587,0,0,0,0,0,0,28.83,14.26,28.83
$GC,808,-0.57,-146.0,62.2,-8.0,76,815,0.00,1.65,0.00,0.000,6,0.000,0.120,2676,1452,3587,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1115,-0.56,-146.0,85.8,-7.0,107,1121,0.12,1.58,0.00,0.000,4,0.228,0.099,2713,2323,3587,0,0,0,0,0,0,14.35,14.45,28.83
$GC,1206,-0.60,-146.0,90.7,-5.4,115,1214,0.00,1.62,0.00,0.000,6,0.000,0.119,2713,1460,3587,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1512,-0.65,-146.0,108.9,-7.0,146,1518,0.00,1.75,0.00,0.000,4,0.000,0.140,2713,557,3587,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1556,-0.68,-146.0,112.3,-7.7,150,1562,0.10,1.65,0.00,0.000,6,0.080,0.083,2655,1477,3587,0,0,0,0,0,0,14.52,14.47,28.83
$GC,1873,-0.68,-146.0,141.5,-9.2,181,1878,0.00,1.75,0.00,0.000,4,0.000,0.138,2655,556,3587,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2020,-0.65,-146.0,154.4,-8.1,195,2028,0.00,1.60,0.00,0.000,6,0.000,0.085,2652,1467,3587,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2329,-0.64,-146.0,173.7,-5.9,226,2335,0.12,1.52,0.00,0.000,4,0.236,0.099,2687,2315,3587,0,0,0,0,0,0,14.38,14.42,28.83
$GC,2429,-0.68,-146.0,179.8,-6.6,235,2436,0.00,1.62,0.00,0.000,6,0.000,0.120,2688,1457,3587,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2736,-0.72,-146.0,207.3,-10.2,266,2741,0.00,1.73,0.00,0.000,4,0.000,0.138,2688,552,3587,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2769,-0.74,-146.0,210.6,-10.0,269,2775,0.08,1.55,0.00,0.000,6,0.093,0.082,2639,1418,3587,0,0,0,0,0,0,14.49,14.50,28.83
$GC,3085,-0.74,-146.0,241.5,-8.8,300,3090,0.00,1.62,0.00,0.000,4,0.000,0.099,2638,2330,3587,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3304,-0.76,-146.0,257.6,-6.9,315,3309,0.00,1.73,0.00,0.000,6,0.000,0.119,2639,1413,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3635,-0.76,-146.0,280.7,-7.4,326,3640,0.00,1.62,0.00,0.000,4,0.000,0.135,2639,551,3586,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3743,-0.74,-146.0,289.1,-8.5,329,3748,0.00,1.52,0.00,0.000,6,0.000,0.085,2637,1422,3586,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4064,-0.72,-146.0,320.7,-9.4,340,4069,0.00,1.62,0.00,0.000,4,0.000,0.101,2632,2323,3586,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4193,-0.71,-146.0,331.7,-8.7,344,4199,0.00,1.67,0.00,0.000,6,0.000,0.119,2632,1432,3586,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4524,-0.69,-146.0,356.2,-6.6,355,4530,0.12,1.60,0.00,0.000,4,0.238,0.100,2664,2320,3584,0,0,0,0,0,0,14.44,14.53,28.83
$GC,4583,-0.67,-146.0,358.3,-6.3,356,4590,0.00,1.67,0.00,0.000,6,0.000,0.121,2664,1432,3584,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4891,-0.70,-146.0,378.8,-6.7,367,4896,0.00,1.65,0.00,0.000,4,0.000,0.136,2663,550,3583,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4994,-0.72,-146.0,385.5,-6.9,370,4999,0.00,1.55,0.00,0.000,6,0.000,0.083,2662,1426,3583,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5319,-0.75,-146.0,412.8,-8.6,381,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1426,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5619,-0.78,-146.0,439.4,-9.0,391,5624,0.00,1.70,0.00,0.000,4,0.000,0.138,2662,554,3580,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5776,-0.80,-146.0,453.6,-9.1,396,5782,0.00,1.52,0.00,0.000,6,0.000,0.084,2662,1401,3579,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6107,-0.83,-146.0,480.2,-7.7,407,6113,0.12,1.67,0.00,0.000,4,0.138,0.099,2596,2322,3578,0,0,0,0,0,0,14.69,14.51,28.83
$GC,6235,-0.83,-146.0,490.5,-8.2,411,6241,0.00,1.70,0.00,0.000,6,0.000,0.119,2596,1418,3578,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6566,-0.78,-146.0,517.7,-8.2,422,6568,0.15,0.00,0.00,0.000,6,0.233,0.000,2634,1418,3577,0,0,0,0,0,0,14.40,28.83,28.83
$GC,6865,-0.76,-146.0,540.9,-8.1,432,6870,0.00,1.67,0.00,0.000,4,0.000,0.104,2632,2325,3575,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6982,-0.76,-146.0,549.1,-8.5,435,6990,0.00,1.70,0.00,0.000,6,0.000,0.123,2631,1429,3575,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7291,-0.77,-146.0,581.0,-10.1,446,7296,0.00,1.67,0.00,0.000,4,0.000,0.142,2632,555,3573,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7526,-0.76,-146.0,602.9,-9.9,453,7531,0.00,1.52,0.00,0.000,6,0.000,0.091,2631,1407,3572,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7843,-0.75,-146.0,631.8,-8.1,464,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1407,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,-0.75,-146.0,654.2,-7.5,474,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1408,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,-0.76,-146.0,676.6,-7.5,484,8446,0.00,1.65,0.00,0.000,4,0.000,0.143,2631,550,3569,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8543,-0.76,-146.0,684.3,-8.1,487,8548,0.00,1.55,0.00,0.000,6,0.000,0.090,2631,1415,3568,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8869,-0.77,-146.0,711.7,-8.5,498,8874,0.00,1.65,0.00,0.000,4,0.000,0.146,2631,555,3567,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8975,-0.77,-146.0,720.1,-8.6,501,8981,0.00,1.50,0.00,0.000,6,0.000,0.093,2631,1376,3567,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9297,-0.79,-146.0,748.7,-8.7,512,9302,0.00,1.62,0.00,0.000,4,0.000,0.148,2632,548,3565,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9344,-0.80,-146.0,752.0,-8.9,513,9349,0.00,1.50,0.00,0.000,6,0.000,0.096,2632,1366,3565,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9665,-0.82,-146.0,782.5,-9.3,524,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1367,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9963,-0.83,-146.0,808.7,-8.5,534,9968,0.00,1.62,0.00,0.000,4,0.000,0.155,2631,559,3562,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9991,-0.85,-146.0,808.7,-8.5,534,9997,0.00,1.48,0.00,0.000,6,0.000,0.100,2631,1356,3562,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10299,-0.87,-146.0,834.8,-7.5,545,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1360,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10597,-0.89,-146.0,855.5,-6.6,555,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1361,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10898,-0.90,-146.0,873.8,-5.9,565,10903,0.00,1.60,0.00,0.000,4,0.000,0.158,2631,556,3559,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10991,-0.90,-146.0,879.8,-6.2,568,10996,0.00,1.48,0.00,0.000,6,0.000,0.105,2631,1342,3559,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11327,-0.92,-146.0,902.6,-7.6,579,11333,0.12,1.85,0.00,0.000,4,0.162,0.116,2582,2320,3557,0,0,0,0,0,0,14.53,14.38,28.83
$GC,11460,-0.92,-146.0,914.0,-9.0,583,11465,0.00,1.88,0.00,0.000,6,0.000,0.132,2582,1357,3557,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11786,-0.88,-146.0,950.4,-11.6,594,11791,0.00,1.85,0.00,0.000,4,0.000,0.122,2579,2320,3555,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11891,-0.83,-146.0,961.2,-11.5,597,11896,0.15,1.85,0.00,0.000,6,0.238,0.132,2616,1370,3555,0,0,0,0,0,0,14.25,14.34,28.83
$STATE,12183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12183,begin apogee
$GC,12190,-0.23,0.0,992.8,-9.9,607,12337,0.68,0.00,137.27,1.850,4,0.203,0.000,2811,1636,2986,0,0,0,0,0,0,14.26,28.83,13.32
$STATE,12339,end apogee,CONTROL_FINISHED_OK
$STATE,12339,begin climb
$GC,12341,0.63,146.0,1002.5,0.0,612,12498,0.82,1.85,146.02,1.837,4,0.110,0.161,3093,756,2389,0,0,0,0,0,0,14.12,14.06,13.28
$GC,12712,0.57,154.5,992.1,6.6,624,12721,0.00,1.65,2.30,0.480,6,0.000,0.110,3093,1639,2358,0,0,0,0,0,0,28.83,14.36,13.29
$GC,13032,0.52,161.6,970.0,6.6,635,13052,0.12,1.73,14.12,1.707,4,0.294,0.132,3062,2523,2325,0,0,0,0,0,0,14.26,14.52,13.76
$GC,13167,0.50,176.0,961.9,6.4,639,13188,0.00,1.70,15.55,1.720,6,0.000,0.138,3068,1650,2270,0,0,0,0,0,0,28.83,14.40,13.72
$GC,13488,0.48,199.8,941.2,6.1,650,13521,0.00,1.83,25.25,1.758,4,0.000,0.169,3069,755,2170,0,0,0,0,0,0,28.83,14.40,13.73
$GC,13593,0.47,222.5,935.4,6.1,653,13625,0.00,1.65,24.75,1.737,6,0.000,0.109,3069,1641,2075,0,0,0,0,0,0,28.83,14.39,13.61
$GC,13944,0.48,229.4,911.4,6.7,665,13950,0.00,1.73,1.62,0.181,4,0.000,0.129,3069,2522,2051,0,0,0,0,0,0,28.83,14.43,14.40
$GC,13997,0.48,231.3,908.9,6.8,666,14003,0.12,1.73,0.00,0.000,6,0.285,0.142,3048,1641,2055,0,0,0,0,0,0,14.31,14.40,28.83
$GC,14315,0.50,248.5,887.7,6.3,677,14346,0.00,1.67,26.17,1.738,4,0.000,0.125,3048,2531,1971,0,0,0,0,0,0,28.83,14.48,13.74
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$STATE,25804,end climb,SURFACE_DEPTH_REACHED
$STATE,25805,begin surface coast
$FINISH,1.3,1.014609
$STATE,25837,end surface coast,CONTROL_FINISHED_OK
$STATE,25837,begin surface
$SM_CCo,25857,14.48,0.127,0,0,1561,350.04
$SM_GC,2.55,8.40,0.52,14.48,0.061,0.171,0.127,132,1442,1561,-8.55,0.45,350.04,0,0,0,0,0,0,14.59,14.33,14.47
$IRIDIUM_FIX,2444.18,-3829.57,031212,090940
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.09
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,7677376
$TM_FREEKB,5349376
$24V_AH,12.6,101.688
$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,23.175,171.100,515.125,14.475,0.000,0.000,0.000,386.000,0.000,0.000,20.925,4616.178,16626.562,704.803,4038.546,579.144,0.000,2903.881,0.000,3448.568,0.000,0.541,0.000
$DEVICE_MAMPS,359.550,171.360,1849.770,126.990,0.000,0.000,0.000,188.955,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25870.000,6505.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.655,13.341,0.000,0.000
$MEM,344728
$DATA_FILE_SIZE,46639,1269
$CAP_FILE_SIZE,311870,0
$CFSIZE,260034560,216772608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.037,108.1,1
$GPS,031212,234737,2448.772,-3835.932,28,1.3,28,-14.1