version: 66.11
glider: 190
mission: 6
dive: 372
start: 1 9 113 0 9 48
data:
$ID,190
$MISSION,6
$DIVE,372
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,160
$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,0.035
$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,4
$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,-13383.568
$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,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$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,10
$MINV_10V,10
$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,48
$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
$GPS1,080113,235537,2427.674,-3831.153,30,1.4,30,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.3
$GPS2,090113,000918,2427.594,-3831.204,26,1.2,26,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,149.6,77458,-16.4,-7.174,-28.86
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.75,0.000,2,0.000,0.000,132,1516,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,148,11.27,2.10,-84.40,0.000,4,0.356,0.163,2612,460,3626,0,0,0,0,0,0,14.16,14.22,14.69
$GC,318,-0.81,-155.7,21.0,-9.3,29,328,0.00,1.95,0.00,0.000,6,0.000,0.085,2604,1520,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,628,-0.81,-155.7,51.0,-9.6,60,636,0.00,1.98,0.00,0.000,4,0.000,0.108,2605,2575,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,699,-0.81,-155.7,57.5,-9.3,67,707,0.00,2.03,0.00,0.000,6,0.000,0.118,2605,1528,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1009,-0.81,-155.7,87.1,-9.6,98,1017,0.00,2.10,0.00,0.000,4,0.000,0.141,2605,460,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1089,-0.81,-155.7,95.3,-10.5,106,1097,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1520,3627,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1399,-0.84,-155.7,123.2,-9.0,137,1408,0.00,2.08,0.00,0.000,4,0.000,0.138,2604,460,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1489,-0.84,-155.7,132.3,-10.2,146,1497,0.00,1.90,0.00,0.000,6,0.000,0.085,2605,1509,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1799,-0.88,-155.7,162.5,-9.4,177,1808,0.00,2.05,0.00,0.000,4,0.000,0.138,2604,462,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1931,-0.88,-155.7,174.7,-9.1,190,1938,0.00,1.85,0.00,0.000,6,0.000,0.084,2605,1482,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2240,-0.92,-155.7,200.9,-8.6,221,2247,0.00,2.00,0.00,0.000,4,0.000,0.138,2602,451,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2358,-0.92,-155.7,212.1,-9.6,233,2368,0.00,1.85,0.00,0.000,6,0.000,0.085,2604,1471,3627,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2669,-0.96,-155.7,240.5,-9.1,264,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1471,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-1.00,-155.7,268.1,-8.5,282,2996,0.12,1.98,0.00,0.000,4,0.142,0.136,2545,456,3627,0,0,0,0,0,0,14.59,14.24,28.83
$GC,3198,-0.95,-155.7,290.1,-10.7,289,3206,0.15,1.85,0.00,0.000,6,0.263,0.087,2579,1470,3625,0,0,0,0,0,0,14.13,14.42,28.83
$GC,3530,-0.95,-155.7,320.1,-9.2,300,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1470,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.98,-155.7,348.7,-9.7,310,3836,0.00,1.98,0.00,0.000,4,0.000,0.137,2579,452,3625,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3978,-0.98,-155.7,364.7,-10.7,315,3986,0.00,1.85,0.00,0.000,6,0.000,0.084,2573,1470,3624,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4310,-0.98,-155.7,396.0,-9.1,326,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1468,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-1.00,-155.7,423.5,-9.3,336,4615,0.00,1.98,0.00,0.000,4,0.000,0.138,2573,457,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4737,-1.00,-155.7,435.5,-10.0,340,4741,0.00,1.83,0.00,0.000,6,0.000,0.086,2566,1461,3622,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5050,-1.00,-155.7,469.5,-11.0,351,5056,0.00,1.98,0.00,0.000,4,0.000,0.140,2566,459,3620,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5110,-1.00,-155.7,476.7,-11.6,353,5116,0.00,1.80,0.00,0.000,6,0.000,0.089,2559,1447,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5440,-1.00,-155.7,513.0,-10.4,364,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1448,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5739,-1.00,-155.7,540.7,-8.7,374,5747,0.00,2.12,0.00,0.000,4,0.000,0.109,2553,2575,3618,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5778,-1.00,-155.7,543.0,-8.4,375,5786,0.00,2.20,0.00,0.000,6,0.000,0.118,2553,1440,3619,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6100,-1.00,-155.7,569.9,-8.1,386,6108,0.00,1.92,0.00,0.000,4,0.000,0.143,2553,459,3617,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6138,-1.00,-155.7,572.5,-8.2,387,6141,0.00,1.83,0.00,0.000,6,0.000,0.090,2548,1452,3617,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6451,-1.00,-155.7,603.6,-10.5,398,6457,0.00,2.12,0.00,0.000,4,0.000,0.112,2540,2572,3613,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6499,-1.00,-155.7,606.9,-10.7,399,6508,0.00,2.20,0.00,0.000,6,0.000,0.119,2540,1443,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6810,-1.00,-155.7,646.1,-12.0,410,6817,0.00,2.15,0.00,0.000,4,0.000,0.113,2536,2571,3614,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6901,-1.00,-155.7,656.1,-11.3,413,6908,0.08,2.17,0.00,0.000,6,0.216,0.122,2559,1455,3614,0,0,0,0,0,0,14.04,14.15,28.83
$GC,7233,-1.00,-155.7,685.6,-7.8,424,7238,0.00,2.12,0.00,0.000,4,0.000,0.115,2551,2573,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7321,-1.00,-155.7,691.8,-7.0,427,7327,0.00,2.15,0.00,0.000,6,0.000,0.122,2552,1466,3612,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7652,-1.00,-155.7,714.5,-7.0,438,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1466,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7952,-1.00,-155.7,738.1,-8.3,448,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1466,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8250,-1.00,-155.7,766.1,-10.0,458,8257,0.00,2.03,0.00,0.000,4,0.000,0.147,2551,457,3608,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8359,-1.00,-155.7,776.6,-11.3,461,8362,0.00,1.88,0.00,0.000,6,0.000,0.093,2549,1467,3607,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8661,-1.00,-155.7,814.4,-12.0,471,8668,0.00,2.12,0.00,0.000,4,0.000,0.119,2542,2567,3606,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8709,-1.00,-155.7,818.1,-12.1,472,8718,0.00,2.17,0.00,0.000,6,0.000,0.124,2542,1463,3609,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9020,-1.00,-155.7,859.3,-12.2,483,9028,0.00,2.03,0.00,0.000,4,0.000,0.149,2542,455,3605,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9120,-1.00,-155.7,870.7,-12.5,486,9127,0.00,1.90,0.00,0.000,6,0.000,0.096,2539,1471,3605,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9440,-1.00,-155.7,906.3,-10.0,497,9447,0.00,2.15,0.00,0.000,4,0.000,0.123,2536,2575,3603,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9490,-1.00,-155.7,909.1,-9.6,498,9499,0.08,2.20,0.00,0.000,6,0.212,0.125,2555,1462,3603,0,0,0,0,0,0,13.93,14.11,28.83
$GC,9803,-1.03,-155.7,934.2,-7.0,509,9808,0.00,2.00,0.00,0.000,4,0.000,0.153,2559,459,3602,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9841,-1.05,-155.7,936.3,-6.9,510,9847,0.00,1.85,0.00,0.000,6,0.000,0.093,2553,1461,3602,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10163,-1.07,-155.7,958.1,-6.9,521,10168,0.00,2.03,0.00,0.000,4,0.000,0.151,2553,456,3600,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10280,-1.07,-155.7,967.9,-8.2,525,10287,0.00,1.88,0.00,0.000,6,0.000,0.096,2549,1453,3600,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,10548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10548,begin apogee
$GC,10556,-0.23,0.0,990.8,-8.7,534,10776,0.93,0.00,212.20,1.525,4,0.211,0.000,2806,1523,2990,0,0,0,0,0,0,13.87,28.83,13.26
$STATE,10778,end apogee,CONTROL_FINISHED_OK
$STATE,10778,begin climb
$GC,10781,0.84,155.7,1005.0,0.0,541,10950,1.08,2.05,159.25,1.809,4,0.104,0.120,3158,2579,2354,0,0,0,0,0,0,14.14,14.09,13.14
$GC,11109,0.81,187.5,1000.8,6.2,552,11148,0.00,2.15,33.35,1.740,6,0.000,0.145,3166,1515,2225,0,0,0,0,0,0,28.83,14.26,13.33
$GC,11450,0.77,187.5,974.9,7.8,563,11457,0.00,2.05,0.00,0.000,4,0.000,0.127,3163,2571,2212,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11672,0.73,187.5,957.6,8.2,570,11679,0.20,2.08,0.00,0.000,6,0.304,0.147,3130,1512,2209,0,0,0,0,0,0,14.13,14.31,28.83
$GC,11992,0.73,187.5,931.0,8.2,581,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1512,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12291,0.73,187.5,907.4,7.6,591,12297,0.00,2.15,0.00,0.000,4,0.000,0.168,3138,458,2207,0,0,0,0,0,0,28.83,14.13,28.83
$GC,12339,0.73,187.5,905.2,7.5,592,12342,0.00,1.98,0.00,0.000,6,0.000,0.102,3138,1515,2207,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12642,0.76,228.6,884.7,5.9,602,12689,0.00,2.08,42.20,1.734,4,0.000,0.128,3138,2577,2053,0,0,0,0,0,0,28.83,14.35,13.42
$GC,12791,0.78,264.4,876.1,6.0,606,12841,0.00,2.12,38.85,1.701,6,0.000,0.142,3146,1520,1905,0,0,0,0,0,0,28.83,14.21,13.34
$GC,13140,0.79,289.2,853.1,6.4,618,13171,0.00,2.10,25.70,1.675,4,0.000,0.128,3146,2583,1805,0,0,0,0,0,0,28.83,14.34,13.46
$GC,13239,0.79,289.2,847.1,7.2,621,13248,0.00,2.12,0.00,0.000,6,0.000,0.144,3153,1532,1798,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13551,0.79,289.2,817.8,9.7,632,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1533,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13850,0.79,289.2,783.2,12.1,642,13857,0.00,2.08,0.00,0.000,4,0.000,0.125,3153,2590,1794,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13929,0.79,289.2,775.4,12.5,644,13938,0.00,2.12,0.00,0.000,6,0.000,0.143,3161,1530,1794,0,0,0,0,0,0,28.83,14.26,28.83
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$STATE,22352,end climb,SURFACE_DEPTH_REACHED
$STATE,22352,begin surface coast
$FINISH,1.4,1.012893
$STATE,22371,end surface coast,CONTROL_FINISHED_OK
$STATE,22371,begin surface
$SM_CCo,22456,0.00,0.000,0,0,1426,383.65
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$IRIDIUM_FIX,2420.48,-3834.04,080113,171716
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.79
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7627552
$TM_FREEKB,4170464
$24V_AH,13.1,157.767
$10V_AH,12.5,0.000
$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,23.200,179.525,587.200,0.000,0.000,0.000,0.000,441.125,0.250,0.000,27.996,3124.119,15891.565,966.564,2617.759,658.830,0.000,2543.990,0.000,2057.127,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,196.605,1809.225,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.814,13.257,0.000,0.000
$MEM,345560
$DATA_FILE_SIZE,39991,1107
$CAP_FILE_SIZE,235388,0
$CFSIZE,260034560,198631424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,237.9,1
$GPS,090113,062522,2426.103,-3830.286,36,0.7,36,-14.2