version: 66.11
glider: 190
mission: 6
dive: 375
start: 1 9 113 19 34 49
data:
$ID,190
$MISSION,6
$DIVE,375
$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,-13387.343
$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,9
$R_STBD_OVSHOOT,18
$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
$GPS1,090113,192004,2424.265,-3827.971,24,0.9,24,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-67.2
$GPS2,090113,193417,2424.362,-3827.953,17,1.3,18,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,110.7,20070,-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,-10.68,0.000,2,0.000,0.000,144,1533,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.3,0.0,1,148,11.23,2.10,-86.25,0.000,4,0.356,0.159,2616,457,3626,0,0,0,0,0,0,14.15,14.21,14.69
$GC,278,-0.84,-155.7,16.2,-10.7,25,287,0.00,1.95,0.00,0.000,6,0.000,0.083,2606,1522,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,588,-0.84,-155.7,46.6,-8.6,56,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.84,-155.7,74.3,-9.4,86,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1520,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1198,-0.86,-155.7,106.9,-11.1,117,1208,0.00,2.05,0.00,0.000,4,0.000,0.132,2609,463,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1368,-0.86,-155.7,127.4,-12.1,134,1377,0.00,1.90,0.00,0.000,6,0.000,0.082,2603,1517,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1679,-0.86,-155.7,158.3,-8.3,165,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1514,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.90,-155.7,182.2,-7.8,196,1997,0.00,2.08,0.00,0.000,4,0.000,0.133,2605,445,3628,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2188,-0.90,-155.7,197.8,-7.3,216,2197,0.00,1.92,0.00,0.000,6,0.000,0.080,2605,1507,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2501,-0.93,-155.7,215.6,-5.7,247,2508,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,459,3628,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2589,-0.93,-155.7,221.4,-6.4,256,2597,0.00,1.85,0.00,0.000,6,0.000,0.080,2604,1490,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2900,-0.98,-155.7,243.4,-8.5,287,2907,0.00,1.98,0.00,0.000,4,0.000,0.134,2605,459,3628,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2968,-0.98,-155.7,249.8,-9.6,294,2978,0.00,1.85,0.00,0.000,6,0.000,0.079,2605,1483,3627,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3282,-1.02,-155.7,282.8,-11.5,305,3289,0.12,1.98,0.00,0.000,4,0.140,0.132,2543,458,3627,0,0,0,0,0,0,14.59,14.26,28.83
$GC,3519,-0.97,-155.7,317.2,-14.6,313,3527,0.10,1.77,0.00,0.000,6,0.235,0.082,2569,1453,3626,0,0,0,0,0,0,14.14,14.41,28.83
$GC,3852,-0.97,-155.7,354.9,-10.3,324,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1449,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,-0.97,-155.7,379.0,-7.2,334,4155,0.00,1.95,0.00,0.000,4,0.000,0.134,2569,453,3624,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4278,-0.97,-155.7,388.0,-7.5,338,4286,0.00,1.80,0.00,0.000,6,0.000,0.083,2565,1445,3622,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4598,-0.97,-155.7,412.7,-8.0,349,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1446,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,-0.97,-155.7,441.0,-9.9,359,4905,0.00,1.92,0.00,0.000,4,0.000,0.135,2566,458,3622,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4968,-0.97,-155.7,447.4,-10.3,361,4974,0.00,1.77,0.00,0.000,6,0.000,0.083,2563,1436,3622,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5289,-0.97,-155.7,479.5,-9.3,372,5295,0.00,2.10,0.00,0.000,4,0.000,0.105,2555,2568,3620,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5388,-0.97,-155.7,487.3,-8.7,375,5395,0.00,2.17,0.00,0.000,6,0.000,0.114,2555,1435,3620,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5711,-0.97,-155.7,512.2,-7.0,386,5716,0.00,2.12,0.00,0.000,4,0.000,0.105,2550,2577,3620,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5747,-0.97,-155.7,514.3,-7.0,387,5755,0.00,2.20,0.00,0.000,6,0.000,0.113,2550,1433,3620,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6069,-0.97,-155.7,540.6,-8.7,398,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1432,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.97,-155.7,571.1,-10.6,408,6375,0.00,1.90,0.00,0.000,4,0.000,0.136,2550,456,3616,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6418,-0.97,-155.7,574.5,-10.7,409,6426,0.00,1.80,0.00,0.000,6,0.000,0.086,2549,1443,3616,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6729,-0.97,-155.7,610.0,-10.7,420,6735,0.00,2.12,0.00,0.000,4,0.000,0.109,2541,2572,3615,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6767,-0.97,-155.7,613.0,-10.6,421,6775,0.12,2.20,0.00,0.000,6,0.232,0.116,2571,1434,3615,0,0,0,0,0,0,14.17,14.26,28.83
$GC,7092,-0.99,-155.7,645.5,-9.7,432,7097,0.00,1.90,0.00,0.000,4,0.000,0.140,2571,457,3614,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7197,-0.99,-155.7,654.7,-10.1,435,7201,0.00,1.77,0.00,0.000,6,0.000,0.084,2565,1428,3617,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7499,-1.02,-155.7,685.0,-9.2,445,7505,0.00,1.92,0.00,0.000,4,0.000,0.141,2566,456,3613,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7537,-1.02,-155.7,688.0,-9.4,446,7541,0.00,1.77,0.00,0.000,6,0.000,0.086,2560,1425,3612,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7855,-1.04,-155.7,718.4,-9.5,457,7860,0.00,1.90,0.00,0.000,4,0.000,0.142,2560,458,3611,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7949,-1.04,-155.7,727.6,-10.0,460,7952,0.00,1.75,0.00,0.000,6,0.000,0.086,2554,1413,3610,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8261,-1.04,-155.7,760.5,-10.4,471,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1413,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,-1.04,-155.7,791.0,-10.1,481,8569,0.00,1.90,0.00,0.000,4,0.000,0.142,2553,460,3608,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8652,-1.04,-155.7,800.8,-10.7,484,8658,0.00,1.73,0.00,0.000,6,0.000,0.090,2549,1401,3607,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8982,-1.04,-155.7,835.6,-10.6,495,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1401,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9281,-1.04,-155.7,867.2,-10.5,505,9288,0.00,1.90,0.00,0.000,4,0.000,0.143,2549,456,3605,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9330,-1.04,-155.7,870.5,-10.5,506,9339,0.00,1.75,0.00,0.000,6,0.000,0.091,2547,1400,3605,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9642,-1.04,-155.7,904.6,-10.1,517,9649,0.00,2.22,0.00,0.000,4,0.000,0.118,2540,2564,3604,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9680,-1.04,-155.7,907.6,-10.1,518,9688,0.00,2.30,0.00,0.000,6,0.000,0.122,2540,1395,3603,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10002,-1.04,-155.7,939.1,-9.3,529,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1395,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10301,-1.04,-155.7,967.0,-9.5,539,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1394,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10538,begin apogee
$GC,10546,-0.23,0.0,990.3,-9.9,547,10703,0.98,0.00,152.75,1.829,4,0.216,0.000,2808,1521,2989,0,0,0,0,0,0,13.85,28.83,13.11
$STATE,10708,end apogee,CONTROL_FINISHED_OK
$STATE,10708,begin climb
$GC,10711,0.84,155.7,1000.7,0.0,552,10881,1.10,2.03,158.80,1.808,4,0.109,0.118,3164,2577,2351,0,0,0,0,0,0,14.13,14.09,13.13
$GC,10939,0.87,318.2,1004.0,2.0,560,11118,0.00,2.15,169.48,1.783,6,0.000,0.139,3172,1515,1686,0,0,0,0,0,0,28.83,14.20,13.16
$GC,11433,0.87,318.2,958.1,10.2,577,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1515,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11731,0.87,318.2,926.4,10.8,587,11738,0.00,2.05,0.00,0.000,4,0.000,0.122,3172,2577,1670,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11780,0.87,318.2,922.9,10.9,588,11784,0.00,2.12,0.00,0.000,6,0.000,0.145,3179,1519,1669,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12082,0.87,318.2,888.6,10.4,598,12088,0.00,2.03,0.00,0.000,4,0.000,0.123,3179,2570,1668,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12120,0.87,318.2,885.4,10.4,599,12127,0.00,2.08,0.00,0.000,6,0.000,0.144,3187,1529,1668,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12442,0.87,318.2,853.0,9.4,610,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1529,1667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12741,0.87,318.2,824.8,9.5,620,12749,0.00,2.05,0.00,0.000,4,0.000,0.122,3187,2579,1666,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12831,0.87,318.2,815.7,9.9,623,12838,0.00,2.08,0.00,0.000,6,0.000,0.144,3194,1539,1666,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13164,0.87,318.2,781.3,10.9,634,13169,0.00,2.15,0.00,0.000,4,0.000,0.159,3202,459,1666,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13210,0.87,318.2,777.8,11.1,635,13219,0.12,1.98,0.00,0.000,6,0.298,0.094,3176,1531,1666,0,0,0,0,0,0,14.13,14.40,28.83
$GC,13524,0.87,318.2,741.8,10.8,646,13529,0.00,1.95,0.00,0.000,4,0.000,0.113,3176,2584,1665,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13630,0.87,318.2,731.8,11.0,649,13639,0.00,2.05,0.00,0.000,6,0.000,0.129,3183,1547,1665,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13941,0.87,318.2,697.6,9.9,660,13949,0.00,2.00,0.00,0.000,4,0.000,0.116,3182,2586,1665,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13991,0.87,318.2,694.6,9.8,661,13999,0.00,2.00,0.00,0.000,6,0.000,0.129,3190,1567,1664,0,0,0,0,0,0,28.83,14.16,28.83
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$STATE,21282,end climb,SURFACE_DEPTH_REACHED
$STATE,21282,begin surface coast
$FINISH,1.3,1.011152
$STATE,21311,end surface coast,CONTROL_FINISHED_OK
$STATE,21311,begin surface
$SM_CCo,21336,13.43,0.129,0,0,1561,350.04
$SM_GC,2.79,8.75,0.15,13.43,0.064,0.178,0.129,139,1515,1561,-8.53,0.34,350.04,0,0,0,0,0,0,14.40,14.31,14.26
$IRIDIUM_FIX,2418.11,-3829.24,090113,121230
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.86
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7626400
$TM_FREEKB,4144416
$24V_AH,13.1,159.035
$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,23.050,160.300,481.025,13.425,0.000,0.000,0.000,481.925,0.500,0.000,18.676,2993.032,15121.964,879.588,2510.701,685.703,0.000,2436.732,0.000,1963.050,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,178.245,1829.115,128.520,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21358.000,5767.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.977,13.252,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,40022,1089
$CAP_FILE_SIZE,222789,0
$CFSIZE,260034560,198238208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.016,130.9,1
$GPS,100113,013205,2424.299,-3825.744,39,0.9,39,-14.2