version: 66.11
glider: 190
mission: 6
dive: 377
start: 1 10 113 8 37 20
data:
$ID,190
$MISSION,6
$DIVE,377
$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,-13389.859
$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,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
$GPS1,100113,082104,2423.545,-3824.252,30,0.8,30,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.7
$GPS2,100113,083648,2423.580,-3824.133,16,1.3,17,-14.1
$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,117.2,13564,-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,-10.62,0.000,2,0.000,0.000,140,1528,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.4,0.0,1,148,11.38,2.12,-84.43,0.000,4,0.362,0.158,2613,455,3625,0,0,0,0,0,0,14.19,14.22,14.69
$GC,188,-0.84,-155.7,8.0,-11.4,16,197,0.00,1.98,0.00,0.000,6,0.000,0.086,2607,1530,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,498,-0.84,-155.7,37.1,-9.4,47,507,0.00,1.95,0.00,0.000,4,0.000,0.106,2605,2572,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,570,-0.84,-155.7,43.6,-9.4,54,577,0.00,2.03,0.00,0.000,6,0.000,0.115,2605,1510,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,879,-0.84,-155.7,71.6,-8.7,85,888,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,465,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1009,-0.84,-155.7,84.1,-9.7,98,1017,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1512,3626,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1318,-0.84,-155.7,112.9,-9.8,129,1327,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,462,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1409,-0.84,-155.7,122.6,-10.7,138,1417,0.00,1.90,0.00,0.000,6,0.000,0.084,2605,1514,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1719,-0.87,-155.7,153.1,-10.1,169,1727,0.00,2.05,0.00,0.000,4,0.000,0.135,2605,465,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1898,-0.87,-155.7,171.5,-10.0,187,1906,0.00,1.88,0.00,0.000,6,0.000,0.081,2601,1499,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2209,-0.91,-155.7,196.5,-8.0,218,2217,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,463,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2330,-0.91,-155.7,207.0,-8.8,230,2337,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1480,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2640,-0.95,-155.7,234.3,-9.0,261,2648,0.00,2.00,0.00,0.000,4,0.000,0.137,2605,462,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2729,-0.95,-155.7,243.0,-9.5,270,2737,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1478,3624,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3050,-0.99,-155.7,273.1,-9.1,286,3056,0.10,1.98,0.00,0.000,4,0.160,0.136,2558,457,3624,0,0,0,0,0,0,14.63,14.23,28.83
$GC,3289,-0.97,-155.7,298.9,-10.9,294,3295,0.00,1.77,0.00,0.000,6,0.000,0.083,2553,1444,3626,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3619,-0.97,-155.7,333.1,-10.6,305,3625,0.00,2.08,0.00,0.000,4,0.000,0.105,2549,2570,3625,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3688,-0.97,-155.7,339.6,-10.7,307,3695,0.00,2.15,0.00,0.000,6,0.000,0.116,2549,1450,3625,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4010,-0.97,-155.7,375.1,-10.4,318,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1450,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4308,-0.97,-155.7,401.9,-8.4,328,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1450,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4609,-0.97,-155.7,427.4,-8.9,338,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1450,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4909,-0.97,-155.7,458.6,-11.3,348,4915,0.00,1.92,0.00,0.000,4,0.000,0.133,2549,457,3621,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5028,-0.94,-155.7,474.1,-12.9,352,5036,0.12,1.83,0.00,0.000,6,0.268,0.088,2578,1459,3621,0,0,0,0,0,0,14.14,14.42,28.83
$GC,5361,-0.96,-155.7,512.8,-11.4,363,5367,0.00,1.95,0.00,0.000,4,0.000,0.142,2578,460,3620,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5418,-0.96,-155.7,519.6,-11.3,365,5425,0.00,1.80,0.00,0.000,6,0.000,0.089,2572,1444,3620,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5752,-0.99,-155.7,548.6,-7.6,376,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1444,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,-1.02,-155.7,566.2,-5.3,386,6055,0.00,1.92,0.00,0.000,4,0.000,0.143,2571,461,3617,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6157,-1.02,-155.7,571.5,-5.8,389,6167,0.00,1.80,0.00,0.000,6,0.000,0.089,2566,1443,3617,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6472,-1.04,-155.7,594.0,-7.3,400,6477,0.00,1.90,0.00,0.000,4,0.000,0.144,2566,462,3615,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6627,-1.04,-155.7,607.3,-9.1,405,6630,0.00,1.75,0.00,0.000,6,0.000,0.090,2559,1412,3614,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6940,-1.04,-155.7,640.5,-11.0,416,6946,0.00,1.88,0.00,0.000,4,0.000,0.145,2559,467,3613,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7018,-1.04,-155.7,647.9,-11.7,418,7021,0.00,1.73,0.00,0.000,6,0.000,0.093,2553,1399,3613,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7320,-1.04,-155.7,687.0,-12.2,428,7327,0.00,2.22,0.00,0.000,4,0.000,0.118,2550,2579,3612,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7379,-1.04,-155.7,694.0,-12.1,430,7386,0.00,2.28,0.00,0.000,6,0.000,0.123,2550,1409,3612,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7709,-1.04,-155.7,729.8,-10.1,441,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1409,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,-1.04,-155.7,756.7,-8.6,451,8016,0.00,1.85,0.00,0.000,4,0.000,0.147,2550,457,3609,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8200,-1.01,-155.7,773.7,-9.6,457,8207,0.00,1.73,0.00,0.000,6,0.000,0.096,2549,1385,3607,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8520,-1.01,-155.7,803.7,-9.3,468,8527,0.00,2.28,0.00,0.000,4,0.000,0.120,2549,2567,3606,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8549,-1.01,-155.7,806.4,-9.2,469,8556,0.00,2.35,0.00,0.000,6,0.000,0.128,2548,1378,3606,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8880,-1.01,-155.7,838.9,-10.1,480,8887,0.00,2.33,0.00,0.000,4,0.000,0.119,2549,2577,3605,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8988,-1.01,-155.7,847.7,-9.8,483,8997,0.00,2.35,0.00,0.000,6,0.000,0.127,2549,1388,3605,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9299,-1.01,-155.7,879.4,-9.3,494,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1389,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9600,-1.01,-155.7,907.5,-9.5,504,9607,0.00,2.30,0.00,0.000,4,0.000,0.119,2549,2567,3602,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9690,-1.01,-155.7,916.1,-9.5,507,9696,0.00,2.30,0.00,0.000,6,0.000,0.128,2549,1405,3602,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10023,-1.03,-155.7,947.7,-9.6,518,10028,0.00,1.88,0.00,0.000,4,0.000,0.151,2549,461,3601,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10170,-1.01,-155.7,962.5,-9.9,523,10176,0.00,1.73,0.00,0.000,6,0.000,0.094,2548,1390,3600,0,0,0,0,0,0,28.83,14.18,28.83
$STATE,10499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10500,begin apogee
$GC,10507,-0.23,0.0,990.9,-8.3,534,10667,0.95,0.00,152.93,1.871,4,0.219,0.000,2808,1524,2985,0,0,0,0,0,0,13.83,28.83,13.09
$STATE,10670,end apogee,CONTROL_FINISHED_OK
$STATE,10671,begin climb
$GC,10674,0.84,155.7,998.3,0.0,539,10838,1.08,0.00,160.45,1.842,6,0.115,0.000,3159,1525,2355,0,0,0,0,0,0,14.09,28.83,13.10
$GC,11151,0.80,155.7,975.6,7.5,556,11157,0.00,2.03,0.00,0.000,4,0.000,0.124,3159,2573,2336,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11241,0.75,155.7,968.8,7.6,559,11248,0.10,2.05,0.00,0.000,6,0.294,0.135,3141,1531,2337,0,0,0,0,0,0,14.12,14.30,28.83
$GC,11573,0.74,192.5,947.4,6.0,570,11618,0.00,2.03,37.70,1.795,4,0.000,0.124,3141,2575,2199,0,0,0,0,0,0,28.83,14.33,13.40
$GC,11671,0.73,214.0,941.5,6.5,573,11700,0.00,2.08,23.88,1.742,6,0.000,0.145,3148,1541,2117,0,0,0,0,0,0,28.83,14.23,13.35
$GC,12010,0.73,226.6,917.3,6.8,585,12029,0.00,2.22,13.68,1.696,4,0.000,0.175,3157,457,2061,0,0,0,0,0,0,28.83,14.38,13.46
$GC,12091,0.72,234.4,912.9,6.9,587,12100,0.10,2.00,2.88,0.846,6,0.268,0.101,3129,1538,2033,0,0,0,0,0,0,14.16,14.36,13.09
$GC,12400,0.73,263.6,891.6,6.3,598,12447,0.00,2.03,39.17,1.756,4,0.000,0.122,3129,2575,1908,0,0,0,0,0,0,28.83,14.31,13.41
$GC,12560,0.73,263.6,880.6,7.4,603,12568,0.00,2.05,0.00,0.000,6,0.000,0.133,3136,1544,1902,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12882,0.73,263.6,855.1,7.9,614,12888,0.00,1.95,0.00,0.000,4,0.000,0.122,3136,2576,1900,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12980,0.73,263.6,847.4,8.5,617,12988,0.00,2.03,0.00,0.000,6,0.000,0.142,3144,1566,1898,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13302,0.73,263.6,818.3,9.1,628,13308,0.00,1.95,0.00,0.000,4,0.000,0.126,3144,2582,1898,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13380,0.73,263.6,812.6,9.4,630,13389,0.00,2.03,0.00,0.000,6,0.000,0.143,3151,1573,1897,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13690,0.73,263.6,778.5,10.4,641,13697,0.00,1.98,0.00,0.000,4,0.000,0.125,3152,2582,1897,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13739,0.73,263.6,775.3,10.5,642,13749,0.12,2.03,0.00,0.000,6,0.296,0.143,3132,1576,1897,0,0,0,0,0,0,14.11,14.23,28.83
$GC,14053,0.73,263.6,743.1,9.3,653,14058,0.00,1.92,0.00,0.000,4,0.000,0.129,3132,2575,1897,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,22538,end climb,SURFACE_DEPTH_REACHED
$STATE,22538,begin surface coast
$FINISH,1.4,1.014363
$STATE,22572,end surface coast,CONTROL_FINISHED_OK
$STATE,22572,begin surface
$SM_CCo,22596,3.15,0.145,0,0,1561,350.04
$SM_GC,3.13,8.88,0.25,3.15,0.075,0.138,0.145,140,1515,1561,-8.54,0.31,350.04,0,0,0,0,0,0,14.36,14.31,14.26
$IRIDIUM_FIX,2418.11,-3851.05,100113,010156
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.93
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,20.90
$XPDR_PINGS,1
$SC_FREEKB,7625632
$TM_FREEKB,4126240
$24V_AH,13.1,159.950
$10V_AH,12.3,0.000
$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,23.125,169.875,507.825,3.150,0.000,0.000,0.000,565.100,0.250,0.000,17.898,3192.498,16024.123,879.152,2742.532,690.703,0.000,2582.043,0.000,2110.495,0.000,0.543,0.000
$DEVICE_MAMPS,361.845,175.185,1871.190,145.350,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22624.000,5602.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.806,13.235,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,39985,1120
$CAP_FILE_SIZE,235181,0
$CFSIZE,260034560,197959680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,135.2,1
$GPS,100113,145529,2423.171,-3822.006,42,1.0,42,-14.1