version: 66.11
glider: 190
mission: 6
dive: 379
start: 1 10 113 21 49 31
data:
$ID,190
$MISSION,6
$DIVE,379
$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,-13392.373
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,100113,213235,2422.532,-3820.303,31,0.9,31,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-67.2
$GPS2,100113,214859,2422.564,-3820.121,14,1.2,15,-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,141.7,6728,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-10.85,0.000,2,0.000,0.000,140,1508,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.3,0.0,1,148,11.23,2.03,-86.75,0.000,4,0.354,0.130,2605,2585,3626,0,0,0,0,0,0,14.16,14.24,14.69
$GC,250,-0.84,-155.7,11.9,-9.9,22,258,0.00,2.05,0.00,0.000,6,0.000,0.119,2605,1522,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,559,-0.84,-155.7,42.5,-9.6,53,567,0.00,2.03,0.00,0.000,4,0.000,0.109,2604,2580,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,668,-0.84,-155.7,52.9,-9.3,64,677,0.00,2.05,0.00,0.000,6,0.000,0.118,2605,1530,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,980,-0.84,-155.7,81.8,-9.6,95,987,0.00,1.95,0.00,0.000,4,0.000,0.108,2605,2581,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1108,-0.84,-155.7,94.6,-9.7,108,1117,0.00,2.03,0.00,0.000,6,0.000,0.118,2605,1548,3627,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1419,-0.87,-155.7,123.5,-8.8,139,1427,0.00,2.15,0.00,0.000,4,0.000,0.142,2607,459,3627,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1519,-0.87,-155.7,132.5,-8.7,149,1527,0.00,1.98,0.00,0.000,6,0.000,0.090,2604,1538,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1829,-0.90,-155.7,153.1,-7.4,180,1837,0.00,1.92,0.00,0.000,4,0.000,0.106,2605,2573,3627,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1899,-0.94,-155.7,158.5,-7.9,187,1907,0.00,2.03,0.00,0.000,6,0.000,0.116,2604,1530,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2209,-0.98,-155.7,188.2,-10.4,218,2218,0.00,2.10,0.00,0.000,4,0.000,0.143,2605,462,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2289,-0.98,-155.7,197.2,-11.6,226,2298,0.00,1.92,0.00,0.000,6,0.000,0.084,2605,1523,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2600,-1.02,-155.7,229.6,-9.9,257,2607,0.12,2.08,0.00,0.000,4,0.138,0.139,2549,456,3627,0,0,0,0,0,0,14.54,14.15,28.83
$GC,2668,-0.98,-155.7,237.4,-11.5,264,2677,0.00,1.92,0.00,0.000,6,0.000,0.085,2547,1522,3626,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2979,-0.95,-155.7,267.6,-9.5,283,2986,0.12,1.95,0.00,0.000,4,0.262,0.105,2569,2576,3626,0,0,0,0,0,0,14.31,14.28,28.83
$GC,3117,-0.95,-155.7,278.9,-9.4,287,3121,0.00,2.05,0.00,0.000,6,0.000,0.117,2569,1515,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3420,-0.95,-155.7,314.5,-11.6,297,3425,0.00,2.03,0.00,0.000,4,0.000,0.138,2569,453,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3499,-0.95,-155.7,322.1,-12.3,299,3507,0.00,1.90,0.00,0.000,6,0.000,0.086,2563,1512,3625,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3809,-0.95,-155.7,359.7,-10.3,310,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1511,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-0.95,-155.7,384.1,-7.3,320,4115,0.00,2.08,0.00,0.000,4,0.000,0.137,2562,456,3624,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4147,-0.95,-155.7,386.2,-7.0,321,4155,0.00,1.92,0.00,0.000,6,0.000,0.085,2556,1516,3624,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4472,-0.95,-155.7,408.6,-7.0,332,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1515,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,-0.95,-155.7,433.8,-8.9,342,4776,0.00,2.08,0.00,0.000,4,0.000,0.138,2555,458,3622,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4828,-0.95,-155.7,439.9,-9.6,344,4836,0.12,1.90,0.00,0.000,6,0.272,0.086,2577,1503,3621,0,0,0,0,0,0,14.17,14.42,28.83
$GC,5162,-0.98,-155.7,471.6,-9.9,355,5167,0.00,2.03,0.00,0.000,4,0.000,0.140,2578,455,3621,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5207,-1.00,-155.7,474.7,-10.1,356,5218,0.00,1.90,0.00,0.000,6,0.000,0.085,2569,1500,3620,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5522,-1.03,-155.7,509.5,-10.5,367,5527,0.00,2.03,0.00,0.000,4,0.000,0.139,2570,460,3620,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5587,-1.03,-155.7,516.0,-10.5,369,5591,0.00,1.85,0.00,0.000,6,0.000,0.086,2565,1479,3619,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5901,-1.03,-155.7,544.8,-8.2,380,5906,0.00,2.05,0.00,0.000,4,0.000,0.110,2558,2582,3617,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5938,-1.03,-155.7,547.0,-7.9,381,5946,0.00,2.15,0.00,0.000,6,0.000,0.119,2557,1475,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6262,-1.03,-155.7,569.3,-6.3,392,6268,0.00,1.98,0.00,0.000,4,0.000,0.142,2558,461,3616,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6309,-1.03,-155.7,571.2,-6.2,393,6318,0.00,1.85,0.00,0.000,6,0.000,0.086,2552,1484,3616,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6623,-1.03,-155.7,593.1,-7.1,404,6628,0.00,2.05,0.00,0.000,4,0.000,0.112,2549,2578,3614,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6710,-1.03,-155.7,600.0,-7.5,407,6716,0.00,2.12,0.00,0.000,6,0.000,0.119,2549,1479,3613,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7039,-1.03,-155.7,630.3,-10.0,418,7046,0.00,2.00,0.00,0.000,4,0.000,0.142,2548,462,3613,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7078,-1.03,-155.7,633.6,-10.2,419,7082,0.00,1.85,0.00,0.000,6,0.000,0.088,2549,1475,3612,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7392,-1.03,-155.7,667.0,-10.2,430,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1478,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7690,-1.03,-155.7,697.4,-10.1,440,7698,0.00,2.03,0.00,0.000,4,0.000,0.143,2548,460,3610,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7821,-1.03,-155.7,710.5,-10.9,444,7827,0.00,1.83,0.00,0.000,6,0.000,0.089,2543,1465,3609,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8141,-1.03,-155.7,743.1,-9.7,455,8147,0.00,2.10,0.00,0.000,4,0.000,0.113,2540,2567,3607,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8200,-1.03,-155.7,748.9,-9.7,457,8207,0.00,2.15,0.00,0.000,6,0.000,0.121,2539,1465,3607,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8531,-1.03,-155.7,780.0,-9.3,468,8538,0.00,2.12,0.00,0.000,4,0.000,0.114,2536,2570,3606,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8599,-1.03,-155.7,785.6,-9.3,470,8603,0.00,2.15,0.00,0.000,6,0.000,0.120,2536,1474,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8912,-1.03,-155.7,814.3,-9.0,481,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1474,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,-1.03,-155.7,841.7,-9.4,491,9219,0.00,2.15,0.00,0.000,4,0.000,0.116,2536,2578,3604,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9261,-1.03,-155.7,844.4,-9.4,492,9270,0.00,2.15,0.00,0.000,6,0.000,0.121,2536,1484,3603,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9572,-1.03,-155.7,876.6,-9.8,503,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1483,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,-1.03,-155.7,906.3,-10.1,513,9879,0.00,2.15,0.00,0.000,4,0.000,0.119,2536,2579,3600,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9971,-1.03,-155.7,915.4,-10.0,516,9979,0.00,2.17,0.00,0.000,6,0.000,0.122,2536,1478,3600,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10291,-1.03,-155.7,950.0,-10.5,527,10299,0.00,2.12,0.00,0.000,4,0.000,0.119,2536,2571,3599,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10360,-1.03,-155.7,956.3,-10.5,529,10367,0.00,2.12,0.00,0.000,6,0.000,0.122,2536,1498,3599,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,10679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10682,begin apogee
$GC,10689,-0.23,0.0,990.4,-10.3,540,10849,1.00,0.00,153.12,1.843,4,0.220,0.000,2808,1498,2984,0,0,0,0,0,0,13.81,28.83,13.08
$STATE,10853,end apogee,CONTROL_FINISHED_OK
$STATE,10853,begin climb
$GC,10857,0.84,155.7,1000.7,0.0,545,11026,1.10,2.10,159.40,1.834,4,0.113,0.118,3162,2573,2353,0,0,0,0,0,0,14.13,14.09,13.11
$GC,11225,0.80,178.3,993.4,6.5,558,11254,0.00,2.08,23.67,1.757,6,0.000,0.132,3170,1521,2262,0,0,0,0,0,0,28.83,14.28,13.35
$GC,11565,0.76,178.3,968.3,7.3,570,11567,0.15,0.00,0.00,0.000,6,0.313,0.000,3139,1521,2249,0,0,0,0,0,0,14.19,28.83,28.83
$GC,11867,0.79,217.6,949.6,5.9,580,11914,0.00,2.08,42.15,1.796,4,0.000,0.117,3139,2579,2097,0,0,0,0,0,0,28.83,14.31,13.37
$GC,12007,0.78,237.8,940.4,6.5,584,12034,0.00,2.08,21.92,1.742,6,0.000,0.142,3146,1525,2018,0,0,0,0,0,0,28.83,14.25,13.36
$GC,12338,0.78,237.8,916.5,7.3,595,12344,0.00,2.12,0.00,0.000,4,0.000,0.174,3154,460,2005,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12384,0.78,237.8,914.4,7.2,596,12393,0.00,2.00,0.00,0.000,6,0.000,0.100,3154,1530,2005,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12695,0.78,237.8,889.1,7.9,607,12702,0.00,2.20,0.00,0.000,4,0.000,0.174,3163,463,2003,0,0,0,0,0,0,28.83,14.18,28.83
$GC,12785,0.78,237.8,881.1,8.6,610,12791,0.00,1.95,0.00,0.000,6,0.000,0.099,3162,1518,2003,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13117,0.78,237.8,851.7,9.1,621,13122,0.00,2.00,0.00,0.000,4,0.000,0.121,3162,2585,2001,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13175,0.78,237.8,846.0,9.3,623,13183,0.00,2.12,0.00,0.000,6,0.000,0.146,3169,1526,2000,0,0,0,0,0,0,28.83,14.19,28.83
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$STATE,22885,end climb,SURFACE_DEPTH_REACHED
$STATE,22885,begin surface coast
$FINISH,1.3,1.017917
$STATE,22918,end surface coast,CONTROL_FINISHED_OK
$STATE,22918,begin surface
$SM_CCo,22940,19.62,0.127,0,0,1561,350.04
$SM_GC,2.17,8.82,0.08,19.62,0.073,0.213,0.127,145,1519,1561,-8.53,0.37,350.04,0,0,0,0,0,0,14.31,14.49,14.26
$IRIDIUM_FIX,2413.38,-3819.27,100113,212131
$TT8_MAMPS,0.024717,0.024717
$HUMID,58.19
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,5
$SC_FREEKB,7624864
$TM_FREEKB,4108704
$24V_AH,13.1,160.797
$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,23.250,191.300,476.000,19.625,0.000,0.000,0.000,554.750,1.250,0.000,15.528,3219.137,16344.237,912.865,2730.274,725.323,0.000,2621.338,0.000,2095.327,0.000,0.541,0.000
$DEVICE_MAMPS,354.195,213.435,1842.885,126.990,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22964.000,5719.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.835,13.246,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,43374,1139
$CAP_FILE_SIZE,244246,0
$CFSIZE,260034560,197677056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,104.7,1
$GPS,110113,041334,2421.307,-3818.093,37,0.9,37,-14.1