version: 66.11
glider: 190
mission: 6
dive: 380
start: 1 11 113 4 28 34
data:
$ID,190
$MISSION,6
$DIVE,380
$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,-13393.632
$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,10
$R_STBD_OVSHOOT,22
$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
$GPS1,110113,041334,2421.307,-3818.093,37,0.9,37,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-65.6
$GPS2,110113,042759,2421.273,-3817.996,17,1.1,18,-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,146.7,2419,-18.0,-7.174,-30.00
$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,-0.90,-141.7,0.0,0.0,0,38,0.00,0.00,-10.68,0.000,2,0.000,0.000,145,1515,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.91,-155.7,2.4,0.0,1,148,11.02,2.03,-84.95,0.000,4,0.350,0.124,2587,2580,3625,0,0,0,0,0,0,14.11,14.30,14.68
$GC,279,-0.91,-155.7,16.9,-10.9,25,287,0.00,2.05,0.00,0.000,6,0.000,0.109,2587,1515,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,588,-0.91,-155.7,47.0,-10.2,56,597,0.00,2.03,0.00,0.000,4,0.000,0.104,2581,2584,3625,0,0,0,0,0,0,28.83,14.16,28.83
$GC,731,-0.91,-155.7,60.8,-8.9,70,739,0.00,2.03,0.00,0.000,6,0.000,0.113,2580,1529,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1040,-0.91,-155.7,91.9,-9.7,101,1047,0.00,1.98,0.00,0.000,4,0.000,0.106,2578,2574,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1099,-0.91,-155.7,97.3,-8.8,107,1107,0.00,2.00,0.00,0.000,6,0.000,0.112,2578,1534,3628,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1408,-0.91,-155.7,125.5,-9.7,138,1418,0.00,1.98,0.00,0.000,4,0.000,0.103,2577,2576,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1509,-0.93,-155.7,136.4,-11.2,148,1517,0.00,1.98,0.00,0.000,6,0.000,0.111,2577,1547,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1820,-0.96,-155.7,169.8,-9.9,179,1827,0.00,2.10,0.00,0.000,4,0.000,0.134,2577,459,3627,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1950,-0.96,-155.7,182.5,-9.6,192,1957,0.00,1.90,0.00,0.000,6,0.000,0.079,2574,1542,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2259,-0.96,-155.7,207.8,-8.4,223,2267,0.00,1.92,0.00,0.000,4,0.000,0.099,2567,2581,3625,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2318,-0.99,-155.7,213.4,-9.2,229,2327,0.00,1.98,0.00,0.000,6,0.000,0.109,2566,1547,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2629,-0.99,-155.7,242.9,-9.3,260,2637,0.00,2.10,0.00,0.000,4,0.000,0.134,2567,463,3627,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2669,-0.99,-155.7,246.9,-10.3,264,2677,0.00,1.95,0.00,0.000,6,0.000,0.081,2559,1548,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2981,-1.01,-155.7,275.2,-9.1,277,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1547,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-1.04,-155.7,305.8,-10.7,287,3285,0.00,2.10,0.00,0.000,4,0.000,0.134,2560,459,3626,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3407,-1.04,-155.7,320.2,-12.0,291,3414,0.00,1.95,0.00,0.000,6,0.000,0.081,2552,1538,3625,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3730,-1.04,-155.7,357.2,-10.8,302,3735,0.00,1.92,0.00,0.000,4,0.000,0.103,2549,2576,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3807,-1.04,-155.7,363.3,-10.4,304,3811,0.00,2.00,0.00,0.000,6,0.000,0.110,2549,1535,3624,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4109,-1.04,-155.7,394.8,-9.7,314,4116,0.00,1.95,0.00,0.000,4,0.000,0.103,2549,2575,3623,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4178,-1.04,-155.7,400.7,-10.0,316,4185,0.00,2.00,0.00,0.000,6,0.000,0.112,2554,1538,3623,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4501,-1.06,-155.7,432.8,-9.5,327,4506,0.00,2.08,0.00,0.000,4,0.000,0.137,2549,459,3623,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4578,-1.06,-155.7,439.0,-9.9,329,4586,0.00,1.95,0.00,0.000,6,0.000,0.083,2553,1533,3622,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4891,-1.08,-155.7,469.4,-8.8,340,4896,0.00,2.10,0.00,0.000,4,0.000,0.135,2549,453,3621,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4937,-1.08,-155.7,472.1,-8.8,341,4941,0.00,1.95,0.00,0.000,6,0.000,0.083,2548,1527,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5241,-1.11,-155.7,501.6,-9.4,351,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1528,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-1.13,-155.7,529.2,-9.1,361,5545,0.00,2.10,0.00,0.000,4,0.000,0.135,2548,458,3619,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5629,-1.13,-155.7,538.1,-9.8,364,5636,0.00,1.90,0.00,0.000,6,0.000,0.083,2545,1513,3618,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5959,-1.13,-155.7,570.9,-10.5,375,5965,0.00,2.00,0.00,0.000,4,0.000,0.106,2539,2578,3617,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6038,-1.13,-155.7,577.2,-10.6,377,6046,0.00,2.05,0.00,0.000,6,0.000,0.112,2540,1513,3616,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6349,-1.13,-155.7,614.9,-11.4,388,6356,0.00,2.08,0.00,0.000,4,0.000,0.139,2539,458,3615,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6417,-1.13,-155.7,622.2,-11.7,390,6421,0.00,1.92,0.00,0.000,6,0.000,0.085,2539,1511,3615,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6730,-1.13,-155.7,656.7,-10.4,401,6736,0.00,2.00,0.00,0.000,4,0.000,0.108,2536,2577,3613,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6838,-1.13,-155.7,665.7,-10.1,404,6847,0.00,2.08,0.00,0.000,6,0.000,0.112,2536,1507,3613,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7149,-1.13,-155.7,698.9,-10.1,415,7157,0.00,2.03,0.00,0.000,4,0.000,0.109,2536,2574,3611,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7219,-1.13,-155.7,704.9,-10.1,417,7226,0.00,2.05,0.00,0.000,6,0.000,0.114,2535,1518,3612,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7539,-1.13,-155.7,738.0,-9.9,428,7546,0.00,2.03,0.00,0.000,4,0.000,0.111,2536,2577,3609,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7579,-1.13,-155.7,740.8,-9.8,429,7586,0.00,2.03,0.00,0.000,6,0.000,0.113,2536,1532,3609,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7899,-1.13,-155.7,772.6,-9.8,440,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1532,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,-1.13,-155.7,801.6,-9.8,450,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1532,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,-1.13,-155.7,832.0,-10.1,460,8506,0.00,2.00,0.00,0.000,4,0.000,0.115,2536,2571,3609,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8589,-1.13,-155.7,840.6,-9.7,463,8597,0.00,2.03,0.00,0.000,6,0.000,0.116,2535,1532,3606,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8921,-1.13,-155.7,872.2,-9.4,474,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1532,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9220,-1.13,-155.7,900.1,-9.4,484,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1532,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-1.13,-155.7,928.2,-9.3,494,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1532,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9819,-1.13,-155.7,957.5,-9.8,504,9826,0.00,2.05,0.00,0.000,4,0.000,0.119,2536,2575,3601,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9888,-1.13,-155.7,963.0,-9.6,506,9895,0.00,2.08,0.00,0.000,6,0.000,0.122,2536,1527,3601,0,0,0,0,0,0,28.83,14.11,28.83
$STATE,10177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10177,begin apogee
$GC,10184,-0.23,0.0,990.6,-9.0,516,10350,1.00,0.00,156.02,2.518,4,0.220,0.000,2808,1527,2990,0,0,0,0,1,0,13.81,28.83,12.74
$STATE,10354,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10357,0.91,155.7,999.6,0.0,521,10535,1.15,0.00,167.98,2.537,6,0.122,0.000,3178,1527,2356,0,0,0,0,1,0,13.99,28.83,12.74
$GC,10860,0.88,168.9,984.0,6.7,538,10881,0.00,0.00,18.73,1.796,6,0.000,0.000,3177,1527,2300,0,0,0,0,0,0,28.83,28.83,13.43
$GC,11163,0.85,185.4,963.5,6.6,548,11189,0.00,2.00,18.77,1.796,4,0.000,0.124,3177,2575,2229,0,0,0,0,0,0,28.83,14.40,13.46
$GC,11301,0.83,196.9,955.4,6.8,552,11319,0.00,2.08,13.38,1.769,6,0.000,0.131,3185,1521,2187,0,0,0,0,0,0,28.83,14.32,13.45
$GC,11629,0.80,196.9,930.7,7.4,564,11637,0.15,2.00,0.00,0.000,4,0.314,0.116,3156,2569,2179,0,0,0,0,0,0,14.21,14.38,28.83
$GC,11719,0.80,200.9,924.4,7.0,567,11727,0.00,2.08,0.00,0.000,6,0.000,0.142,3160,1530,2180,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12051,0.80,200.9,899.1,8.2,578,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1530,2177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12349,0.80,200.9,872.6,9.1,588,12356,0.00,2.03,0.00,0.000,4,0.000,0.127,3160,2572,2176,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12419,0.80,200.9,867.1,9.2,590,12426,0.00,2.10,0.00,0.000,6,0.000,0.148,3168,1536,2175,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12739,0.80,200.9,837.3,8.8,601,12740,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1536,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13039,0.80,200.9,812.9,7.7,611,13047,0.00,2.03,0.00,0.000,4,0.000,0.125,3167,2575,2174,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13190,0.78,200.9,801.8,7.2,616,13197,0.10,2.08,0.00,0.000,6,0.270,0.144,3146,1545,2173,0,0,0,0,0,0,14.00,14.16,28.83
$GC,13523,0.83,279.6,784.4,4.4,627,13611,0.00,0.00,85.95,1.713,6,0.000,0.000,3148,1546,1849,0,0,0,0,0,0,28.83,28.83,13.25
$GC,13910,0.87,307.3,761.8,6.2,640,13946,0.00,2.03,28.88,1.652,4,0.000,0.124,3148,2575,1730,0,0,0,0,0,0,28.83,14.32,13.42
$GC,14063,0.89,313.7,751.5,7.0,645,14069,0.00,2.03,1.95,0.189,6,0.000,0.128,3156,1541,1710,0,0,0,0,0,0,28.83,14.25,14.13
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$STATE,21747,end climb,SURFACE_DEPTH_REACHED
$STATE,21747,begin surface coast
$FINISH,1.4,0.000000
$STATE,21777,end surface coast,CONTROL_FINISHED_OK
$STATE,21778,begin surface
$SM_CCo,21799,18.70,0.129,0,0,1562,350.04
$SM_GC,2.07,8.90,0.00,18.70,0.073,0.000,0.129,141,1507,1562,-8.54,-0.37,350.04,0,0,0,0,0,0,14.38,28.83,14.31
$IRIDIUM_FIX,2413.38,-3819.27,100113,212138
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.70
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.90
$XPDR_PINGS,4
$SC_FREEKB,7624608
$TM_FREEKB,4100064
$24V_AH,12.7,161.271
$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,22.900,161.775,504.475,18.700,0.000,0.000,0.000,483.450,1.000,0.000,19.332,2669.477,15874.083,880.699,2541.121,707.216,0.000,2447.417,0.000,1969.003,0.000,0.541,0.000
$DEVICE_MAMPS,350.370,147.645,2536.740,128.520,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21815.000,5505.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.595,13.243,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,40027,1086
$CAP_FILE_SIZE,229270,0
$CFSIZE,260034560,197562368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.039, 70.3,1
$GPS,110113,103335,2420.321,-3816.239,35,0.8,35,-14.1