version: 66.11
glider: 190
mission: 6
dive: 387
start: 1 13 113 2 3 7
data:
$ID,190
$MISSION,6
$DIVE,387
$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,-13402.434
$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,11
$R_STBD_OVSHOOT,14
$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
$GPS1,130113,014522,2421.475,-3816.282,39,0.9,39,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-62.1
$GPS2,130113,020235,2421.465,-3816.079,15,1.0,16,-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,248.3,2200,-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,-155.7,0.0,0.0,0,39,0.00,0.00,-11.32,0.000,2,0.000,0.000,145,1508,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.4,0.0,1,149,11.15,2.05,-87.30,0.000,4,0.350,0.163,2618,460,3625,0,0,0,0,0,0,14.15,14.18,14.69
$GC,200,-0.81,-155.7,6.7,-8.5,17,209,0.00,1.95,0.00,0.000,6,0.000,0.091,2617,1520,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,509,-0.81,-155.7,37.4,-10.9,48,518,0.00,2.00,0.00,0.000,4,0.000,0.114,2617,2576,3626,0,0,0,0,0,0,28.83,14.19,28.83
$GC,590,-0.84,-155.7,46.3,-11.2,56,598,0.00,2.05,0.00,0.000,6,0.000,0.122,2616,1527,3625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,901,-0.87,-155.7,78.8,-10.6,87,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1527,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1211,-0.90,-155.7,108.0,-8.4,118,1218,0.00,2.08,0.00,0.000,4,0.000,0.142,2618,460,3629,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1379,-0.90,-155.7,122.9,-8.9,135,1387,0.00,1.95,0.00,0.000,6,0.000,0.087,2617,1524,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1691,-0.94,-155.7,152.8,-9.5,166,1698,0.00,2.08,0.00,0.000,4,0.000,0.145,2617,461,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1833,-0.97,-155.7,166.0,-9.4,180,1840,0.12,1.88,0.00,0.000,6,0.138,0.089,2568,1496,3626,0,0,0,0,0,0,14.29,14.24,28.83
$GC,2140,-0.97,-155.7,191.5,-7.8,211,2148,0.00,2.05,0.00,0.000,4,0.000,0.143,2568,459,3626,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2199,-0.94,-155.7,196.6,-8.6,217,2209,0.00,1.85,0.00,0.000,6,0.000,0.092,2565,1475,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2510,-0.94,-155.7,222.7,-8.5,248,2518,0.00,2.00,0.00,0.000,4,0.000,0.144,2565,464,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2550,-0.94,-155.7,226.4,-9.2,252,2558,0.00,1.83,0.00,0.000,6,0.000,0.093,2563,1466,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2859,-0.94,-155.7,256.1,-9.7,279,2866,0.00,2.08,0.00,0.000,4,0.000,0.113,2555,2579,3625,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2959,-0.94,-155.7,265.2,-10.0,282,2968,0.08,2.15,0.00,0.000,6,0.195,0.125,2579,1477,3625,0,0,0,0,0,0,14.18,14.26,28.83
$GC,3282,-0.96,-155.7,296.3,-9.2,293,3288,0.00,1.98,0.00,0.000,4,0.000,0.143,2580,457,3624,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3379,-0.96,-155.7,305.2,-9.7,296,3386,0.00,1.85,0.00,0.000,6,0.000,0.089,2574,1474,3624,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3699,-0.96,-155.7,337.7,-10.1,307,3706,0.00,2.00,0.00,0.000,4,0.000,0.144,2574,461,3623,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3738,-0.96,-155.7,341.0,-10.3,308,3742,0.00,1.85,0.00,0.000,6,0.000,0.092,2567,1473,3623,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4052,-0.96,-155.7,375.8,-10.9,319,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1473,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,-0.96,-155.7,407.0,-10.2,329,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1473,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4652,-0.96,-155.7,435.7,-9.3,339,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1473,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4950,-0.96,-155.7,460.2,-7.9,349,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1473,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5251,-0.96,-155.7,483.9,-8.2,359,5257,0.00,2.00,0.00,0.000,4,0.000,0.142,2567,460,3619,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5299,-0.96,-155.7,486.5,-8.2,360,5303,0.00,1.85,0.00,0.000,6,0.000,0.090,2560,1469,3619,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5600,-0.96,-155.7,514.8,-9.3,370,5609,0.00,2.10,0.00,0.000,4,0.000,0.109,2553,2590,3618,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5661,-0.96,-155.7,520.6,-9.4,372,5668,0.00,2.15,0.00,0.000,6,0.000,0.116,2553,1472,3617,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5990,-0.96,-155.7,553.7,-10.4,383,5997,0.00,2.00,0.00,0.000,4,0.000,0.138,2553,454,3616,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6071,-0.96,-155.7,560.3,-10.6,385,6079,0.08,1.85,0.00,0.000,6,0.249,0.091,2571,1465,3616,0,0,0,0,0,0,14.06,14.31,28.83
$GC,6385,-0.99,-155.7,592.2,-9.3,396,6390,0.00,2.08,0.00,0.000,4,0.000,0.109,2563,2580,3615,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6450,-1.01,-155.7,597.7,-9.2,398,6457,0.00,2.15,0.00,0.000,6,0.000,0.119,2563,1469,3614,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6775,-1.03,-155.7,627.1,-8.7,409,6780,0.00,1.95,0.00,0.000,4,0.000,0.135,2563,459,3613,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6839,-1.03,-155.7,632.3,-8.6,411,6843,0.00,1.85,0.00,0.000,6,0.000,0.085,2556,1471,3613,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7153,-1.03,-155.7,658.7,-8.1,422,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1472,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7452,-1.03,-155.7,683.0,-8.2,432,7458,0.00,2.00,0.00,0.000,4,0.000,0.142,2556,462,3610,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7491,-1.03,-155.7,685.7,-8.3,433,7498,0.00,1.85,0.00,0.000,6,0.000,0.088,2553,1467,3610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7812,-1.03,-155.7,715.8,-9.6,444,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1467,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8111,-1.03,-155.7,745.9,-10.2,454,8118,0.00,2.00,0.00,0.000,4,0.000,0.138,2552,460,3607,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8160,-1.03,-155.7,749.2,-10.3,455,8163,0.00,1.85,0.00,0.000,6,0.000,0.089,2549,1464,3605,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8462,-1.03,-155.7,783.1,-10.4,465,8468,0.00,2.08,0.00,0.000,4,0.000,0.113,2542,2575,3606,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8521,-1.03,-155.7,789.0,-10.2,467,8529,0.00,2.15,0.00,0.000,6,0.000,0.117,2542,1466,3606,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8853,-1.03,-155.7,820.9,-9.2,478,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1466,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-1.03,-155.7,846.2,-8.3,488,9158,0.00,2.17,0.00,0.000,4,0.000,0.122,2540,2585,3604,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9200,-1.03,-155.7,848.7,-8.1,489,9209,0.00,2.20,0.00,0.000,6,0.000,0.116,2539,1457,3603,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9512,-1.03,-155.7,875.1,-8.1,500,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1457,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9812,-1.03,-155.7,900.3,-8.6,510,9818,0.00,2.15,0.00,0.000,4,0.000,0.116,2536,2567,3600,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9911,-1.03,-155.7,908.1,-8.6,513,9918,0.00,2.15,0.00,0.000,6,0.000,0.119,2536,1459,3600,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10231,-1.03,-155.7,939.9,-9.9,524,10238,0.00,2.15,0.00,0.000,4,0.000,0.118,2536,2567,3599,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10280,-1.03,-155.7,942.8,-9.9,525,10290,0.00,2.20,0.00,0.000,6,0.000,0.132,2536,1470,3599,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10592,-1.03,-155.7,976.0,-10.0,536,10598,0.00,2.00,0.00,0.000,4,0.000,0.145,2536,461,3597,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10652,-1.03,-155.7,982.2,-10.2,538,10658,0.00,1.88,0.00,0.000,6,0.000,0.097,2536,1464,3597,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,10738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10738,begin apogee
$GC,10747,-0.23,0.0,990.8,-9.9,541,10911,1.00,0.00,155.50,2.510,4,0.226,0.000,2805,1536,2990,0,0,0,0,1,0,13.79,28.83,12.73
$STATE,10915,end apogee,CONTROL_FINISHED_OK
$STATE,10915,begin climb
$GC,10918,0.84,155.7,999.7,0.0,546,11097,1.08,0.00,169.07,2.536,6,0.113,0.000,3157,1535,2354,0,0,0,0,1,0,14.00,28.83,12.71
$GC,11422,0.80,169.4,982.8,6.7,563,11443,0.00,0.00,18.92,1.789,6,0.000,0.000,3157,1535,2299,0,0,0,0,0,0,28.83,28.83,13.42
$GC,11725,0.77,185.0,962.3,6.7,573,11750,0.00,0.00,18.20,1.786,6,0.000,0.000,3157,1535,2231,0,0,0,0,0,0,28.83,28.83,13.45
$GC,12054,0.77,238.9,942.3,5.5,584,12114,0.00,0.00,58.00,1.818,6,0.000,0.000,3156,1535,2016,0,0,0,0,0,0,28.83,28.83,13.29
$GC,12414,0.78,249.7,918.7,6.8,596,12431,0.00,2.22,12.02,1.730,4,0.000,0.177,3165,461,1967,0,0,0,0,0,0,28.83,14.37,13.43
$GC,12480,0.78,254.0,915.0,7.0,597,12490,0.00,2.00,1.35,0.193,6,0.000,0.106,3165,1520,1952,0,0,0,0,0,0,28.83,14.40,14.30
$GC,12794,0.78,254.0,889.2,8.0,608,12799,0.00,2.00,0.00,0.000,4,0.000,0.133,3165,2580,1957,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12881,0.78,254.0,881.6,8.6,611,12889,0.12,2.08,0.00,0.000,6,0.316,0.133,3148,1529,1957,0,0,0,0,0,0,14.15,14.33,28.83
$GC,13213,0.78,254.0,853.0,8.8,622,13219,0.00,2.00,0.00,0.000,4,0.000,0.119,3147,2584,1957,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13291,0.78,254.0,847.5,9.1,624,13301,0.00,2.05,0.00,0.000,6,0.000,0.135,3155,1548,1957,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13601,0.78,254.0,819.2,8.2,635,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1548,1957,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23690,end climb,SURFACE_DEPTH_REACHED
$STATE,23690,begin surface coast
$FINISH,1.2,1.003849
$STATE,23721,end surface coast,CONTROL_FINISHED_OK
$STATE,23722,begin surface
$SM_CCo,23746,33.85,0.125,0,0,1560,350.04
$SM_GC,2.35,8.57,0.08,33.85,0.055,0.203,0.125,136,1518,1560,-8.55,0.48,350.04,0,0,0,0,0,0,14.39,14.47,14.31
$IRIDIUM_FIX,2411.01,-3814.48,130113,010129
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.12
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.10
$XPDR_PINGS,4
$SC_FREEKB,7621920
$TM_FREEKB,4037088
$24V_AH,12.7,164.363
$10V_AH,12.0,0.000
$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,22.750,169.875,473.900,33.850,0.000,0.000,0.000,593.325,1.000,0.000,16.485,3275.374,17114.078,918.610,2768.027,724.942,0.000,2649.945,0.000,2091.171,0.000,0.541,0.000
$DEVICE_MAMPS,350.370,202.725,2535.975,125.460,0.000,0.000,0.000,169.065,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23757.000,6050.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.881,13.263,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,43270,1187
$CAP_FILE_SIZE,244981,0
$CFSIZE,260034560,196628480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.036,138.8,1
$GPS,130113,084053,2420.059,-3817.382,39,0.9,39,-14.1