version: 66.11
glider: 190
mission: 6
dive: 389
start: 1 13 113 15 27 41
data:
$ID,190
$MISSION,6
$DIVE,389
$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,-13404.948
$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,19
$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
$GPS1,130113,151322,2421.482,-3815.743,41,0.9,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-60.0
$GPS2,130113,152712,2421.452,-3815.617,18,1.0,19,-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,254.8,2715,-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,26,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.27,0.000,2,0.000,0.000,144,1522,1722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.2,0.0,1,148,10.93,2.10,-83.78,0.000,4,0.341,0.153,2619,454,3627,0,0,0,0,0,0,14.17,14.22,14.67
$GC,179,-0.81,-155.7,7.5,-10.3,15,188,0.00,1.95,0.00,0.000,6,0.000,0.086,2618,1524,3627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,490,-0.81,-155.7,35.9,-9.3,46,498,0.00,1.95,0.00,0.000,4,0.000,0.099,2618,2575,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,600,-0.85,-155.7,45.7,-9.2,57,608,0.00,2.00,0.00,0.000,6,0.000,0.108,2618,1526,3626,0,0,0,0,0,0,28.83,14.18,28.83
$GC,911,-0.88,-155.7,74.4,-8.7,88,918,0.00,2.05,0.00,0.000,4,0.000,0.134,2618,462,3627,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1029,-0.88,-155.7,84.2,-8.1,100,1038,0.00,1.95,0.00,0.000,6,0.000,0.086,2618,1527,3627,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1340,-0.92,-155.7,107.9,-8.0,131,1348,0.00,2.10,0.00,0.000,4,0.000,0.140,2617,463,3627,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1439,-0.92,-155.7,117.2,-9.6,141,1448,0.00,1.90,0.00,0.000,6,0.000,0.083,2618,1506,3627,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1750,-0.96,-155.7,146.0,-10.3,172,1758,0.12,2.05,0.00,0.000,4,0.135,0.137,2562,462,3628,0,0,0,0,0,0,14.56,14.12,28.83
$GC,1852,-0.92,-155.7,158.4,-13.1,182,1860,0.12,1.85,0.00,0.000,6,0.273,0.084,2585,1493,3627,0,0,0,0,0,0,14.09,14.34,28.83
$GC,2163,-0.94,-155.7,187.5,-8.1,213,2171,0.00,2.00,0.00,0.000,4,0.000,0.137,2585,458,3628,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2219,-0.94,-155.7,192.5,-8.5,219,2228,0.00,1.83,0.00,0.000,6,0.000,0.082,2580,1474,3628,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2530,-0.94,-155.7,219.9,-10.0,250,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1473,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.94,-155.7,251.0,-10.6,280,2838,0.00,1.95,0.00,0.000,4,0.000,0.135,2579,460,3628,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2891,-0.94,-155.7,257.7,-11.1,282,2897,0.00,1.80,0.00,0.000,6,0.000,0.083,2576,1462,3627,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3219,-0.94,-155.7,292.6,-10.6,293,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1462,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.97,-155.7,324.9,-10.7,303,3527,0.00,1.92,0.00,0.000,4,0.000,0.135,2576,466,3627,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3722,-0.95,-155.7,343.7,-10.3,309,3730,0.00,1.75,0.00,0.000,6,0.000,0.083,2570,1461,3625,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4029,-0.95,-155.7,372.1,-8.0,320,4036,0.00,2.05,0.00,0.000,4,0.000,0.105,2565,2572,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4091,-0.95,-155.7,376.6,-7.8,322,4097,0.00,2.10,0.00,0.000,6,0.000,0.114,2565,1459,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4420,-0.95,-155.7,403.6,-8.5,333,4426,0.00,1.92,0.00,0.000,4,0.000,0.138,2565,465,3624,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4519,-0.95,-155.7,412.1,-9.3,336,4527,0.00,1.77,0.00,0.000,6,0.000,0.084,2558,1448,3623,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4840,-0.95,-155.7,443.6,-9.7,347,4847,0.00,2.10,0.00,0.000,4,0.000,0.109,2553,2574,3622,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4918,-0.95,-155.7,449.4,-9.6,349,4929,0.12,2.17,0.00,0.000,6,0.223,0.119,2583,1450,3622,0,0,0,0,0,0,14.23,14.28,28.83
$GC,5233,-0.98,-155.7,480.2,-9.1,360,5238,0.00,1.92,0.00,0.000,4,0.000,0.144,2579,459,3621,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5329,-0.98,-155.7,488.7,-9.3,363,5336,0.00,1.80,0.00,0.000,6,0.000,0.086,2579,1447,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5654,-1.01,-155.7,515.6,-7.7,374,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1447,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5950,-1.04,-155.7,538.7,-7.9,384,5956,0.00,1.92,0.00,0.000,4,0.000,0.140,2579,465,3619,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6000,-1.06,-155.7,541.3,-8.1,385,6010,0.00,1.77,0.00,0.000,6,0.000,0.088,2575,1438,3618,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6312,-1.09,-155.7,570.6,-9.0,396,6318,0.12,2.12,0.00,0.000,4,0.138,0.112,2510,2579,3616,0,0,0,0,0,0,14.59,14.27,28.83
$GC,6358,-1.09,-155.7,573.5,-9.1,397,6369,0.00,2.22,0.00,0.000,6,0.000,0.122,2510,1442,3616,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6671,-1.05,-155.7,607.1,-9.8,408,6673,0.15,0.00,0.00,0.000,6,0.255,0.000,2545,1441,3615,0,0,0,0,0,0,14.24,28.83,28.83
$GC,6971,-1.05,-155.7,633.8,-9.0,418,6977,0.00,2.15,0.00,0.000,4,0.000,0.116,2540,2560,3614,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7010,-1.05,-155.7,636.6,-9.1,419,7016,0.00,2.20,0.00,0.000,6,0.000,0.128,2539,1439,3614,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7330,-1.05,-155.7,671.1,-10.9,430,7336,0.00,2.17,0.00,0.000,4,0.000,0.118,2536,2568,3613,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7409,-1.05,-155.7,677.5,-10.9,432,7418,0.00,2.22,0.00,0.000,6,0.000,0.127,2536,1443,3613,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7721,-1.05,-155.7,712.9,-10.5,443,7727,0.00,1.95,0.00,0.000,4,0.000,0.151,2536,457,3611,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7798,-1.05,-155.7,719.6,-10.8,445,7802,0.00,1.83,0.00,0.000,6,0.000,0.097,2536,1434,3611,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8101,-1.05,-155.7,751.2,-9.4,455,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1433,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8399,-1.05,-155.7,778.1,-8.8,465,8408,0.00,1.98,0.00,0.000,4,0.000,0.151,2536,462,3608,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8479,-1.05,-155.7,783.9,-9.2,467,8489,0.00,1.80,0.00,0.000,6,0.000,0.099,2536,1423,3607,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8791,-1.05,-155.7,815.8,-9.8,478,8797,0.00,2.20,0.00,0.000,4,0.000,0.125,2536,2576,3607,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8889,-1.05,-155.7,824.8,-10.0,481,8896,0.00,2.25,0.00,0.000,6,0.000,0.129,2534,1436,3606,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9211,-1.05,-155.7,860.8,-11.1,492,9216,0.00,1.92,0.00,0.000,4,0.000,0.157,2536,463,3606,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9269,-1.05,-155.7,867.8,-11.5,494,9276,0.00,1.83,0.00,0.000,6,0.000,0.099,2536,1432,3605,0,0,0,0,0,0,28.83,14.24,28.83
$GC,9600,-1.05,-155.7,902.7,-10.2,505,9607,0.00,2.20,0.00,0.000,4,0.000,0.127,2536,2565,3604,0,0,0,0,0,0,28.83,14.05,28.83
$GC,9670,-1.05,-155.7,908.5,-9.9,507,9676,0.00,2.22,0.00,0.000,6,0.000,0.132,2536,1442,3603,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9990,-1.05,-155.7,938.4,-8.6,518,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1442,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10292,-1.05,-155.7,964.4,-8.6,528,10297,0.00,1.92,0.00,0.000,4,0.000,0.141,2536,461,3600,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10429,-1.03,-155.7,976.3,-9.9,532,10438,0.00,1.77,0.00,0.000,6,0.000,0.093,2536,1411,3600,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10556,begin apogee
$GC,10565,-0.23,0.0,990.8,-9.7,537,10727,1.00,0.00,153.55,1.873,4,0.225,0.000,2807,1516,2984,0,0,0,0,0,0,13.81,28.83,13.08
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10734,0.84,155.7,999.8,0.0,542,10906,1.12,2.15,161.50,1.871,4,0.129,0.163,3160,463,2355,0,0,0,0,0,0,14.10,14.02,13.07
$GC,11044,0.80,180.6,995.9,6.4,553,11075,0.00,2.00,26.02,1.786,6,0.000,0.103,3159,1524,2252,0,0,0,0,0,0,28.83,14.33,13.31
$GC,11385,0.77,180.6,971.3,7.4,565,11393,0.00,2.03,0.00,0.000,4,0.000,0.129,3160,2572,2237,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11484,0.73,180.6,964.1,7.8,568,11492,0.17,2.08,0.00,0.000,6,0.310,0.130,3130,1518,2236,0,0,0,0,0,0,14.14,14.35,28.83
$GC,11808,0.73,180.6,939.1,7.7,579,11813,0.00,2.08,0.00,0.000,4,0.000,0.158,3138,463,2235,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11853,0.73,180.6,936.6,7.7,580,11857,0.00,1.98,0.00,0.000,6,0.000,0.099,3138,1524,2235,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12158,0.71,180.6,911.7,7.6,590,12163,0.00,1.95,0.00,0.000,4,0.000,0.116,3138,2579,2234,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12306,0.69,180.6,900.6,7.4,595,12313,0.10,2.05,0.00,0.000,6,0.276,0.130,3118,1533,2233,0,0,0,0,0,0,14.04,14.23,28.83
$GC,12639,0.72,230.9,881.0,5.6,606,12695,0.00,0.00,52.08,1.763,6,0.000,0.000,3118,1533,2044,0,0,0,0,0,0,28.83,28.83,13.35
$GC,12997,0.74,270.2,859.3,5.9,618,13042,0.00,0.00,42.70,1.715,6,0.000,0.000,3119,1533,1887,0,0,0,0,0,0,28.83,28.83,13.35
$GC,13328,0.78,290.9,838.4,6.5,629,13356,0.00,2.05,21.92,1.669,4,0.000,0.117,3118,2586,1797,0,0,0,0,0,0,28.83,14.37,13.44
$GC,13496,0.78,290.9,827.2,7.6,634,13503,0.00,2.08,0.00,0.000,6,0.000,0.129,3126,1529,1789,0,0,0,0,0,0,28.83,14.24,28.83
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$STATE,22235,end climb,SURFACE_DEPTH_REACHED
$STATE,22235,begin surface coast
$FINISH,1.4,1.020667
$STATE,22254,end surface coast,CONTROL_FINISHED_OK
$STATE,22254,begin surface
$SM_CCo,22276,0.62,0.224,0,0,1563,350.04
$SM_GC,2.43,8.85,0.00,0.62,0.075,0.000,0.224,145,1505,1563,-8.52,-0.42,350.04,0,0,0,0,0,0,14.39,28.83,14.32
$IRIDIUM_FIX,2411.01,-3817.80,130113,080858
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7621152
$TM_FREEKB,4020064
$24V_AH,13.1,165.234
$10V_AH,12.1,0.000
$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,23.150,182.875,526.700,0.625,0.000,0.000,0.000,456.650,0.250,0.000,19.869,3157.370,15687.183,917.524,2609.415,721.151,0.000,2509.404,0.000,2061.530,0.000,0.542,0.000
$DEVICE_MAMPS,341.190,162.945,1872.720,224.145,0.000,0.000,0.000,172.125,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.815,13.264,0.000,0.000
$MEM,345236
$DATA_FILE_SIZE,40021,1104
$CAP_FILE_SIZE,237751,0
$CFSIZE,260034560,196370432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,128.3,1
$GPS,130113,214027,2420.307,-3816.773,42,1.0,42,-14.1