version: 66.11
glider: 190
mission: 6
dive: 373
start: 1 9 113 6 39 24
data:
$ID,190
$MISSION,6
$DIVE,373
$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,-13384.826
$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,18
$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
$GPS1,090113,062522,2426.103,-3830.286,36,0.7,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-66.0
$GPS2,090113,063854,2426.111,-3830.371,15,1.2,16,-14.2
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,126.5,74491,-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,-11.05,0.000,2,0.000,0.000,145,1518,1669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.84,-155.7,2.3,0.0,1,149,11.05,2.10,-90.07,0.000,4,0.348,0.159,2611,458,3626,0,0,0,0,0,0,14.15,14.21,14.68
$GC,278,-0.84,-155.7,18.9,-12.6,25,287,0.00,1.95,0.00,0.000,6,0.000,0.084,2605,1519,3627,0,0,0,0,0,0,28.83,14.31,28.83
$GC,588,-0.84,-155.7,47.4,-8.7,56,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1519,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.84,-155.7,75.2,-9.3,86,896,0.00,1.95,0.00,0.000,4,0.000,0.100,2605,2575,3627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,938,-0.84,-155.7,79.6,-9.1,91,947,0.00,2.05,0.00,0.000,6,0.000,0.113,2605,1515,3627,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1249,-0.84,-155.7,107.9,-9.5,122,1257,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,463,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1299,-0.84,-155.7,112.8,-10.1,127,1307,0.00,1.92,0.00,0.000,6,0.000,0.082,2605,1528,3627,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1610,-0.87,-155.7,144.3,-10.4,158,1617,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,456,3628,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1698,-0.87,-155.7,153.5,-10.0,167,1706,0.00,1.92,0.00,0.000,6,0.000,0.082,2604,1513,3627,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2009,-0.91,-155.7,177.4,-7.8,198,2017,0.00,2.08,0.00,0.000,4,0.000,0.136,2605,457,3628,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2118,-0.91,-155.7,187.0,-9.2,209,2128,0.00,1.90,0.00,0.000,6,0.000,0.081,2605,1503,3627,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2429,-0.94,-155.7,215.9,-9.6,240,2437,0.00,2.03,0.00,0.000,4,0.000,0.135,2605,463,3627,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2561,-0.94,-155.7,229.4,-10.8,253,2569,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1488,3628,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2879,-0.98,-155.7,263.6,-10.8,277,2886,0.00,2.00,0.00,0.000,4,0.000,0.137,2605,463,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2917,-1.02,-155.7,267.0,-10.9,278,2926,0.15,1.83,0.00,0.000,6,0.129,0.083,2544,1476,3627,0,0,0,0,0,0,14.50,14.45,28.83
$GC,3242,-1.00,-155.7,302.7,-10.3,289,3248,0.00,2.03,0.00,0.000,4,0.000,0.106,2540,2575,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3337,-1.00,-155.7,311.3,-9.7,292,3344,0.00,2.12,0.00,0.000,6,0.000,0.117,2539,1472,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3662,-0.97,-155.7,340.0,-8.4,303,3667,0.12,2.03,0.00,0.000,4,0.252,0.105,2566,2574,3625,0,0,0,0,0,0,14.31,14.28,28.83
$GC,3728,-0.97,-155.7,344.6,-8.0,305,3735,0.00,2.10,0.00,0.000,6,0.000,0.118,2566,1485,3624,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4049,-0.97,-155.7,373.8,-9.8,316,4055,0.00,1.98,0.00,0.000,4,0.000,0.139,2566,465,3624,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4188,-0.97,-155.7,387.7,-11.6,320,4196,0.00,1.83,0.00,0.000,6,0.000,0.087,2559,1471,3624,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4498,-0.97,-155.7,426.9,-11.8,331,4505,0.00,2.05,0.00,0.000,4,0.000,0.109,2553,2573,3623,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4538,-0.97,-155.7,430.3,-11.7,332,4545,0.00,2.12,0.00,0.000,6,0.000,0.118,2552,1469,3623,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4858,-0.97,-155.7,463.9,-9.3,343,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1469,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,-0.97,-155.7,489.6,-8.5,353,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1469,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.97,-155.7,516.7,-9.3,363,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1469,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-0.97,-155.7,546.2,-9.8,373,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1469,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,-0.97,-155.7,574.7,-9.2,383,6065,0.00,2.08,0.00,0.000,4,0.000,0.107,2549,2570,3617,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6168,-0.97,-155.7,582.7,-9.0,386,6177,0.10,2.12,0.00,0.000,6,0.243,0.118,2572,1473,3617,0,0,0,0,0,0,14.22,14.28,28.83
$GC,6482,-1.00,-155.7,608.8,-7.7,397,6488,0.00,1.98,0.00,0.000,4,0.000,0.145,2573,463,3615,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6598,-1.00,-155.7,618.4,-8.0,401,6606,0.00,1.83,0.00,0.000,6,0.000,0.089,2566,1457,3615,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6932,-1.02,-155.7,644.1,-8.0,412,6938,0.00,1.98,0.00,0.000,4,0.000,0.145,2566,459,3614,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7037,-1.02,-155.7,652.3,-8.8,415,7041,0.00,1.83,0.00,0.000,6,0.000,0.090,2559,1450,3613,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7339,-1.04,-155.7,682.4,-9.6,425,7346,0.00,1.95,0.00,0.000,4,0.000,0.147,2559,466,3612,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7418,-1.04,-155.7,688.4,-10.0,427,7427,0.00,1.77,0.00,0.000,6,0.000,0.090,2553,1433,3612,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7729,-1.04,-155.7,722.2,-10.2,438,7736,0.00,2.17,0.00,0.000,4,0.000,0.116,2546,2573,3610,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7828,-1.04,-155.7,731.2,-9.9,441,7835,0.00,2.20,0.00,0.000,6,0.000,0.122,2546,1447,3609,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8148,-1.04,-155.7,762.0,-9.0,452,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1447,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8449,-1.04,-155.7,788.4,-8.9,462,8456,0.00,2.17,0.00,0.000,4,0.000,0.116,2540,2574,3606,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8509,-1.04,-155.7,793.6,-8.9,464,8515,0.00,2.20,0.00,0.000,6,0.000,0.125,2539,1450,3606,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8838,-1.04,-155.7,824.8,-9.6,475,8846,0.00,2.17,0.00,0.000,4,0.000,0.118,2536,2578,3604,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8920,-1.04,-155.7,830.6,-9.6,477,8928,0.00,2.17,0.00,0.000,6,0.000,0.124,2535,1455,3605,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9228,-1.04,-155.7,862.8,-9.8,488,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1455,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9528,-1.04,-155.7,889.7,-8.6,498,9535,0.00,2.17,0.00,0.000,4,0.000,0.120,2536,2572,3603,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9638,-1.04,-155.7,896.9,-8.1,501,9649,0.00,2.20,0.00,0.000,6,0.000,0.127,2536,1460,3602,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9948,-1.04,-155.7,923.4,-7.9,512,9956,0.00,2.15,0.00,0.000,4,0.000,0.121,2536,2566,3601,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10010,-1.04,-155.7,928.2,-8.0,514,10016,0.00,2.17,0.00,0.000,6,0.000,0.127,2536,1468,3600,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10340,-1.04,-155.7,956.3,-8.9,525,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1469,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10638,-1.04,-155.7,985.0,-9.7,535,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1468,3598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10695,begin apogee
$GC,10703,-0.23,0.0,990.7,-9.6,537,10860,1.00,0.00,152.50,1.836,4,0.226,0.000,2806,1529,2989,0,0,0,0,0,0,13.81,28.83,13.10
$STATE,10864,end apogee,CONTROL_FINISHED_OK
$STATE,10864,begin climb
$GC,10867,0.84,155.7,1000.0,0.0,542,11038,1.10,2.08,159.43,1.813,4,0.116,0.123,3158,2579,2352,0,0,0,0,0,0,14.11,14.07,13.12
$GC,11238,0.81,182.8,991.7,6.3,555,11271,0.00,2.12,28.77,1.741,6,0.000,0.141,3166,1522,2244,0,0,0,0,0,0,28.83,14.29,13.38
$GC,11580,0.77,182.8,966.7,7.4,567,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1522,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11880,0.73,182.8,943.4,7.8,577,11888,0.15,2.15,0.00,0.000,4,0.304,0.165,3141,460,2226,0,0,0,0,0,0,14.21,14.13,28.83
$GC,11960,0.70,182.8,938.7,7.9,579,11970,0.00,1.95,0.00,0.000,6,0.000,0.099,3142,1518,2226,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12270,0.70,182.8,913.2,7.7,590,12277,0.00,2.08,0.00,0.000,4,0.000,0.125,3141,2591,2224,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12440,0.68,182.8,901.3,8.0,595,12450,0.12,2.10,0.00,0.000,6,0.282,0.138,3117,1533,2224,0,0,0,0,0,0,14.03,14.24,28.83
$GC,12752,0.70,211.6,879.3,6.3,606,12788,0.00,1.98,29.83,1.725,4,0.000,0.126,3117,2580,2120,0,0,0,0,0,0,28.83,14.44,13.48
$GC,12934,0.71,239.4,868.2,6.3,612,12969,0.00,2.05,30.00,1.698,6,0.000,0.145,3124,1548,2012,0,0,0,0,0,0,28.83,14.26,13.43
$GC,13292,0.73,261.6,844.7,6.5,624,13320,0.00,2.05,23.92,1.666,4,0.000,0.127,3124,2585,1919,0,0,0,0,0,0,28.83,14.38,13.48
$GC,13432,0.73,270.7,835.0,6.9,629,13439,0.00,2.00,2.90,0.825,6,0.000,0.144,3132,1568,1885,0,0,0,0,0,0,28.83,14.23,13.11
$GC,13753,0.74,290.0,813.5,6.6,640,13788,0.00,1.92,28.80,1.644,4,0.000,0.126,3132,2579,1802,0,0,0,0,0,0,28.83,14.35,13.50
$GC,13902,0.74,290.8,802.8,7.1,645,13907,0.00,1.98,0.00,0.000,6,0.000,0.145,3139,1582,1794,0,0,0,0,0,0,28.83,14.23,28.83
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$STATE,22071,end climb,SURFACE_DEPTH_REACHED
$STATE,22071,begin surface coast
$FINISH,1.4,1.011477
$STATE,22102,end surface coast,CONTROL_FINISHED_OK
$STATE,22102,begin surface
$SM_CCo,22188,0.00,0.000,0,0,1519,360.84
$SM_GC,2.33,8.95,0.05,0.00,0.076,0.228,0.000,139,1517,1519,-8.54,0.42,360.84,0,0,0,0,0,0,14.40,14.57,28.83
$IRIDIUM_FIX,2415.74,-3831.09,090113,000028
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.97
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7627168
$TM_FREEKB,4161920
$24V_AH,13.1,158.198
$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,23.400,184.275,527.650,0.000,0.000,0.000,0.000,444.050,0.250,0.000,17.337,3131.635,15642.860,921.422,2622.027,664.959,0.000,2508.970,0.000,2065.251,0.000,0.542,0.000
$DEVICE_MAMPS,348.075,227.970,1836.000,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22150.000,5431.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.801,13.254,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,39993,1094
$CAP_FILE_SIZE,234600,0
$CFSIZE,260034560,198496256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,309.0,1
$GPS,090113,125034,2425.626,-3828.894,40,0.9,40,-14.2