version: 66.11
glider: 190
mission: 6
dive: 661
start: 3 29 113 3 20 3
data:
$ID,190
$MISSION,6
$DIVE,661
$N_DIVES,662
$D_SURF,3
$D_FLARE,2
$D_TGT,300
$D_ABORT,320
$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,100
$T_MISSION,120
$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,200
$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,0.0099999998
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-13848.841
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,17
$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,2694
$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,1
$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
$GPS1,290313,030922,2424.663,-3830.541,40,0.8,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-63.0
$GPS2,290313,031929,2424.603,-3830.553,16,1.0,16,-14.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,89.1,72277,-14.9,-10.000,-18.74
$D_GRID,300
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-1.11,-194.6,0.0,0.0,0,35,0.00,0.00,-10.25,0.000,2,0.000,0.000,144,1525,1248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.11,-194.6,2.5,0.0,1,167,10.60,1.95,-106.65,0.000,4,0.347,0.119,2498,2585,3486,0,0,0,0,0,0,14.04,14.07,14.52
$GC,292,-1.03,-194.6,16.0,-10.8,26,299,0.15,2.08,0.00,0.000,6,0.249,0.111,2531,1524,3488,0,0,0,0,0,0,13.76,13.91,28.83
$GC,481,-0.97,-194.6,35.9,-10.5,45,489,0.00,2.15,0.00,0.000,4,0.000,0.132,2532,451,3488,0,0,0,0,0,0,28.83,13.89,28.83
$GC,591,-0.89,-194.6,48.0,-11.3,56,599,0.17,1.98,0.00,0.000,6,0.237,0.078,2571,1505,3488,0,0,0,0,0,0,13.57,13.83,28.83
$GC,781,-0.89,-194.6,66.1,-8.9,75,788,0.00,2.12,0.00,0.000,4,0.000,0.132,2572,464,3488,0,0,0,0,0,0,28.83,13.84,28.83
$GC,842,-0.85,-194.6,71.9,-9.5,81,849,0.00,1.90,0.00,0.000,6,0.000,0.078,2565,1485,3488,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1031,-0.85,-194.6,89.3,-8.9,100,1039,0.00,2.10,0.00,0.000,4,0.000,0.131,2565,458,3488,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1092,-0.81,-194.6,95.1,-9.7,106,1100,0.12,1.90,0.00,0.000,6,0.198,0.076,2605,1476,3486,0,0,0,0,0,0,13.66,13.90,28.83
$GC,1281,-0.81,-194.6,111.6,-9.1,125,1289,0.00,2.08,0.00,0.000,4,0.000,0.129,2605,457,3488,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1321,-0.81,-194.6,115.0,-8.7,129,1330,0.00,1.88,0.00,0.000,6,0.000,0.079,2605,1460,3487,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1511,-0.81,-194.6,131.1,-8.1,148,1518,0.00,2.05,0.00,0.000,4,0.000,0.131,2605,458,3488,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1581,-0.81,-194.6,136.9,-8.6,155,1588,0.00,1.83,0.00,0.000,6,0.000,0.076,2605,1445,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1772,-0.81,-194.6,151.6,-7.6,174,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1445,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,-0.81,-194.6,167.2,-8.6,193,1969,0.00,1.98,0.00,0.000,4,0.000,0.129,2605,458,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2021,-0.81,-194.6,172.5,-8.8,199,2028,0.00,1.77,0.00,0.000,6,0.000,0.075,2605,1419,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2212,-0.81,-194.6,189.4,-9.0,218,2218,0.00,1.92,0.00,0.000,4,0.000,0.129,2605,458,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2271,-0.81,-194.6,195.1,-9.6,224,2278,0.00,1.73,0.00,0.000,6,0.000,0.074,2605,1395,3488,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2461,-0.81,-194.6,212.0,-8.6,243,2469,0.00,1.90,0.00,0.000,4,0.000,0.128,2605,459,3488,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2521,-0.81,-194.6,217.5,-9.2,249,2530,0.00,1.67,0.00,0.000,6,0.000,0.073,2605,1372,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2712,-0.84,-194.6,234.3,-8.8,268,2718,0.00,2.25,0.00,0.000,4,0.000,0.096,2605,2582,3487,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2801,-0.87,-194.6,241.9,-8.4,277,2809,0.00,2.33,0.00,0.000,6,0.000,0.108,2605,1389,3488,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2997,-0.90,-194.6,258.3,-8.8,290,3002,0.00,1.85,0.00,0.000,4,0.000,0.129,2605,455,3488,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3082,-0.90,-194.6,266.1,-8.8,293,3087,0.00,1.73,0.00,0.000,6,0.000,0.073,2605,1388,3488,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3294,-0.92,-194.6,283.9,-8.5,300,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1388,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-0.95,-194.6,298.6,-8.1,306,3475,0.12,0.00,0.00,0.000,6,0.128,0.000,2551,1388,3488,0,0,0,0,0,0,14.32,28.83,28.83
$STATE,3498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3498,begin apogee
$GC,3509,-0.33,0.0,301.2,-8.2,307,3689,0.73,0.00,174.12,1.073,4,0.192,0.000,2752,1899,2690,0,0,0,0,0,0,13.74,28.83,13.47
$STATE,3694,end apogee,CONTROL_FINISHED_OK
$STATE,3694,begin climb
$GC,3698,1.11,194.6,310.1,0.0,313,3887,1.52,1.98,177.35,1.078,4,0.129,0.106,3226,2963,1900,0,0,0,0,0,0,14.00,14.02,13.48
$GC,3977,1.04,194.6,289.8,10.1,322,3984,0.00,2.03,0.00,0.000,6,0.000,0.099,3233,1895,1885,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4188,0.98,194.6,268.1,10.2,329,4194,0.20,1.98,0.00,0.000,4,0.265,0.101,3187,2959,1884,0,0,0,0,0,0,13.67,14.00,28.83
$GC,4288,0.93,201.5,259.4,9.8,332,4294,0.00,2.03,1.35,0.169,6,0.000,0.103,3195,1888,1870,0,0,0,0,0,0,28.83,14.04,14.07
$GC,4482,0.92,240.6,241.4,8.6,344,4529,0.00,2.10,42.08,0.975,4,0.000,0.133,3203,837,1708,0,0,0,0,0,0,28.83,14.31,13.78
$GC,4573,0.89,265.9,233.2,9.1,353,4609,0.17,1.98,24.55,0.959,6,0.235,0.081,3160,1903,1604,0,0,0,0,0,0,13.83,14.06,13.72
$GC,4789,0.92,306.5,213.5,8.6,375,4837,0.00,1.95,39.40,0.967,4,0.000,0.103,3160,2957,1436,0,0,0,0,0,0,28.83,14.28,13.75
$GC,5001,0.96,325.6,193.9,9.3,396,5027,0.00,1.95,18.17,0.933,6,0.000,0.108,3166,1926,1360,0,0,0,0,0,0,28.83,14.04,13.79
$GC,5211,0.99,348.4,174.4,9.2,417,5239,0.00,1.95,22.45,0.920,4,0.000,0.106,3166,2964,1268,0,0,0,0,0,0,28.83,14.36,13.83
$GC,5312,1.05,365.4,165.3,9.4,427,5337,0.00,1.92,17.17,0.905,6,0.000,0.109,3173,1954,1197,0,0,0,0,0,0,28.83,14.06,13.81
$GC,5519,1.10,395.9,146.3,8.9,448,5557,0.15,1.88,29.45,0.904,4,0.112,0.109,3238,2956,1073,0,0,0,0,0,0,14.35,14.32,13.83
$GC,5612,1.10,395.9,137.0,10.9,457,5619,0.00,1.85,0.00,0.000,6,0.000,0.099,3245,1970,1067,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5798,1.10,395.9,117.7,10.1,476,5807,0.00,2.25,0.00,0.000,4,0.000,0.124,3253,849,1065,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5879,1.07,395.9,109.0,10.8,484,5887,0.12,2.10,0.00,0.000,6,0.210,0.085,3217,1965,1065,0,0,0,0,0,0,13.85,14.04,28.83
$GC,6068,1.07,395.9,89.2,10.8,503,6076,0.00,1.85,0.00,0.000,4,0.000,0.100,3217,2953,1065,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6118,1.07,395.9,83.8,11.2,508,6127,0.00,1.85,0.00,0.000,6,0.000,0.103,3222,1979,1064,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6308,1.07,395.9,62.2,11.3,527,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1980,1064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6498,1.07,395.9,40.8,10.8,546,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1980,1064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6679,1.07,395.9,20.1,11.9,564,6687,0.00,1.85,0.00,0.000,4,0.000,0.102,3222,2954,1064,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6720,1.07,395.9,15.5,11.5,568,6727,0.00,1.83,0.00,0.000,6,0.000,0.102,3227,2003,1064,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,6824,end climb,SURFACE_DEPTH_REACHED
$STATE,6825,begin surface coast
$FINISH,1.7,1.008657
$STATE,6850,end surface coast,CONTROL_FINISHED_OK
$STATE,6850,begin surface
$SM_CCo,6875,25.38,0.133,0,0,858,450.13
$SM_GC,2.46,8.90,0.98,25.38,0.058,0.120,0.133,136,1520,858,-8.47,0.45,450.13,0,0,0,0,0,0,14.21,13.93,14.21
$IRIDIUM_FIX,2415.74,-3829.24,280313,212152
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.19
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,7518080
$24V_AH,13.5,278.240
$10V_AH,12.4,0.000
$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,22.975,80.375,546.100,25.375,0.000,0.000,0.000,311.025,0.250,0.000,17.615,1452.161,3433.428,779.356,1289.272,542.489,0.000,1673.578,0.000,977.256,0.000,0.539,0.000
$DEVICE_MAMPS,346.545,133.110,1077.885,133.110,0.000,0.000,0.000,159.120,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6875.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.448,0.000,0.000,0.000
$MEM,344732
$DATA_FILE_SIZE,20064,581
$CAP_FILE_SIZE,119389,0
$CFSIZE,260034560,165224448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.262,226.0,1
$GPS,290313,051606,2424.162,-3830.592,13,1.4,13,-14.2