version: 66.11
glider: 190
mission: 6
dive: 662
start: 3 29 113 5 26 10
data:
$ID,190
$MISSION,6
$DIVE,662
$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,-13850.098
$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,13
$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,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
$GPS1,290313,051606,2424.162,-3830.592,13,1.4,13,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-63.8
$GPS2,290313,052536,2424.085,-3830.627,14,1.4,14,-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,64.4,72562,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.11,-194.6,0.0,0.0,0,34,0.00,0.00,-9.95,0.000,2,0.000,0.000,136,1518,1110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.11,-194.6,2.5,0.0,1,166,10.50,2.03,-110.38,0.000,4,0.344,0.124,2498,2587,3488,0,0,0,0,0,0,14.14,14.13,14.58
$GC,320,-1.04,-194.6,20.2,-10.6,29,329,0.10,2.03,0.00,0.000,6,0.217,0.100,2526,1526,3488,0,0,0,0,0,0,13.71,13.85,28.83
$GC,512,-0.98,-194.6,38.8,-9.9,48,519,0.00,2.10,0.00,0.000,4,0.000,0.130,2526,459,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,630,-0.90,-194.6,51.9,-10.9,60,638,0.20,1.95,0.00,0.000,6,0.230,0.082,2574,1504,3488,0,0,0,0,0,0,13.64,13.90,28.83
$GC,820,-0.90,-194.6,69.9,-9.7,79,828,0.00,2.10,0.00,0.000,4,0.000,0.135,2574,459,3488,0,0,0,0,0,0,28.83,13.86,28.83
$GC,910,-0.87,-194.6,79.5,-10.7,88,917,0.00,1.88,0.00,0.000,6,0.000,0.083,2567,1467,3488,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1100,-0.87,-194.6,100.4,-11.2,107,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1467,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1292,-0.87,-194.6,121.4,-10.9,126,1298,0.00,2.03,0.00,0.000,4,0.000,0.136,2566,460,3488,0,0,0,0,0,0,28.83,13.75,28.83
$GC,1460,-0.84,-194.6,139.0,-10.0,143,1468,0.10,1.85,0.00,0.000,6,0.216,0.083,2594,1451,3488,0,0,0,0,0,0,13.68,13.90,28.83
$GC,1651,-0.84,-194.6,154.9,-7.8,162,1658,0.00,2.10,0.00,0.000,4,0.000,0.101,2591,2582,3488,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1710,-0.84,-194.6,159.1,-6.9,168,1718,0.00,2.17,0.00,0.000,6,0.000,0.109,2592,1461,3488,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1900,-0.84,-194.6,173.4,-7.5,187,1907,0.00,2.03,0.00,0.000,4,0.000,0.135,2591,459,3488,0,0,0,0,0,0,28.83,13.84,28.83
$GC,2059,-0.84,-194.6,186.1,-8.1,203,2067,0.00,1.80,0.00,0.000,6,0.000,0.080,2586,1432,3488,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2251,-0.84,-194.6,201.5,-8.3,222,2258,0.00,1.95,0.00,0.000,4,0.000,0.133,2587,453,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2302,-0.84,-194.6,205.9,-9.0,227,2308,0.00,1.77,0.00,0.000,6,0.000,0.080,2584,1403,3488,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2491,-0.84,-194.6,223.1,-9.3,246,2497,0.00,1.90,0.00,0.000,4,0.000,0.132,2584,456,3488,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2552,-0.84,-194.6,228.8,-9.7,252,2558,0.00,1.70,0.00,0.000,6,0.000,0.080,2579,1385,3488,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2740,-0.84,-194.6,246.5,-9.2,271,2747,0.00,1.88,0.00,0.000,4,0.000,0.131,2579,461,3488,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2782,-0.84,-194.6,250.3,-9.5,275,2787,0.00,1.62,0.00,0.000,6,0.000,0.080,2579,1362,3488,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2980,-0.84,-194.6,268.4,-9.0,282,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1361,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,-0.84,-194.6,284.0,-8.5,288,3167,0.00,1.83,0.00,0.000,4,0.000,0.132,2580,464,3487,0,0,0,0,0,0,28.83,13.73,28.83
$GC,3241,-0.84,-194.6,289.2,-8.4,290,3248,0.00,1.62,0.00,0.000,6,0.000,0.080,2579,1345,3487,0,0,0,0,0,0,28.83,13.91,28.83
$STATE,3367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3367,begin apogee
$GC,3376,-0.33,0.0,300.9,-7.6,295,3566,0.60,0.00,181.82,1.043,4,0.175,0.000,2754,1904,2689,0,0,0,0,0,0,13.79,28.83,13.57
$STATE,3572,end apogee,CONTROL_FINISHED_OK
$STATE,3573,begin climb
$GC,3576,1.11,194.6,307.9,0.0,301,3763,1.50,1.95,175.57,1.052,4,0.126,0.104,3226,2961,1899,0,0,0,0,0,0,14.04,14.05,13.57
$GC,3844,1.04,194.6,286.1,11.2,311,3850,0.00,2.00,0.00,0.000,6,0.000,0.105,3234,1895,1887,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4053,0.98,194.6,263.1,10.7,318,4059,0.17,1.98,0.00,0.000,4,0.268,0.105,3189,2959,1886,0,0,0,0,0,0,13.78,14.09,28.83
$GC,4183,0.93,197.2,251.1,9.9,322,4189,0.00,1.98,0.00,0.000,6,0.000,0.099,3197,1898,1884,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4373,0.90,224.2,232.9,9.1,340,4403,0.12,0.00,26.42,0.981,6,0.269,0.000,3164,1898,1780,0,0,0,0,0,0,13.92,28.83,13.85
$GC,4583,0.92,253.5,214.1,9.0,361,4621,0.00,1.95,28.92,0.969,4,0.000,0.100,3164,2959,1653,0,0,0,0,0,0,28.83,14.38,13.83
$GC,4733,0.93,262.8,200.0,9.7,376,4751,0.00,1.95,9.70,0.917,6,0.000,0.099,3171,1905,1617,0,0,0,0,0,0,28.83,14.06,13.79
$GC,4933,0.93,275.2,180.9,9.6,396,4951,0.00,1.98,12.65,0.936,4,0.000,0.106,3171,2965,1567,0,0,0,0,0,0,28.83,14.40,13.89
$GC,5047,0.93,275.2,169.9,10.1,407,5055,0.00,1.90,0.00,0.000,6,0.000,0.104,3178,1941,1564,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5235,0.93,275.2,150.4,10.0,426,5242,0.00,1.88,0.00,0.000,4,0.000,0.109,3178,2958,1563,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5314,0.94,278.3,142.6,9.9,434,5321,0.00,1.88,0.00,0.000,6,0.000,0.103,3186,1968,1562,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5504,0.95,305.7,125.1,9.0,453,5542,0.00,1.83,29.50,0.909,4,0.000,0.106,3186,2953,1441,0,0,0,0,0,0,28.83,14.37,13.87
$GC,5575,0.97,334.2,118.9,9.0,460,5612,0.00,1.85,27.62,0.893,6,0.000,0.108,3192,1985,1324,0,0,0,0,0,0,28.83,14.04,13.81
$GC,5794,1.00,384.5,100.4,8.3,482,5852,0.00,1.85,46.90,0.873,4,0.000,0.109,3192,2962,1118,0,0,0,0,0,0,28.83,14.31,13.84
$GC,5919,1.03,388.3,89.4,9.9,494,5926,0.00,1.80,0.00,0.000,6,0.000,0.103,3199,2001,1115,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6105,1.05,388.3,69.6,10.9,513,6113,0.00,2.30,0.00,0.000,4,0.000,0.122,3207,840,1112,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6156,1.05,388.3,64.0,11.0,518,6163,0.00,2.15,0.00,0.000,6,0.000,0.080,3207,2015,1112,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6345,1.05,388.3,42.9,10.9,537,6352,0.00,1.75,0.00,0.000,4,0.000,0.103,3207,2954,1112,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6470,1.08,388.3,28.8,12.1,549,6477,0.00,1.75,0.00,0.000,6,0.000,0.109,3213,2043,1111,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6657,1.08,389.5,7.4,10.0,568,6664,0.00,2.42,0.00,0.000,4,0.000,0.135,3221,832,1111,0,0,0,0,0,0,28.83,14.03,28.83
$STATE,6693,end climb,SURFACE_DEPTH_REACHED
$STATE,6693,begin surface coast
$FINISH,1.9,1.025724
$STATE,6703,end surface coast,CONTROL_FINISHED_OK
$STATE,6703,begin surface
$SM_CCo,6730,30.80,0.132,0,0,857,450.13
$SM_GC,2.43,8.93,1.30,30.80,0.066,0.086,0.132,140,1523,857,-8.47,-0.51,450.13,0,0,0,0,0,0,14.24,14.10,14.25
$IRIDIUM_FIX,2415.74,-3831.09,290313,030303
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.94
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,22.60
$XPDR_PINGS,4
$SC_FREEKB,7517696
$24V_AH,13.6,278.469
$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,22.225,77.825,539.125,30.800,0.000,0.000,0.000,288.875,1.000,0.000,16.320,1425.936,3362.800,768.727,1269.983,505.019,0.000,1630.267,0.000,969.923,0.000,0.542,0.000
$DEVICE_MAMPS,344.250,136.170,1051.875,132.345,0.000,0.000,0.000,156.060,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6745.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.520,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,20082,573
$CAP_FILE_SIZE,113552,0
$CFSIZE,260034560,165167104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.285,219.1,1
$GPS,290313,072005,2423.761,-3830.977,26,1.1,26,-14.2