version: 66.11
glider: 190
mission: 6
dive: 663
start: 3 29 113 10 21 33
data:
$ID,190
$MISSION,6
$DIVE,663
$N_DIVES,663
$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,-14340.928
$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,12
$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
$GPS1,290313,101650,2422.165,-3831.883,24,0.8,25,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-62.6
$GPS2,290313,102102,2422.133,-3831.919,17,0.8,18,-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,54.7,75408,-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,-194.6,0.0,0.0,0,30,0.00,0.00,-5.35,0.000,2,0.000,0.000,144,1528,998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.11,-194.6,2.6,0.0,1,172,10.23,1.90,-115.32,0.000,4,0.331,0.098,2498,2585,3486,0,0,0,0,0,0,14.23,14.14,14.60
$GC,350,-1.03,-194.6,23.0,-11.0,57,358,0.15,1.95,0.00,0.000,6,0.248,0.094,2532,1518,3486,0,0,0,0,0,0,13.88,14.06,28.83
$GC,550,-0.97,-194.6,44.1,-9.5,94,557,0.00,2.03,0.00,0.000,4,0.000,0.119,2532,463,3486,0,0,0,0,0,0,28.83,14.07,28.83
$GC,604,-0.90,-194.6,49.8,-11.0,103,611,0.22,1.88,0.00,0.000,6,0.256,0.065,2579,1531,3485,0,0,0,0,0,0,13.88,14.25,28.83
$GC,802,-0.90,-194.6,67.5,-8.6,140,809,0.00,2.05,0.00,0.000,4,0.000,0.119,2579,459,3485,0,0,0,0,0,0,28.83,14.00,28.83
$GC,877,-0.87,-194.6,73.8,-8.8,153,884,0.00,1.85,0.00,0.000,6,0.000,0.066,2577,1504,3485,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1078,-0.87,-194.6,90.5,-8.1,190,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1504,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.87,-194.6,106.7,-7.8,227,1283,0.00,2.03,0.00,0.000,4,0.000,0.120,2577,459,3485,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1437,-0.84,-194.6,121.0,-9.1,257,1444,0.00,1.80,0.00,0.000,6,0.000,0.064,2577,1483,3487,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1635,-0.84,-194.6,138.3,-8.6,294,1643,0.00,1.98,0.00,0.000,4,0.000,0.121,2577,459,3485,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1721,-0.82,-194.6,146.5,-9.7,309,1728,0.00,1.77,0.00,0.000,6,0.000,0.065,2577,1454,3485,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1918,-0.82,-194.6,166.9,-11.0,346,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1454,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.82,-194.6,188.3,-10.9,383,2125,0.00,1.92,0.00,0.000,4,0.000,0.120,2577,462,3485,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2229,-0.82,-194.6,201.0,-11.1,403,2235,0.00,1.75,0.00,0.000,6,0.000,0.067,2577,1444,3484,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2426,-0.82,-194.6,221.3,-10.1,440,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1444,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.82,-194.6,239.5,-9.1,477,2632,0.00,1.90,0.00,0.000,4,0.000,0.121,2577,462,3484,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2720,-0.80,-194.6,248.5,-9.3,494,2728,0.15,1.73,0.00,0.000,6,0.243,0.066,2606,1436,3484,0,0,0,0,0,0,13.94,14.19,28.83
$GC,2922,-0.82,-194.6,264.6,-7.9,531,2928,0.00,2.05,0.00,0.000,4,0.000,0.088,2605,2574,3483,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2950,-0.85,-194.6,266.6,-7.3,535,2957,0.00,2.17,0.00,0.000,6,0.000,0.102,2605,1421,3483,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3149,-0.87,-194.6,281.4,-7.3,572,3155,0.00,1.85,0.00,0.000,4,0.000,0.121,2605,460,3483,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3180,-0.87,-194.6,283.9,-8.2,577,3186,0.00,1.73,0.00,0.000,6,0.000,0.067,2605,1438,3483,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3377,-0.90,-194.6,298.5,-7.3,614,3385,0.00,2.05,0.00,0.000,4,0.000,0.093,2605,2572,3483,0,0,0,0,0,0,28.83,14.14,28.83
$STATE,3395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3395,begin apogee
$GC,3407,-0.33,0.0,300.3,-7.2,617,3583,0.50,0.00,169.82,1.081,4,0.179,0.000,2751,1891,2691,0,0,0,0,0,0,13.93,28.83,13.62
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3590,1.11,194.6,308.4,0.0,647,3776,1.48,1.92,174.55,1.057,4,0.126,0.099,3222,2952,1894,0,0,0,0,0,0,14.16,14.19,13.63
$GC,3846,1.05,194.6,290.7,10.7,689,3852,0.00,1.92,0.00,0.000,6,0.000,0.102,3230,1900,1889,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4042,0.98,194.6,271.2,10.0,726,4050,0.15,1.90,0.00,0.000,4,0.272,0.096,3191,2952,1887,0,0,0,0,0,0,14.03,14.25,28.83
$GC,4121,0.95,219.2,264.3,9.1,739,4151,0.00,1.98,22.38,0.986,6,0.000,0.103,3199,1875,1795,0,0,0,0,0,0,28.83,14.21,13.85
$GC,4343,0.95,267.2,244.1,8.3,780,4390,0.00,0.00,45.12,0.983,6,0.000,0.000,3199,1875,1603,0,0,0,0,0,0,28.83,28.83,13.82
$GC,4581,0.96,312.3,223.3,8.4,824,4630,0.00,2.00,42.25,0.974,4,0.000,0.099,3199,2954,1415,0,0,0,0,0,0,28.83,14.36,13.82
$GC,4735,0.96,323.7,208.7,9.6,851,4754,0.00,1.92,11.02,0.920,6,0.000,0.087,3206,1885,1369,0,0,0,0,0,0,28.83,14.24,13.84
$GC,4944,0.96,323.7,186.2,11.0,890,4952,0.00,1.90,0.00,0.000,4,0.000,0.091,3206,2952,1365,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4998,0.96,323.7,180.2,11.4,899,5005,0.12,1.90,0.00,0.000,6,0.246,0.093,3185,1909,1364,0,0,0,0,0,0,14.06,14.23,28.83
$GC,5195,0.96,323.7,155.7,12.6,936,5202,0.00,1.88,0.00,0.000,4,0.000,0.094,3185,2954,1364,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5242,0.96,323.7,149.6,12.8,944,5249,0.00,1.88,0.00,0.000,6,0.000,0.096,3192,1937,1363,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5439,0.96,323.7,125.8,11.5,981,5445,0.00,2.10,0.00,0.000,4,0.000,0.112,3200,844,1362,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5486,0.96,323.7,120.5,11.8,989,5493,0.00,1.98,0.00,0.000,6,0.000,0.069,3200,1936,1361,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5682,0.97,337.8,99.4,9.5,1026,5696,0.00,1.85,6.35,0.327,4,0.000,0.098,3200,2960,1323,0,0,0,0,0,0,28.83,14.29,13.97
$GC,5770,0.97,343.0,90.7,9.8,1041,5783,0.00,1.85,5.15,0.300,6,0.000,0.099,3206,1957,1303,0,0,0,0,0,0,28.83,14.04,14.00
$GC,5975,0.99,368.8,71.1,9.1,1079,6000,0.00,1.85,18.02,0.317,4,0.000,0.101,3206,2955,1192,0,0,0,0,0,0,28.83,14.35,14.11
$GC,6042,0.99,368.8,64.6,10.1,1090,6050,0.00,1.83,1.65,0.184,6,0.000,0.101,3213,1977,1192,0,0,0,0,0,0,28.83,14.12,14.07
$GC,6244,0.99,368.8,43.2,10.8,1127,6250,0.00,0.00,1.55,0.165,6,0.000,0.000,3213,1977,1191,0,0,0,0,0,0,28.83,28.83,14.11
$GC,6443,0.99,368.8,22.1,11.1,1164,6450,0.00,1.85,1.60,0.167,4,0.000,0.105,3213,2955,1191,0,0,0,0,0,0,28.83,14.14,14.14
$GC,6475,0.99,368.8,17.8,12.0,1169,6482,0.12,1.80,0.00,0.000,6,0.243,0.103,3190,1989,1198,0,0,0,0,0,0,13.90,14.01,28.83
$STATE,6610,end climb,SURFACE_DEPTH_REACHED
$STATE,6611,begin surface coast
$FINISH,1.5,1.015888
$STATE,6641,end surface coast,CONTROL_FINISHED_OK
$STATE,6641,begin surface
$SM_CCo,6666,42.97,0.132,0,0,858,450.13
$SM_GC,2.51,8.77,0.95,42.97,0.063,0.135,0.132,143,1524,858,-8.46,0.51,450.13,0,0,0,0,0,0,14.26,14.03,14.27
$IRIDIUM_FIX,2413.38,-3832.94,290313,101043
$TT8_MAMPS,0.024717,0.024717
$HUMID,59.52
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,22.80
$XPDR_PINGS,352
$SC_FREEKB,7517312
$24V_AH,13.6,278.864
$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,21.900,72.900,499.475,42.975,0.000,0.000,0.000,0.000,88.000,0.000,19.889,2679.237,1113.144,669.714,1878.338,462.331,0.000,1630.966,0.000,1890.980,0.000,0.543,0.000
$DEVICE_MAMPS,331.245,134.640,1080.945,131.580,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6620.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.214,0.000,0.000,0.000
$MEM,344804
$DATA_FILE_SIZE,39979,1200
$CAP_FILE_SIZE,257649,0
$CFSIZE,260034560,164937728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.262,230.8,1
$GPS,290313,121435,2422.079,-3832.305,25,1.7,25,-14.2