version: 66.11
glider: 190
mission: 6
dive: 612
start: 3 16 113 22 0 58
data:
$ID,190
$MISSION,6
$DIVE,612
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,340
$T_MISSION,450
$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,0.035
$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,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,-13754.489
$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,9
$R_STBD_OVSHOOT,14
$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
$GPS1,160313,214705,2427.511,-3840.640,32,0.9,33,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-63.0
$GPS2,160313,220006,2427.462,-3840.706,18,0.9,18,-14.2
$SPEED_LIMITS,0.166,0.176
$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,98.4,88656,-17.8,-9.608,-28.57
$D_GRID,980
$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,-1.31,-194.6,0.0,0.0,0,35,0.00,0.00,-10.38,0.000,2,0.000,0.000,142,1517,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.31,-194.6,2.6,0.0,1,146,10.20,2.15,-89.95,0.000,4,0.338,0.151,2445,451,3489,0,0,0,0,0,0,14.02,13.99,14.57
$GC,379,-1.19,-194.6,35.5,-14.0,35,386,0.17,1.95,0.00,0.000,6,0.294,0.075,2477,1524,3488,0,0,0,0,0,0,13.62,13.95,28.83
$GC,687,-1.13,-194.6,71.7,-11.8,66,694,0.12,0.00,0.00,0.000,6,0.274,0.000,2509,1526,3489,0,0,0,0,0,0,13.74,28.83,28.83
$GC,996,-1.08,-194.6,107.2,-11.5,97,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1525,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-1.04,-194.6,142.0,-10.9,128,1314,0.00,2.00,0.00,0.000,4,0.000,0.096,2498,2580,3489,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1396,-1.01,-194.6,150.8,-9.8,137,1405,0.12,2.08,0.00,0.000,6,0.209,0.107,2537,1521,3489,0,0,0,0,0,0,13.79,13.90,28.83
$GC,1709,-1.01,-194.6,178.6,-9.2,168,1716,0.00,2.08,0.00,0.000,4,0.000,0.126,2537,458,3489,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1829,-0.97,-194.6,190.5,-9.9,180,1836,0.00,1.92,0.00,0.000,6,0.000,0.074,2535,1511,3489,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2138,-0.97,-194.6,219.8,-9.3,211,2145,0.00,2.10,0.00,0.000,4,0.000,0.125,2536,455,3489,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2207,-0.94,-194.6,227.0,-10.7,218,2215,0.12,1.92,0.00,0.000,6,0.269,0.074,2561,1510,3489,0,0,0,0,0,0,13.71,13.99,28.83
$GC,2536,-0.97,-194.6,260.4,-10.4,245,2543,0.00,2.10,0.00,0.000,4,0.000,0.124,2561,463,3490,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2576,-0.97,-194.6,263.5,-10.4,246,2583,0.00,1.90,0.00,0.000,6,0.000,0.076,2554,1488,3489,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2896,-0.97,-194.6,298.3,-10.5,257,2903,0.00,2.08,0.00,0.000,4,0.000,0.124,2554,460,3489,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2956,-0.97,-194.6,304.4,-10.2,259,2962,0.00,1.88,0.00,0.000,6,0.000,0.073,2549,1476,3489,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3291,-0.97,-194.6,333.8,-8.5,270,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1475,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-0.97,-194.6,358.5,-8.2,280,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1475,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3888,-0.97,-194.6,382.7,-8.0,290,3893,0.00,2.05,0.00,0.000,4,0.000,0.122,2549,452,3487,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3947,-0.97,-194.6,387.8,-8.4,292,3952,0.00,1.88,0.00,0.000,6,0.000,0.074,2547,1476,3487,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4281,-0.97,-194.6,414.8,-8.4,303,4286,0.00,2.05,0.00,0.000,4,0.000,0.125,2547,457,3486,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4355,-0.97,-194.6,420.2,-8.7,305,4364,0.00,1.88,0.00,0.000,6,0.000,0.074,2540,1459,3486,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4667,-0.97,-194.6,449.0,-8.7,316,4672,0.00,2.12,0.00,0.000,4,0.000,0.100,2537,2580,3486,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4737,-0.97,-194.6,454.3,-8.8,318,4743,0.00,2.15,0.00,0.000,6,0.000,0.106,2537,1456,3485,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5056,-0.97,-194.6,485.3,-9.6,329,5063,0.00,2.03,0.00,0.000,4,0.000,0.128,2537,458,3484,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5196,-0.97,-194.6,497.5,-10.1,333,5204,0.00,1.83,0.00,0.000,6,0.000,0.077,2536,1437,3484,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5507,-0.97,-194.6,531.6,-10.6,344,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1437,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5807,-0.97,-194.6,563.0,-10.2,354,5813,0.00,2.00,0.00,0.000,4,0.000,0.130,2536,454,3482,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5868,-0.97,-194.6,569.0,-10.1,356,5873,0.00,1.83,0.00,0.000,6,0.000,0.080,2535,1438,3482,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6199,-0.97,-194.6,598.0,-8.2,367,6204,0.00,2.00,0.00,0.000,4,0.000,0.132,2536,454,3481,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6247,-0.97,-194.6,600.5,-8.2,368,6254,0.00,1.83,0.00,0.000,6,0.000,0.080,2536,1421,3481,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6556,-0.97,-194.6,627.0,-8.2,379,6562,0.00,1.98,0.00,0.000,4,0.000,0.134,2536,464,3478,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6646,-0.97,-194.6,635.1,-8.7,382,6652,0.00,1.77,0.00,0.000,6,0.000,0.083,2536,1402,3479,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6981,-0.97,-194.6,664.9,-9.2,393,6987,0.00,1.92,0.00,0.000,4,0.000,0.138,2535,454,3478,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7096,-0.97,-194.6,676.5,-9.7,397,7104,0.00,1.75,0.00,0.000,6,0.000,0.084,2532,1376,3478,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7432,-0.97,-194.6,705.9,-8.5,408,7437,0.00,2.28,0.00,0.000,4,0.000,0.099,2524,2575,3477,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7488,-0.97,-194.6,710.7,-8.1,410,7495,0.10,2.33,0.00,0.000,6,0.204,0.109,2553,1394,3477,0,0,0,0,0,0,13.77,13.88,28.83
$GC,7824,-1.00,-194.6,733.3,-6.6,421,7831,0.00,1.90,0.00,0.000,4,0.000,0.132,2553,453,3475,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7850,-1.02,-194.6,735.4,-6.5,422,7856,0.00,1.77,0.00,0.000,6,0.000,0.085,2549,1388,3473,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8185,-1.05,-194.6,758.4,-7.4,433,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1388,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8480,-1.07,-194.6,786.0,-10.0,443,8486,0.00,1.92,0.00,0.000,4,0.000,0.139,2549,460,3472,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8619,-1.07,-194.6,799.4,-11.2,447,8629,0.00,1.77,0.00,0.000,6,0.000,0.087,2545,1382,3472,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8932,-1.10,-194.6,839.0,-12.3,458,8937,0.00,2.33,0.00,0.000,4,0.000,0.111,2540,2576,3468,0,0,0,0,0,0,28.83,13.94,28.83
$GC,8979,-1.13,-194.6,842.5,-12.2,459,8989,0.08,2.38,0.00,0.000,6,0.092,0.114,2501,1382,3470,0,0,0,0,0,0,14.00,13.90,28.83
$GC,9294,-1.13,-194.6,883.9,-12.2,470,9299,0.00,1.88,0.00,0.000,4,0.000,0.138,2500,458,3469,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9380,-1.11,-194.6,894.9,-12.2,473,9387,0.00,1.73,0.00,0.000,6,0.000,0.084,2496,1373,3468,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9712,-1.11,-194.6,929.2,-9.6,484,9717,0.00,1.88,0.00,0.000,4,0.000,0.142,2496,459,3468,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9749,-1.11,-194.6,932.2,-9.7,485,9756,0.00,1.75,0.00,0.000,6,0.000,0.089,2490,1366,3467,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10074,-1.11,-194.6,962.1,-8.9,496,10079,0.00,2.33,0.00,0.000,4,0.000,0.101,2484,2582,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10120,-1.11,-194.6,964.8,-8.8,497,10128,0.12,2.38,0.00,0.000,6,0.257,0.111,2511,1362,3466,0,0,0,0,0,0,13.83,13.97,28.83
$STATE,10276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10276,begin apogee
$GC,10286,-0.33,0.0,980.2,-8.7,503,10488,0.90,0.00,192.73,1.813,4,0.207,0.000,2756,1895,2689,0,0,0,0,0,0,13.87,28.83,13.07
$STATE,10494,end apogee,CONTROL_FINISHED_OK
$STATE,10494,begin climb
$GC,10498,1.31,194.6,989.5,0.0,510,10712,1.75,2.08,202.30,1.814,4,0.132,0.116,3288,2959,1896,0,0,0,0,0,0,13.76,13.77,13.09
$GC,10892,1.22,194.6,958.8,11.1,523,10899,0.15,2.05,0.00,0.000,6,0.330,0.116,3268,1897,1882,0,0,0,0,0,0,13.62,13.91,28.83
$GC,11215,1.15,194.6,924.5,10.4,534,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1897,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11514,1.08,194.6,892.6,10.9,544,11520,0.17,2.17,0.00,0.000,4,0.318,0.149,3234,838,1882,0,0,0,0,0,0,13.47,13.93,28.83
$GC,11711,1.03,194.6,872.8,11.0,550,11720,0.10,2.03,0.00,0.000,6,0.288,0.104,3210,1866,1878,0,0,0,0,0,0,13.63,13.92,28.83
$GC,12026,1.00,194.6,836.3,11.2,561,12032,0.00,2.12,0.00,0.000,4,0.000,0.147,3217,840,1877,0,0,0,0,0,0,28.83,13.93,28.83
$GC,12142,0.97,194.6,822.5,11.5,565,12150,0.12,1.98,0.00,0.000,6,0.265,0.096,3185,1860,1876,0,0,0,0,0,0,13.65,13.93,28.83
$GC,12479,0.98,212.0,790.3,9.1,576,12500,0.00,2.10,15.57,1.602,4,0.000,0.145,3193,837,1824,0,0,0,0,0,0,28.83,14.04,13.43
$GC,12551,1.00,245.3,785.1,8.7,578,12593,0.00,1.92,36.92,1.636,6,0.000,0.093,3193,1853,1694,0,0,0,0,0,0,28.83,14.11,13.28
$GC,12913,1.03,309.5,753.9,7.9,591,12990,0.00,2.08,68.65,1.607,4,0.000,0.144,3201,845,1424,0,0,0,0,0,0,28.83,14.06,13.24
$GC,13076,1.06,343.9,741.1,8.7,596,13121,0.00,1.88,37.10,1.580,6,0.000,0.096,3201,1843,1284,0,0,0,0,0,0,28.83,14.09,13.22
$GC,13423,1.09,343.9,702.1,11.8,608,13430,0.00,2.05,0.00,0.000,4,0.000,0.141,3208,847,1272,0,0,0,0,0,0,28.83,13.99,28.83
$GC,13463,1.12,343.9,698.4,12.0,609,13470,0.00,1.88,0.00,0.000,6,0.000,0.091,3206,1830,1272,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13786,1.14,343.9,657.6,12.3,620,13792,0.00,2.12,0.00,0.000,4,0.000,0.107,3208,2964,1271,0,0,0,0,0,0,28.83,14.07,28.83
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$STATE,19308,end climb,SURFACE_DEPTH_REACHED
$STATE,19309,begin surface coast
$FINISH,1.6,1.006850
$STATE,19330,end surface coast,CONTROL_FINISHED_OK
$STATE,19330,begin surface
$SM_CCo,19356,0.40,0.284,0,0,1265,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,64.01
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.20
$XPDR_PINGS,7
$SC_FREEKB,7536512
$24V_AH,13.1,255.952
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,23.625,161.375,553.275,0.400,0.000,0.000,0.000,451.950,1.750,0.000,20.038,2746.195,13441.864,877.622,2277.090,799.177,0.000,2352.917,0.000,1820.078,0.000,0.541,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.799,0.000,0.000,0.000
$MEM,345028
$DATA_FILE_SIZE,36681,947
$CAP_FILE_SIZE,206993,1
$CFSIZE,260034560,170729472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,267.2,1
$GPS,170313,032459,2427.447,-3840.543,36,1.0,36,-14.2