version: 66.11
glider: 190
mission: 6
dive: 613
start: 3 17 113 3 39 48
data:
$ID,190
$MISSION,6
$DIVE,613
$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,-13755.746
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,170313,032459,2427.447,-3840.543,36,1.0,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-66.1
$GPS2,170313,033853,2427.477,-3840.638,17,1.1,17,-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,100.9,88539,-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,22,-1.31,-194.6,0.0,0.0,0,35,0.00,0.00,-10.48,0.000,2,0.000,0.000,136,1520,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.31,-194.6,2.5,0.0,1,148,10.55,2.12,-91.95,0.000,4,0.354,0.151,2446,459,3488,0,0,0,0,0,0,14.03,13.95,14.59
$GC,332,-1.19,-194.6,28.0,-13.1,30,340,0.15,1.98,0.00,0.000,6,0.275,0.079,2485,1521,3488,0,0,0,0,0,0,13.62,13.93,28.83
$GC,642,-1.13,-194.6,63.0,-11.3,61,650,0.00,2.00,0.00,0.000,4,0.000,0.100,2477,2585,3488,0,0,0,0,0,0,28.83,13.98,28.83
$GC,682,-1.07,-194.6,67.7,-11.9,65,691,0.15,2.08,0.00,0.000,6,0.229,0.109,2518,1525,3488,0,0,0,0,0,0,13.75,13.91,28.83
$GC,992,-1.03,-194.6,102.3,-11.5,96,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1525,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1302,-1.01,-194.6,137.1,-11.4,127,1309,0.00,2.15,0.00,0.000,4,0.000,0.129,2519,459,3488,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1363,-0.96,-194.6,144.2,-12.2,133,1372,0.20,1.95,0.00,0.000,6,0.256,0.075,2557,1524,3488,0,0,0,0,0,0,13.66,13.88,28.83
$GC,1676,-0.96,-194.6,172.7,-8.4,164,1683,0.00,2.12,0.00,0.000,4,0.000,0.128,2557,457,3488,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1762,-0.96,-194.6,180.3,-8.5,173,1770,0.00,1.92,0.00,0.000,6,0.000,0.075,2553,1500,3488,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2072,-0.96,-194.6,203.3,-8.1,204,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1500,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-0.96,-194.6,231.9,-9.7,235,2389,0.00,2.10,0.00,0.000,4,0.000,0.126,2552,460,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2422,-0.96,-194.6,236.1,-10.5,239,2430,0.00,1.90,0.00,0.000,6,0.000,0.073,2549,1490,3488,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2742,-0.96,-194.6,270.0,-10.8,259,2748,0.00,2.08,0.00,0.000,4,0.000,0.125,2549,466,3489,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2871,-0.96,-194.6,283.5,-11.3,263,2878,0.00,1.90,0.00,0.000,6,0.000,0.073,2542,1485,3488,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3193,-0.96,-194.6,317.0,-9.9,274,3198,0.00,2.08,0.00,0.000,4,0.000,0.125,2545,456,3487,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3271,-0.96,-194.6,323.0,-9.9,276,3279,0.00,1.88,0.00,0.000,6,0.000,0.075,2540,1458,3488,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3584,-0.96,-194.6,352.0,-8.4,287,3589,0.00,2.00,0.00,0.000,4,0.000,0.125,2540,455,3487,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3681,-0.96,-194.6,359.8,-8.7,290,3689,0.00,1.85,0.00,0.000,6,0.000,0.075,2539,1441,3487,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4007,-0.96,-194.6,386.2,-7.9,301,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1445,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4302,-0.96,-194.6,411.8,-9.0,311,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1441,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.96,-194.6,441.3,-9.9,321,4609,0.00,2.00,0.00,0.000,4,0.000,0.125,2539,463,3485,0,0,0,0,0,0,28.83,13.73,28.83
$GC,4653,-0.96,-194.6,444.5,-10.1,322,4659,0.00,1.80,0.00,0.000,6,0.000,0.074,2536,1427,3485,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4962,-0.96,-194.6,478.8,-10.5,333,4969,0.00,1.98,0.00,0.000,4,0.000,0.125,2536,459,3484,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5002,-0.96,-194.6,482.1,-10.5,334,5009,0.00,1.80,0.00,0.000,6,0.000,0.077,2535,1418,3484,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5324,-0.96,-194.6,516.5,-10.4,345,5330,0.00,2.22,0.00,0.000,4,0.000,0.101,2535,2579,3483,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5391,-0.96,-194.6,522.6,-10.2,347,5398,0.00,2.28,0.00,0.000,6,0.000,0.109,2536,1431,3483,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5713,-0.96,-194.6,555.0,-9.7,358,5719,0.00,2.22,0.00,0.000,4,0.000,0.101,2535,2582,3482,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5752,-0.96,-194.6,557.8,-9.6,359,5758,0.00,2.25,0.00,0.000,6,0.000,0.110,2536,1442,3482,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6076,-0.96,-194.6,587.5,-8.8,370,6081,0.00,1.98,0.00,0.000,4,0.000,0.132,2535,458,3481,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6123,-0.96,-194.6,590.4,-9.0,371,6132,0.12,1.83,0.00,0.000,6,0.275,0.077,2557,1452,3481,0,0,0,0,0,0,13.69,13.95,28.83
$GC,6436,-0.99,-194.6,620.2,-9.2,382,6441,0.00,2.03,0.00,0.000,4,0.000,0.133,2557,461,3480,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6473,-1.01,-194.6,622.9,-9.1,383,6478,0.00,1.85,0.00,0.000,6,0.000,0.080,2552,1434,3480,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6795,-1.04,-194.6,654.3,-9.7,394,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1435,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7094,-1.07,-194.6,683.7,-9.8,404,7099,0.00,2.00,0.00,0.000,4,0.000,0.133,2553,457,3478,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7242,-1.07,-194.6,699.2,-10.4,409,7249,0.00,1.83,0.00,0.000,6,0.000,0.080,2553,1422,3477,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7578,-1.10,-194.6,730.9,-9.3,420,7583,0.12,1.95,0.00,0.000,4,0.142,0.133,2498,459,3476,0,0,0,0,0,0,14.20,13.87,28.83
$GC,7694,-1.08,-194.6,743.5,-10.4,424,7700,0.08,1.77,0.00,0.000,6,0.263,0.080,2512,1397,3475,0,0,0,0,0,0,13.71,14.01,28.83
$GC,8029,-1.08,-194.6,774.3,-9.3,435,8034,0.00,1.92,0.00,0.000,4,0.000,0.135,2512,454,3474,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8084,-1.08,-194.6,780.3,-9.8,437,8091,0.00,1.77,0.00,0.000,6,0.000,0.081,2506,1395,3473,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8414,-1.08,-194.6,813.7,-10.3,448,8420,0.00,1.92,0.00,0.000,4,0.000,0.136,2509,454,3473,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8484,-1.08,-194.6,820.2,-10.5,450,8491,0.00,1.77,0.00,0.000,6,0.000,0.086,2509,1385,3472,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8804,-1.08,-194.6,854.9,-10.5,461,8811,0.00,1.92,0.00,0.000,4,0.000,0.142,2509,463,3471,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8894,-1.08,-194.6,864.5,-10.6,464,8900,0.00,1.73,0.00,0.000,6,0.000,0.093,2508,1358,3470,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9228,-1.08,-194.6,895.2,-8.7,475,9233,0.00,1.88,0.00,0.000,4,0.000,0.149,2509,459,3469,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9273,-1.08,-194.6,897.9,-8.7,476,9281,0.00,1.75,0.00,0.000,6,0.000,0.097,2509,1353,3468,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9585,-1.08,-194.6,926.4,-8.7,487,9590,0.00,2.35,0.00,0.000,4,0.000,0.106,2508,2576,3467,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9653,-1.08,-194.6,931.6,-8.6,489,9660,0.00,2.40,0.00,0.000,6,0.000,0.112,2509,1366,3467,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9975,-1.08,-194.6,964.1,-10.3,500,9981,0.00,1.85,0.00,0.000,4,0.000,0.140,2509,458,3467,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10053,-1.08,-194.6,971.1,-11.0,502,10061,0.00,1.75,0.00,0.000,6,0.000,0.094,2509,1356,3465,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,10119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10120,begin apogee
$GC,10129,-0.33,0.0,981.2,-11.4,505,10332,0.88,0.00,193.95,1.840,4,0.210,0.000,2748,1896,2686,0,0,0,0,0,0,13.87,28.83,13.07
$STATE,10338,end apogee,CONTROL_FINISHED_OK
$STATE,10338,begin climb
$GC,10342,1.31,194.6,996.3,0.0,512,10556,1.77,2.05,202.45,1.834,4,0.131,0.110,3288,2965,1897,0,0,0,0,0,0,13.76,13.81,13.10
$GC,10677,1.22,210.3,979.4,9.2,523,10698,0.15,2.08,15.35,1.661,6,0.354,0.117,3269,1895,1837,0,0,0,0,0,0,13.57,13.89,13.26
$GC,11019,1.16,210.3,946.6,9.8,535,11024,0.00,2.17,0.00,0.000,4,0.000,0.152,3277,839,1821,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11097,1.09,210.3,940.1,10.4,537,11106,0.20,2.05,0.00,0.000,6,0.301,0.106,3229,1889,1820,0,0,0,0,0,0,13.73,14.05,28.83
$GC,11412,1.06,210.3,905.7,10.7,548,11417,0.00,2.17,0.00,0.000,4,0.000,0.155,3235,835,1818,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11577,1.01,210.3,888.4,11.5,553,11586,0.12,2.00,0.00,0.000,6,0.286,0.109,3204,1855,1817,0,0,0,0,0,0,13.69,13.99,28.83
$GC,11892,1.01,210.3,853.3,10.4,564,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1854,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12188,1.01,217.2,824.3,9.4,574,12194,0.00,2.12,0.00,0.000,4,0.000,0.112,3204,2964,1816,0,0,0,0,0,0,28.83,13.91,28.83
$GC,12238,0.99,220.4,821.3,9.5,575,12246,0.00,2.15,2.88,0.821,6,0.000,0.109,3212,1857,1793,0,0,0,0,0,0,28.83,13.93,13.29
$GC,12552,0.97,220.4,788.4,10.0,586,12559,0.00,2.12,1.75,0.179,4,0.000,0.144,3220,834,1795,0,0,0,0,0,0,28.83,14.01,13.99
$GC,12618,0.94,220.4,782.0,10.2,588,12626,0.15,2.00,0.00,0.000,6,0.268,0.095,3181,1865,1802,0,0,0,0,0,0,13.71,14.02,28.83
$GC,12943,0.94,220.4,750.0,9.6,599,12949,0.00,2.12,1.55,0.186,4,0.000,0.112,3181,2959,1794,0,0,0,0,0,0,28.83,14.01,14.00
$GC,13018,0.94,220.4,744.2,9.7,601,13028,0.00,2.12,0.00,0.000,6,0.000,0.108,3188,1867,1803,0,0,0,0,0,0,28.83,13.94,28.83
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$GC,16689,0.95,276.1,376.9,10.6,724,16695,0.00,2.10,0.00,0.000,4,0.000,0.110,3191,2960,1573,0,0,0,0,0,0,28.83,13.92,28.83
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$STATE,19836,end climb,SURFACE_DEPTH_REACHED
$STATE,19836,begin surface coast
$FINISH,1.7,1.012499
$STATE,19858,end surface coast,CONTROL_FINISHED_OK
$STATE,19858,begin surface
$SM_CCo,19944,0.00,0.000,0,0,913,436.63
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$IRIDIUM_FIX,2418.11,-3839.22,160313,212118
$TT8_MAMPS,0.023968,0.023968
$HUMID,63.93
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.00
$XPDR_PINGS,6
$SC_FREEKB,7536128
$24V_AH,13.1,256.381
$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,24.275,163.400,642.525,0.000,0.000,0.000,0.000,466.525,1.500,0.000,19.137,2749.259,13959.297,953.173,2300.562,794.356,0.000,2447.133,0.000,1801.865,0.000,0.539,0.000
$DEVICE_MAMPS,354.195,154.530,1839.825,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.657,0.000,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,36686,951
$CAP_FILE_SIZE,210709,1
$CFSIZE,260034560,170627072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,256.2,1
$GPS,170313,091335,2427.435,-3840.400,39,1.1,39,-14.2