version: 66.11
glider: 190
mission: 4
dive: 2
start: 8 23 112 18 19 57
data:
$ID,190
$MISSION,4
$DIVE,2
$N_DIVES,3
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,210
$D_NO_BLEED,50
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55439
$NAV_MODE,0
$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,602.2688
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-9970.6162
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2996
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.086243
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,230812,181642,4742.954,-12224.435,13,1.3,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.2
$GPS2,230812,181930,4742.953,-12224.428,18,1.3,18,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$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,260.4,718,-23.2,-10.000,-26.23
$D_GRID,177
$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,19,-1.16,-86.2,0.0,0.0,0,122,0.00,0.00,-100.03,0.000,2,0.000,0.000,150,2206,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.23,-146.6,2.1,-4.1,18,172,12.62,1.85,-26.65,0.000,4,0.455,0.129,2603,3255,3597,0,0,0,0,0,0,14.57,14.74,14.99
$GC,284,-1.12,-146.6,28.5,-24.4,47,290,0.22,1.88,0.00,0.000,6,0.317,0.091,2654,2190,3598,0,0,0,0,0,0,14.60,14.74,28.83
$GC,417,-1.06,-146.6,58.6,-21.3,58,422,0.00,1.90,0.00,0.000,4,0.000,0.117,2657,1137,3598,0,0,0,0,0,0,28.83,14.75,28.83
$GC,559,-1.01,-146.6,86.1,-20.1,65,565,0.17,1.88,0.00,0.000,6,0.313,0.098,2689,2197,3598,0,0,0,0,0,0,14.66,14.80,28.83
$GC,702,-1.01,-146.6,109.8,-15.7,72,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2196,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-1.01,-146.6,128.9,-16.2,78,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-1.01,-146.6,148.8,-16.7,84,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2196,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1062,-1.01,-146.6,169.3,-17.6,90,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2197,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1121,begin apogee
$GC,1124,-0.23,0.0,180.1,-17.9,93,1263,0.88,0.00,129.77,1.334,6,0.246,0.000,2936,2037,2989,0,0,0,0,0,0,14.68,28.83,13.83
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1267,1.23,146.6,187.0,0.0,100,1409,1.48,2.00,129.65,1.252,4,0.142,0.107,3407,3098,2392,0,0,0,0,0,0,14.33,14.23,13.81
$GC,1520,1.12,146.6,169.2,13.5,112,1527,0.15,1.90,0.00,0.000,6,0.360,0.103,3385,2043,2384,0,0,0,0,0,0,14.45,14.55,28.83
$GC,1646,1.04,146.6,151.0,12.5,119,1651,0.12,1.90,0.00,0.000,4,0.349,0.107,3356,3104,2384,0,0,0,0,0,0,14.56,14.67,28.83
$GC,1729,0.98,146.6,141.0,11.9,123,1734,0.00,1.90,0.00,0.000,6,0.000,0.103,3364,2033,2383,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1871,0.93,146.6,124.2,12.2,130,1877,0.15,1.95,0.00,0.000,4,0.327,0.125,3334,971,2383,0,0,0,0,0,0,14.65,14.74,28.83
$GC,1983,0.91,146.6,112.2,11.4,135,1988,0.00,1.90,0.00,0.000,6,0.000,0.096,3335,2040,2383,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2114,0.91,146.6,96.7,10.9,142,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2041,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,0.89,146.6,84.3,10.2,148,2240,0.00,1.88,0.00,0.000,4,0.000,0.111,3334,3101,2382,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2321,0.86,146.6,75.5,10.6,152,2327,0.17,1.88,0.00,0.000,6,0.320,0.103,3304,2038,2382,0,0,0,0,0,0,14.70,14.81,28.83
$GC,2459,0.88,162.6,62.3,8.8,159,2473,0.00,2.00,6.28,0.277,4,0.000,0.129,3312,975,2338,0,0,0,0,0,0,28.83,14.80,14.65
$GC,2700,0.90,175.1,39.9,9.0,176,2715,0.00,1.88,9.18,0.256,6,0.000,0.095,3312,2048,2283,0,0,0,0,0,0,28.83,14.81,14.67
$GC,2842,0.93,176.2,25.9,9.9,190,2853,0.00,2.00,2.88,0.210,4,0.000,0.125,3319,979,2278,0,0,0,0,0,0,28.83,14.76,14.66
$STATE,3059,end climb,SURFACE_DEPTH_REACHED
$STATE,3059,begin surface coast
$FINISH,0.1,1.004709
$STATE,3090,end surface coast,CONTROL_FINISHED_OK
$STATE,3090,begin surface
$SM_CCo,3111,207.98,0.154,0,0,537,602.46
$SM_GC,0.87,9.32,2.25,207.98,0.104,0.109,0.154,148,2202,537,-8.94,-0.48,602.46,0,0,0,0,0,0,14.79,14.81,14.69
$IRIDIUM_FIX,4729.30,-12229.50,230812,181818
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.07
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.90
$XPDR_PINGS,2
$SC_FREEKB,7769248
$TM_FREEKB,7895744
$24V_AH,13.8,4.939
$10V_AH,13.9,0.000
$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,25.300,31.225,277.750,207.975,0.000,0.000,0.000,0.000,0.500,0.000,19.825,725.840,1439.439,559.575,653.046,27.660,0.000,952.814,0.000,609.137,0.000,0.538,0.000
$DEVICE_MAMPS,455.175,128.520,1334.160,153.765,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3060.000,3059.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.270,12.844,0.000,0.000
$MEM,322608
$DATA_FILE_SIZE,6826,238
$CAP_FILE_SIZE,73780,0
$CFSIZE,260034560,255877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230812,191612,4743.127,-12224.968,17,1.2,17,16.6