version: 66.11
glider: 190
mission: 4
dive: 4
start: 8 23 112 20 28 25
data:
$ID,190
$MISSION,4
$DIVE,4
$N_DIVES,4
$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,-9973.1357
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,230812,201921,4742.986,-12225.124,18,0.9,19,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.0
$GPS2,230812,202758,4743.084,-12225.109,37,0.8,37,16.6
$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,122.2,207,-27.2,-10.000,-30.00
$D_GRID,178
$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,20,-1.32,-63.1,0.0,0.0,0,123,0.00,0.00,-99.80,0.000,2,0.000,0.000,147,2205,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.38,-112.6,2.2,-4.7,18,166,12.73,1.92,-20.83,0.000,4,0.464,0.136,2571,1136,3454,0,0,0,0,0,0,14.46,14.62,14.88
$GC,394,-1.27,-112.6,59.9,-25.7,56,399,0.20,1.90,0.00,0.000,6,0.360,0.096,2603,2205,3455,0,0,0,0,0,0,14.56,14.71,28.83
$GC,536,-1.22,-112.6,94.1,-24.6,63,541,0.00,1.88,0.00,0.000,4,0.000,0.110,2596,3259,3455,0,0,0,0,0,0,28.83,14.73,28.83
$GC,592,-1.17,-112.6,103.5,-23.7,65,600,0.17,1.88,0.00,0.000,6,0.324,0.095,2634,2193,3455,0,0,0,0,0,0,14.62,14.73,28.83
$GC,718,-1.17,-112.6,130.0,-18.7,72,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2192,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-1.17,-112.6,150.8,-17.3,78,843,0.00,1.92,0.00,0.000,4,0.000,0.122,2634,1133,3454,0,0,0,0,0,0,28.83,14.72,28.83
$GC,888,-1.17,-112.6,158.4,-17.8,80,894,0.00,1.90,0.00,0.000,6,0.000,0.100,2627,2202,3458,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,999,begin apogee
$GC,1003,-0.23,0.0,181.1,-18.9,86,1115,1.15,0.00,99.35,1.974,6,0.285,0.000,2934,2032,2998,0,0,0,0,1,0,14.66,28.83,13.46
$STATE,1119,end apogee,CONTROL_FINISHED_OK
$STATE,1119,begin climb
$GC,1120,1.38,112.6,186.0,0.0,91,1236,1.67,1.98,101.70,1.939,4,0.145,0.106,3454,3096,2539,0,0,0,0,1,0,14.16,14.04,13.39
$GC,1352,1.26,112.6,175.3,11.1,103,1364,0.17,1.90,1.77,0.204,6,0.374,0.100,3429,2043,2538,0,0,0,0,0,0,14.33,14.45,14.37
$GC,1484,1.18,112.6,158.2,11.7,110,1487,0.00,0.00,1.50,0.208,6,0.000,0.000,3428,2043,2537,0,0,0,0,0,0,28.83,28.83,14.52
$GC,1604,1.11,116.8,146.4,9.6,116,1625,0.17,2.03,10.80,1.342,4,0.353,0.126,3395,978,2511,0,0,0,0,0,0,14.56,14.57,14.16
$GC,1736,1.07,116.8,133.0,11.4,122,1742,0.12,1.90,0.00,0.000,6,0.366,0.095,3371,2037,2509,0,0,0,0,0,0,14.54,14.66,28.83
$GC,1869,1.05,116.8,117.9,10.1,129,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2038,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,1.07,130.4,107.3,8.6,135,2010,0.00,2.00,13.00,1.297,4,0.000,0.126,3379,981,2457,0,0,0,0,0,0,28.83,14.64,14.22
$GC,2236,1.04,130.4,81.1,11.3,147,2241,0.00,1.90,0.00,0.000,6,0.000,0.094,3379,2047,2454,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2373,1.09,171.1,71.2,5.7,154,2398,0.00,1.85,20.40,0.366,4,0.000,0.109,3379,3100,2300,0,0,0,0,0,0,28.83,14.69,14.57
$GC,2535,1.09,171.1,51.5,13.6,162,2541,0.00,1.88,1.75,0.196,6,0.000,0.102,3385,2038,2299,0,0,0,0,0,0,28.83,14.72,14.69
$GC,2668,1.09,171.1,35.8,12.5,174,2674,0.00,1.95,1.65,0.202,4,0.000,0.112,3387,3099,2298,0,0,0,0,0,0,28.83,14.71,14.66
$GC,2855,1.09,171.1,12.4,13.0,202,2863,0.00,1.88,1.75,0.197,6,0.000,0.103,3393,2042,2297,0,0,0,0,0,0,28.83,14.73,14.70
$STATE,2933,end climb,SURFACE_DEPTH_REACHED
$STATE,2934,begin surface coast
$FINISH,0.1,1.022150
$STATE,2960,end surface coast,CONTROL_FINISHED_OK
$STATE,2960,begin surface
$SM_CCo,2979,208.70,0.150,0,0,537,602.46
$SM_GC,0.83,9.60,0.30,208.70,0.106,0.124,0.150,147,2203,537,-8.93,-0.62,602.46,0,0,0,0,0,0,14.77,14.78,14.64
$IRIDIUM_FIX,4726.11,-12223.37,230812,191922
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.26
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.80
$XPDR_PINGS,2
$SC_FREEKB,7768480
$TM_FREEKB,7886144
$24V_AH,13.4,5.302
$10V_AH,13.3,0.000
$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,26.000,31.275,253.675,208.700,0.000,24.324,36.198,232.459,0.500,0.000,38.891,726.120,1326.564,545.755,1075.742,47.956,0.000,940.381,0.000,610.168,0.000,0.537,0.000
$DEVICE_MAMPS,464.355,136.170,1974.465,149.940,0.000,85.680,160.000,223.000,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2967.000,3019.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.913,12.618,0.000,0.000
$MEM,322520
$DATA_FILE_SIZE,6813,222
$CAP_FILE_SIZE,67597,0
$CFSIZE,260034560,255696896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,230812,212235,4742.958,-12224.778,23,1.4,23,16.6