version: 66.11
glider: 191
mission: 4
dive: 6
start: 8 22 112 21 13 28
data:
$ID,191
$MISSION,4
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,220
$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,40
$T_MISSION,55
$T_ABORT,720
$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,54716
$NAV_MODE,1
$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,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,-3030.3086
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-1
$PRESSURE_YINT,-45.423092
$PRESSURE_SLOPE,0.0001171456
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,220812,210634,4743.509,-12224.611,36,1.0,36,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-62.0
$GPS2,220812,211300,4743.550,-12224.643,18,1.5,18,16.6
$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,187.0,1111,-17.5,-10.000,-21.04
$D_GRID,174
$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,-0.88,-146.6,0.0,0.0,0,116,0.00,0.00,-92.35,0.000,6,0.000,0.000,164,1701,3449,0,0,0,0,0,0,28.83,28.83,14.81
$GC,119,-0.88,-146.6,1.7,-6.3,17,137,10.12,1.98,0.00,0.000,4,0.451,0.099,2074,635,3452,0,0,0,0,0,0,14.35,14.51,28.83
$GC,363,-0.74,-146.6,41.9,-14.6,53,370,0.22,1.88,0.00,0.000,6,0.311,0.084,2117,1709,3453,0,0,0,0,0,0,14.48,14.61,28.83
$GC,500,-0.67,-146.6,56.6,-10.5,64,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,1706,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,620,-0.62,-146.6,69.2,-10.5,70,621,0.15,0.00,0.00,0.000,6,0.283,0.000,2151,1706,3453,0,0,0,0,0,0,14.59,28.83,28.83
$GC,739,-0.62,-146.6,80.5,-9.2,76,745,0.00,1.95,0.00,0.000,4,0.000,0.119,2151,635,3453,0,0,0,0,0,0,28.83,14.65,28.83
$GC,815,-0.62,-146.6,86.5,-9.7,79,822,0.00,1.88,0.00,0.000,6,0.000,0.083,2146,1704,3453,0,0,0,0,0,0,28.83,14.69,28.83
$GC,942,-0.61,-146.6,97.3,-7.7,86,947,0.00,1.95,0.00,0.000,4,0.000,0.119,2146,639,3453,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1005,-0.58,-146.6,102.6,-8.4,89,1011,0.15,1.88,0.00,0.000,6,0.295,0.089,2169,1698,3451,0,0,0,0,0,0,14.59,14.71,28.83
$GC,1148,-0.60,-146.6,113.3,-7.8,96,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1699,3453,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1229,-0.20,0.0,120.1,-8.3,100,1348,0.43,0.00,111.38,0.551,6,0.222,0.000,2288,1700,2853,0,0,0,0,0,0,14.65,28.83,14.19
$STATE,1352,end apogee,CONTROL_FINISHED_OK
$STATE,1352,begin climb
$GC,1353,0.88,146.6,123.8,0.0,106,1475,1.15,0.00,116.65,0.547,6,0.168,0.000,2634,1699,2252,0,0,0,0,0,0,14.44,28.83,14.10
$GC,1588,0.73,146.6,93.5,19.4,118,1593,0.15,1.98,0.00,0.000,4,0.326,0.120,2608,637,2255,0,0,0,0,0,0,14.35,14.49,28.83
$GC,1739,0.61,146.6,67.8,17.4,125,1745,0.22,1.90,0.00,0.000,6,0.291,0.087,2560,1702,2255,0,0,0,0,0,0,14.45,14.59,28.83
$GC,1872,0.58,146.6,50.7,11.5,132,1877,0.00,1.98,0.00,0.000,4,0.000,0.125,2565,642,2256,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1908,0.54,146.6,46.9,11.6,134,1915,0.15,1.88,0.00,0.000,6,0.285,0.089,2536,1700,2255,0,0,0,0,0,0,14.54,14.64,28.83
$GC,2034,0.57,174.3,35.6,8.7,147,2069,0.00,1.92,26.75,0.856,4,0.000,0.094,2535,2758,2134,0,0,0,0,0,0,28.83,14.53,14.15
$GC,2090,0.59,174.3,30.4,10.1,152,2097,0.00,1.92,0.00,0.000,6,0.000,0.106,2539,1701,2131,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2216,0.61,174.3,16.7,11.1,172,2222,0.00,1.88,0.00,0.000,4,0.000,0.093,2540,2759,2129,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2245,0.63,174.3,13.7,10.6,177,2251,0.00,1.92,0.00,0.000,6,0.000,0.106,2547,1698,2129,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,2362,end climb,SURFACE_DEPTH_REACHED
$STATE,2362,begin surface coast
$FINISH,-0.1,1.021613
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2398,152.20,0.962,1,0,1013,450.13
$SM_GC,-0.68,7.45,0.00,152.20,0.128,0.000,0.962,166,1699,1013,-6.81,-0.03,450.13,0,0,0,0,1,0,14.65,28.83,13.83
$IRIDIUM_FIX,4726.11,-12223.37,220812,202029
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.02
$INTERNAL_PRESSURE,8.88188
$TCM_TEMP,20.60
$XPDR_PINGS,2
$SC_FREEKB,7767712
$TM_FREEKB,7880864
$24V_AH,13.8,5.450
$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,20.200,26.875,254.775,152.200,0.000,0.000,0.000,236.375,0.500,0.000,19.550,591.981,1054.283,473.647,802.363,39.880,0.000,1027.205,0.000,464.231,0.000,0.548,0.000
$DEVICE_MAMPS,451.350,125.460,856.035,961.605,0.000,0.000,0.000,39.768,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2393.000,2376.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,40.141,16.613,0.000,0.000
$MEM,322500
$DATA_FILE_SIZE,6835,204
$CAP_FILE_SIZE,57811,0
$CFSIZE,260034560,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,220812,215659,4743.236,-12224.660,17,1.0,17,16.6