version: 66.11
glider: 190
mission: 6
dive: 2
start: 9 16 112 17 21 31
data:
$ID,190
$MISSION,6
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,2
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$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,0.0099999998
$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,686.89728
$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,-11997.33
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2960
$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,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3341
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,12
$MINV_10V,12
$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,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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160912,171558,2434.858,-3803.769,18,0.8,18,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.7
$GPS2,160912,172104,2434.872,-3803.729,20,0.8,21,-14.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-3844.000
$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,256.2,99145,-17.5,-10.000,-21.06
$D_GRID,300
$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,-0.98,-146.0,0.0,0.0,0,137,0.00,0.00,-114.43,0.000,2,0.000,0.000,143,1689,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,140,-0.98,-146.0,2.4,-3.0,11,175,12.38,1.88,-17.88,0.000,4,0.431,0.135,2640,653,3936,0,0,0,0,0,0,14.64,14.81,15.10
$GC,232,-0.89,-146.0,14.3,-17.7,20,239,0.12,1.75,0.00,0.000,6,0.296,0.063,2664,1703,3937,0,0,0,0,0,0,14.73,14.88,28.83
$GC,537,-0.89,-146.0,61.3,-13.4,51,542,0.00,1.77,0.00,0.000,4,0.000,0.084,2661,2758,3936,0,0,0,0,0,0,28.83,14.89,28.83
$GC,573,-0.89,-146.0,65.2,-12.6,54,580,0.00,1.80,0.00,0.000,6,0.000,0.087,2661,1707,3936,0,0,0,0,0,0,28.83,14.83,28.83
$GC,879,-0.89,-146.0,102.5,-11.0,85,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1707,3940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1179,-0.91,-146.0,132.1,-10.8,115,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1708,3937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1479,-0.95,-146.0,170.7,-13.3,145,1485,0.00,1.77,0.00,0.000,4,0.000,0.085,2661,2768,3936,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1576,-1.00,-146.0,182.1,-12.0,154,1583,0.00,1.83,0.00,0.000,6,0.000,0.088,2662,1700,3933,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1882,-1.04,-146.0,215.6,-10.5,185,1888,0.12,1.77,0.00,0.000,4,0.145,0.085,2602,2758,3934,0,0,0,0,0,0,14.94,14.88,28.83
$GC,1935,-1.04,-146.0,222.1,-12.2,190,1941,0.00,1.83,0.00,0.000,6,0.000,0.090,2602,1697,3934,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2267,-1.04,-146.0,266.3,-13.2,215,2272,0.00,1.83,0.00,0.000,4,0.000,0.090,2602,2767,3932,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2303,-1.04,-146.0,270.3,-13.2,216,2308,0.00,1.83,0.00,0.000,6,0.000,0.091,2602,1701,3933,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,2539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2539,begin apogee
$GC,2542,-0.23,0.0,303.1,-14.1,224,2670,0.93,0.00,122.80,1.426,6,0.209,0.000,2881,1701,3338,0,0,0,0,0,0,14.82,28.83,13.93
$STATE,2672,end apogee,CONTROL_FINISHED_OK
$STATE,2672,begin climb
$GC,2673,0.98,146.0,308.9,0.0,228,2806,1.08,1.95,123.50,1.379,4,0.064,0.119,3291,640,2740,0,0,0,0,0,0,14.53,14.38,13.88
$GC,3032,0.83,168.0,301.0,9.0,240,3059,0.25,1.80,20.23,1.481,6,0.314,0.070,3233,1704,2654,0,0,0,0,0,0,14.70,14.85,14.22
$GC,3386,0.74,177.7,267.3,9.6,252,3402,0.12,1.90,9.57,1.436,4,0.317,0.116,3209,641,2611,0,0,0,0,0,0,14.78,14.83,14.33
$GC,3632,0.68,195.2,243.9,9.2,264,3654,0.00,1.77,16.20,1.369,6,0.000,0.071,3209,1697,2541,0,0,0,0,0,0,28.83,14.92,14.30
$GC,3952,0.62,195.2,212.6,10.3,296,3959,0.17,1.90,0.00,0.000,4,0.291,0.116,3170,639,2535,0,0,0,0,0,0,14.77,14.87,28.83
$GC,4187,0.59,200.8,190.4,9.7,319,4193,0.00,1.80,1.05,0.200,6,0.000,0.070,3170,1707,2520,0,0,0,0,0,0,28.83,14.92,14.89
$GC,4501,0.58,210.6,159.8,9.5,350,4520,0.00,0.00,13.73,1.313,6,0.000,0.000,3171,1707,2475,0,0,0,0,0,0,28.83,28.83,14.35
$GC,4821,0.62,268.2,130.5,7.3,382,4876,0.00,1.80,49.95,1.271,4,0.000,0.086,3170,2760,2242,0,0,0,0,0,0,28.83,14.64,14.15
$GC,4956,0.65,292.7,119.8,8.9,395,4985,0.00,1.88,22.70,1.273,6,0.000,0.099,3178,1703,2144,0,0,0,0,0,0,28.83,14.73,14.13
$GC,5283,0.65,292.7,85.0,10.8,428,5289,0.00,1.90,0.00,0.000,4,0.000,0.120,3185,640,2133,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5396,0.65,292.7,71.7,12.0,439,5401,0.00,1.80,0.00,0.000,6,0.000,0.070,3186,1706,2133,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5707,0.65,292.7,37.8,10.4,470,5712,0.00,1.92,0.00,0.000,4,0.000,0.121,3192,639,2131,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5939,0.65,292.7,11.2,13.4,493,5944,0.00,1.80,0.00,0.000,6,0.000,0.068,3192,1709,2133,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,6010,end climb,SURFACE_DEPTH_REACHED
$STATE,6010,begin surface coast
$FINISH,0.6,1.024622
$STATE,6031,end surface coast,CONTROL_FINISHED_OK
$STATE,6031,begin surface
$SM_CCo,6049,179.40,0.129,0,0,538,687.09
$SM_GC,0.96,8.62,0.00,179.40,0.082,0.000,0.129,139,1713,538,-8.76,0.34,687.09,0,0,0,0,0,0,14.92,28.83,14.82
$IRIDIUM_FIX,2427.58,-3803.31,160912,171740
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.21
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.60
$XPDR_PINGS,176
$SC_FREEKB,7769248
$TM_FREEKB,7893408
$24V_AH,13.9,6.290
$10V_AH,13.8,0.000
$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,23.800,40.275,379.725,179.400,0.000,0.000,0.000,0.000,44.000,0.000,21.825,1490.958,2968.059,631.870,1178.073,46.192,0.000,1250.652,0.000,1116.569,0.000,0.545,0.000
$DEVICE_MAMPS,431.460,134.640,1481.040,128.520,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6003.000,4599.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.113,13.398,0.000,0.000
$MEM,345464
$DATA_FILE_SIZE,16741,502
$CAP_FILE_SIZE,122239,0
$CFSIZE,260034560,256004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,102.3,1
$GPS,160912,190634,2434.704,-3804.434,37,1.0,37,-14.0