version: 66.11
glider: 190
mission: 6
dive: 4
start: 9 16 112 21 13 15
data:
$ID,190
$MISSION,6
$DIVE,4
$N_DIVES,0
$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,350
$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,-12033.542
$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,2910
$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,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3280
$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
$GPS1,160912,210124,2434.353,-3803.761,25,0.9,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.2
$GPS2,160912,211248,2434.374,-3803.651,20,2.0,21,-14.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,63.0,101026,-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,-146.0,0.0,0.0,0,64,0.00,0.00,-42.38,0.000,2,0.000,0.000,142,1708,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.98,-146.0,2.3,-3.9,4,115,12.07,1.77,-29.95,0.000,4,0.434,0.108,2581,2754,3876,0,0,0,0,0,0,14.59,14.80,15.00
$GC,342,-0.90,-146.0,47.3,-18.2,31,348,0.15,1.83,0.00,0.000,6,0.275,0.089,2617,1695,3877,0,0,0,0,0,0,14.73,14.81,28.83
$GC,655,-0.86,-146.0,97.8,-15.7,62,660,0.00,1.80,0.00,0.000,4,0.000,0.087,2609,2757,3878,0,0,0,0,0,0,28.83,14.88,28.83
$GC,888,-0.84,-146.0,133.8,-14.5,85,894,0.10,1.80,0.00,0.000,6,0.279,0.090,2634,1695,3879,0,0,0,0,0,0,14.83,14.90,28.83
$GC,1201,-0.84,-146.0,168.3,-10.4,116,1206,0.00,1.80,0.00,0.000,4,0.000,0.089,2631,2761,3879,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1256,-0.84,-146.0,174.0,-10.7,121,1264,0.00,1.85,0.00,0.000,6,0.000,0.090,2631,1703,3879,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1563,-0.84,-146.0,209.2,-11.2,152,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1704,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.84,-146.0,241.7,-10.5,182,1869,0.00,1.77,0.00,0.000,4,0.000,0.090,2631,2753,3878,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1927,-0.86,-146.0,247.9,-9.8,188,1932,0.00,1.83,0.00,0.000,6,0.000,0.092,2631,1693,3873,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2249,-0.86,-146.0,283.1,-11.3,200,2254,0.00,1.80,0.00,0.000,4,0.000,0.092,2632,2757,3877,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2311,-0.88,-146.0,289.9,-10.9,202,2316,0.00,1.85,0.00,0.000,6,0.000,0.094,2631,1691,3878,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,2401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2401,begin apogee
$GC,2405,-0.23,0.0,300.3,-11.2,205,2538,0.65,0.00,125.50,1.432,6,0.207,0.000,2828,1498,3275,0,0,0,0,0,0,14.89,28.83,13.90
$STATE,2540,end apogee,CONTROL_FINISHED_OK
$STATE,2540,begin climb
$GC,2542,0.98,146.0,305.0,0.0,209,2675,1.17,2.05,123.82,1.379,4,0.129,0.126,3223,436,2676,0,0,0,0,0,0,14.43,14.33,13.85
$GC,2717,1.10,330.6,303.4,1.5,215,2883,0.12,1.83,159.38,1.318,6,0.174,0.070,3263,1496,1932,0,0,0,0,0,0,14.55,14.57,13.90
$GC,3190,1.03,330.6,223.1,18.1,239,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1496,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,0.96,330.6,170.6,17.2,269,3497,0.15,1.88,0.00,0.000,4,0.283,0.122,3231,444,1909,0,0,0,0,0,0,14.78,14.85,28.83
$GC,3568,0.91,330.6,158.4,16.7,276,3576,0.00,1.77,0.00,0.000,6,0.000,0.067,3231,1502,1908,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3874,0.87,330.6,112.6,13.5,307,3876,0.17,0.00,0.00,0.000,6,0.276,0.000,3189,1504,1907,0,0,0,0,0,0,14.82,28.83,28.83
$GC,4174,0.87,330.6,76.9,13.1,337,4179,0.00,1.83,0.00,0.000,4,0.000,0.086,3188,2558,1906,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4257,0.88,330.6,66.3,12.3,345,4262,0.00,1.85,0.00,0.000,6,0.000,0.106,3195,1499,1905,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4569,0.88,330.6,30.9,11.5,376,4574,0.00,1.90,0.00,0.000,4,0.000,0.129,3203,438,1905,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4652,0.88,330.6,20.9,13.1,384,4657,0.00,1.77,0.00,0.000,6,0.000,0.063,3204,1507,1905,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,4793,end climb,SURFACE_DEPTH_REACHED
$STATE,4793,begin surface coast
$FINISH,0.3,1.024644
$STATE,4814,end surface coast,CONTROL_FINISHED_OK
$STATE,4814,begin surface
$SM_CCo,4831,5.18,0.139,0,0,1851,350.04
$SM_GC,2.81,8.65,0.35,5.18,0.084,0.091,0.139,146,1709,1851,-8.59,-0.51,350.04,0,0,0,0,0,0,14.92,14.95,14.90
$IRIDIUM_FIX,2425.21,-3805.18,160912,191943
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.54
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,7768480
$TM_FREEKB,7880320
$24V_AH,13.9,6.794
$10V_AH,14.0,0.000
$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,23.250,33.675,408.700,5.175,0.000,0.000,0.000,430.075,0.500,0.000,22.077,1173.288,2372.004,408.677,1518.269,59.425,0.000,1364.684,0.000,886.791,0.000,0.544,0.000
$DEVICE_MAMPS,433.755,128.520,1432.080,139.230,0.000,0.000,0.000,191.250,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4826.000,3799.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.193,13.096,0.000,0.000
$MEM,345376
$DATA_FILE_SIZE,13440,400
$CAP_FILE_SIZE,87533,0
$CFSIZE,260034560,255778816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122, 14.6,1
$GPS,160912,223521,2434.982,-3802.941,35,1.6,50,-14.0