version: 66.11
glider: 190
mission: 4
dive: 3
start: 8 23 112 19 25 28
data:
$ID,190
$MISSION,4
$DIVE,3
$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,-9971.875
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,230812,191612,4743.127,-12224.968,17,1.2,17,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.4
$GPS2,230812,192501,4743.168,-12224.948,16,1.6,16,16.6
$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,175.1,318,-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,19,-1.32,-63.1,0.0,0.0,0,121,0.00,0.00,-99.32,0.000,2,0.000,0.000,149,2200,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.38,-111.6,2.2,-4.8,18,165,12.55,1.88,-20.92,0.000,4,0.460,0.130,2556,3259,3451,0,0,0,0,0,0,14.48,14.64,14.90
$GC,392,-1.29,-111.6,56.1,-25.0,55,399,0.17,1.88,0.00,0.000,6,0.336,0.089,2597,2187,3452,0,0,0,0,0,0,14.59,14.73,28.83
$GC,518,-1.24,-111.6,84.7,-19.0,62,523,0.00,1.92,0.00,0.000,4,0.000,0.109,2589,3266,3452,0,0,0,0,0,0,28.83,14.75,28.83
$GC,609,-1.19,-111.6,102.8,-22.1,66,615,0.20,1.85,0.00,0.000,6,0.326,0.091,2633,2194,3452,0,0,0,0,0,0,14.63,14.77,28.83
$GC,741,-1.19,-111.6,131.4,-19.5,73,746,0.00,1.90,0.00,0.000,4,0.000,0.120,2633,1148,3452,0,0,0,0,0,0,28.83,14.77,28.83
$GC,817,-1.19,-111.6,144.7,-21.3,76,824,0.00,1.88,0.00,0.000,6,0.000,0.099,2626,2204,3452,0,0,0,0,0,0,28.83,14.78,28.83
$GC,943,-1.19,-111.6,173.9,-20.2,83,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2203,3452,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,982,begin apogee
$GC,985,-0.23,0.0,181.2,-18.8,85,1092,1.17,0.00,100.05,1.319,6,0.289,0.000,2938,2033,2989,0,0,0,0,0,0,14.68,28.83,13.85
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1097,1.38,111.6,186.0,0.0,90,1206,1.62,2.05,98.72,1.273,4,0.141,0.108,3454,3106,2532,0,0,0,0,0,0,14.33,14.19,13.76
$GC,1268,1.28,119.1,176.2,9.2,99,1279,0.15,1.92,1.73,0.178,6,0.376,0.099,3434,2036,2509,0,0,0,0,0,0,14.29,14.42,14.40
$GC,1411,1.19,119.1,160.5,10.4,106,1418,0.12,2.03,1.35,0.176,4,0.375,0.125,3415,972,2508,0,0,0,0,0,0,14.48,14.59,14.58
$GC,1509,1.13,119.1,151.9,10.3,110,1517,0.15,1.90,1.02,0.216,6,0.363,0.096,3386,2045,2507,0,0,0,0,0,0,14.54,14.66,14.64
$GC,1636,1.10,123.5,138.6,9.5,117,1645,0.00,1.98,3.33,0.892,4,0.000,0.125,3393,968,2494,0,0,0,0,0,0,28.83,14.69,14.16
$GC,1767,1.07,127.3,127.1,9.6,123,1787,0.00,1.90,12.25,1.229,6,0.000,0.096,3394,2044,2470,0,0,0,0,0,0,28.83,14.73,14.18
$GC,1919,1.04,127.3,110.3,11.0,131,1925,0.12,1.98,0.00,0.000,4,0.361,0.120,3372,972,2463,0,0,0,0,0,0,14.59,14.70,28.83
$GC,2136,1.06,139.8,91.0,8.7,141,2147,0.00,1.88,4.57,0.259,6,0.000,0.095,3372,2041,2425,0,0,0,0,0,0,28.83,14.75,14.55
$GC,2284,1.06,139.8,73.1,11.7,149,2294,0.00,1.90,2.62,0.221,4,0.000,0.104,3372,3100,2425,0,0,0,0,0,0,28.83,14.74,14.61
$GC,2520,1.03,139.8,46.6,12.5,161,2528,0.00,1.88,3.20,0.198,6,0.000,0.099,3380,2033,2424,0,0,0,0,0,0,28.83,14.76,14.66
$GC,2646,1.07,172.1,33.9,6.6,174,2671,0.00,1.90,18.12,0.253,4,0.000,0.109,3380,3100,2295,0,0,0,0,0,0,28.83,14.73,14.67
$GC,2782,1.07,172.1,19.6,13.6,191,2790,0.00,1.85,2.17,0.194,6,0.000,0.095,3387,2042,2293,0,0,0,0,0,0,28.83,14.74,14.69
$GC,2912,1.07,172.1,4.1,13.4,216,2919,0.00,2.00,2.28,0.190,4,0.000,0.127,3396,981,2292,0,0,0,0,0,0,28.83,14.73,14.71
$STATE,2925,end climb,SURFACE_DEPTH_REACHED
$STATE,2925,begin surface coast
$FINISH,0.2,1.021789
$STATE,2946,end surface coast,CONTROL_FINISHED_OK
$STATE,2946,begin surface
$SM_CCo,2967,207.38,0.149,0,0,537,602.46
$SM_GC,0.94,9.65,2.25,207.38,0.109,0.106,0.149,147,2203,537,-8.94,-0.45,602.46,0,0,0,0,0,0,14.75,14.76,14.65
$IRIDIUM_FIX,4726.11,-12220.67,230812,181826
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.26
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.70
$XPDR_PINGS,1
$SC_FREEKB,7768864
$TM_FREEKB,7890944
$24V_AH,13.8,5.100
$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,25.925,39.025,251.425,207.375,0.000,27.700,39.913,248.507,0.250,0.000,17.647,760.321,1248.307,543.745,1118.507,49.347,0.000,953.872,0.000,642.165,0.000,0.537,0.000
$DEVICE_MAMPS,459.765,130.050,1318.860,149.175,0.000,85.680,160.000,223.000,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2949.000,3006.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.008,12.596,0.000,0.000
$MEM,322528
$DATA_FILE_SIZE,6808,222
$CAP_FILE_SIZE,70807,0
$CFSIZE,260034560,255787008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230812,201921,4742.986,-12225.124,18,0.9,19,16.6