version: 66.11
glider: 191
mission: 5
dive: 2
start: 9 16 112 19 33 57
data:
$ID,191
$MISSION,5
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,720
$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,55001
$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,691.80328
$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,-3614.9087
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2290
$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,21
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3361
$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,-46.410744
$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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160912,192942,2435.024,-3803.274,12,1.0,13,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-37.6
$GPS2,160912,193330,2435.044,-3803.254,17,1.1,17,-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,69.8,99690,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.88,-146.0,0.0,0.0,0,135,0.00,0.00,-113.47,0.000,2,0.000,0.000,159,1706,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-0.88,-146.0,3.8,-5.3,11,161,8.95,1.80,-5.70,0.000,4,0.412,0.109,1993,2774,3961,0,0,0,0,0,0,14.66,14.83,15.11
$GC,387,-0.88,-146.0,42.4,-13.7,35,394,0.00,1.85,0.00,0.000,6,0.000,0.084,1994,1704,3961,0,0,0,0,0,0,28.83,14.88,28.83
$GC,693,-0.88,-146.0,80.2,-11.9,66,698,0.00,1.77,0.00,0.000,4,0.000,0.079,1986,2754,3961,0,0,0,0,0,0,28.83,14.85,28.83
$GC,725,-0.88,-146.0,84.1,-12.7,69,731,0.00,1.80,0.00,0.000,6,0.000,0.086,1986,1697,3961,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1038,-0.88,-146.0,126.9,-12.8,100,1043,0.00,1.88,0.00,0.000,4,0.000,0.105,1986,633,3961,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1243,-0.88,-146.0,152.2,-11.9,120,1250,0.00,1.83,0.00,0.000,6,0.000,0.069,1978,1694,3961,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1551,-0.90,-146.0,187.1,-11.4,151,1556,0.00,1.85,0.00,0.000,4,0.000,0.105,1979,635,3961,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1733,-0.90,-146.0,209.6,-12.6,169,1739,0.12,1.80,0.00,0.000,6,0.259,0.069,1997,1705,3959,0,0,0,0,0,0,14.75,14.89,28.83
$GC,2048,-0.94,-146.0,243.1,-10.5,200,2053,0.00,1.88,0.00,0.000,4,0.000,0.106,1997,637,3957,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2191,-0.96,-146.0,257.6,-11.5,208,2196,0.00,1.77,0.00,0.000,6,0.000,0.068,1992,1706,3957,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2504,-1.00,-146.0,293.7,-10.4,219,2509,0.00,1.88,0.00,0.000,4,0.000,0.106,1991,637,3955,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,2565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2570,-0.20,0.0,300.6,-10.7,221,2730,0.77,0.00,146.25,1.294,6,0.198,0.000,2214,1711,3366,0,0,0,0,1,0,14.84,28.83,13.78
$STATE,2732,end apogee,CONTROL_FINISHED_OK
$STATE,2732,begin climb
$GC,2733,0.88,146.0,306.7,0.0,226,2891,1.05,1.98,143.35,1.509,4,0.094,0.104,2578,644,2771,0,0,0,0,1,0,14.49,14.31,13.71
$GC,3118,0.65,146.0,287.0,13.5,239,3124,0.32,1.80,0.00,0.000,6,0.304,0.072,2505,1704,2774,0,0,0,0,0,0,14.69,14.85,28.83
$GC,3441,0.57,188.8,256.2,8.0,250,3502,0.00,1.98,49.55,1.159,4,0.000,0.109,2510,644,2594,0,0,0,0,1,0,28.83,14.64,14.02
$GC,3547,0.47,207.8,246.5,9.1,254,3589,0.28,1.80,29.95,0.903,6,0.272,0.073,2446,1698,2513,0,0,0,0,1,0,14.66,14.77,14.02
$GC,3887,0.48,243.9,217.5,8.3,288,3942,0.00,1.98,44.72,1.117,4,0.000,0.111,2451,647,2368,0,0,0,0,1,0,28.83,14.60,13.99
$GC,3979,0.45,243.9,208.7,10.3,297,3984,0.00,1.83,0.00,0.000,6,0.000,0.073,2451,1707,2367,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4291,0.42,243.9,176.8,10.1,328,4296,0.00,1.90,0.00,0.000,4,0.000,0.109,2459,644,2368,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4424,0.38,243.9,161.4,11.5,341,4430,0.17,1.80,0.00,0.000,6,0.257,0.073,2414,1704,2367,0,0,0,0,0,0,14.79,14.91,28.83
$GC,4738,0.46,288.9,136.7,7.9,372,4799,0.00,2.00,48.80,1.121,4,0.000,0.111,2423,638,2186,0,0,0,0,1,0,28.83,14.62,14.04
$GC,4955,0.46,288.9,115.3,10.5,393,4962,0.00,1.80,0.00,0.000,6,0.000,0.070,2423,1701,2185,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5262,0.53,324.9,84.1,8.3,424,5301,0.12,0.00,32.50,0.782,6,0.158,0.000,2468,1701,2033,0,0,0,0,0,0,14.90,28.83,14.41
$GC,5602,0.53,324.9,48.2,10.4,458,5607,0.00,1.90,0.00,0.000,4,0.000,0.109,2476,639,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5724,0.53,324.9,33.7,11.6,470,5729,0.00,1.80,0.00,0.000,6,0.000,0.068,2476,1705,2027,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,6024,end climb,SURFACE_DEPTH_REACHED
$STATE,6024,begin surface coast
$FINISH,0.8,1.024561
$STATE,6036,end surface coast,CONTROL_FINISHED_OK
$STATE,6036,begin surface
$SM_CCo,6051,310.67,0.672,0,0,539,691.99
$SM_GC,0.17,6.62,0.00,310.67,0.076,0.000,0.672,161,1706,539,-6.60,0.17,691.99,0,0,0,0,0,0,14.94,28.83,14.21
$IRIDIUM_FIX,2425.21,-3805.18,160912,191946
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.55
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,26.50
$XPDR_PINGS,302
$SC_FREEKB,7769248
$TM_FREEKB,7891968
$24V_AH,13.7,6.335
$10V_AH,13.1,0.000
$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,18.425,44.500,495.125,310.675,0.000,0.000,0.000,0.000,75.500,0.000,19.098,1481.362,2844.207,849.603,1230.686,40.949,0.000,1524.849,0.000,1167.996,0.000,0.552,0.000
$DEVICE_MAMPS,411.570,110.925,1509.345,672.435,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6013.000,4603.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.861,13.173,0.000,0.000
$MEM,345452
$DATA_FILE_SIZE,16733,501
$CAP_FILE_SIZE,134570,0
$CFSIZE,260034560,258256896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$CURRENT,0.059, 56.0,1
$GPS,160912,212123,2435.501,-3802.531,45,1.6,45,-14.0