version: 66.11
glider: 191
mission: 5
dive: 4
start: 9 17 112 1 10 39
data:
$ID,191
$MISSION,5
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,240
$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,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,-3659.4143
$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,2230
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3270
$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
$GPS1,170912,005752,2437.037,-3803.510,39,1.3,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-56.4
$GPS2,170912,011012,2437.069,-3803.379,13,1.3,15,-14.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-3802.000
$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,208.2,76095,-17.5,-10.000,-21.06
$D_GRID,600
$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,-0.80,-146.0,0.0,0.0,0,95,0.00,0.00,-69.07,0.000,6,0.000,0.000,159,1494,3873,0,0,0,0,0,0,28.83,28.83,14.98
$GC,97,-0.80,-146.0,5.2,-9.6,7,110,9.00,1.83,0.00,0.000,4,0.423,0.068,1955,2561,3873,0,0,0,0,0,0,14.52,14.76,28.83
$GC,322,-0.75,-146.0,53.0,-15.7,29,328,0.12,1.85,0.00,0.000,6,0.279,0.088,1981,1495,3875,0,0,0,0,0,0,14.66,14.81,28.83
$GC,635,-0.72,-146.0,95.9,-14.0,60,640,0.00,1.88,0.00,0.000,4,0.000,0.109,1982,438,3876,0,0,0,0,0,0,28.83,14.83,28.83
$GC,697,-0.68,-146.0,105.4,-15.6,66,703,0.15,1.77,0.00,0.000,6,0.267,0.067,2010,1498,3876,0,0,0,0,0,0,14.76,14.88,28.83
$GC,1011,-0.70,-146.0,143.8,-12.3,97,1016,0.00,1.80,0.00,0.000,4,0.000,0.078,2004,2563,3876,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1033,-0.72,-146.0,146.5,-11.6,99,1038,0.00,1.85,0.00,0.000,6,0.000,0.089,2004,1495,3876,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1346,-0.74,-146.0,176.5,-8.3,130,1351,0.00,1.88,0.00,0.000,4,0.000,0.111,2004,437,3877,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1412,-0.74,-146.0,182.5,-9.7,136,1419,0.00,1.77,0.00,0.000,6,0.000,0.067,1996,1500,3877,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1718,-0.76,-146.0,215.4,-11.9,167,1723,0.00,1.88,0.00,0.000,4,0.000,0.110,1996,436,3877,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1753,-0.76,-146.0,219.7,-13.1,170,1760,0.00,1.80,0.00,0.000,6,0.000,0.069,1988,1492,3877,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2070,-0.76,-146.0,261.2,-12.0,196,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1491,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,-0.78,-146.0,292.1,-10.2,206,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1491,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-0.79,-146.0,322.8,-10.4,216,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1491,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.81,-146.0,353.9,-10.4,226,2975,0.00,1.88,0.00,0.000,4,0.000,0.112,1988,434,3874,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3026,-0.81,-146.0,357.5,-10.5,227,3033,0.00,1.80,0.00,0.000,6,0.000,0.070,1980,1506,3873,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3332,-0.81,-146.0,393.7,-11.0,238,3338,0.00,1.85,0.00,0.000,4,0.000,0.113,1977,443,3872,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3428,-0.81,-146.0,404.6,-11.7,241,3433,0.00,1.77,0.00,0.000,6,0.000,0.070,1972,1501,3871,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3755,-0.81,-146.0,439.9,-10.4,252,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1501,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4055,-0.81,-146.0,474.0,-11.9,262,4061,0.00,1.88,0.00,0.000,4,0.000,0.112,1972,443,3869,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4117,-0.81,-146.0,482.7,-13.1,264,4124,0.00,1.77,0.00,0.000,6,0.000,0.070,1964,1502,3868,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4450,-0.81,-146.0,525.4,-12.3,275,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1504,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.81,-146.0,559.2,-10.7,285,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1504,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5050,-0.81,-146.0,590.1,-10.4,295,5056,0.00,1.88,0.00,0.000,4,0.000,0.114,1964,438,3863,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5132,-0.81,-146.0,597.2,-10.8,297,5138,0.00,1.80,0.00,0.000,6,0.000,0.070,1956,1510,3861,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,5142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5143,begin apogee
$GC,5146,-0.18,0.0,600.6,-11.1,298,5301,0.70,0.00,143.43,1.854,6,0.217,0.000,2159,1511,3273,0,0,0,0,1,0,14.87,28.83,13.48
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5303,0.80,146.0,606.4,0.0,303,5477,1.00,2.05,156.60,1.992,4,0.100,0.113,2494,451,2678,0,0,0,0,1,0,14.27,14.12,13.40
$GC,5703,0.65,146.0,591.9,10.3,316,5709,0.22,1.80,0.00,0.000,6,0.292,0.067,2445,1508,2678,0,0,0,0,0,0,14.61,14.73,28.83
$GC,6022,0.66,212.5,566.9,6.9,327,6113,0.00,2.00,77.60,1.761,4,0.000,0.114,2451,444,2404,0,0,0,0,1,0,28.83,14.28,13.53
$GC,6304,0.60,214.1,542.2,9.9,336,6310,0.00,1.80,0.00,0.000,6,0.000,0.068,2451,1498,2407,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6628,0.58,237.1,512.4,8.9,347,6676,0.12,1.90,34.53,1.298,4,0.291,0.078,2420,2564,2306,0,0,0,0,1,0,14.76,14.64,13.89
$GC,6738,0.61,275.5,505.0,8.2,350,6802,0.00,1.88,50.88,1.543,6,0.000,0.093,2426,1501,2148,0,0,0,0,1,0,28.83,14.71,13.64
$GC,7108,0.61,275.5,462.5,11.7,363,7113,0.00,1.90,0.00,0.000,4,0.000,0.117,2434,438,2147,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7164,0.61,275.5,458.6,11.8,364,7170,0.00,1.83,0.00,0.000,6,0.000,0.067,2434,1509,2146,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7470,0.61,275.5,418.1,12.0,375,7475,0.00,1.75,0.00,0.000,4,0.000,0.076,2434,2561,2144,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7532,0.61,275.5,410.7,11.9,377,7537,0.00,1.88,0.00,0.000,6,0.000,0.094,2442,1494,2144,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7865,0.59,275.5,372.3,11.4,388,7870,0.00,1.80,0.00,0.000,4,0.000,0.075,2442,2561,2143,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7897,0.59,275.5,368.5,11.4,389,7902,0.00,1.85,0.00,0.000,6,0.000,0.094,2450,1499,2144,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8229,0.57,275.5,328.1,12.1,400,8235,0.12,1.90,0.00,0.000,4,0.301,0.114,2425,434,2143,0,0,0,0,0,0,14.83,14.91,28.83
$GC,8316,0.55,275.5,321.2,11.6,402,8324,0.00,1.80,0.00,0.000,6,0.000,0.067,2425,1508,2142,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8622,0.55,275.5,286.7,10.4,413,8627,0.00,1.75,0.00,0.000,4,0.000,0.075,2426,2562,2143,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8673,0.55,275.5,283.3,10.5,414,8678,0.00,1.85,0.00,0.000,6,0.000,0.093,2433,1497,2143,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8985,0.55,275.5,245.0,12.2,427,8990,0.00,1.80,0.00,0.000,4,0.000,0.075,2433,2561,2142,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9030,0.55,275.5,239.8,12.5,431,9038,0.15,1.85,0.00,0.000,6,0.282,0.093,2409,1496,2142,0,0,0,0,0,0,14.83,14.96,28.83
$GC,9337,0.60,294.4,208.3,9.1,462,9377,0.00,0.00,28.50,0.971,6,0.000,0.000,2409,1496,2073,0,0,0,0,1,0,28.83,28.83,14.10
$GC,9678,0.69,343.6,179.6,7.7,496,9749,0.12,1.92,58.38,1.307,4,0.159,0.113,2464,442,1871,0,0,0,0,1,0,14.84,14.42,13.84
$GC,9802,0.67,343.6,163.5,14.9,508,9808,0.00,1.83,0.00,0.000,6,0.000,0.065,2464,1505,1871,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10115,0.64,343.6,114.9,15.2,539,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1506,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10414,0.64,343.6,71.1,14.9,569,10420,0.00,1.80,0.00,0.000,4,0.000,0.074,2464,2565,1870,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10507,0.64,343.6,58.5,13.1,578,10513,0.15,1.85,0.00,0.000,6,0.281,0.090,2439,1501,1869,0,0,0,0,0,0,14.73,14.82,28.83
$GC,10821,0.77,412.3,31.3,6.8,609,10888,0.12,1.88,60.92,0.779,4,0.149,0.070,2486,2561,1585,0,0,0,0,0,0,14.85,14.57,14.27
$GC,10914,0.77,412.3,20.2,12.8,618,10919,0.00,1.88,0.00,0.000,6,0.000,0.092,2494,1503,1581,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,11046,end climb,SURFACE_DEPTH_REACHED
$STATE,11046,begin surface coast
$FINISH,-0.0,1.024601
$STATE,11056,end surface coast,CONTROL_FINISHED_OK
$STATE,11056,begin surface
$SM_CCo,11130,0.00,0.000,0,0,1577,415.54
$SM_GC,-0.17,6.80,0.00,0.00,0.079,0.000,0.000,159,1503,1577,-6.42,0.08,415.54,0,0,0,0,0,0,14.76,28.83,28.83
$IRIDIUM_FIX,2425.21,-3801.85,160912,212127
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.74
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.10
$XPDR_PINGS,1
$SC_FREEKB,7768480
$TM_FREEKB,7878016
$24V_AH,13.4,7.113
$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,18.800,77.450,610.825,0.000,0.000,0.000,0.000,473.675,0.250,0.000,16.245,1965.871,6967.493,650.815,2200.748,88.273,0.000,2002.440,0.000,1496.684,0.000,0.552,0.000
$DEVICE_MAMPS,423.045,117.045,1992.060,0.000,0.000,0.000,0.000,179.775,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11069.000,4194.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.739,12.898,0.000,0.000
$MEM,345376
$DATA_FILE_SIZE,23393,632
$CAP_FILE_SIZE,148441,0
$CFSIZE,260034560,257949696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$CURRENT,0.125, 87.6,1
$GPS,170912,041721,2435.528,-3802.875,28,1.2,35,-14.0