version: 66.11
glider: 191
mission: 5
dive: 5
start: 9 17 112 4 28 57
data:
$ID,191
$MISSION,5
$DIVE,5
$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,-3660.675
$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,16
$R_STBD_OVSHOOT,24
$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
$GPS1,170912,041721,2435.528,-3802.875,28,1.2,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-43.7
$GPS2,170912,042830,2435.519,-3802.742,15,0.9,17,-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,221.8,73199,-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,19,-0.80,-146.0,0.0,0.0,0,95,0.00,0.00,-72.62,0.000,2,0.000,0.000,159,1501,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.80,-146.0,4.0,-8.4,7,114,8.77,1.77,-2.67,0.000,4,0.412,0.096,1957,2560,3865,0,0,0,0,0,0,14.52,14.73,14.95
$GC,201,-0.75,-146.0,28.7,-17.4,17,207,0.12,1.85,0.00,0.000,6,0.285,0.085,1983,1494,3868,0,0,0,0,0,0,14.67,14.77,28.83
$GC,514,-0.72,-146.0,72.3,-10.6,48,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1494,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,815,-0.70,-146.0,108.0,-11.5,78,816,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1494,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1114,-0.70,-146.0,144.4,-12.5,108,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1494,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-0.70,-146.0,182.7,-12.6,138,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1494,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,-0.70,-146.0,214.1,-9.7,168,1719,0.00,1.85,0.00,0.000,4,0.000,0.108,1983,434,3870,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1829,-0.70,-146.0,225.9,-10.8,179,1836,0.00,1.83,0.00,0.000,6,0.000,0.066,1977,1506,3871,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2156,-0.70,-146.0,261.4,-11.6,206,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1502,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,-0.70,-146.0,300.0,-13.3,216,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1502,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2756,-0.70,-146.0,337.3,-11.9,226,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1502,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-0.70,-146.0,369.7,-10.3,236,3061,0.00,1.88,0.00,0.000,4,0.000,0.110,1977,441,3870,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3088,-0.70,-146.0,373.0,-10.3,237,3094,0.12,1.77,0.00,0.000,6,0.273,0.068,1996,1503,3870,0,0,0,0,0,0,14.89,15.00,28.83
$GC,3422,-0.74,-146.0,402.1,-9.3,248,3427,0.00,1.88,0.00,0.000,4,0.000,0.111,1996,443,3868,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3473,-0.77,-146.0,405.4,-9.5,249,3478,0.00,1.77,0.00,0.000,6,0.000,0.070,1991,1501,3868,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3785,-0.80,-146.0,440.4,-10.2,260,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1502,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4086,-0.83,-146.0,469.2,-9.6,270,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1502,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.86,-146.0,504.0,-12.3,280,4391,0.12,1.85,0.00,0.000,4,0.145,0.109,1939,443,3864,0,0,0,0,0,0,15.02,14.97,28.83
$GC,4462,-0.86,-146.0,513.8,-14.0,282,4467,0.00,1.77,0.00,0.000,6,0.000,0.070,1931,1503,3864,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4779,-0.83,-146.0,562.7,-14.1,293,4781,0.12,0.00,0.00,0.000,6,0.288,0.000,1957,1504,3862,0,0,0,0,0,0,14.88,28.83,28.83
$GC,5079,-0.83,-146.0,596.9,-10.7,303,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1504,3861,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5137,begin apogee
$GC,5140,-0.18,0.0,602.6,-9.9,305,5299,0.70,0.00,147.02,1.931,6,0.219,0.000,2162,1504,3271,0,0,0,0,1,0,14.89,28.83,13.29
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5301,0.80,146.0,605.2,0.0,310,5475,1.00,2.05,157.62,2.010,4,0.107,0.112,2494,444,2677,0,0,0,0,1,0,14.23,14.09,13.36
$GC,5701,0.66,146.0,583.2,11.7,323,5707,0.22,1.80,0.00,0.000,6,0.296,0.067,2444,1503,2676,0,0,0,0,0,0,14.57,14.72,28.83
$GC,6015,0.67,212.1,556.8,6.9,334,6105,0.00,1.98,77.12,1.785,4,0.000,0.111,2450,439,2408,0,0,0,0,1,0,28.83,14.27,13.57
$GC,6186,0.64,239.8,543.9,8.7,339,6237,0.00,1.83,39.05,1.368,6,0.000,0.066,2450,1499,2293,0,0,0,0,1,0,28.83,14.59,13.68
$GC,6559,0.60,239.8,501.0,11.9,352,6565,0.00,1.80,0.00,0.000,4,0.000,0.076,2456,2563,2292,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6615,0.56,239.8,497.0,12.1,353,6623,0.20,1.85,0.00,0.000,6,0.287,0.091,2413,1501,2292,0,0,0,0,0,0,14.71,14.81,28.83
$GC,6922,0.59,264.0,464.1,8.9,364,6966,0.00,1.98,34.65,1.265,4,0.000,0.115,2419,443,2196,0,0,0,0,1,0,28.83,14.62,13.94
$GC,7028,0.64,303.3,456.5,8.2,367,7092,0.00,1.80,51.25,1.480,6,0.000,0.066,2419,1501,2034,0,0,0,0,1,0,28.83,14.73,13.70
$GC,7404,0.66,303.3,418.6,11.1,380,7410,0.00,1.80,0.00,0.000,4,0.000,0.076,2419,2560,2033,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7461,0.67,303.3,414.7,11.4,381,7467,0.00,1.85,0.00,0.000,6,0.000,0.093,2426,1501,2032,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7766,0.67,303.3,369.8,14.0,392,7771,0.00,1.88,0.00,0.000,4,0.000,0.114,2435,443,2031,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7831,0.67,303.3,360.7,14.4,394,7837,0.00,1.80,0.00,0.000,6,0.000,0.067,2435,1497,2030,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8159,0.67,303.3,321.3,10.8,405,8164,0.00,1.77,0.00,0.000,4,0.000,0.077,2435,2565,2029,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8244,0.67,303.3,315.1,10.2,407,8251,0.00,1.85,0.00,0.000,6,0.000,0.093,2442,1500,2029,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8550,0.67,303.3,279.6,11.4,418,8555,0.00,1.88,0.00,0.000,4,0.000,0.115,2451,438,2027,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8596,0.67,303.3,275.6,11.8,419,8601,0.00,1.80,0.00,0.000,6,0.000,0.067,2451,1509,2029,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8903,0.66,303.3,231.7,14.2,437,8908,0.00,1.75,0.00,0.000,4,0.000,0.075,2451,2562,2029,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8945,0.66,303.3,225.9,13.7,441,8950,0.00,1.88,0.00,0.000,6,0.000,0.092,2459,1476,2029,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9257,0.63,303.3,187.7,12.2,472,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1479,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9558,0.61,303.3,144.2,16.0,502,9560,0.15,0.00,0.00,0.000,6,0.297,0.000,2426,1476,2029,0,0,0,0,0,0,14.81,28.83,28.83
$GC,9858,0.63,310.2,109.0,9.7,532,9867,0.00,0.00,4.60,0.795,6,0.000,0.000,2426,1476,2007,0,0,0,0,0,0,28.83,28.83,14.64
$GC,10167,0.72,361.6,82.0,7.6,563,10220,0.12,1.92,46.97,0.815,4,0.154,0.075,2473,2562,1794,0,0,0,0,0,0,14.90,14.69,14.31
$GC,10312,0.72,361.6,65.9,11.8,577,10317,0.00,1.88,0.00,0.000,6,0.000,0.092,2481,1497,1788,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10623,0.72,361.6,27.1,12.4,608,10628,0.00,1.83,0.00,0.000,4,0.000,0.076,2477,2566,1785,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10695,0.72,361.6,18.6,12.0,615,10701,0.00,1.85,0.00,0.000,6,0.000,0.090,2489,1501,1786,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,10826,end climb,SURFACE_DEPTH_REACHED
$STATE,10826,begin surface coast
$FINISH,-0.3,1.024608
$STATE,10837,end surface coast,CONTROL_FINISHED_OK
$STATE,10837,begin surface
$SM_CCo,10912,0.00,0.000,0,0,1784,364.27
$SM_GC,-0.11,6.65,0.00,0.00,0.068,0.000,0.000,159,1500,1784,-6.42,0.03,364.27,0,0,0,0,0,0,14.86,28.83,28.83
$IRIDIUM_FIX,2427.58,-3803.31,170912,010117
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.03
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,7768096
$TM_FREEKB,7871360
$24V_AH,13.3,7.500
$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,18.325,59.025,558.300,0.000,0.000,0.000,0.000,414.600,0.250,0.000,18.397,1885.660,7011.073,579.057,2033.294,76.712,0.000,1805.857,0.000,1401.224,0.000,0.550,0.000
$DEVICE_MAMPS,411.570,114.750,2009.655,0.000,0.000,0.000,0.000,183.600,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10852.000,4212.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.363,12.936,0.000,0.000
$MEM,345200
$DATA_FILE_SIZE,23409,629
$CAP_FILE_SIZE,139141,0
$CFSIZE,260034560,257822720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$CURRENT,0.075,111.4,1
$GPS,170912,073204,2433.906,-3803.029,38,0.8,38,-14.0