version: 66.11
glider: 191
mission: 5
dive: 36
start: 9 26 112 12 36 40
data:
$ID,191
$MISSION,5
$DIVE,36
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,120
$T_MISSION,150
$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,100
$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,3
$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,-3701.4421
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$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,0.0099999998
$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,23
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$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,2
$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
$GPS1,260912,122705,2433.092,-3801.207,41,0.9,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-60.0
$GPS2,260912,123611,2433.073,-3801.087,18,0.9,18,-14.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,C
$TGT_LATLONG,2433.000,-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,264.1,1544,-21.7,-10.000,-24.92
$D_GRID,360
$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,-0.90,-97.3,0.0,0.0,0,85,0.00,0.00,-61.30,0.000,6,0.000,0.000,154,1496,3460,0,0,0,0,0,0,28.83,28.83,14.94
$GC,87,-0.90,-97.3,3.9,-6.7,4,102,8.60,1.75,0.00,0.000,4,0.418,0.050,1885,2563,3462,0,0,0,0,0,0,14.48,14.76,28.83
$GC,330,-0.84,-97.3,55.8,-19.9,20,336,0.12,1.80,0.00,0.000,6,0.319,0.071,1909,1493,3464,0,0,0,0,0,0,14.63,14.78,28.83
$GC,648,-0.81,-97.3,105.7,-15.9,41,654,0.00,1.75,0.00,0.000,4,0.000,0.060,1903,2565,3465,0,0,0,0,0,0,28.83,14.85,28.83
$GC,752,-0.79,-97.3,119.8,-14.7,47,760,0.12,1.77,0.00,0.000,6,0.300,0.070,1928,1500,3465,0,0,0,0,0,0,14.72,14.86,28.83
$GC,1057,-0.77,-97.3,157.7,-11.0,68,1062,0.00,1.80,0.00,0.000,4,0.000,0.092,1930,441,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1199,-0.74,-97.3,174.5,-12.1,77,1204,0.00,1.70,0.00,0.000,6,0.000,0.050,1924,1497,3466,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1511,-0.73,-97.3,211.4,-11.5,98,1517,0.12,1.73,0.00,0.000,4,0.307,0.059,1947,2556,3466,0,0,0,0,0,0,14.76,14.91,28.83
$GC,1652,-0.75,-97.3,226.6,-11.3,107,1657,0.00,1.77,0.00,0.000,6,0.000,0.073,1947,1498,3466,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1965,-0.76,-97.3,266.4,-12.7,124,1970,0.00,1.80,0.00,0.000,4,0.000,0.093,1947,443,3466,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2061,-0.76,-97.3,278.6,-13.1,127,2067,0.00,1.70,0.00,0.000,6,0.000,0.052,1939,1500,3466,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2389,-0.76,-97.3,320.3,-12.3,138,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1500,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.77,-97.3,355.2,-11.5,148,2694,0.00,1.80,0.00,0.000,4,0.000,0.095,1940,444,3464,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,2750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2750,begin apogee
$GC,2756,-0.18,0.0,363.1,-11.8,150,2892,0.70,0.00,124.03,1.298,6,0.246,0.000,2123,1506,3062,0,0,0,0,1,0,14.81,28.83,13.76
$STATE,2893,end apogee,CONTROL_FINISHED_OK
$STATE,2893,begin climb
$GC,2895,0.90,97.3,368.0,0.0,154,3016,1.12,1.83,109.38,1.531,4,0.142,0.058,2470,2562,2665,0,0,0,0,1,0,14.36,14.27,13.65
$GC,3133,0.89,117.6,354.6,8.6,162,3179,0.00,1.83,35.65,0.998,6,0.000,0.074,2478,1499,2582,0,0,0,0,1,0,28.83,14.62,13.92
$GC,3506,0.86,117.6,311.0,11.3,175,3511,0.00,1.83,0.00,0.000,4,0.000,0.095,2486,444,2583,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3688,0.81,117.6,290.2,11.3,181,3694,0.15,1.73,0.00,0.000,6,0.301,0.054,2455,1501,2581,0,0,0,0,0,0,14.74,14.90,28.83
$GC,4022,0.82,133.5,259.6,8.9,192,4060,0.00,0.00,30.17,0.844,6,0.000,0.000,2455,1504,2518,0,0,0,0,1,0,28.83,28.83,14.23
$GC,4351,0.83,142.8,228.9,9.4,210,4391,0.00,1.90,26.65,0.780,4,0.000,0.097,2461,447,2480,0,0,0,0,1,0,28.83,14.74,14.29
$GC,4468,0.80,142.8,217.3,11.4,217,4475,0.00,1.73,0.00,0.000,6,0.000,0.055,2458,1501,2477,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4773,0.80,142.8,181.2,10.3,238,4778,0.00,1.75,0.00,0.000,4,0.000,0.063,2461,2568,2477,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4994,0.80,142.8,158.6,11.0,252,5000,0.00,1.80,0.00,0.000,6,0.000,0.075,2469,1498,2477,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5300,0.79,142.8,119.8,11.7,273,5306,0.00,1.85,0.00,0.000,4,0.000,0.096,2477,426,2476,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5532,0.76,142.8,93.6,10.5,288,5538,0.17,1.75,0.00,0.000,6,0.282,0.053,2439,1509,2474,0,0,0,0,0,0,14.77,14.92,28.83
$GC,5845,0.86,211.8,71.3,5.2,309,5910,0.00,1.83,59.72,0.886,4,0.000,0.062,2439,2564,2197,0,0,0,0,0,0,28.83,14.68,14.28
$GC,6137,0.90,213.0,46.8,9.9,328,6143,0.12,1.83,0.00,0.000,6,0.142,0.075,2490,1499,2190,0,0,0,0,0,0,14.81,14.79,28.83
$GC,6450,0.90,213.0,11.2,11.2,349,6455,0.00,1.73,0.00,0.000,4,0.000,0.061,2490,2556,2188,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6535,0.90,213.0,2.4,11.7,354,6543,0.00,1.77,0.00,0.000,6,0.000,0.073,2497,1499,2187,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,6556,end climb,SURFACE_DEPTH_REACHED
$STATE,6556,begin surface coast
$FINISH,0.0,1.013630
$STATE,6571,end surface coast,CONTROL_FINISHED_OK
$STATE,6572,begin surface
$SM_CCo,6586,116.25,0.779,0,0,1633,350.04
$SM_GC,0.95,6.78,0.00,116.25,0.081,0.000,0.779,151,1498,1633,-6.30,-0.06,350.04,0,0,0,0,0,0,14.90,28.83,14.21
$IRIDIUM_FIX,2425.21,-3805.18,260912,060654
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.60
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,7756320
$TM_FREEKB,7581088
$24V_AH,13.7,22.371
$10V_AH,13.5,0.000
$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,18.025,46.275,385.600,116.250,0.000,0.000,0.000,336.950,0.000,0.000,19.183,1355.004,3721.040,543.709,1538.833,85.858,0.000,1488.626,0.000,1064.325,0.000,0.551,0.000
$DEVICE_MAMPS,418.455,97.155,1530.765,778.770,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6601.000,4304.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.631,13.087,0.000,0.000
$MEM,344976
$DATA_FILE_SIZE,13424,357
$CAP_FILE_SIZE,96025,0
$CFSIZE,260034560,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.063, 84.9,1
$GPS,260912,142917,2432.835,-3801.554,14,1.4,14,-14.0