version: 66.11
glider: 191
mission: 5
dive: 590
start: 3 29 113 3 27 7
data:
$ID,191
$MISSION,5
$DIVE,590
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,320
$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,100
$T_MISSION,120
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$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,450
$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,-5347.1021
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,57
$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,10
$MINV_10V,10
$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,1
$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
$GPS1,290313,031534,2432.812,-3840.539,25,0.8,26,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.0
$GPS2,290313,032635,2432.822,-3840.548,14,1.2,14,-14.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,98.2,88218,-21.7,-10.000,-24.92
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.90,-97.3,0.0,0.0,0,84,0.00,0.00,-57.42,0.000,6,0.000,0.000,155,1521,3461,0,0,0,0,0,0,28.83,28.83,14.50
$GC,89,-0.90,-97.3,4.6,-9.1,4,102,9.35,1.80,0.00,0.000,4,0.407,0.047,1886,2568,3463,1,0,0,0,0,0,13.46,14.35,28.83
$GC,311,-0.90,-97.3,35.9,-11.5,19,314,0.00,1.92,0.00,0.000,6,0.000,0.060,1888,1512,3465,0,0,0,0,0,0,28.83,14.13,28.83
$GC,612,-0.90,-97.3,72.9,-12.6,39,616,0.00,1.95,0.00,0.000,4,0.000,0.080,1888,464,3465,0,0,0,0,0,0,28.83,14.01,28.83
$GC,671,-0.88,-97.3,80.9,-13.4,43,675,0.00,1.80,0.00,0.000,6,0.000,0.037,1882,1513,3465,0,0,0,0,0,0,28.83,14.18,28.83
$GC,972,-0.87,-97.3,120.1,-13.3,63,973,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1514,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.87,-97.3,158.0,-11.9,83,1274,0.00,1.98,0.00,0.000,4,0.000,0.080,1888,461,3465,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1332,-0.85,-97.3,165.0,-11.6,87,1337,0.15,1.83,0.00,0.000,6,0.285,0.037,1910,1523,3465,0,0,0,0,0,0,13.57,14.16,28.83
$GC,1632,-0.87,-97.3,190.5,-7.6,107,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.89,-97.3,211.0,-6.8,127,1935,0.00,1.98,0.00,0.000,4,0.000,0.079,1912,467,3466,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2037,-0.91,-97.3,218.8,-7.7,134,2041,0.00,1.83,0.00,0.000,6,0.000,0.038,1910,1526,3465,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2337,-0.93,-97.3,241.8,-8.7,154,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1527,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.96,-97.3,270.9,-10.1,167,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2932,begin apogee
$GC,2941,-0.18,0.0,300.7,-9.9,177,3056,0.85,0.00,105.60,1.060,6,0.221,0.000,2123,1396,3062,0,0,0,0,1,0,13.81,28.83,13.60
$STATE,3058,end apogee,CONTROL_FINISHED_OK
$STATE,3058,begin climb
$GC,3063,0.90,97.3,306.7,0.0,181,3180,1.12,0.00,107.18,1.056,6,0.109,0.000,2477,1396,2664,0,0,0,0,1,0,14.08,28.83,13.57
$GC,3461,0.92,162.0,298.5,5.5,195,3551,0.00,1.95,77.28,1.007,4,0.000,0.084,2484,345,2401,0,0,0,0,1,0,28.83,14.31,13.68
$GC,3689,0.88,162.0,279.3,10.7,202,3693,0.00,1.80,0.00,0.000,6,0.000,0.037,2482,1411,2397,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3991,0.86,176.6,248.3,9.0,212,4029,0.00,0.00,29.55,0.750,6,0.000,0.000,2482,1411,2342,0,0,0,0,1,0,28.83,28.83,13.76
$GC,4331,0.89,224.8,222.2,6.7,235,4405,0.00,1.95,62.00,0.926,4,0.000,0.084,2488,350,2144,0,0,0,0,1,0,28.83,14.39,13.76
$GC,4471,0.88,244.0,211.7,8.7,244,4515,0.00,1.77,34.60,0.785,6,0.000,0.039,2488,1405,2067,0,0,0,0,1,0,28.83,14.29,13.70
$GC,4813,0.90,276.1,184.0,7.8,267,4870,0.00,1.95,46.22,0.847,4,0.000,0.086,2494,349,1937,0,0,0,0,1,0,28.83,14.42,13.79
$GC,5036,0.88,276.1,162.0,10.9,282,5040,0.00,1.77,0.00,0.000,6,0.000,0.038,2494,1400,1934,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5336,0.88,276.1,127.4,11.6,302,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1402,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5636,0.88,276.1,92.2,11.3,322,5639,0.00,1.95,0.00,0.000,4,0.000,0.083,2501,350,1932,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5726,0.86,276.1,81.6,11.8,328,5731,0.15,1.77,0.00,0.000,6,0.278,0.038,2472,1405,1932,0,0,0,0,0,0,13.77,14.33,28.83
$GC,6026,0.91,304.8,55.1,8.0,348,6056,0.00,0.00,25.30,0.761,6,0.000,0.000,2472,1407,1817,0,0,0,0,0,0,28.83,28.83,13.97
$GC,6358,0.95,322.7,28.0,8.8,370,6377,0.00,1.95,15.27,0.756,4,0.000,0.087,2478,351,1744,0,0,0,0,0,0,28.83,14.45,14.00
$GC,6447,0.96,322.7,18.9,10.2,376,6451,0.00,1.77,0.00,0.000,6,0.000,0.038,2478,1390,1742,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6608,end climb,SURFACE_DEPTH_REACHED
$STATE,6608,begin surface coast
$FINISH,0.7,1.000136
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6650,111.40,0.687,0,0,1224,450.13
$SM_GC,1.43,7.05,0.17,111.40,0.076,0.085,0.687,151,1530,1224,-6.30,-1.44,450.13,0,0,0,0,0,0,14.35,14.46,13.93
$IRIDIUM_FIX,2422.84,-3839.22,280313,191906
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.53
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7543776
$24V_AH,13.5,270.218
$10V_AH,12.3,0.000
$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,18.675,34.125,503.000,111.400,0.000,0.000,0.000,361.800,0.250,0.000,15.484,1010.298,4276.103,712.036,1004.744,403.961,0.000,1431.216,0.000,659.449,0.000,0.551,0.000
$DEVICE_MAMPS,406.980,97.155,1059.525,686.970,0.000,0.000,0.000,163.710,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6690.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.114,0.000,0.000,0.000
$MEM,345468
$DATA_FILE_SIZE,13463,388
$CAP_FILE_SIZE,80686,0
$CFSIZE,260034560,180977664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.145,236.6,1
$GPS,290313,052054,2432.592,-3840.352,17,1.4,17,-14.2