version: 66.11
glider: 191
mission: 5
dive: 591
start: 3 29 113 5 30 1
data:
$ID,191
$MISSION,5
$DIVE,591
$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,-5348.3594
$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,31
$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
$GPS1,290313,052054,2432.592,-3840.352,17,1.4,17,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.9
$GPS2,290313,052931,2432.586,-3840.360,19,0.8,19,-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,83.2,87886,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.90,-97.3,0.0,0.0,0,98,0.00,0.00,-74.68,0.000,2,0.000,0.000,152,1529,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.90,-97.3,4.3,-6.3,5,119,9.35,1.80,-1.25,0.000,4,0.410,0.077,1886,2564,3462,1,0,0,0,0,0,13.56,14.41,14.68
$GC,341,-0.91,-97.3,35.9,-11.7,21,345,0.00,1.88,0.00,0.000,6,0.000,0.060,1886,1525,3463,0,0,0,0,0,0,28.83,14.21,28.83
$GC,640,-0.91,-97.3,70.1,-10.7,41,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,1525,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.91,-97.3,102.5,-10.4,61,941,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.91,-97.3,136.1,-11.5,81,1243,0.00,1.95,0.00,0.000,4,0.000,0.078,1886,465,3462,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1301,-0.90,-97.3,143.5,-12.5,85,1305,0.00,1.77,0.00,0.000,6,0.000,0.037,1880,1511,3463,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1600,-0.90,-97.3,178.1,-10.8,105,1603,0.00,1.95,0.00,0.000,4,0.000,0.079,1880,462,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1661,-0.88,-97.3,184.9,-11.4,109,1666,0.15,1.80,0.00,0.000,6,0.288,0.037,1900,1521,3463,0,0,0,0,0,0,13.70,14.28,28.83
$GC,1962,-0.90,-97.3,211.8,-9.0,129,1966,0.00,1.95,0.00,0.000,4,0.000,0.080,1902,466,3464,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2050,-0.90,-97.3,220.3,-9.8,135,2054,0.00,1.80,0.00,0.000,6,0.000,0.038,1896,1526,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2351,-0.91,-97.3,244.8,-8.4,155,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2668,-0.92,-97.3,272.9,-9.5,168,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2963,begin apogee
$GC,2972,-0.18,0.0,302.2,-9.7,178,3085,0.90,0.00,103.82,1.044,6,0.230,0.000,2121,1393,3061,0,0,0,0,1,0,13.78,28.83,13.67
$STATE,3087,end apogee,CONTROL_FINISHED_OK
$STATE,3087,begin climb
$GC,3091,0.90,97.3,308.2,0.0,182,3209,1.10,1.95,106.55,1.043,4,0.106,0.083,2479,341,2666,0,0,0,0,1,0,14.21,14.27,13.64
$GC,3429,0.94,194.5,308.1,3.3,193,3547,0.00,1.80,106.55,1.049,6,0.000,0.037,2481,1412,2267,0,0,0,0,1,0,28.83,14.42,13.69
$GC,3866,0.94,215.8,275.5,8.5,208,3912,0.00,1.95,35.67,0.818,4,0.000,0.083,2488,347,2183,0,0,0,0,1,0,28.83,14.45,13.81
$GC,4123,0.90,217.9,250.8,9.9,216,4127,0.00,1.77,0.00,0.000,6,0.000,0.037,2488,1407,2181,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4422,0.89,231.8,224.1,9.0,236,4466,0.00,1.88,31.50,0.761,4,0.000,0.082,2494,349,2119,0,0,0,0,1,0,28.83,14.49,13.82
$GC,4528,0.87,243.9,214.6,9.2,243,4570,0.00,1.77,29.27,0.731,6,0.000,0.037,2494,1408,2068,0,0,0,0,1,0,28.83,14.42,13.76
$GC,4872,0.86,251.6,182.9,9.5,266,4885,0.00,1.85,6.40,0.991,4,0.000,0.082,2500,349,2038,0,0,0,0,0,0,28.83,14.51,14.38
$GC,5055,0.82,251.6,163.6,11.3,278,5065,0.20,1.77,0.00,0.000,6,0.271,0.037,2460,1411,2037,0,0,0,0,0,0,13.79,14.33,28.83
$GC,5367,0.86,272.7,134.3,8.5,299,5409,0.00,0.00,36.58,0.596,6,0.000,0.000,2460,1411,1952,0,0,0,0,0,0,28.83,28.83,14.12
$GC,5713,0.91,292.9,104.1,8.6,322,5740,0.00,1.95,21.70,0.564,4,0.000,0.085,2466,350,1869,0,0,0,0,0,0,28.83,14.52,14.19
$GC,5816,0.92,292.9,93.8,10.3,329,5820,0.00,1.77,0.00,0.000,6,0.000,0.037,2466,1393,1868,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6117,0.96,307.1,66.8,9.0,349,6134,0.00,1.80,12.82,0.780,4,0.000,0.049,2466,2445,1808,0,0,0,0,0,0,28.83,14.59,14.01
$GC,6177,0.99,313.1,61.0,9.6,353,6190,0.10,1.88,5.43,0.826,6,0.159,0.063,2509,1401,1783,0,0,0,0,0,0,14.22,14.26,13.96
$GC,6491,0.99,313.1,26.9,10.8,374,6495,0.00,1.95,0.00,0.000,4,0.000,0.084,2517,348,1781,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6596,0.96,313.1,13.6,13.1,381,6600,0.00,1.77,0.00,0.000,6,0.000,0.038,2517,1400,1780,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,6697,end climb,SURFACE_DEPTH_REACHED
$STATE,6697,begin surface coast
$FINISH,0.7,1.005538
$STATE,6713,end surface coast,CONTROL_FINISHED_OK
$STATE,6714,begin surface
$SM_CCo,6737,119.03,0.682,0,0,1225,450.13
$SM_GC,1.34,7.18,0.15,119.03,0.077,0.095,0.682,158,1526,1225,-6.29,-1.58,450.13,0,0,0,0,0,0,14.29,14.47,13.95
$IRIDIUM_FIX,2425.21,-3840.70,290313,030329
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.73
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,24.90
$XPDR_PINGS,1
$SC_FREEKB,7543392
$24V_AH,13.6,270.429
$10V_AH,11.5,0.000
$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,18.975,41.150,496.300,119.025,0.000,0.000,0.000,270.600,0.250,0.000,20.959,1037.767,4299.736,747.563,922.575,371.845,0.000,1382.574,0.000,656.330,0.000,0.550,0.000
$DEVICE_MAMPS,410.040,96.390,1048.815,682.380,0.000,0.000,0.000,146.115,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6748.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.102,0.000,0.000,0.000
$MEM,345500
$DATA_FILE_SIZE,13441,389
$CAP_FILE_SIZE,81955,0
$CFSIZE,260034560,180920320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,6,1,0
$CURRENT,0.174,235.7,1
$GPS,290313,072534,2432.337,-3840.313,28,0.9,28,-14.2