version: 66.11
glider: 191
mission: 5
dive: 593
start: 3 29 113 9 32 53
data:
$ID,191
$MISSION,5
$DIVE,593
$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,-5350.8696
$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,28
$R_STBD_OVSHOOT,35
$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
$GPS1,290313,092418,2432.138,-3840.436,14,2.0,14,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-52.8
$GPS2,290313,093223,2432.099,-3840.476,20,0.9,20,-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,66.6,88055,-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,21,-0.90,-97.3,0.0,0.0,0,98,0.00,0.00,-74.90,0.000,2,0.000,0.000,151,1499,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.90,-97.3,4.2,-5.6,5,119,8.95,1.88,-1.20,0.000,4,0.391,0.101,1900,464,3462,1,0,0,0,0,0,13.59,14.38,14.71
$GC,341,-0.88,-97.3,37.6,-11.8,21,345,0.00,1.83,0.00,0.000,6,0.000,0.039,1894,1541,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,640,-0.88,-97.3,74.7,-12.8,41,644,0.00,1.98,0.00,0.000,4,0.000,0.079,1894,464,3463,0,0,0,0,0,0,28.83,14.10,28.83
$GC,717,-0.86,-97.3,84.9,-13.7,46,721,0.00,1.77,0.00,0.000,6,0.000,0.038,1886,1518,3463,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1015,-0.86,-97.3,120.0,-10.7,66,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.86,-97.3,148.6,-8.9,86,1319,0.00,1.92,0.00,0.000,4,0.000,0.079,1886,467,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1450,-0.85,-97.3,162.0,-9.9,95,1455,0.15,1.77,0.00,0.000,6,0.280,0.038,1908,1519,3463,0,0,0,0,0,0,13.82,14.37,28.83
$GC,1751,-0.87,-97.3,189.8,-9.8,115,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.90,-97.3,218.7,-9.5,135,2054,0.00,1.92,0.00,0.000,4,0.000,0.080,1915,467,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2110,-0.91,-97.3,224.5,-9.7,139,2114,0.00,1.77,0.00,0.000,6,0.000,0.038,1910,1518,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2411,-0.94,-97.3,254.3,-10.5,158,2414,0.00,1.92,0.00,0.000,4,0.000,0.080,1909,467,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2499,-0.95,-97.3,263.1,-11.5,161,2503,0.00,1.80,0.00,0.000,6,0.000,0.039,1903,1529,3463,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,2797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2797,begin apogee
$GC,2807,-0.18,0.0,300.7,-12.1,171,2920,0.85,0.00,104.00,1.048,6,0.223,0.000,2120,1398,3062,0,0,0,0,1,0,13.77,28.83,13.70
$STATE,2921,end apogee,CONTROL_FINISHED_OK
$STATE,2921,begin climb
$GC,2925,0.90,97.3,309.9,0.0,175,3044,1.12,1.95,106.85,1.049,4,0.110,0.083,2484,345,2664,0,0,0,0,1,0,14.28,14.28,13.67
$GC,3264,0.94,195.2,313.0,3.2,186,3382,0.00,1.80,107.10,1.050,6,0.000,0.038,2482,1424,2265,0,0,0,0,1,0,28.83,14.45,13.72
$GC,3701,0.94,216.0,278.3,8.6,201,3747,0.00,1.98,35.58,0.818,4,0.000,0.083,2488,345,2182,0,0,0,0,1,0,28.83,14.49,13.84
$GC,3969,0.90,219.1,254.2,9.8,209,3976,0.00,1.77,2.60,1.093,6,0.000,0.037,2488,1406,2166,0,0,0,0,0,0,28.83,14.45,13.90
$GC,4270,0.89,230.5,225.1,9.2,228,4314,0.00,1.92,27.60,0.715,4,0.000,0.084,2494,347,2122,0,0,0,0,1,0,28.83,14.50,13.82
$GC,4361,0.86,230.5,216.0,10.3,234,4366,0.00,1.77,0.00,0.000,6,0.000,0.038,2494,1405,2121,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4660,0.83,230.5,183.3,11.1,254,4665,0.15,1.80,0.00,0.000,4,0.285,0.047,2459,2450,2121,0,0,0,0,0,0,13.96,14.26,28.83
$GC,4737,0.84,235.1,176.0,9.7,259,4750,0.00,1.90,3.75,1.040,6,0.000,0.062,2465,1392,2102,0,0,0,0,0,0,28.83,14.29,13.89
$GC,5052,0.85,241.4,144.5,9.6,280,5064,0.00,1.85,5.25,1.012,4,0.000,0.080,2473,339,2080,0,0,0,0,0,0,28.83,14.50,13.86
$GC,5233,0.84,243.0,126.6,9.9,292,5237,0.00,1.80,0.00,0.000,6,0.000,0.039,2473,1406,2080,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5531,0.87,266.9,100.7,8.3,312,5563,0.00,1.95,27.73,0.522,4,0.000,0.083,2483,339,1975,0,0,0,0,0,0,28.83,14.51,14.17
$GC,5621,0.87,272.5,92.2,9.6,318,5636,0.00,1.80,5.80,0.851,6,0.000,0.039,2481,1407,1951,0,0,0,0,0,0,28.83,14.45,13.98
$GC,5937,0.89,283.7,63.3,9.2,339,5950,0.00,1.77,9.35,0.793,4,0.000,0.048,2481,2437,1900,0,0,0,0,0,0,28.83,14.46,14.00
$GC,6011,0.90,296.0,56.2,9.2,344,6027,0.00,1.88,10.57,0.788,6,0.000,0.062,2487,1399,1855,0,0,0,0,0,0,28.83,14.34,14.03
$GC,6326,0.90,296.3,23.8,10.0,365,6330,0.00,1.95,0.00,0.000,4,0.000,0.083,2495,343,1852,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6448,0.89,296.3,10.6,11.1,373,6451,0.00,1.80,0.00,0.000,6,0.000,0.037,2496,1410,1851,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6533,end climb,SURFACE_DEPTH_REACHED
$STATE,6533,begin surface coast
$FINISH,0.6,1.007827
$STATE,6548,end surface coast,CONTROL_FINISHED_OK
$STATE,6549,begin surface
$SM_CCo,6570,134.60,0.685,0,0,1226,450.13
$SM_GC,1.42,7.25,0.15,134.60,0.091,0.093,0.685,151,1536,1226,-6.30,-1.36,450.13,0,0,0,0,0,0,14.36,14.50,13.95
$IRIDIUM_FIX,2422.84,-3840.70,290313,070734
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.44
$INTERNAL_PRESSURE,9.30182
$TCM_TEMP,25.10
$XPDR_PINGS,1
$SC_FREEKB,7542624
$24V_AH,13.6,270.862
$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,18.475,48.650,446.175,134.600,0.000,0.000,0.000,238.300,0.250,0.000,21.756,1038.219,4173.705,717.411,888.287,380.605,0.000,1317.014,0.000,665.727,0.000,0.550,0.000
$DEVICE_MAMPS,390.915,100.980,1093.185,684.675,0.000,0.000,0.000,153.765,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6583.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.234,0.000,0.000,0.000
$MEM,345500
$DATA_FILE_SIZE,13487,380
$CAP_FILE_SIZE,82459,0
$CFSIZE,260034560,180813824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,5,1,0
$CURRENT,0.219,242.6,1
$GPS,290313,112606,2432.033,-3840.739,38,0.9,38,-14.2