version: 66.11
glider: 191
mission: 5
dive: 294
start: 12 20 112 14 25 6
data:
$ID,191
$MISSION,5
$DIVE,294
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$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,540
$T_MISSION,580
$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,320
$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,-4188.3921
$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,23
$R_STBD_OVSHOOT,43
$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
$GPS1,201212,141204,2433.345,-3841.164,30,0.9,31,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.5
$GPS2,201212,142436,2433.355,-3841.157,16,1.5,16,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,134.5,96881,-13.3,-6.049,-18.38
$D_GRID,980
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-57.28,0.000,6,0.000,0.000,158,1521,3460,0,0,0,0,0,0,28.83,28.83,14.77
$GC,90,-0.60,-97.3,5.0,-11.5,4,104,9.85,1.83,0.00,0.000,4,0.415,0.053,1983,2576,3463,1,0,0,0,0,0,13.79,14.56,28.83
$GC,240,-0.57,-97.3,25.5,-9.5,14,244,0.00,1.90,0.00,0.000,6,0.000,0.066,1983,1512,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,538,-0.54,-97.3,53.8,-9.2,34,543,0.12,1.90,0.00,0.000,4,0.256,0.086,2010,469,3464,0,0,0,0,0,0,14.31,14.31,28.83
$GC,644,-0.52,-97.3,63.3,-9.2,41,647,0.00,1.77,0.00,0.000,6,0.000,0.044,2005,1517,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,943,-0.51,-97.3,86.2,-7.5,61,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.51,-97.3,109.5,-7.7,81,1246,0.00,1.80,0.00,0.000,4,0.000,0.054,1997,2580,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1302,-0.51,-97.3,114.3,-8.0,85,1306,0.00,1.88,0.00,0.000,6,0.000,0.064,1997,1515,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1603,-0.51,-97.3,135.8,-7.3,105,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-0.51,-97.3,157.3,-7.2,125,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-0.51,-97.3,178.6,-7.0,145,2206,0.00,1.90,0.00,0.000,4,0.000,0.085,1997,463,3465,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2294,-0.49,-97.3,185.4,-7.8,151,2298,0.17,1.77,0.00,0.000,6,0.233,0.043,2030,1520,3465,0,0,0,0,0,0,14.28,14.56,28.83
$GC,2594,-0.51,-97.3,202.5,-6.2,171,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.54,-97.3,223.9,-7.7,191,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,-0.57,-97.3,246.0,-7.2,211,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3496,-0.60,-97.3,264.0,-5.3,223,3499,0.00,1.80,0.00,0.000,4,0.000,0.054,2025,2580,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3569,-0.63,-97.3,267.5,-4.7,226,3573,0.12,1.85,0.00,0.000,6,0.135,0.063,1972,1521,3464,0,0,0,0,0,0,14.64,14.65,28.83
$GC,3885,-0.61,-97.3,286.3,-6.2,237,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4184,-0.59,-97.3,309.1,-8.3,247,4188,0.00,1.90,0.00,0.000,4,0.000,0.086,1972,464,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4242,-0.57,-97.3,313.4,-8.8,249,4247,0.17,1.77,0.00,0.000,6,0.243,0.044,2004,1520,3463,0,0,0,0,0,0,14.38,14.74,28.83
$GC,4545,-0.57,-97.3,338.1,-7.6,259,4549,0.00,1.80,0.00,0.000,4,0.000,0.055,1998,2580,3461,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4632,-0.58,-97.3,343.4,-7.1,262,4636,0.00,1.85,0.00,0.000,6,0.000,0.064,1998,1521,3461,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4933,-0.58,-97.3,363.6,-6.2,272,4936,0.00,1.90,0.00,0.000,4,0.000,0.087,1999,465,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5039,-0.58,-97.3,370.6,-6.8,276,5042,0.00,1.77,0.00,0.000,6,0.000,0.045,1991,1521,3460,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5353,-0.58,-97.3,390.2,-6.3,287,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.58,-97.3,409.7,-6.7,297,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5953,-0.58,-97.3,430.1,-6.8,307,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.58,-97.3,452.4,-7.5,317,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6553,-0.58,-97.3,472.2,-6.1,327,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,-0.58,-97.3,486.6,-4.3,337,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,-0.58,-97.3,499.4,-4.5,347,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,-0.58,-97.3,516.4,-6.3,357,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1523,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,-0.58,-97.3,537.6,-7.1,367,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8053,-0.58,-97.3,558.8,-6.8,377,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8353,-0.58,-97.3,577.5,-5.9,387,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8654,-0.58,-97.3,591.9,-4.6,397,8657,0.00,1.83,0.00,0.000,4,0.000,0.058,1983,2581,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8712,-0.58,-97.3,594.1,-4.5,399,8716,0.00,1.88,0.00,0.000,6,0.000,0.068,1983,1523,3449,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9014,-0.58,-97.3,613.2,-6.8,409,9018,0.00,1.92,0.00,0.000,4,0.000,0.090,1983,464,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9072,-0.58,-97.3,616.6,-7.2,411,9075,0.00,1.80,0.00,0.000,6,0.000,0.047,1976,1520,3448,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9373,-0.58,-97.3,641.7,-8.1,421,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,-0.58,-97.3,666.0,-8.0,431,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9973,-0.58,-97.3,690.3,-8.0,441,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,-0.58,-97.3,713.5,-7.5,451,10278,0.00,1.83,0.00,0.000,4,0.000,0.059,1967,2578,3444,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10362,-0.58,-97.3,718.8,-7.3,454,10366,0.15,1.90,0.00,0.000,6,0.236,0.069,2000,1514,3445,0,0,0,0,0,0,14.24,14.54,28.83
$GC,10665,-0.60,-97.3,737.2,-5.4,464,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10964,-0.61,-97.3,753.0,-5.4,474,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,-0.63,-97.3,769.8,-5.7,484,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11564,-0.65,-97.3,786.8,-5.8,494,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1514,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,-0.66,-97.3,807.0,-7.1,504,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12164,-0.68,-97.3,829.7,-7.8,514,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12463,-0.70,-97.3,854.1,-8.2,524,12465,0.12,0.00,0.00,0.000,6,0.146,0.000,1958,1514,3438,0,0,0,0,0,0,14.66,28.83,28.83
$GC,12764,-0.68,-97.3,881.9,-9.1,534,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13063,-0.66,-97.3,905.5,-7.5,544,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1514,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13364,-0.64,-97.3,926.8,-6.9,554,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1514,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13663,-0.63,-97.3,947.3,-6.7,564,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1514,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13964,-0.61,-97.3,968.1,-7.2,574,13966,0.15,0.00,0.00,0.000,6,0.253,0.000,1989,1514,3433,0,0,0,0,0,0,14.21,28.83,28.83
$STATE,14171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14171,begin apogee
$GC,14178,-0.18,0.0,981.2,-6.2,581,14306,0.50,0.00,116.38,2.054,6,0.203,0.000,2126,1396,3063,0,0,0,0,1,0,14.08,28.83,12.89
$STATE,14307,end apogee,CONTROL_FINISHED_OK
$STATE,14308,begin climb
$GC,14311,0.60,97.3,986.1,0.0,585,14450,0.82,1.95,127.57,2.006,4,0.119,0.060,2380,2458,2667,0,0,0,0,1,0,14.14,14.06,12.92
$GC,14623,0.61,158.7,986.1,3.5,596,14718,0.00,1.92,85.72,1.890,6,0.000,0.077,2388,1405,2416,0,0,0,0,1,0,28.83,14.45,13.05
$GC,15013,0.55,158.7,962.4,6.7,609,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1405,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15314,0.49,158.7,941.6,7.1,619,15316,0.17,0.00,0.00,0.000,6,0.271,0.000,2350,1405,2408,0,0,0,0,0,0,14.34,28.83,28.83
$GC,15616,0.49,169.8,924.2,5.6,629,15651,0.00,0.00,27.60,1.062,6,0.000,0.000,2350,1405,2369,0,0,0,0,1,0,28.83,28.83,13.44
$GC,15946,0.49,189.8,906.3,5.2,640,15992,0.00,0.00,38.75,1.402,6,0.000,0.000,2350,1405,2288,0,0,0,0,1,0,28.83,28.83,13.33
$GC,16276,0.51,220.4,889.5,4.8,651,16337,0.00,1.90,51.35,1.628,4,0.000,0.063,2350,2458,2164,0,0,0,0,1,0,28.83,14.36,13.24
$GC,16379,0.51,243.0,884.1,5.1,655,16432,0.00,1.95,42.62,1.470,6,0.000,0.079,2355,1401,2070,0,0,0,0,1,0,28.83,14.37,13.15
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$STATE,28705,end climb,SURFACE_DEPTH_REACHED
$STATE,28706,begin surface coast
$FINISH,0.9,1.025271
$STATE,28722,end surface coast,CONTROL_FINISHED_OK
$STATE,28722,begin surface
$SM_CCo,28804,0.00,0.000,0,0,1707,332.38
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$IRIDIUM_FIX,2422.84,-3837.37,201212,060649
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.09
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,7
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$TM_FREEKB,4937024
$24V_AH,12.9,140.135
$10V_AH,12.6,0.000
$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,19.875,97.700,648.925,0.000,0.000,0.000,0.000,420.800,1.750,0.000,17.986,3195.881,22489.191,870.699,2429.214,555.114,0.000,2265.184,0.000,1879.593,0.000,0.549,0.000
$DEVICE_MAMPS,415.395,119.340,2054.025,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28768.000,6780.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.156,13.060,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43277,1186
$CAP_FILE_SIZE,243350,0
$CFSIZE,260034560,217972736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.047,138.4,1
$GPS,201212,222632,2431.393,-3837.590,40,0.8,40,-14.2