version: 66.11
glider: 191
mission: 5
dive: 436
start: 2 7 113 0 24 30
data:
$ID,191
$MISSION,5
$DIVE,436
$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,-5153.3384
$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,24
$R_STBD_OVSHOOT,47
$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
$GPS1,070213,001434,2505.447,-3808.150,34,0.8,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-59.2
$GPS2,070213,002359,2505.476,-3808.194,18,0.9,18,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,206.4,80168,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.55,0.000,6,0.000,0.000,152,1520,3459,0,0,0,0,0,0,28.83,28.83,14.74
$GC,87,-0.60,-97.3,4.7,-10.0,4,101,10.00,1.92,0.00,0.000,4,0.410,0.073,1996,454,3461,1,0,0,0,0,0,13.64,14.42,28.83
$GC,295,-0.58,-97.3,26.3,-7.8,18,299,0.00,1.83,0.00,0.000,6,0.000,0.044,1991,1520,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,595,-0.56,-97.3,50.0,-11.0,38,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.54,-97.3,74.7,-7.4,58,899,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,457,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1000,-0.51,-97.3,84.2,-9.1,65,1004,0.15,1.83,0.00,0.000,6,0.242,0.043,2017,1528,3464,0,0,0,0,0,0,14.12,14.52,28.83
$GC,1299,-0.51,-97.3,107.3,-7.7,85,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1530,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-0.53,-97.3,131.4,-7.9,105,1603,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,461,3464,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1779,-0.53,-97.3,145.8,-7.8,117,1783,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1523,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2080,-0.53,-97.3,162.0,-5.0,137,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.54,-97.3,177.2,-5.5,157,2384,0.00,1.92,0.00,0.000,4,0.000,0.083,2012,463,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2455,-0.54,-97.3,181.9,-6.5,162,2459,0.00,1.80,0.00,0.000,6,0.000,0.041,2004,1528,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2755,-0.54,-97.3,199.4,-5.9,182,2759,0.00,1.95,0.00,0.000,4,0.000,0.083,2004,460,3464,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2829,-0.54,-97.3,204.3,-6.7,187,2833,0.00,1.80,0.00,0.000,6,0.000,0.041,1995,1527,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3130,-0.54,-97.3,221.0,-5.3,207,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.54,-97.3,238.4,-6.2,227,3434,0.00,1.95,0.00,0.000,4,0.000,0.083,1996,458,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3535,-0.54,-97.3,245.9,-7.3,234,3538,0.00,1.80,0.00,0.000,6,0.000,0.041,1988,1522,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3852,-0.54,-97.3,268.9,-7.5,247,3855,0.00,1.92,0.00,0.000,4,0.000,0.083,1988,463,3463,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3940,-0.53,-97.3,275.2,-8.2,250,3944,0.15,1.80,0.00,0.000,6,0.238,0.042,2013,1527,3463,0,0,0,0,0,0,14.17,14.56,28.83
$GC,4242,-0.58,-97.3,297.4,-7.2,260,4246,0.00,1.95,0.00,0.000,4,0.000,0.084,2013,461,3463,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4330,-0.63,-97.3,303.0,-7.4,263,4334,0.00,1.80,0.00,0.000,6,0.000,0.041,2008,1528,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4630,-0.68,-97.3,327.1,-7.9,273,4635,0.12,1.95,0.00,0.000,4,0.132,0.084,1956,461,3462,0,0,0,0,0,0,14.65,14.33,28.83
$GC,4828,-0.64,-97.3,346.2,-10.1,280,4833,0.15,1.80,0.00,0.000,6,0.255,0.042,1979,1521,3461,0,0,0,0,0,0,14.10,14.54,28.83
$GC,5144,-0.64,-97.3,373.1,-8.4,291,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5443,-0.64,-97.3,397.8,-8.1,301,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.64,-97.3,421.9,-7.9,311,5745,0.00,1.95,0.00,0.000,4,0.000,0.085,1979,459,3459,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5847,-0.63,-97.3,430.7,-8.4,315,5851,0.00,1.80,0.00,0.000,6,0.000,0.043,1974,1519,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6162,-0.63,-97.3,455.1,-7.8,326,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6462,-0.63,-97.3,477.7,-7.3,336,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6762,-0.63,-97.3,498.7,-6.8,346,6766,0.00,1.95,0.00,0.000,4,0.000,0.086,1974,461,3457,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6837,-0.61,-97.3,504.3,-7.2,349,6841,0.00,1.80,0.00,0.000,6,0.000,0.043,1966,1521,3457,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7156,-0.60,-97.3,525.6,-6.6,360,7158,0.12,0.00,0.00,0.000,6,0.253,0.000,1992,1522,3456,0,0,0,0,0,0,14.28,28.83,28.83
$GC,7452,-0.61,-97.3,545.1,-6.7,370,7456,0.00,1.95,0.00,0.000,4,0.000,0.086,1991,463,3455,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7557,-0.61,-97.3,553.2,-7.7,374,7560,0.00,1.80,0.00,0.000,6,0.000,0.044,1986,1520,3455,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7872,-0.61,-97.3,576.4,-7.2,385,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,-0.61,-97.3,595.2,-5.7,395,8176,0.00,1.95,0.00,0.000,4,0.000,0.087,1987,464,3453,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8308,-0.61,-97.3,603.0,-5.8,400,8311,0.00,1.80,0.00,0.000,6,0.000,0.044,1979,1520,3453,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8622,-0.61,-97.3,618.2,-5.1,411,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8922,-0.61,-97.3,636.5,-6.5,421,8926,0.00,1.98,0.00,0.000,4,0.000,0.088,1979,458,3450,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8997,-0.61,-97.3,642.5,-7.7,424,9001,0.00,1.83,0.00,0.000,6,0.000,0.045,1971,1521,3450,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9311,-0.61,-97.3,667.5,-8.2,435,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9611,-0.61,-97.3,691.5,-8.0,445,9615,0.00,1.98,0.00,0.000,4,0.000,0.088,1977,468,3448,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9717,-0.59,-97.3,700.5,-8.6,449,9722,0.15,1.83,0.00,0.000,6,0.245,0.045,1994,1522,3448,0,0,0,0,0,0,14.03,14.47,28.83
$GC,10035,-0.64,-97.3,721.5,-6.6,460,10044,0.00,1.98,0.00,0.000,4,0.000,0.089,1995,462,3447,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10106,-0.68,-97.3,725.5,-6.5,462,10110,0.00,1.83,0.00,0.000,6,0.000,0.044,1990,1520,3446,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10408,-0.73,-97.3,745.5,-6.4,472,10413,0.12,1.98,0.00,0.000,4,0.138,0.090,1945,463,3445,0,0,0,0,0,0,14.56,14.17,28.83
$GC,10636,-0.69,-97.3,765.1,-9.0,480,10642,0.00,1.83,0.00,0.000,6,0.000,0.046,1937,1520,3444,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10965,-0.66,-97.3,794.3,-9.1,491,10967,0.15,0.00,0.00,0.000,6,0.257,0.000,1969,1521,3443,0,0,0,0,0,0,14.12,28.83,28.83
$GC,11261,-0.66,-97.3,818.3,-7.9,501,11265,0.00,1.98,0.00,0.000,4,0.000,0.090,1970,466,3443,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11337,-0.66,-97.3,824.6,-8.2,504,11341,0.00,1.83,0.00,0.000,6,0.000,0.047,1964,1520,3442,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11652,-0.66,-97.3,848.4,-7.2,515,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11951,-0.66,-97.3,868.6,-6.7,525,11955,0.00,2.00,0.00,0.000,4,0.000,0.092,1964,460,3440,0,0,0,0,0,0,28.83,14.11,28.83
$GC,12012,-0.65,-97.3,871.9,-6.9,527,12016,0.00,1.85,0.00,0.000,6,0.000,0.047,1956,1520,3439,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12314,-0.63,-97.3,893.7,-6.9,537,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12613,-0.62,-97.3,915.6,-7.5,547,12617,0.15,2.00,0.00,0.000,4,0.251,0.092,1988,467,3441,0,0,0,0,0,0,14.09,13.89,28.83
$GC,12686,-0.62,-97.3,921.3,-7.4,550,12690,0.00,1.85,0.00,0.000,6,0.000,0.047,1983,1522,3438,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13006,-0.65,-97.3,942.9,-7.1,561,13013,0.00,2.00,0.00,0.000,4,0.000,0.093,1983,466,3437,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13076,-0.68,-97.3,947.4,-7.3,563,13080,0.00,1.85,0.00,0.000,6,0.000,0.048,1976,1524,3437,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13377,-0.72,-97.3,967.8,-6.4,573,13381,0.00,2.03,0.00,0.000,4,0.000,0.093,1976,460,3436,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13527,-0.74,-97.3,976.8,-6.8,578,13530,0.00,1.88,0.00,0.000,6,0.000,0.047,1969,1527,3435,0,0,0,0,0,0,28.83,14.32,28.83
$STATE,13584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13584,begin apogee
$GC,13592,-0.18,0.0,981.3,-6.4,580,13719,0.60,0.00,114.75,1.854,6,0.196,0.000,2126,1398,3063,0,0,0,0,1,0,13.78,28.83,12.90
$STATE,13720,end apogee,CONTROL_FINISHED_OK
$STATE,13720,begin climb
$GC,13725,0.60,97.3,986.1,0.0,584,13862,0.82,1.92,125.38,1.831,4,0.109,0.059,2384,2461,2666,0,0,0,0,1,0,14.21,14.19,12.97
$GC,14052,0.56,130.5,981.2,4.6,596,14116,0.00,1.95,54.00,1.535,6,0.000,0.075,2394,1395,2531,0,0,0,0,1,0,28.83,14.42,13.10
$GC,14427,0.51,153.6,961.4,5.1,609,14477,0.15,0.00,42.20,1.388,6,0.278,0.000,2362,1395,2436,0,0,0,0,1,0,14.21,28.83,13.18
$GC,14760,0.54,203.9,947.5,3.9,620,14846,0.00,1.95,72.80,1.671,4,0.000,0.099,2368,344,2229,0,0,0,0,1,0,28.83,14.23,13.08
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$STATE,28344,end climb,SURFACE_DEPTH_REACHED
$STATE,28345,begin surface coast
$FINISH,0.6,1.025652
$STATE,28361,end surface coast,CONTROL_FINISHED_OK
$STATE,28361,begin surface
$SM_CCo,28385,43.90,0.672,0,0,1756,320.12
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$IRIDIUM_FIX,2458.45,-3805.02,060213,161616
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.10
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,7602688
$24V_AH,12.9,205.746
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,20.950,152.725,533.375,43.900,0.000,0.000,0.000,288.900,0.250,0.000,19.383,3332.840,21723.068,880.232,2362.993,680.190,0.000,2197.411,0.000,1993.530,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.220,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,43415,1190
$CAP_FILE_SIZE,251203,0
$CFSIZE,260034560,198778880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.105,341.2,1
$GPS,070213,081934,2504.409,-3809.078,29,0.8,29,-14.0