version: 66.11
glider: 191
mission: 5
dive: 437
start: 2 7 113 8 29 48
data:
$ID,191
$MISSION,5
$DIVE,437
$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,-5154.5933
$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,53
$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
$GPS1,070213,081934,2504.409,-3809.078,29,0.8,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.0
$GPS2,070213,082918,2504.468,-3809.169,17,1.0,17,-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,208.3,77689,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-97.3,0.0,0.0,0,82,0.00,0.00,-57.55,0.000,6,0.000,0.000,158,1518,3457,0,0,0,0,0,0,28.83,28.83,14.76
$GC,86,-0.60,-97.3,4.5,-9.6,4,100,10.02,1.90,0.00,0.000,4,0.413,0.077,1995,461,3460,1,0,0,0,0,0,13.59,14.40,28.83
$GC,323,-0.58,-97.3,36.2,-9.6,20,327,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1516,3461,0,0,0,0,0,0,28.83,14.49,28.83
$GC,624,-0.56,-97.3,58.2,-7.2,40,625,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-0.55,-97.3,87.2,-10.0,60,925,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1224,-0.54,-97.3,110.3,-5.7,80,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1524,-0.53,-97.3,131.5,-7.4,100,1527,0.00,1.92,0.00,0.000,4,0.000,0.083,1987,462,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1675,-0.51,-97.3,144.5,-9.2,110,1679,0.17,1.80,0.00,0.000,6,0.220,0.041,2023,1528,3462,0,0,0,0,0,0,14.16,14.55,28.83
$GC,1976,-0.56,-97.3,167.5,-7.9,130,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1530,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,-0.63,-97.3,190.8,-7.5,150,2279,0.12,1.95,0.00,0.000,4,0.129,0.084,1971,461,3462,0,0,0,0,0,0,14.61,14.33,28.83
$GC,2498,-0.60,-97.3,209.6,-8.5,165,2503,0.15,1.80,0.00,0.000,6,0.237,0.041,1995,1524,3462,0,0,0,0,0,0,14.14,14.54,28.83
$GC,2798,-0.60,-97.3,231.5,-7.7,185,2802,0.00,1.95,0.00,0.000,4,0.000,0.083,1996,457,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2934,-0.60,-97.3,243.2,-8.7,194,2937,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1520,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3237,-0.60,-97.3,267.3,-8.0,207,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.60,-97.3,290.8,-7.7,217,3537,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,462,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3622,-0.60,-97.3,297.0,-8.2,220,3626,0.00,1.80,0.00,0.000,6,0.000,0.041,1982,1528,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3924,-0.60,-97.3,320.0,-7.0,230,3928,0.00,1.95,0.00,0.000,4,0.000,0.084,1982,463,3461,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3999,-0.58,-97.3,325.6,-7.4,233,4003,0.00,1.80,0.00,0.000,6,0.000,0.042,1975,1525,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4317,-0.57,-97.3,346.5,-6.4,244,4319,0.12,0.00,0.00,0.000,6,0.249,0.000,2001,1527,3460,0,0,0,0,0,0,14.34,28.83,28.83
$GC,4616,-0.60,-97.3,362.7,-5.7,254,4620,0.00,1.95,0.00,0.000,4,0.000,0.085,2001,462,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4690,-0.63,-97.3,367.5,-6.2,257,4694,0.00,1.80,0.00,0.000,6,0.000,0.041,1996,1528,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5007,-0.67,-97.3,388.5,-7.1,268,5010,0.00,1.95,0.00,0.000,4,0.000,0.085,1996,463,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5095,-0.69,-97.3,394.2,-7.6,271,5098,0.00,1.80,0.00,0.000,6,0.000,0.042,1989,1523,3458,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5394,-0.69,-97.3,418.0,-7.6,281,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1524,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.69,-97.3,440.3,-7.3,291,5698,0.00,1.95,0.00,0.000,4,0.000,0.086,1989,463,3457,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5784,-0.69,-97.3,446.4,-7.9,294,5788,0.00,1.80,0.00,0.000,6,0.000,0.043,1981,1519,3457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6084,-0.69,-97.3,468.3,-6.6,304,6088,0.00,1.95,0.00,0.000,4,0.000,0.086,1981,461,3457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6190,-0.68,-97.3,475.7,-7.1,308,6194,0.00,1.80,0.00,0.000,6,0.000,0.044,1973,1520,3456,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6504,-0.68,-97.3,494.7,-5.8,319,6508,0.00,1.95,0.00,0.000,4,0.000,0.086,1973,461,3455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6564,-0.66,-97.3,497.5,-5.8,321,6567,0.00,1.80,0.00,0.000,6,0.000,0.044,1964,1521,3455,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6865,-0.64,-97.3,516.4,-6.1,331,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,-0.63,-97.3,537.0,-7.1,341,7168,0.00,1.95,0.00,0.000,4,0.000,0.086,1965,462,3453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7271,-0.60,-97.3,545.5,-8.2,345,7275,0.15,1.83,0.00,0.000,6,0.249,0.044,1989,1525,3453,0,0,0,0,0,0,14.06,14.50,28.83
$GC,7586,-0.60,-97.3,565.0,-6.0,356,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1526,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7886,-0.62,-97.3,582.2,-5.7,366,7889,0.00,1.98,0.00,0.000,4,0.000,0.088,1988,463,3451,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8003,-0.62,-97.3,588.8,-6.4,370,8006,0.00,1.83,0.00,0.000,6,0.000,0.044,1984,1524,3451,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8305,-0.62,-97.3,608.0,-6.2,380,8309,0.00,1.98,0.00,0.000,4,0.000,0.089,1984,462,3450,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8409,-0.62,-97.3,615.8,-7.5,384,8412,0.00,1.83,0.00,0.000,6,0.000,0.044,1976,1521,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8724,-0.62,-97.3,638.1,-7.0,395,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9025,-0.62,-97.3,659.1,-6.9,405,9029,0.00,1.98,0.00,0.000,4,0.000,0.089,1976,461,3448,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9173,-0.60,-97.3,669.2,-7.6,410,9177,0.00,1.83,0.00,0.000,6,0.000,0.046,1969,1521,3447,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9475,-0.60,-97.3,689.4,-6.2,420,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9774,-0.60,-97.3,707.1,-5.7,430,9778,0.00,1.98,0.00,0.000,4,0.000,0.090,1968,461,3445,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9880,-0.58,-97.3,714.4,-6.9,434,9884,0.17,1.83,0.00,0.000,6,0.237,0.046,2000,1520,3444,0,0,0,0,0,0,13.96,14.42,28.83
$GC,10198,-0.64,-97.3,732.5,-6.0,445,10206,0.00,2.00,0.00,0.000,4,0.000,0.090,2000,460,3444,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10329,-0.68,-97.3,740.3,-6.4,449,10333,0.00,1.83,0.00,0.000,6,0.000,0.046,1995,1520,3443,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10630,-0.73,-97.3,760.5,-6.8,459,10635,0.12,1.98,0.00,0.000,4,0.139,0.090,1949,464,3443,0,0,0,0,0,0,14.54,14.14,28.83
$GC,10858,-0.69,-97.3,780.4,-9.2,467,10861,0.00,1.85,0.00,0.000,6,0.000,0.046,1941,1519,3442,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11173,-0.66,-97.3,812.3,-10.7,478,11175,0.15,0.00,0.00,0.000,6,0.256,0.000,1971,1521,3441,0,0,0,0,0,0,14.11,28.83,28.83
$GC,11471,-0.66,-97.3,842.5,-10.1,488,11475,0.00,2.00,0.00,0.000,4,0.000,0.091,1972,461,3439,0,0,0,0,0,0,28.83,14.10,28.83
$GC,11545,-0.66,-97.3,850.3,-10.4,491,11549,0.00,1.85,0.00,0.000,6,0.000,0.047,1967,1523,3440,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11860,-0.66,-97.3,878.7,-8.3,502,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12161,-0.66,-97.3,899.7,-6.4,512,12165,0.00,2.00,0.00,0.000,4,0.000,0.093,1967,464,3438,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12280,-0.65,-97.3,906.5,-6.5,516,12284,0.00,1.85,0.00,0.000,6,0.000,0.048,1959,1519,3437,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12581,-0.65,-97.3,923.4,-5.1,526,12585,0.00,2.00,0.00,0.000,4,0.000,0.093,1959,464,3435,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12700,-0.63,-97.3,929.2,-5.6,530,12704,0.15,1.85,0.00,0.000,6,0.254,0.047,1982,1521,3433,0,0,0,0,0,0,13.84,14.33,28.83
$GC,13005,-0.64,-97.3,945.0,-5.4,540,13012,0.00,2.00,0.00,0.000,4,0.000,0.093,1982,463,3435,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13074,-0.64,-97.3,948.9,-6.0,542,13078,0.00,1.85,0.00,0.000,6,0.000,0.047,1978,1521,3434,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13375,-0.64,-97.3,971.0,-7.5,552,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1522,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13492,begin apogee
$GC,13501,-0.18,0.0,980.7,-8.1,556,13628,0.57,0.00,114.97,1.853,6,0.206,0.000,2127,1397,3062,0,0,0,0,1,0,13.73,28.83,12.87
$STATE,13629,end apogee,CONTROL_FINISHED_OK
$STATE,13629,begin climb
$GC,13632,0.60,97.3,988.0,0.0,560,13770,0.80,1.92,126.40,1.837,4,0.109,0.058,2380,2459,2665,0,0,0,0,1,0,14.21,14.18,12.95
$GC,13990,0.63,187.2,992.1,2.3,573,14118,0.00,1.95,117.15,1.825,6,0.000,0.076,2388,1393,2298,0,0,0,0,1,0,28.83,14.42,12.99
$GC,14427,0.58,187.2,965.9,7.3,588,14431,0.00,1.88,0.00,0.000,4,0.000,0.058,2388,2458,2290,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14546,0.52,187.2,957.9,7.6,592,14551,0.15,1.92,0.00,0.000,6,0.280,0.076,2366,1401,2289,0,0,0,0,0,0,14.14,14.45,28.83
$GC,14850,0.49,187.2,934.9,7.3,602,14854,0.00,2.00,0.00,0.000,4,0.000,0.100,2371,343,2288,0,0,0,0,0,0,28.83,14.36,28.83
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$STATE,27449,end climb,SURFACE_DEPTH_REACHED
$STATE,27449,begin surface coast
$FINISH,0.2,1.025574
$STATE,27463,end surface coast,CONTROL_FINISHED_OK
$STATE,27464,begin surface
$SM_CCo,27544,0.00,0.000,0,0,1667,342.19
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$TT8_MAMPS,0.023219,0.023219
$HUMID,57.52
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,7602304
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$10V_AH,12.8,0.000
$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
$DEVICE_SECS,21.500,163.625,675.775,0.000,0.000,0.000,0.000,312.400,0.250,0.000,18.020,3225.880,20931.580,968.882,2326.167,657.623,0.000,2293.704,0.000,1944.417,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.131,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43424,1124
$CAP_FILE_SIZE,248394,0
$CFSIZE,260034560,198664192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.081,345.9,1
$GPS,070213,161005,2503.212,-3809.971,31,0.9,31,-14.0