version: 66.11
glider: 191
mission: 5
dive: 45
start: 9 28 112 15 39 42
data:
$ID,191
$MISSION,5
$DIVE,45
$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,350
$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,-3857.0854
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,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
$GPS1,280912,153034,2433.489,-3800.833,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.8
$GPS2,280912,153911,2433.488,-3800.873,15,1.0,16,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$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,245.7,2103,-26.4,-6.049,-30.00
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.98,-29.8,0.0,0.0,0,77,0.00,0.00,-53.83,0.000,6,0.000,0.000,156,1502,3185,0,0,0,0,0,0,28.83,28.83,14.92
$GC,79,-0.98,-30.1,2.5,-6.0,3,92,8.62,1.77,0.00,0.000,4,0.423,0.054,1859,2559,3187,0,0,0,0,0,0,14.46,14.69,28.83
$GC,310,-0.94,-30.1,43.0,-16.7,19,313,0.00,1.85,0.00,0.000,6,0.000,0.068,1861,1497,3190,0,0,0,0,0,0,28.83,14.80,28.83
$GC,610,-0.89,-30.1,90.1,-13.6,39,615,0.17,1.80,0.00,0.000,4,0.321,0.056,1893,2568,3190,0,0,0,0,0,0,14.67,14.83,28.83
$GC,835,-0.89,-30.1,109.7,-7.8,54,838,0.00,1.85,0.00,0.000,6,0.000,0.069,1893,1500,3191,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1135,-0.87,-30.1,135.0,-8.1,74,1139,0.00,1.77,0.00,0.000,4,0.000,0.057,1885,2559,3192,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1360,-0.87,-30.1,156.4,-10.1,89,1363,0.00,1.83,0.00,0.000,6,0.000,0.069,1885,1500,3192,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1660,-0.86,-30.1,186.4,-9.8,109,1663,0.00,1.77,0.00,0.000,4,0.000,0.057,1877,2558,3192,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1885,-0.86,-30.1,205.7,-7.8,124,1889,0.15,1.83,0.00,0.000,6,0.308,0.070,1907,1498,3192,0,0,0,0,0,0,14.74,14.91,28.83
$GC,2184,-0.86,-30.1,229.0,-8.3,144,2188,0.00,1.77,0.00,0.000,4,0.000,0.057,1901,2558,3191,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2410,-0.87,-30.1,248.5,-8.5,159,2413,0.00,1.83,0.00,0.000,6,0.000,0.070,1901,1501,3192,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2710,-0.87,-30.1,276.0,-9.1,170,2713,0.00,1.77,0.00,0.000,4,0.000,0.059,1893,2559,3191,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2935,-0.88,-30.1,293.2,-7.2,178,2939,0.00,1.83,0.00,0.000,6,0.000,0.071,1893,1501,3190,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3249,-0.88,-30.1,319.5,-8.3,189,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1501,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3550,-0.88,-30.1,348.8,-10.7,199,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1501,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.88,-30.1,381.3,-10.7,209,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1501,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4150,-0.88,-30.1,409.1,-8.7,219,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1501,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.88,-30.1,430.8,-6.6,229,4453,0.00,1.85,0.00,0.000,4,0.000,0.093,1893,447,3184,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4675,-0.86,-30.1,449.9,-9.0,237,4679,0.00,1.77,0.00,0.000,6,0.000,0.052,1885,1510,3183,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4990,-0.86,-30.1,479.1,-9.8,248,4994,0.00,1.88,0.00,0.000,4,0.000,0.093,1885,447,3182,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5215,-0.84,-30.1,504.1,-11.4,256,5220,0.17,1.77,0.00,0.000,6,0.315,0.052,1914,1509,3181,0,0,0,0,0,0,14.76,14.99,28.83
$GC,5531,-0.86,-30.1,533.3,-9.1,267,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1510,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,-0.88,-30.1,558.7,-8.2,277,5834,0.00,1.90,0.00,0.000,4,0.000,0.094,1916,439,3178,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6055,-0.88,-30.1,580.0,-9.5,285,6058,0.00,1.77,0.00,0.000,6,0.000,0.052,1910,1499,3177,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6370,-0.91,-30.1,609.7,-10.0,296,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1500,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6671,-0.93,-30.1,637.5,-8.9,306,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-0.95,-30.1,663.3,-8.2,316,6973,0.00,1.88,0.00,0.000,4,0.000,0.096,1909,444,3173,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7119,-0.95,-30.1,675.4,-9.1,321,7123,0.00,1.77,0.00,0.000,6,0.000,0.054,1902,1500,3172,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7420,-0.97,-30.1,699.4,-7.4,331,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1502,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,-0.99,-30.1,722.2,-7.6,341,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1502,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8020,-1.01,-30.1,746.0,-8.4,351,8024,0.12,1.80,0.00,0.000,4,0.158,0.066,1852,2567,3168,0,0,0,0,0,0,14.93,14.95,28.83
$GC,8169,-1.01,-30.1,758.9,-9.7,356,8173,0.00,1.88,0.00,0.000,6,0.000,0.077,1851,1494,3167,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8471,-0.99,-30.1,791.5,-10.3,366,8474,0.00,1.88,0.00,0.000,4,0.000,0.096,1852,441,3166,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8695,-0.95,-30.1,817.1,-11.8,374,8700,0.17,1.80,0.00,0.000,6,0.336,0.056,1878,1506,3165,0,0,0,0,0,0,14.68,14.96,28.83
$GC,9011,-0.95,-30.1,848.2,-9.7,385,9014,0.00,1.80,0.00,0.000,4,0.000,0.067,1873,2567,3167,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9189,-0.96,-30.1,863.3,-9.2,391,9193,0.00,1.88,0.00,0.000,6,0.000,0.078,1873,1497,3164,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9490,-0.96,-30.1,891.0,-8.3,401,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1497,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-0.96,-30.1,913.8,-7.5,411,9794,0.00,1.88,0.00,0.000,4,0.000,0.098,1873,444,3162,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10016,-0.94,-30.1,932.4,-8.3,419,10019,0.00,1.80,0.00,0.000,6,0.000,0.057,1865,1505,3160,0,0,0,0,0,0,28.83,14.94,28.83
$GC,10329,-0.94,-30.1,956.7,-7.8,430,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1510,3159,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10598,begin apogee
$GC,10602,-0.18,0.0,980.8,-9.2,439,10649,1.02,0.00,38.58,1.529,6,0.288,0.000,2125,1507,3062,0,0,0,0,1,0,14.66,28.83,13.71
$STATE,10651,end apogee,CONTROL_FINISHED_OK
$STATE,10651,begin climb
$GC,10652,0.98,30.1,981.9,0.0,440,10711,1.17,0.00,49.80,1.843,6,0.142,0.000,2497,1507,2935,0,0,0,0,1,0,14.65,28.83,13.49
$GC,11005,1.00,80.8,982.8,-0.9,452,11085,0.00,0.00,72.95,2.162,6,0.000,0.000,2497,1507,2734,0,0,0,0,1,0,28.83,28.83,13.34
$GC,11366,0.98,80.8,961.0,8.5,464,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1507,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11665,0.95,80.8,932.5,9.7,474,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1507,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11965,0.92,80.8,903.0,10.1,484,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1507,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12265,0.89,80.8,873.4,9.5,494,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1507,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12566,0.87,80.8,849.1,7.5,504,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1507,2732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12865,0.84,82.9,830.1,5.8,514,12867,0.15,0.00,0.00,0.000,6,0.330,0.000,2465,1505,2731,0,0,0,0,0,0,14.69,28.83,28.83
$GC,13166,0.84,83.2,813.3,6.0,524,13173,0.00,1.83,2.58,2.015,4,0.000,0.071,2468,2558,2719,0,0,0,0,0,0,28.83,14.90,14.14
$GC,13269,0.84,83.2,805.5,7.5,528,13273,0.00,1.88,0.00,0.000,6,0.000,0.083,2473,1500,2720,0,0,0,0,0,0,28.83,14.87,28.83
$GC,13585,0.84,83.2,777.1,9.5,539,13588,0.00,1.90,0.00,0.000,4,0.000,0.104,2482,446,2720,0,0,0,0,0,0,28.83,14.84,28.83
$GC,13810,0.81,83.2,754.1,10.3,547,13814,0.00,1.80,0.00,0.000,6,0.000,0.061,2481,1496,2719,0,0,0,0,0,0,28.83,14.90,28.83
$GC,14127,0.80,83.2,727.1,8.0,558,14129,0.15,0.00,0.00,0.000,6,0.329,0.000,2452,1497,2714,0,0,0,0,0,0,14.69,28.83,28.83
$GC,14424,0.80,83.2,707.6,6.2,568,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1497,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14726,0.81,83.2,688.2,6.4,578,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1497,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15025,0.83,83.2,669.6,6.1,588,15028,0.00,1.83,0.00,0.000,4,0.000,0.069,2451,2561,2719,0,0,0,0,0,0,28.83,14.89,28.83
$GC,15115,0.84,83.2,664.7,6.3,591,15118,0.00,1.88,0.00,0.000,6,0.000,0.082,2458,1500,2718,0,0,0,0,0,0,28.83,14.88,28.83
$GC,15415,0.84,83.2,640.9,7.8,601,15418,0.00,1.90,0.00,0.000,4,0.000,0.103,2465,444,2721,0,0,0,0,0,0,28.83,14.84,28.83
$GC,15641,0.82,83.2,620.4,9.0,609,15644,0.00,1.80,0.00,0.000,6,0.000,0.058,2466,1504,2719,0,0,0,0,0,0,28.83,14.91,28.83
$GC,15955,0.82,83.2,591.2,9.4,620,15959,0.00,1.80,0.00,0.000,4,0.000,0.068,2466,2555,2719,0,0,0,0,0,0,28.83,14.89,28.83
$GC,16180,0.82,83.2,571.7,8.4,628,16183,0.00,1.88,0.00,0.000,6,0.000,0.081,2474,1496,2719,0,0,0,0,0,0,28.83,14.87,28.83
$GC,16495,0.82,83.2,549.9,6.5,639,16496,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1495,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16796,0.83,88.0,533.4,5.4,649,16801,0.00,0.00,3.58,1.666,6,0.000,0.000,2474,1495,2701,0,0,0,0,0,0,28.83,28.83,14.22
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$STATE,24280,end climb,SURFACE_DEPTH_REACHED
$STATE,24280,begin surface coast
$FINISH,0.7,1.024243
$STATE,24296,end surface coast,CONTROL_FINISHED_OK
$STATE,24296,begin surface
$SM_CCo,24312,184.68,0.752,0,0,1634,350.04
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$IRIDIUM_FIX,2425.21,-3803.71,280912,080859
$TT8_MAMPS,0.023219,0.023219
$HUMID,42.32
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.00
$XPDR_PINGS,1
$SC_FREEKB,7752864
$TM_FREEKB,7501376
$24V_AH,13.3,25.127
$10V_AH,13.7,0.000
$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,19.400,124.625,212.075,184.675,0.000,0.000,0.000,311.375,0.250,0.000,17.450,2946.366,19042.289,632.165,2204.115,189.608,0.000,1811.955,0.000,1742.300,0.000,0.551,0.000
$DEVICE_MAMPS,423.045,104.040,2161.890,751.995,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.340,13.130,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,36692,1029
$CAP_FILE_SIZE,216913,0
$CFSIZE,260034560,251662336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.018,354.9,1
$GPS,280912,222904,2433.057,-3802.227,25,1.1,25,-14.0