version: 66.11
glider: 191
mission: 5
dive: 236
start: 11 30 112 21 25 35
data:
$ID,191
$MISSION,5
$DIVE,236
$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,-4112.4761
$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,25
$R_STBD_OVSHOOT,49
$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
$GPS1,301112,211058,2429.980,-3718.500,70,0.8,70,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-48.2
$GPS2,301112,212506,2429.947,-3718.547,16,1.6,16,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,7.0,77921,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-62.03,0.000,2,0.000,0.000,156,1525,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.0,-5.6,4,109,9.73,1.80,-2.83,0.000,4,0.420,0.085,1982,2566,3460,0,0,0,0,0,0,14.15,14.50,14.80
$GC,327,-0.57,-97.3,30.3,-8.9,20,331,0.00,1.88,0.00,0.000,6,0.000,0.067,1982,1511,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,628,-0.53,-97.3,59.0,-10.3,40,632,0.15,1.83,0.00,0.000,4,0.249,0.054,2010,2575,3463,0,0,0,0,0,0,14.35,14.51,28.83
$GC,809,-0.53,-97.3,75.7,-9.5,52,813,0.00,1.88,0.00,0.000,6,0.000,0.066,2010,1518,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1108,-0.52,-97.3,103.8,-8.5,72,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1408,-0.52,-97.3,123.1,-5.7,92,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.52,-97.3,140.7,-6.0,112,1711,0.00,1.80,0.00,0.000,4,0.000,0.054,2002,2573,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1812,-0.52,-97.3,147.1,-6.3,119,1816,0.00,1.85,0.00,0.000,6,0.000,0.066,2002,1520,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2112,-0.52,-97.3,168.6,-7.2,139,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.52,-97.3,191.5,-7.8,159,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,-0.52,-97.3,216.1,-8.4,179,2717,0.00,1.80,0.00,0.000,4,0.000,0.054,1995,2576,3467,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2818,-0.52,-97.3,224.5,-7.9,186,2822,0.00,1.85,0.00,0.000,6,0.000,0.066,1995,1521,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3118,-0.51,-97.3,249.2,-8.1,206,3122,0.12,1.77,0.00,0.000,4,0.239,0.054,2023,2566,3463,0,0,0,0,0,0,14.47,14.63,28.83
$GC,3253,-0.53,-97.3,258.8,-7.1,211,3257,0.00,1.85,0.00,0.000,6,0.000,0.067,2017,1513,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3568,-0.53,-97.3,280.0,-6.4,222,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1517,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-0.54,-97.3,298.8,-6.4,232,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.55,-97.3,318.2,-6.5,242,4172,0.00,1.80,0.00,0.000,4,0.000,0.056,2010,2572,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4348,-0.57,-97.3,328.4,-6.1,248,4351,0.00,1.85,0.00,0.000,6,0.000,0.067,2010,1520,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4648,-0.57,-97.3,346.6,-5.5,258,4651,0.00,1.77,0.00,0.000,4,0.000,0.055,2002,2566,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4738,-0.57,-97.3,350.6,-5.4,261,4741,0.00,1.85,0.00,0.000,6,0.000,0.067,2002,1514,3460,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5038,-0.57,-97.3,368.3,-5.7,271,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.57,-97.3,386.6,-6.2,281,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5638,-0.57,-97.3,403.7,-5.4,291,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1513,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5938,-0.57,-97.3,418.8,-4.8,301,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1513,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6238,-0.57,-97.3,433.3,-4.9,311,6242,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2569,3456,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6403,-0.57,-97.3,442.3,-5.6,317,6406,0.00,1.85,0.00,0.000,6,0.000,0.068,1994,1521,3456,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6719,-0.57,-97.3,464.3,-7.4,328,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,-0.57,-97.3,487.3,-7.8,338,7021,0.00,1.92,0.00,0.000,4,0.000,0.090,1994,459,3454,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7076,-0.57,-97.3,491.0,-8.0,340,7080,0.00,1.77,0.00,0.000,6,0.000,0.046,1986,1513,3453,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7379,-0.56,-97.3,516.7,-8.0,350,7382,0.00,1.80,0.00,0.000,4,0.000,0.058,1978,2575,3450,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7526,-0.56,-97.3,527.5,-7.9,355,7531,0.12,1.88,0.00,0.000,6,0.246,0.068,2005,1514,3452,0,0,0,0,0,0,14.37,14.62,28.83
$GC,7830,-0.56,-97.3,548.9,-6.5,365,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.56,-97.3,567.5,-6.2,375,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,-0.56,-97.3,586.5,-6.3,385,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8728,-0.56,-97.3,604.4,-5.8,395,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,-0.57,-97.3,622.4,-6.2,405,9032,0.00,1.83,0.00,0.000,4,0.000,0.057,2000,2576,3447,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9255,-0.58,-97.3,636.6,-6.4,413,9258,0.00,1.90,0.00,0.000,6,0.000,0.070,2000,1513,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9567,-0.58,-97.3,657.7,-6.8,424,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9868,-0.58,-97.3,679.3,-7.6,434,9872,0.00,1.92,0.00,0.000,4,0.000,0.093,2000,463,3444,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9942,-0.58,-97.3,685.5,-8.2,437,9946,0.00,1.80,0.00,0.000,6,0.000,0.047,1992,1520,3444,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10259,-0.58,-97.3,710.1,-7.5,448,10263,0.00,1.83,0.00,0.000,4,0.000,0.059,1984,2578,3443,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10362,-0.58,-97.3,717.5,-7.0,452,10366,0.00,1.88,0.00,0.000,6,0.000,0.070,1984,1522,3443,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10677,-0.58,-97.3,738.3,-6.3,463,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10978,-0.58,-97.3,756.5,-6.3,473,10982,0.00,1.83,0.00,0.000,4,0.000,0.059,1976,2576,3441,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11097,-0.58,-97.3,763.2,-6.4,477,11101,0.00,1.90,0.00,0.000,6,0.000,0.070,1976,1516,3440,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11399,-0.57,-97.3,785.7,-7.4,487,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1515,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11698,-0.56,-97.3,808.5,-7.5,497,11703,0.12,1.85,0.00,0.000,4,0.264,0.060,1997,2577,3438,0,0,0,0,0,0,14.35,14.54,28.83
$GC,11787,-0.56,-97.3,813.4,-6.8,500,11791,0.00,1.90,0.00,0.000,6,0.000,0.071,1997,1518,3438,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12088,-0.56,-97.3,834.4,-6.8,510,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1518,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12387,-0.56,-97.3,854.9,-6.9,520,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1518,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12688,-0.56,-97.3,875.0,-6.7,530,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1518,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12987,-0.56,-97.3,895.6,-7.0,540,12991,0.00,1.85,0.00,0.000,4,0.000,0.061,1989,2574,3435,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13198,-0.58,-97.3,908.6,-6.5,547,13202,0.00,1.92,0.00,0.000,6,0.000,0.073,1989,1512,3435,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13498,-0.58,-97.3,928.0,-5.8,557,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1511,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13799,-0.58,-97.3,944.2,-5.3,567,13802,0.00,1.88,0.00,0.000,4,0.000,0.062,1981,2579,3431,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13947,-0.58,-97.3,951.0,-5.1,572,13950,0.00,1.92,0.00,0.000,6,0.000,0.073,1981,1515,3432,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14249,-0.58,-97.3,969.6,-6.1,582,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1519,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14425,begin apogee
$GC,14431,-0.18,0.0,981.4,-6.6,588,14554,0.55,0.00,114.22,2.124,6,0.216,0.000,2127,1398,3063,0,0,0,0,1,0,14.14,28.83,13.06
$STATE,14555,end apogee,CONTROL_FINISHED_OK
$STATE,14556,begin climb
$GC,14558,0.60,97.3,985.0,0.0,592,14693,0.80,0.00,126.00,2.124,6,0.128,0.000,2373,1397,2665,0,0,0,0,1,0,14.08,28.83,12.98
$GC,14983,0.57,129.9,975.5,4.7,607,15043,0.00,0.00,52.30,1.703,6,0.000,0.000,2373,1397,2533,0,0,0,0,1,0,28.83,28.83,13.26
$GC,15345,0.53,133.1,955.1,5.9,619,15350,0.00,0.00,2.53,1.997,6,0.000,0.000,2373,1397,2518,0,0,0,0,0,0,28.83,28.83,13.49
$GC,15643,0.48,133.1,936.3,6.4,629,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1397,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15943,0.43,133.1,916.1,6.8,639,15945,0.17,0.00,0.00,0.000,6,0.264,0.000,2334,1396,2516,0,0,0,0,0,0,14.33,28.83,28.83
$GC,16243,0.41,133.1,898.1,6.1,649,16247,0.00,1.85,0.00,0.000,4,0.000,0.060,2334,2454,2516,0,0,0,0,0,0,28.83,14.61,28.83
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$STATE,28601,end climb,SURFACE_DEPTH_REACHED
$STATE,28601,begin surface coast
$FINISH,-0.1,1.011963
$STATE,28616,end surface coast,CONTROL_FINISHED_OK
$STATE,28616,begin surface
$SM_CCo,28696,0.00,0.000,0,0,1708,332.14
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$TT8_MAMPS,0.023219,0.023219
$HUMID,53.03
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,7679520
$TM_FREEKB,5549696
$24V_AH,13.0,112.326
$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,19.475,127.125,639.650,0.000,0.000,0.000,0.000,485.250,1.000,0.000,17.975,3226.437,22377.512,915.315,2536.300,475.577,0.000,2378.555,0.000,1901.208,0.000,0.549,0.000
$DEVICE_MAMPS,419.985,120.105,2124.405,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.232,13.004,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,43289,1176
$CAP_FILE_SIZE,247317,0
$CFSIZE,260034560,225923072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$CURRENT,0.061,160.2,1
$GPS,011212,052504,2432.117,-3718.256,31,0.7,31,-13.8