version: 66.11
glider: 191
mission: 5
dive: 291
start: 12 19 112 13 38 50
data:
$ID,191
$MISSION,5
$DIVE,291
$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,-4184.6177
$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,45
$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
$GPS1,191212,132534,2433.084,-3839.848,25,1.2,25,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-58.5
$GPS2,191212,133811,2433.119,-3839.892,14,1.3,14,-14.2
$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,342.7,4975,-13.9,-6.049,-18.84
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.61,-91.4,0.0,0.0,0,88,0.00,0.00,-58.12,0.000,6,0.000,0.000,159,1519,3437,0,0,0,0,0,0,28.83,28.83,14.78
$GC,91,-0.61,-91.4,4.5,-9.4,4,106,9.62,1.90,0.00,0.000,4,0.409,0.075,1992,455,3439,1,0,0,0,0,0,13.90,14.48,28.83
$GC,329,-0.57,-91.4,35.3,-10.3,20,333,0.00,1.80,0.00,0.000,6,0.000,0.045,1988,1514,3442,0,0,0,0,0,0,28.83,14.48,28.83
$GC,629,-0.55,-91.4,64.4,-9.8,40,633,0.00,1.92,0.00,0.000,4,0.000,0.086,1986,464,3442,0,0,0,0,0,0,28.83,14.46,28.83
$GC,780,-0.51,-91.4,81.0,-11.2,50,785,0.17,1.80,0.00,0.000,6,0.240,0.044,2019,1525,3443,0,0,0,0,0,0,14.28,14.62,28.83
$GC,1080,-0.51,-91.4,107.5,-8.2,70,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1525,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.52,-91.4,127.8,-6.2,90,1383,0.00,1.95,0.00,0.000,4,0.000,0.086,2018,459,3442,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1484,-0.52,-91.4,134.9,-6.8,97,1488,0.00,1.80,0.00,0.000,6,0.000,0.043,2013,1519,3443,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1784,-0.53,-91.4,155.2,-6.9,117,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2084,-0.54,-91.4,175.1,-6.1,137,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.56,-97.3,191.2,-5.1,157,2389,0.00,1.83,-0.12,0.000,4,0.000,0.083,2005,2577,3470,0,0,0,0,0,0,28.83,14.59,14.34
$GC,2522,-0.59,-97.3,198.2,-5.2,166,2525,0.00,1.88,0.00,0.000,6,0.000,0.065,2002,1513,3472,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2820,-0.60,-97.3,215.3,-5.7,186,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1509,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.61,-97.3,236.9,-8.2,206,3123,0.00,1.90,0.00,0.000,4,0.000,0.086,2005,460,3470,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3224,-0.61,-97.3,246.5,-9.0,213,3227,0.00,1.80,0.00,0.000,6,0.000,0.044,1998,1524,3470,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3541,-0.61,-97.3,270.7,-6.9,225,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1526,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-0.61,-97.3,288.3,-5.7,235,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1525,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.61,-97.3,306.7,-6.3,245,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1529,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4438,-0.61,-97.3,326.0,-6.7,255,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1526,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.61,-97.3,348.2,-7.8,265,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1526,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-0.61,-97.3,373.0,-8.3,275,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1531,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5339,-0.62,-97.3,394.4,-6.7,285,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5640,-0.62,-97.3,411.8,-5.7,295,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.63,-97.3,430.2,-6.5,305,5943,0.00,1.80,0.00,0.000,4,0.000,0.057,1990,2578,3464,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6119,-0.65,-97.3,441.6,-7.0,311,6122,0.00,1.88,0.00,0.000,6,0.000,0.067,1990,1517,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6419,-0.65,-97.3,465.4,-7.7,321,6422,0.00,1.90,0.00,0.000,4,0.000,0.089,1990,466,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6478,-0.65,-97.3,469.0,-7.8,323,6481,0.00,1.80,0.00,0.000,6,0.000,0.046,1982,1527,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6779,-0.65,-97.3,493.1,-7.4,333,6783,0.00,1.80,0.00,0.000,4,0.000,0.058,1974,2578,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6868,-0.65,-97.3,498.7,-7.5,336,6871,0.00,1.88,0.00,0.000,6,0.000,0.067,1974,1518,3461,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7169,-0.65,-97.3,523.8,-7.9,346,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7469,-0.65,-97.3,546.7,-7.5,356,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7769,-0.65,-97.3,567.4,-6.8,366,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,-0.65,-97.3,587.9,-6.9,376,8073,0.00,1.92,0.00,0.000,4,0.000,0.090,1974,461,3458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8158,-0.63,-97.3,593.6,-7.4,379,8162,0.00,1.80,0.00,0.000,6,0.000,0.046,1966,1520,3457,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8460,-0.62,-97.3,618.2,-8.0,389,8463,0.00,1.83,0.00,0.000,4,0.000,0.059,1959,2580,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8578,-0.62,-97.3,626.4,-7.9,393,8582,0.12,1.88,0.00,0.000,6,0.244,0.069,1985,1522,3456,0,0,0,0,0,0,14.33,14.58,28.83
$GC,8880,-0.62,-97.3,648.4,-6.9,403,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9179,-0.62,-97.3,668.9,-6.9,413,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9479,-0.62,-97.3,690.2,-7.2,423,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9779,-0.62,-97.3,710.9,-6.7,433,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10079,-0.62,-97.3,728.9,-5.7,443,10083,0.00,1.95,0.00,0.000,4,0.000,0.093,1985,459,3450,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10168,-0.62,-97.3,733.5,-6.0,446,10172,0.00,1.83,0.00,0.000,6,0.000,0.048,1979,1521,3450,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10470,-0.62,-97.3,751.6,-5.9,456,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10769,-0.62,-97.3,770.3,-6.5,466,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11069,-0.62,-97.3,792.3,-7.7,476,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11369,-0.62,-97.3,816.3,-7.9,486,11372,0.00,1.85,0.00,0.000,4,0.000,0.061,1972,2581,3446,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11519,-0.63,-97.3,826.3,-7.3,491,11523,0.00,1.90,0.00,0.000,6,0.000,0.071,1972,1522,3445,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11819,-0.63,-97.3,846.9,-6.1,501,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12120,-0.63,-97.3,863.2,-5.2,511,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12419,-0.63,-97.3,878.9,-5.3,521,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12719,-0.63,-97.3,896.7,-6.1,531,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13019,-0.63,-97.3,916.4,-6.7,541,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13319,-0.63,-97.3,937.4,-7.2,551,13322,0.00,1.98,0.00,0.000,4,0.000,0.096,1972,463,3440,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13395,-0.63,-97.3,943.5,-7.9,554,13399,0.00,1.83,0.00,0.000,6,0.000,0.050,1964,1518,3440,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13709,-0.63,-97.3,968.6,-8.2,565,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13857,begin apogee
$GC,13863,-0.18,0.0,981.5,-8.6,570,13992,0.60,0.00,117.20,2.085,6,0.211,0.000,2123,1390,3064,0,0,0,0,1,0,14.04,28.83,12.94
$STATE,13993,end apogee,CONTROL_FINISHED_OK
$STATE,13994,begin climb
$GC,13997,0.61,97.3,987.9,0.0,574,14136,0.85,1.95,128.15,2.043,4,0.120,0.060,2383,2458,2666,0,0,0,0,1,0,14.12,14.04,12.94
$GC,14340,0.63,163.7,989.3,3.1,586,14445,0.00,1.92,91.30,1.956,6,0.000,0.077,2391,1402,2395,0,0,0,0,1,0,28.83,14.47,13.04
$GC,14745,0.58,163.7,963.0,7.4,600,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1402,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15046,0.53,163.7,939.4,8.0,610,15048,0.12,0.00,0.00,0.000,6,0.285,0.000,2366,1402,2386,0,0,0,0,0,0,14.38,28.83,28.83
$GC,15345,0.50,163.7,916.6,7.8,620,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1402,2385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15647,0.47,163.7,892.8,7.8,630,15648,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1402,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15945,0.44,163.7,872.2,6.5,640,15949,0.12,1.85,0.00,0.000,4,0.273,0.061,2337,2458,2383,0,0,0,0,0,0,14.40,14.62,28.83
$GC,16005,0.42,163.9,869.8,6.0,642,16009,0.00,1.92,0.00,0.000,6,0.000,0.080,2343,1401,2382,0,0,0,0,0,0,28.83,14.54,28.83
$GC,16305,0.47,204.0,855.6,4.3,652,16371,0.00,0.00,58.67,1.713,6,0.000,0.000,2343,1401,2229,0,0,0,0,1,0,28.83,28.83,13.24
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$STATE,28588,end climb,SURFACE_DEPTH_REACHED
$STATE,28588,begin surface coast
$FINISH,0.2,1.025268
$STATE,28604,end surface coast,CONTROL_FINISHED_OK
$STATE,28604,begin surface
$SM_CCo,28624,30.35,0.697,0,0,1756,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.41
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,7658368
$TM_FREEKB,4968608
$24V_AH,12.9,138.714
$10V_AH,13.1,0.000
$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,18.825,116.900,568.050,30.350,0.000,0.000,0.000,425.000,1.000,0.000,15.694,3228.976,22334.615,844.494,2458.220,543.457,0.000,2251.039,0.000,1906.355,0.000,0.549,0.000
$DEVICE_MAMPS,408.510,110.925,2084.625,696.915,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28653.000,6704.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.178,13.052,0.000,0.000
$MEM,345676
$DATA_FILE_SIZE,43315,1181
$CAP_FILE_SIZE,243263,0
$CFSIZE,260034560,218390528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.068,145.3,1
$GPS,191212,213735,2434.771,-3841.059,24,1.2,24,-14.2