version: 66.11
glider: 191
mission: 5
dive: 293
start: 12 20 112 6 11 29
data:
$ID,191
$MISSION,5
$DIVE,293
$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,-4187.1348
$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,23
$R_STBD_OVSHOOT,46
$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
$GPS1,201212,055834,2432.566,-3838.309,23,1.1,23,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.8
$GPS2,201212,061059,2432.554,-3838.322,14,1.4,14,-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,320.9,7674,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-58.30,0.000,6,0.000,0.000,158,1521,3460,0,0,0,0,0,0,28.83,28.83,14.77
$GC,89,-0.60,-97.3,4.5,-9.9,4,103,9.82,1.92,0.00,0.000,4,0.415,0.073,1997,454,3462,1,0,0,0,0,0,13.85,14.51,28.83
$GC,327,-0.56,-97.3,35.7,-9.8,20,330,0.00,1.80,0.00,0.000,6,0.000,0.046,1988,1513,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,627,-0.54,-97.3,63.5,-9.8,40,628,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1516,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-0.51,-97.3,93.4,-9.3,60,929,0.12,0.00,0.00,0.000,6,0.254,0.000,2018,1515,3464,0,0,0,0,0,0,14.33,28.83,28.83
$GC,1227,-0.51,-97.3,113.1,-5.7,80,1230,0.00,1.83,0.00,0.000,4,0.000,0.056,2012,2576,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1318,-0.53,-97.3,118.5,-6.0,86,1322,0.00,1.88,0.00,0.000,6,0.000,0.063,2012,1513,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1617,-0.53,-97.3,138.2,-6.5,106,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.53,-97.3,157.0,-6.6,126,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2217,-0.53,-97.3,175.8,-6.5,146,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.53,-97.3,195.4,-6.7,166,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.54,-97.3,216.0,-7.0,186,2821,0.00,1.90,0.00,0.000,4,0.000,0.086,2012,459,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2891,-0.54,-97.3,221.8,-7.7,191,2895,0.00,1.80,0.00,0.000,6,0.000,0.044,2005,1525,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3193,-0.54,-97.3,240.2,-5.7,211,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1530,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.54,-97.3,257.9,-6.0,227,3497,0.00,1.80,0.00,0.000,4,0.000,0.056,1997,2581,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3598,-0.55,-97.3,264.2,-6.1,231,3602,0.00,1.85,0.00,0.000,6,0.000,0.065,1997,1521,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3912,-0.55,-97.3,284.5,-6.5,242,3915,0.00,1.90,0.00,0.000,4,0.000,0.086,1996,463,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4001,-0.55,-97.3,290.2,-7.4,245,4004,0.00,1.77,0.00,0.000,6,0.000,0.044,1989,1522,3464,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4302,-0.55,-97.3,313.3,-7.1,255,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.55,-97.3,331.9,-5.8,265,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,-0.55,-97.3,347.0,-4.7,275,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1524,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5202,-0.55,-97.3,361.6,-5.1,285,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1524,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.55,-97.3,380.2,-6.7,295,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1524,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5802,-0.55,-97.3,403.9,-8.1,305,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1524,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6102,-0.55,-97.3,427.2,-7.6,315,6105,0.00,1.92,0.00,0.000,4,0.000,0.089,1989,463,3459,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6192,-0.54,-97.3,433.6,-8.3,318,6196,0.15,1.80,0.00,0.000,6,0.234,0.045,2015,1531,3458,0,0,0,0,0,0,14.40,14.73,28.83
$GC,6494,-0.56,-97.3,454.1,-6.2,328,6497,0.00,1.80,0.00,0.000,4,0.000,0.058,2009,2578,3457,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6628,-0.59,-97.3,462.4,-6.2,333,6632,0.00,1.88,0.00,0.000,6,0.000,0.067,2009,1516,3459,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6944,-0.60,-97.3,482.3,-6.3,344,6947,0.00,1.90,0.00,0.000,4,0.000,0.090,2009,466,3456,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7001,-0.61,-97.3,485.4,-6.4,346,7005,0.00,1.77,0.00,0.000,6,0.000,0.047,2002,1518,3456,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7302,-0.61,-97.3,505.4,-6.4,356,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7602,-0.61,-97.3,523.6,-5.7,366,7605,0.00,1.80,0.00,0.000,4,0.000,0.058,1994,2576,3454,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7692,-0.63,-97.3,528.0,-5.7,369,7696,0.00,1.88,0.00,0.000,6,0.000,0.068,1994,1519,3453,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7992,-0.63,-97.3,547.0,-6.4,379,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8292,-0.63,-97.3,569.3,-7.8,389,8296,0.00,1.92,0.00,0.000,4,0.000,0.090,1994,462,3452,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8397,-0.63,-97.3,578.5,-8.9,393,8401,0.00,1.80,0.00,0.000,6,0.000,0.047,1986,1521,3451,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8712,-0.63,-97.3,602.6,-7.4,404,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9012,-0.63,-97.3,622.6,-6.3,414,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9312,-0.63,-97.3,641.6,-6.4,424,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9612,-0.63,-97.3,662.2,-7.1,434,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9912,-0.63,-97.3,683.5,-7.0,444,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1523,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10212,-0.63,-97.3,702.9,-6.3,454,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1523,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.63,-97.3,721.1,-6.0,464,10516,0.00,1.83,0.00,0.000,4,0.000,0.060,1978,2575,3445,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10617,-0.63,-97.3,727.2,-5.9,468,10621,0.00,1.90,0.00,0.000,6,0.000,0.070,1978,1516,3444,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10932,-0.63,-97.3,746.5,-6.3,479,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1516,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11232,-0.63,-97.3,764.2,-5.9,489,11236,0.00,1.95,0.00,0.000,4,0.000,0.093,1978,460,3442,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11308,-0.62,-97.3,769.3,-6.6,492,11312,0.00,1.83,0.00,0.000,6,0.000,0.049,1971,1520,3441,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11622,-0.62,-97.3,791.6,-7.6,503,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11922,-0.62,-97.3,814.7,-7.7,513,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12222,-0.62,-97.3,836.2,-6.9,523,12226,0.00,1.85,0.00,0.000,4,0.000,0.060,1963,2581,3439,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12326,-0.62,-97.3,843.3,-6.8,527,12330,0.00,1.92,0.00,0.000,6,0.000,0.071,1959,1513,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12645,-0.60,-97.3,863.6,-6.2,538,12649,0.12,1.95,0.00,0.000,4,0.259,0.094,1989,463,3438,0,0,0,0,0,0,14.35,14.29,28.83
$GC,12701,-0.60,-97.3,866.5,-6.1,540,12705,0.00,1.83,0.00,0.000,6,0.000,0.049,1984,1519,3438,0,0,0,0,0,0,28.83,14.57,28.83
$GC,13004,-0.60,-97.3,884.4,-5.7,550,13007,0.00,1.85,0.00,0.000,4,0.000,0.061,1976,2578,3437,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13079,-0.60,-97.3,888.9,-6.0,553,13082,0.00,1.92,0.00,0.000,6,0.000,0.072,1976,1512,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13392,-0.60,-97.3,910.0,-6.9,564,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1511,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13693,-0.60,-97.3,930.5,-6.9,574,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1511,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13992,-0.60,-97.3,951.1,-7.0,584,13996,0.00,1.95,0.00,0.000,4,0.000,0.096,1975,465,3434,0,0,0,0,0,0,28.83,14.19,28.83
$GC,14082,-0.60,-97.3,957.1,-7.6,587,14086,0.00,1.83,0.00,0.000,6,0.000,0.051,1968,1520,3433,0,0,0,0,0,0,28.83,14.54,28.83
$GC,14382,-0.60,-97.3,980.0,-7.0,597,14386,0.00,1.85,0.00,0.000,4,0.000,0.063,1960,2576,3432,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,14396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14396,begin apogee
$GC,14404,-0.18,0.0,981.1,-7.1,598,14531,0.62,0.00,115.78,2.082,6,0.210,0.000,2125,1394,3063,0,0,0,0,1,0,14.04,28.83,12.95
$STATE,14532,end apogee,CONTROL_FINISHED_OK
$STATE,14532,begin climb
$GC,14536,0.60,97.3,985.7,0.0,602,14675,0.82,2.05,127.20,2.034,4,0.122,0.102,2385,348,2667,0,0,0,0,1,0,14.13,14.01,12.96
$GC,14894,0.52,102.2,977.6,5.8,615,14906,0.00,1.85,4.10,1.981,6,0.000,0.050,2385,1417,2646,0,0,0,0,0,0,28.83,14.54,13.31
$GC,15225,0.45,102.2,957.7,6.2,626,15227,0.20,0.00,0.00,0.000,6,0.265,0.000,2341,1417,2645,0,0,0,0,0,0,14.30,28.83,28.83
$GC,15526,0.44,122.6,941.9,5.2,636,15573,0.00,0.00,39.75,1.437,6,0.000,0.000,2341,1417,2562,0,0,0,0,1,0,28.83,28.83,13.33
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$STATE,28705,end climb,SURFACE_DEPTH_REACHED
$STATE,28705,begin surface coast
$FINISH,0.3,1.025253
$STATE,28724,end surface coast,CONTROL_FINISHED_OK
$STATE,28724,begin surface
$SM_CCo,28744,15.07,0.719,0,0,1756,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.33
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,7
$SC_FREEKB,7657600
$TM_FREEKB,4947584
$24V_AH,12.9,139.664
$10V_AH,12.5,0.000
$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,18.875,139.175,588.450,15.075,0.000,0.000,0.000,418.600,1.750,0.000,15.393,3284.311,22289.902,860.989,2488.609,569.487,0.000,2286.333,0.000,1943.550,0.000,0.550,0.000
$DEVICE_MAMPS,415.395,106.335,2081.565,719.100,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28771.000,6810.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.181,13.067,0.000,0.000
$MEM,345676
$DATA_FILE_SIZE,43346,1192
$CAP_FILE_SIZE,249834,0
$CFSIZE,260034560,218107904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.057,182.7,1
$GPS,201212,141204,2433.345,-3841.164,30,0.9,31,-14.2