version: 66.11
glider: 191
mission: 5
dive: 323
start: 12 30 112 16 15 30
data:
$ID,191
$MISSION,5
$DIVE,323
$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,-5004.6465
$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,48
$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,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
$GPS1,301212,160237,2411.365,-3743.724,31,0.9,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-57.5
$GPS2,301212,161501,2411.432,-3743.787,18,1.7,18,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,58.5,61573,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-56.92,0.000,6,0.000,0.000,163,1518,3459,0,0,0,0,0,0,28.83,28.83,14.76
$GC,90,-0.60,-97.3,4.7,-9.7,4,106,10.07,1.80,0.00,0.000,4,0.423,0.050,1980,2571,3460,1,0,0,0,0,0,13.70,14.53,28.83
$GC,328,-0.60,-97.3,31.7,-8.6,20,332,0.00,1.88,0.00,0.000,6,0.000,0.065,1979,1520,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,628,-0.57,-97.3,59.3,-9.1,40,632,0.00,1.80,0.00,0.000,4,0.000,0.053,1976,2565,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,704,-0.56,-97.3,66.1,-9.1,45,708,0.12,1.88,0.00,0.000,6,0.239,0.064,2003,1517,3461,0,0,0,0,0,0,14.26,14.49,28.83
$GC,1003,-0.56,-97.3,90.2,-8.2,65,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.56,-97.3,116.9,-9.0,85,1306,0.00,1.92,0.00,0.000,4,0.000,0.086,2003,460,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1393,-0.55,-97.3,125.8,-9.9,91,1397,0.00,1.77,0.00,0.000,6,0.000,0.043,1998,1511,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1693,-0.55,-97.3,149.2,-7.6,111,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.55,-97.3,172.7,-8.2,131,1996,0.00,1.90,0.00,0.000,4,0.000,0.085,1997,466,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2083,-0.53,-97.3,180.5,-8.6,137,2087,0.00,1.80,0.00,0.000,6,0.000,0.043,1987,1527,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2383,-0.53,-97.3,204.5,-8.2,157,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,-0.53,-97.3,229.6,-8.4,177,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-0.53,-97.3,253.1,-7.0,197,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-0.53,-97.3,272.1,-6.1,207,3302,0.00,1.80,0.00,0.000,4,0.000,0.054,1982,2581,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3387,-0.53,-97.3,276.3,-5.7,210,3392,0.15,1.88,0.00,0.000,6,0.221,0.063,2017,1510,3464,0,0,0,0,0,0,14.37,14.62,28.83
$GC,3691,-0.55,-97.3,291.6,-4.8,220,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3989,-0.57,-97.3,307.2,-5.1,230,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4289,-0.59,-97.3,321.9,-4.7,240,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1510,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.61,-97.3,335.9,-4.8,250,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.63,-97.3,352.1,-5.5,260,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1510,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5189,-0.66,-97.3,368.3,-5.1,270,5194,0.12,1.83,0.00,0.000,4,0.139,0.054,1962,2580,3461,0,0,0,0,0,0,14.74,14.66,28.83
$GC,5277,-0.66,-97.3,373.2,-6.1,273,5280,0.00,1.88,0.00,0.000,6,0.000,0.063,1962,1513,3460,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5579,-0.63,-97.3,395.2,-6.8,283,5582,0.00,1.83,0.00,0.000,4,0.000,0.054,1954,2576,3458,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5654,-0.61,-97.3,400.3,-6.9,286,5658,0.15,1.88,0.00,0.000,6,0.239,0.065,1987,1513,3462,0,0,0,0,0,0,14.31,14.59,28.83
$GC,5970,-0.61,-97.3,420.5,-6.7,297,5973,0.00,1.90,0.00,0.000,4,0.000,0.088,1987,464,3457,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6044,-0.61,-97.3,426.6,-7.9,300,6048,0.00,1.77,0.00,0.000,6,0.000,0.044,1982,1522,3457,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6358,-0.61,-97.3,453.4,-8.9,311,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6658,-0.61,-97.3,479.7,-8.4,321,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1524,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6958,-0.61,-97.3,502.8,-7.5,331,6962,0.00,1.80,0.00,0.000,4,0.000,0.056,1974,2574,3456,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7047,-0.61,-97.3,508.0,-7.0,334,7051,0.00,1.88,0.00,0.000,6,0.000,0.067,1975,1515,3455,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7349,-0.60,-97.3,528.2,-6.2,344,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1514,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7648,-0.59,-97.3,546.4,-6.0,354,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,-0.59,-97.3,565.1,-6.4,364,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1514,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8248,-0.59,-97.3,585.9,-7.2,374,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8549,-0.59,-97.3,607.8,-7.3,384,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1514,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8848,-0.59,-97.3,629.3,-7.2,394,8851,0.00,1.83,0.00,0.000,4,0.000,0.056,1967,2575,3449,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8967,-0.59,-97.3,636.9,-7.3,398,8971,0.12,1.88,0.00,0.000,6,0.243,0.068,1993,1521,3449,0,0,0,0,0,0,14.27,14.53,28.83
$GC,9271,-0.59,-97.3,656.1,-5.7,408,9274,0.00,1.83,0.00,0.000,4,0.000,0.056,1989,2578,3448,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9344,-0.60,-97.3,660.4,-5.6,411,9348,0.00,1.90,0.00,0.000,6,0.000,0.067,1988,1512,3448,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9659,-0.60,-97.3,676.7,-5.1,422,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1511,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9958,-0.60,-97.3,692.6,-5.4,432,9962,0.00,1.85,0.00,0.000,4,0.000,0.057,1981,2572,3445,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10125,-0.61,-97.3,701.4,-5.4,438,10128,0.00,1.90,0.00,0.000,6,0.000,0.069,1981,1511,3445,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10439,-0.61,-97.3,720.3,-6.1,449,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1512,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10738,-0.61,-97.3,739.4,-6.4,459,10742,0.00,1.95,0.00,0.000,4,0.000,0.092,1981,461,3443,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10813,-0.61,-97.3,744.6,-6.8,462,10817,0.00,1.80,0.00,0.000,6,0.000,0.046,1973,1517,3443,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11128,-0.61,-97.3,765.1,-6.5,473,11131,0.00,1.83,0.00,0.000,4,0.000,0.058,1969,2576,3441,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11187,-0.61,-97.3,767.9,-6.4,475,11191,0.00,1.90,0.00,0.000,6,0.000,0.069,1965,1518,3441,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11488,-0.60,-97.3,789.8,-7.1,485,11493,0.12,1.95,0.00,0.000,4,0.257,0.093,1991,463,3441,0,0,0,0,0,0,14.35,14.34,28.83
$GC,11547,-0.60,-97.3,793.1,-7.3,487,11551,0.00,1.83,0.00,0.000,6,0.000,0.046,1986,1524,3438,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11849,-0.60,-97.3,813.3,-6.4,497,11852,0.00,1.83,0.00,0.000,4,0.000,0.059,1978,2577,3440,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12027,-0.61,-97.3,824.3,-6.6,503,12031,0.00,1.90,0.00,0.000,6,0.000,0.070,1978,1519,3439,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12329,-0.61,-97.3,846.9,-7.3,513,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12628,-0.61,-97.3,869.7,-7.6,523,12631,0.00,1.85,0.00,0.000,4,0.000,0.059,1971,2576,3437,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12778,-0.61,-97.3,879.3,-7.2,528,12781,0.00,1.92,0.00,0.000,6,0.000,0.071,1971,1518,3434,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13078,-0.61,-97.3,901.1,-6.7,538,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1517,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13379,-0.61,-97.3,920.9,-6.6,548,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1518,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13678,-0.61,-97.3,940.9,-7.0,558,13681,0.00,1.88,0.00,0.000,4,0.000,0.060,1963,2576,3434,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13753,-0.61,-97.3,946.4,-7.3,561,13758,0.12,1.92,0.00,0.000,6,0.245,0.072,1988,1520,3434,0,0,0,0,0,0,14.09,14.37,28.83
$GC,14072,-0.62,-97.3,967.4,-6.7,572,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14276,begin apogee
$GC,14283,-0.18,0.0,981.5,-6.7,579,14411,0.50,0.00,115.97,2.013,6,0.194,0.000,2125,1390,3063,0,0,0,0,1,0,14.00,28.83,12.92
$STATE,14413,end apogee,CONTROL_FINISHED_OK
$STATE,14413,begin climb
$GC,14416,0.60,97.3,986.5,0.0,583,14555,0.82,1.95,127.35,1.971,4,0.118,0.057,2377,2455,2666,0,0,0,0,1,0,14.14,14.09,12.95
$GC,14654,0.58,168.1,988.0,3.1,592,14760,0.00,1.95,96.35,1.883,6,0.000,0.076,2385,1396,2377,0,0,0,0,1,0,28.83,14.37,13.00
$GC,15059,0.53,168.1,962.7,6.9,605,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1396,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15359,0.47,168.1,942.5,6.9,615,15364,0.17,1.85,0.00,0.000,4,0.274,0.059,2347,2457,2369,0,0,0,0,0,0,14.32,14.59,28.83
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$STATE,28617,end climb,SURFACE_DEPTH_REACHED
$STATE,28618,begin surface coast
$FINISH,0.3,1.024958
$STATE,28636,end surface coast,CONTROL_FINISHED_OK
$STATE,28636,begin surface
$SM_CCo,28717,0.00,0.000,0,0,1633,350.53
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$IRIDIUM_FIX,2401.56,-3747.94,301212,070757
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.87
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,26.60
$XPDR_PINGS,2
$SC_FREEKB,7646080
$TM_FREEKB,4633600
$24V_AH,12.9,154.028
$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
$DEVICE_SECS,20.325,138.950,650.450,0.000,0.000,0.000,0.000,401.400,0.500,0.000,19.504,3248.715,22227.287,916.930,2470.978,579.563,0.000,2316.814,0.000,1924.158,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28686.000,6377.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.109,13.031,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43301,1178
$CAP_FILE_SIZE,250507,0
$CFSIZE,260034560,213934080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.023, 86.4,1
$GPS,311212,001529,2413.612,-3741.049,39,1.3,40,-14.0