version: 66.11
glider: 191
mission: 5
dive: 336
start: 1 4 113 1 20 17
data:
$ID,191
$MISSION,5
$DIVE,336
$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,-5021.373
$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,21
$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,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
$GPS1,040113,010458,2439.939,-3722.919,36,1.0,37,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.0
$GPS2,040113,011947,2439.902,-3722.962,18,1.1,19,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,324.6,87227,-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,-97.3,0.0,0.0,0,72,0.00,0.00,-46.25,0.000,2,0.000,0.000,162,1516,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.60,-97.3,3.1,-7.0,3,103,9.88,1.83,-8.95,0.000,4,0.415,0.086,1983,2570,3460,1,0,0,0,0,0,13.79,14.45,14.78
$GC,328,-0.58,-97.3,25.8,-8.5,20,332,0.00,1.90,0.00,0.000,6,0.000,0.063,1983,1506,3462,0,0,0,0,0,0,28.83,14.38,28.83
$GC,629,-0.56,-97.3,51.4,-8.9,40,630,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1506,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.54,-97.3,79.9,-9.0,60,930,0.12,0.00,0.00,0.000,6,0.250,0.000,2010,1505,3462,0,0,0,0,0,0,14.31,28.83,28.83
$GC,1228,-0.54,-97.3,100.4,-6.2,80,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1505,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-0.54,-97.3,118.4,-5.9,100,1533,0.00,1.90,0.00,0.000,4,0.000,0.086,2016,464,3462,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1588,-0.54,-97.3,122.8,-7.3,104,1591,0.00,1.77,0.00,0.000,6,0.000,0.043,2005,1512,3462,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1889,-0.54,-97.3,146.9,-8.4,124,1892,0.00,1.83,0.00,0.000,4,0.000,0.054,1997,2576,3462,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2114,-0.55,-97.3,164.6,-7.7,139,2117,0.00,1.88,0.00,0.000,6,0.000,0.063,1997,1518,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2413,-0.55,-97.3,184.2,-5.6,159,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-0.55,-97.3,198.4,-4.8,179,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-0.55,-97.3,214.1,-5.4,199,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3313,-0.55,-97.3,232.3,-6.9,219,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3613,-0.55,-97.3,256.5,-8.7,237,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3914,-0.55,-97.3,285.1,-9.9,247,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-0.55,-97.3,312.0,-8.3,257,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-0.55,-97.3,331.9,-6.1,267,4517,0.00,1.80,0.00,0.000,4,0.000,0.054,1989,2577,3461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4602,-0.55,-97.3,336.0,-5.4,270,4606,0.00,1.88,0.00,0.000,6,0.000,0.064,1989,1514,3460,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4904,-0.55,-97.3,353.9,-5.9,280,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5203,-0.55,-97.3,373.7,-7.0,290,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1514,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5503,-0.55,-97.3,397.0,-8.1,300,5507,0.00,1.90,0.00,0.000,4,0.000,0.088,1989,467,3458,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5593,-0.55,-97.3,404.1,-9.2,303,5597,0.12,1.77,0.00,0.000,6,0.242,0.044,2008,1520,3458,0,0,0,0,0,0,14.35,14.67,28.83
$GC,5895,-0.57,-97.3,430.7,-8.4,313,5899,0.00,1.80,0.00,0.000,4,0.000,0.054,2003,2576,3455,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6013,-0.59,-97.3,439.2,-8.1,317,6017,0.00,1.88,0.00,0.000,6,0.000,0.065,2003,1517,3457,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6313,-0.60,-97.3,461.1,-6.4,327,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6614,-0.61,-97.3,478.5,-5.4,337,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,-0.62,-97.3,493.9,-5.1,347,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7214,-0.64,-97.3,509.6,-5.2,357,7217,0.00,1.83,0.00,0.000,4,0.000,0.055,1995,2576,3454,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7289,-0.65,-97.3,513.8,-5.5,360,7293,0.00,1.88,0.00,0.000,6,0.000,0.067,1995,1521,3453,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7603,-0.65,-97.3,534.6,-7.0,371,7607,0.00,1.92,0.00,0.000,4,0.000,0.090,1995,465,3452,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7693,-0.65,-97.3,540.8,-8.1,374,7696,0.00,1.80,0.00,0.000,6,0.000,0.044,1988,1521,3452,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7993,-0.65,-97.3,566.9,-8.3,384,7996,0.00,1.83,0.00,0.000,4,0.000,0.055,1980,2578,3451,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8143,-0.66,-97.3,578.2,-8.4,389,8147,0.00,1.90,0.00,0.000,6,0.000,0.067,1980,1514,3450,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8443,-0.66,-97.3,602.7,-7.3,399,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,-0.66,-97.3,623.6,-6.8,409,8747,0.00,1.92,0.00,0.000,4,0.000,0.090,1980,464,3448,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8820,-0.65,-97.3,629.3,-7.5,412,8823,0.00,1.80,0.00,0.000,6,0.000,0.046,1973,1519,3448,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9135,-0.64,-97.3,652.8,-7.6,423,9139,0.00,1.83,0.00,0.000,4,0.000,0.057,1965,2577,3447,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9239,-0.64,-97.3,661.0,-7.9,427,9242,0.00,1.90,0.00,0.000,6,0.000,0.068,1964,1520,3446,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9556,-0.63,-97.3,686.6,-8.1,438,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9854,-0.61,-97.3,710.2,-7.6,448,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10153,-0.60,-97.3,731.6,-6.9,458,10155,0.12,0.00,0.00,0.000,6,0.259,0.000,1990,1520,3444,0,0,0,0,0,0,14.31,28.83,28.83
$GC,10453,-0.60,-97.3,748.8,-5.6,468,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10754,-0.60,-97.3,765.2,-5.3,478,10758,0.00,1.85,0.00,0.000,4,0.000,0.057,1985,2579,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10859,-0.62,-97.3,770.4,-5.0,482,10863,0.00,1.92,0.00,0.000,6,0.000,0.069,1985,1515,3441,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11176,-0.62,-97.3,786.5,-5.0,493,11180,0.00,1.95,0.00,0.000,4,0.000,0.093,1985,463,3440,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11278,-0.62,-97.3,792.7,-6.0,497,11282,0.00,1.83,0.00,0.000,6,0.000,0.046,1977,1519,3440,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11594,-0.62,-97.3,811.4,-6.4,508,11598,0.00,1.85,0.00,0.000,4,0.000,0.059,1969,2580,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11772,-0.62,-97.3,822.8,-7.1,514,11776,0.00,1.92,0.00,0.000,6,0.000,0.070,1969,1515,3438,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12074,-0.62,-97.3,848.1,-8.2,524,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1515,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12373,-0.62,-97.3,873.2,-8.4,534,12377,0.00,1.88,0.00,0.000,4,0.000,0.059,1962,2578,3436,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12432,-0.62,-97.3,876.9,-8.2,536,12436,0.00,1.92,0.00,0.000,6,0.000,0.071,1962,1519,3436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12735,-0.60,-97.3,901.2,-7.4,546,12737,0.12,0.00,0.00,0.000,6,0.259,0.000,1988,1519,3435,0,0,0,0,0,0,14.26,28.83,28.83
$GC,13033,-0.60,-97.3,918.1,-5.2,556,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13335,-0.61,-97.3,933.3,-5.1,566,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13634,-0.63,-97.3,949.7,-5.7,576,13637,0.00,1.88,0.00,0.000,4,0.000,0.060,1982,2577,3432,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13753,-0.64,-97.3,956.2,-6.2,580,13757,0.00,1.92,0.00,0.000,6,0.000,0.072,1982,1521,3432,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14053,-0.64,-97.3,978.2,-7.4,590,14054,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14081,begin apogee
$GC,14088,-0.18,0.0,980.5,-7.4,591,14211,0.52,0.00,115.00,1.980,6,0.197,0.000,2124,1397,3062,0,0,0,0,1,0,14.00,28.83,12.93
$STATE,14213,end apogee,CONTROL_FINISHED_OK
$STATE,14213,begin climb
$GC,14217,0.60,97.3,986.7,0.0,595,14355,0.80,2.05,127.03,1.954,4,0.119,0.102,2381,351,2666,0,0,0,0,1,0,14.12,14.04,12.95
$GC,14579,0.61,168.9,987.3,3.0,607,14686,0.00,1.83,97.45,1.913,6,0.000,0.049,2381,1408,2373,0,0,0,0,1,0,28.83,14.54,13.00
$GC,14998,0.56,168.9,961.7,7.0,622,15002,0.00,2.00,0.00,0.000,4,0.000,0.099,2389,342,2367,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15180,0.50,168.9,948.3,8.4,628,15185,0.17,1.83,0.00,0.000,6,0.262,0.050,2352,1402,2365,0,0,0,0,0,0,14.27,14.61,28.83
$GC,15480,0.48,168.9,926.3,7.0,638,15482,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1403,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15779,0.46,168.9,907.2,6.2,648,15783,0.00,1.83,0.00,0.000,4,0.000,0.060,2351,2444,2362,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,29205,end climb,SURFACE_DEPTH_REACHED
$STATE,29209,begin surface coast
$FINISH,0.1,1.025266
$STATE,29222,end surface coast,CONTROL_FINISHED_OK
$STATE,29222,begin surface
$SM_CCo,29303,0.00,0.000,0,0,1666,342.44
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$IRIDIUM_FIX,2432.32,-3724.43,040113,010135
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.58
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,7641088
$TM_FREEKB,4498336
$24V_AH,12.9,160.052
$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,18.800,128.350,686.300,0.000,0.000,0.000,0.000,477.900,1.000,0.000,20.342,3327.693,22684.045,936.270,2605.248,622.207,0.000,2437.150,0.000,1970.769,0.000,0.548,0.000
$DEVICE_MAMPS,415.395,114.750,1979.820,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29275.000,6995.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.248,12.988,0.000,0.000
$MEM,345616
$DATA_FILE_SIZE,43308,1214
$CAP_FILE_SIZE,252946,0
$CFSIZE,260034560,212168704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,2,0
$CURRENT,0.012,126.8,1
$GPS,040113,092958,2442.011,-3725.143,35,0.8,36,-13.8