version: 66.11
glider: 191
mission: 5
dive: 355
start: 1 10 113 10 41 19
data:
$ID,191
$MISSION,5
$DIVE,355
$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,-5045.9521
$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,22
$R_STBD_OVSHOOT,39
$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
$GPS1,100113,102805,2501.357,-3812.892,30,0.8,30,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.6
$GPS2,100113,104049,2501.352,-3812.878,14,0.9,16,-14.0
$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,228.8,69189,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,89,0.00,0.00,-61.33,0.000,2,0.000,0.000,155,1517,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-97.3,3.7,-7.2,4,109,10.18,1.95,-1.73,0.000,4,0.416,0.106,1995,454,3461,1,0,0,0,0,0,13.75,14.41,14.76
$GC,226,-0.57,-97.3,21.2,-9.7,13,230,0.00,1.83,0.00,0.000,6,0.000,0.044,1989,1519,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,524,-0.55,-97.3,46.8,-7.4,33,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,824,-0.54,-97.3,70.5,-9.0,53,825,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1125,-0.52,-97.3,97.7,-8.1,73,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-0.51,-97.3,118.6,-6.0,93,1427,0.12,0.00,0.00,0.000,6,0.243,0.000,2018,1526,3463,0,0,0,0,0,0,14.29,28.83,28.83
$GC,1725,-0.53,-97.3,135.2,-5.8,113,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.54,-97.3,154.4,-7.2,133,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2324,-0.56,-97.3,175.9,-7.1,153,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.58,-97.3,195.2,-5.6,173,2628,0.00,1.83,0.00,0.000,4,0.000,0.053,2013,2579,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2745,-0.61,-97.3,202.3,-5.9,181,2748,0.00,1.88,0.00,0.000,6,0.000,0.063,2013,1515,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3044,-0.62,-97.3,220.5,-6.3,201,3048,0.00,1.90,0.00,0.000,4,0.000,0.086,2013,469,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3105,-0.62,-97.3,224.8,-7.4,205,3109,0.00,1.80,0.00,0.000,6,0.000,0.044,2005,1527,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3404,-0.64,-97.3,245.9,-6.8,225,3408,0.00,1.80,0.00,0.000,4,0.000,0.054,1998,2578,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3510,-0.65,-97.3,253.4,-7.1,231,3514,0.00,1.88,0.00,0.000,6,0.000,0.064,1997,1518,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3825,-0.65,-97.3,272.5,-5.7,242,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4125,-0.65,-97.3,289.4,-5.8,252,4129,0.00,1.90,0.00,0.000,4,0.000,0.086,1997,467,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4183,-0.65,-97.3,292.6,-6.4,254,4186,0.00,1.80,0.00,0.000,6,0.000,0.044,1990,1527,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4484,-0.65,-97.3,316.8,-8.4,264,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1529,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4785,-0.65,-97.3,342.4,-8.1,274,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1529,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.65,-97.3,359.9,-4.9,284,5088,0.00,1.80,0.00,0.000,4,0.000,0.055,1982,2579,3460,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5220,-0.65,-97.3,365.2,-3.8,289,5224,0.00,1.88,0.00,0.000,6,0.000,0.065,1982,1518,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5534,-0.65,-97.3,375.7,-3.5,300,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,-0.65,-97.3,391.7,-6.5,310,5838,0.00,1.92,0.00,0.000,4,0.000,0.088,1982,464,3458,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5911,-0.64,-97.3,397.9,-8.0,313,5914,0.00,1.80,0.00,0.000,6,0.000,0.044,1975,1521,3458,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6226,-0.63,-97.3,424.9,-8.6,324,6230,0.00,1.80,0.00,0.000,4,0.000,0.055,1967,2577,3458,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6330,-0.63,-97.3,433.8,-8.4,328,6333,0.00,1.88,0.00,0.000,6,0.000,0.066,1967,1522,3456,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6647,-0.61,-97.3,459.6,-8.1,339,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,-0.59,-97.3,483.4,-8.1,349,6950,0.12,1.92,0.00,0.000,4,0.248,0.088,1994,463,3456,0,0,0,0,0,0,14.40,14.42,28.83
$GC,7063,-0.59,-97.3,491.7,-7.9,353,7066,0.00,1.80,0.00,0.000,6,0.000,0.045,1989,1521,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7364,-0.59,-97.3,515.1,-7.3,363,7368,0.00,1.83,0.00,0.000,4,0.000,0.056,1981,2580,3454,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7424,-0.59,-97.3,518.4,-7.4,365,7428,0.00,1.90,0.00,0.000,6,0.000,0.067,1981,1512,3454,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7724,-0.59,-97.3,542.4,-7.7,375,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1512,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8025,-0.59,-97.3,566.5,-8.1,385,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,-0.59,-97.3,589.0,-7.1,395,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1513,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8624,-0.59,-97.3,607.5,-5.9,405,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1512,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8925,-0.59,-97.3,625.4,-6.0,415,8929,0.00,1.85,0.00,0.000,4,0.000,0.057,1973,2577,3449,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8983,-0.59,-97.3,628.2,-6.2,417,8986,0.00,1.90,0.00,0.000,6,0.000,0.067,1973,1516,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9285,-0.59,-97.3,649.5,-7.0,427,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1516,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9584,-0.59,-97.3,670.8,-7.3,437,9588,0.00,1.92,0.00,0.000,4,0.000,0.091,1973,466,3447,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9660,-0.58,-97.3,676.9,-7.8,440,9664,0.15,1.83,0.00,0.000,6,0.241,0.047,1998,1527,3447,0,0,0,0,0,0,14.19,14.58,28.83
$GC,9978,-0.60,-97.3,699.7,-7.5,451,9981,0.00,1.98,0.00,0.000,4,0.000,0.092,1998,462,3446,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10079,-0.60,-97.3,707.8,-7.7,455,10083,0.00,1.83,0.00,0.000,6,0.000,0.047,1993,1524,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10398,-0.60,-97.3,725.9,-5.1,466,10402,0.00,1.83,0.00,0.000,4,0.000,0.058,1990,2577,3444,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10502,-0.61,-97.3,730.9,-4.7,470,10506,0.00,1.90,0.00,0.000,6,0.000,0.069,1985,1522,3444,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10818,-0.61,-97.3,746.0,-5.1,481,10822,0.00,1.98,0.00,0.000,4,0.000,0.091,1985,459,3443,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10891,-0.61,-97.3,750.8,-6.1,484,10894,0.00,1.85,0.00,0.000,6,0.000,0.047,1977,1530,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11206,-0.61,-97.3,771.5,-6.6,495,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11505,-0.61,-97.3,788.6,-5.3,505,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11805,-0.61,-97.3,804.0,-5.2,515,11809,0.00,1.98,0.00,0.000,4,0.000,0.093,1977,465,3440,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11895,-0.61,-97.3,808.9,-6.3,518,11899,0.00,1.83,0.00,0.000,6,0.000,0.049,1969,1517,3440,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12195,-0.61,-97.3,832.6,-8.1,528,12199,0.00,1.88,0.00,0.000,4,0.000,0.059,1961,2582,3439,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12301,-0.61,-97.3,841.9,-8.8,532,12305,0.12,1.92,0.00,0.000,6,0.243,0.070,1986,1521,3438,0,0,0,0,0,0,14.08,14.36,28.83
$GC,12617,-0.61,-97.3,868.0,-8.0,543,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12917,-0.61,-97.3,887.9,-5.9,553,12920,0.00,1.98,0.00,0.000,4,0.000,0.094,1986,465,3436,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12991,-0.61,-97.3,892.1,-5.7,556,12995,0.00,1.85,0.00,0.000,6,0.000,0.049,1981,1522,3436,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13308,-0.61,-97.3,904.3,-3.3,567,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1524,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13607,-0.61,-97.3,916.1,-4.7,577,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13905,-0.61,-97.3,936.4,-7.3,587,13909,0.00,2.00,0.00,0.000,4,0.000,0.095,1981,460,3433,0,0,0,0,0,0,28.83,14.16,28.83
$GC,14011,-0.61,-97.3,945.3,-8.4,591,14014,0.00,1.85,0.00,0.000,6,0.000,0.050,1974,1520,3433,0,0,0,0,0,0,28.83,14.41,28.83
$GC,14325,-0.61,-97.3,969.3,-7.6,602,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1522,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14472,begin apogee
$GC,14480,-0.18,0.0,980.2,-7.1,607,14608,0.60,0.00,115.35,1.939,6,0.210,0.000,2128,1396,3062,0,0,0,0,1,0,13.84,28.83,12.92
$STATE,14609,end apogee,CONTROL_FINISHED_OK
$STATE,14610,begin climb
$GC,14612,0.60,97.3,985.3,0.0,611,14751,0.82,2.05,127.28,1.926,4,0.117,0.101,2389,345,2665,0,0,0,0,1,0,14.16,14.07,12.96
$GC,14971,0.56,137.6,981.9,4.3,624,15044,0.00,1.85,61.78,1.681,6,0.000,0.050,2389,1410,2500,0,0,0,0,1,0,28.83,14.54,13.09
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$STATE,28740,end climb,SURFACE_DEPTH_REACHED
$STATE,28740,begin surface coast
$FINISH,0.0,1.025353
$STATE,28756,end surface coast,CONTROL_FINISHED_OK
$STATE,28756,begin surface
$SM_CCo,28837,0.00,0.000,0,0,1626,352.25
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$TT8_MAMPS,0.023219,0.023219
$HUMID,55.00
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.60
$XPDR_PINGS,8
$SC_FREEKB,7633792
$TM_FREEKB,4300224
$24V_AH,12.9,169.129
$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,19.675,121.325,688.400,0.000,0.000,0.000,0.000,409.250,2.000,0.000,17.015,3256.535,22274.244,942.137,2490.090,619.877,0.000,2356.370,0.000,1940.031,0.000,0.548,0.000
$DEVICE_MAMPS,416.160,110.160,1939.275,0.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28805.000,6572.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.210,13.008,0.000,0.000
$MEM,345616
$DATA_FILE_SIZE,43287,1187
$CAP_FILE_SIZE,246899,0
$CFSIZE,260034560,209604608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.027,204.6,1
$GPS,100113,184321,2458.519,-3815.085,26,1.3,42,-14.0