version: 66.11
glider: 191
mission: 5
dive: 361
start: 1 12 113 11 10 59
data:
$ID,191
$MISSION,5
$DIVE,361
$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,-5053.6885
$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,26
$R_STBD_OVSHOOT,47
$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
$GPS1,120113,105534,2448.020,-3827.492,29,1.0,29,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-51.7
$GPS2,120113,111029,2448.087,-3827.450,19,0.9,20,-14.1
$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,240.6,34466,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.60,-97.3,0.0,0.0,0,90,0.00,0.00,-61.28,0.000,2,0.000,0.000,158,1517,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.60,-97.3,3.9,-8.5,4,110,9.95,1.92,-1.12,0.000,4,0.409,0.104,1997,465,3460,1,0,0,0,0,0,13.70,14.43,14.73
$GC,182,-0.57,-97.3,17.3,-10.2,10,185,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1516,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,481,-0.55,-97.3,43.1,-9.2,30,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1517,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,781,-0.54,-97.3,68.2,-8.1,50,784,0.00,1.83,0.00,0.000,4,0.000,0.052,1983,2574,3463,0,0,0,0,0,0,28.83,14.41,28.83
$GC,870,-0.52,-97.3,75.8,-8.4,56,875,0.15,1.88,0.00,0.000,6,0.226,0.061,2016,1520,3462,0,0,0,0,0,0,14.19,14.46,28.83
$GC,1170,-0.52,-97.3,97.5,-6.6,76,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1470,-0.52,-97.3,119.8,-7.4,96,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1771,-0.54,-97.3,139.6,-5.9,116,1774,0.00,1.83,0.00,0.000,4,0.000,0.052,2017,2580,3462,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1891,-0.56,-97.3,146.4,-6.0,124,1895,0.00,1.88,0.00,0.000,6,0.000,0.062,2009,1519,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2191,-0.56,-97.3,164.3,-6.2,144,2194,0.00,1.92,0.00,0.000,4,0.000,0.084,2011,460,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2355,-0.56,-97.3,176.6,-7.6,155,2358,0.00,1.80,0.00,0.000,6,0.000,0.042,2004,1520,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2655,-0.56,-97.3,197.1,-6.8,175,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2955,-0.56,-97.3,215.6,-5.4,195,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3255,-0.56,-97.3,228.7,-4.6,215,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,-0.56,-97.3,244.7,-5.8,235,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3855,-0.56,-97.3,264.0,-6.7,248,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4156,-0.56,-97.3,284.0,-6.6,258,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4455,-0.56,-97.3,301.6,-5.5,268,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4757,-0.57,-97.3,318.3,-5.9,278,4761,0.00,1.92,0.00,0.000,4,0.000,0.086,2004,463,3460,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4815,-0.57,-97.3,321.6,-6.5,280,4819,0.00,1.80,0.00,0.000,6,0.000,0.043,1996,1527,3459,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5115,-0.57,-97.3,345.0,-7.7,290,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1529,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5417,-0.57,-97.3,367.9,-7.5,300,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1529,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.57,-97.3,389.8,-7.2,310,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1529,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6016,-0.57,-97.3,411.8,-7.4,320,6020,0.00,1.95,0.00,0.000,4,0.000,0.087,1996,460,3457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6105,-0.57,-97.3,418.1,-8.1,323,6108,0.00,1.80,0.00,0.000,6,0.000,0.044,1987,1520,3457,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6406,-0.57,-97.3,441.6,-7.2,333,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,-0.57,-97.3,461.7,-6.4,343,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7005,-0.57,-97.3,480.5,-6.3,353,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,-0.57,-97.3,499.3,-6.4,363,7309,0.00,1.83,0.00,0.000,4,0.000,0.055,1980,2580,3454,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7380,-0.57,-97.3,503.8,-6.1,366,7384,0.00,1.90,0.00,0.000,6,0.000,0.066,1980,1515,3453,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7695,-0.57,-97.3,523.5,-6.1,377,7699,0.00,1.92,0.00,0.000,4,0.000,0.089,1980,461,3452,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7801,-0.55,-97.3,530.5,-6.8,381,7806,0.15,1.80,0.00,0.000,6,0.240,0.045,2005,1519,3452,0,0,0,0,0,0,14.23,14.60,28.83
$GC,8118,-0.57,-97.3,546.6,-5.3,392,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,-0.59,-97.3,565.3,-6.7,402,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8716,-0.61,-97.3,588.1,-7.7,412,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.63,-97.3,608.3,-6.3,422,9020,0.00,1.95,0.00,0.000,4,0.000,0.090,2005,462,3448,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9105,-0.64,-97.3,613.2,-6.3,425,9109,0.00,1.83,0.00,0.000,6,0.000,0.045,2000,1525,3448,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9408,-0.66,-97.3,629.2,-4.9,435,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1526,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.67,-97.3,645.6,-6.0,445,9711,0.00,1.98,0.00,0.000,4,0.000,0.090,2000,460,3446,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9764,-0.67,-97.3,648.9,-6.5,447,9768,0.00,1.83,0.00,0.000,6,0.000,0.046,1992,1521,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10066,-0.67,-97.3,673.0,-7.7,457,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1524,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,-0.67,-97.3,693.4,-6.2,467,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1523,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10666,-0.67,-97.3,707.2,-4.1,477,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1523,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10967,-0.67,-97.3,719.4,-4.1,487,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1523,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11266,-0.68,-97.3,735.2,-6.0,497,11270,0.00,1.98,0.00,0.000,4,0.000,0.092,1992,463,3441,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11357,-0.68,-97.3,740.5,-6.9,500,11361,0.00,1.83,0.00,0.000,6,0.000,0.047,1984,1520,3441,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11655,-0.68,-97.3,764.2,-7.9,510,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11957,-0.68,-97.3,787.6,-7.7,520,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12255,-0.68,-97.3,807.1,-6.1,530,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12556,-0.68,-97.3,823.0,-5.1,540,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12856,-0.68,-97.3,838.8,-5.4,550,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13156,-0.68,-97.3,858.3,-7.0,560,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13456,-0.68,-97.3,881.5,-8.0,570,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13756,-0.68,-97.3,905.4,-7.8,580,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14056,-0.68,-97.3,926.5,-6.7,590,14060,0.00,2.00,0.00,0.000,4,0.000,0.095,1984,463,3433,0,0,0,0,0,0,28.83,14.17,28.83
$GC,14114,-0.68,-97.3,929.7,-6.7,592,14118,0.00,1.85,0.00,0.000,6,0.000,0.049,1976,1518,3432,0,0,0,0,0,0,28.83,14.43,28.83
$GC,14416,-0.68,-97.3,949.5,-5.9,602,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14716,-0.68,-97.3,966.0,-5.4,612,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14983,begin apogee
$GC,14990,-0.18,0.0,981.4,-5.8,621,15113,0.57,0.00,115.18,1.938,6,0.210,0.000,2125,1394,3062,0,0,0,0,1,0,13.85,28.83,12.92
$STATE,15115,end apogee,CONTROL_FINISHED_OK
$STATE,15115,begin climb
$GC,15119,0.60,97.3,985.1,0.0,625,15258,0.80,2.03,127.45,1.917,4,0.118,0.100,2383,351,2665,0,0,0,0,1,0,14.12,14.07,12.96
$GC,15480,0.56,133.6,979.7,4.5,637,15547,0.00,1.85,57.20,1.616,6,0.000,0.049,2383,1418,2517,0,0,0,0,1,0,28.83,14.54,13.13
$GC,15841,0.51,140.2,959.1,5.8,649,15854,0.00,1.80,5.47,1.995,4,0.000,0.060,2383,2442,2491,0,0,0,0,0,0,28.83,14.55,13.24
$GC,15931,0.45,141.9,953.7,6.0,652,15936,0.22,1.90,0.00,0.000,6,0.268,0.076,2341,1398,2491,0,0,0,0,0,0,14.23,14.50,28.83
$GC,16248,0.46,171.6,938.4,4.8,663,16310,0.00,2.03,52.20,1.572,4,0.000,0.103,2347,340,2362,0,0,0,0,1,0,28.83,14.35,13.21
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$STATE,29746,end climb,SURFACE_DEPTH_REACHED
$STATE,29746,begin surface coast
$FINISH,0.1,1.025570
$STATE,29761,end surface coast,CONTROL_FINISHED_OK
$STATE,29762,begin surface
$SM_CCo,29845,0.00,0.000,0,0,1746,322.81
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$IRIDIUM_FIX,2439.44,-3828.10,120113,111117
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.33
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,5
$SC_FREEKB,7631488
$TM_FREEKB,4237472
$24V_AH,12.9,171.992
$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
$DEVICE_SECS,19.200,128.925,656.225,0.000,0.000,0.000,0.000,480.475,1.250,0.000,20.729,3362.155,23162.475,917.303,2613.243,668.140,0.000,2427.333,0.000,1988.230,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29812.000,7125.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.256,13.030,0.000,0.000
$MEM,345624
$DATA_FILE_SIZE,43291,1234
$CAP_FILE_SIZE,256374,0
$CFSIZE,260034560,208785408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.027, 98.4,1
$GPS,120113,192935,2445.890,-3829.388,27,1.5,28,-14.1