version: 66.11
glider: 191
mission: 5
dive: 387
start: 1 21 113 7 44 1
data:
$ID,191
$MISSION,5
$DIVE,387
$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,-5088.0981
$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,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
$GPS1,210113,072758,2400.907,-3806.317,36,0.8,36,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-53.0
$GPS2,210113,074331,2400.923,-3806.397,17,1.2,17,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,143.9,13039,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-60.47,0.000,2,0.000,0.000,150,1518,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-97.3,3.3,-5.1,4,109,10.00,1.95,-2.40,0.000,4,0.411,0.109,1996,461,3461,1,0,0,0,0,0,13.69,14.38,14.74
$GC,268,-0.57,-97.3,23.5,-8.8,16,272,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1511,3462,0,0,0,0,0,0,28.83,14.37,28.83
$GC,568,-0.55,-97.3,44.1,-6.7,36,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,869,-0.54,-97.3,70.2,-6.8,56,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-0.52,-97.3,92.7,-7.0,76,1172,0.00,1.92,0.00,0.000,4,0.000,0.084,1991,464,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1228,-0.50,-97.3,97.6,-8.1,80,1233,0.17,1.80,0.00,0.000,6,0.223,0.041,2024,1520,3462,0,0,0,0,0,0,14.17,14.50,28.83
$GC,1529,-0.52,-97.3,115.8,-5.4,100,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1830,-0.53,-97.3,134.7,-6.7,120,1833,0.00,1.92,0.00,0.000,4,0.000,0.083,2024,464,3462,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1919,-0.53,-97.3,141.4,-7.5,126,1922,0.00,1.80,0.00,0.000,6,0.000,0.041,2018,1521,3462,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2220,-0.55,-97.3,162.5,-6.7,146,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2519,-0.56,-97.3,180.9,-5.9,166,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-0.58,-97.3,196.9,-5.6,186,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3119,-0.60,-97.3,213.2,-5.2,206,3123,0.00,1.92,0.00,0.000,4,0.000,0.084,2018,464,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3223,-0.60,-97.3,219.8,-6.5,213,3227,0.00,1.80,0.00,0.000,6,0.000,0.042,2012,1527,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3523,-0.62,-97.3,238.3,-6.5,233,3527,0.00,1.95,0.00,0.000,4,0.000,0.085,2011,460,3463,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3583,-0.62,-97.3,242.8,-7.4,237,3587,0.00,1.80,0.00,0.000,6,0.000,0.042,2003,1518,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3900,-0.62,-97.3,267.8,-8.1,251,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.62,-97.3,292.2,-8.0,261,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4499,-0.62,-97.3,315.5,-7.7,271,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-0.62,-97.3,338.8,-7.7,281,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-0.62,-97.3,359.4,-6.4,291,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5399,-0.63,-97.3,378.1,-6.1,301,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,-0.64,-97.3,397.0,-6.4,311,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6000,-0.65,-97.3,415.5,-6.0,321,6004,0.00,1.92,0.00,0.000,4,0.000,0.086,2003,464,3458,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6074,-0.65,-97.3,420.3,-6.2,324,6077,0.00,1.80,0.00,0.000,6,0.000,0.043,1995,1525,3458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6392,-0.65,-97.3,438.1,-5.4,335,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1526,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6688,-0.65,-97.3,452.6,-4.8,345,6692,0.00,1.95,0.00,0.000,4,0.000,0.086,1995,461,3456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6777,-0.65,-97.3,456.8,-5.3,348,6781,0.00,1.80,0.00,0.000,6,0.000,0.044,1987,1518,3456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7079,-0.65,-97.3,472.8,-5.4,358,7083,0.00,1.83,0.00,0.000,4,0.000,0.054,1979,2577,3455,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7168,-0.65,-97.3,477.1,-5.6,361,7172,0.00,1.90,0.00,0.000,6,0.000,0.066,1979,1512,3455,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7469,-0.65,-97.3,497.6,-6.8,371,7473,0.00,1.92,0.00,0.000,4,0.000,0.087,1980,461,3454,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7514,-0.64,-97.3,501.1,-7.2,373,7517,0.00,1.80,0.00,0.000,6,0.000,0.044,1972,1521,3454,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7828,-0.64,-97.3,527.3,-8.5,384,7832,0.00,1.83,0.00,0.000,4,0.000,0.054,1964,2579,3453,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7918,-0.64,-97.3,533.4,-8.1,387,7922,0.00,1.90,0.00,0.000,6,0.000,0.065,1964,1520,3453,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8218,-0.62,-97.3,558.1,-7.4,397,8222,0.00,1.85,0.00,0.000,4,0.000,0.055,1955,2580,3452,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8295,-0.61,-97.3,563.2,-6.9,400,8300,0.15,1.90,0.00,0.000,6,0.238,0.066,1988,1516,3451,0,0,0,0,0,0,14.16,14.48,28.83
$GC,8611,-0.61,-97.3,579.3,-4.9,411,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,-0.61,-97.3,594.2,-5.2,421,8913,0.00,1.92,0.00,0.000,4,0.000,0.089,1989,467,3449,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8998,-0.61,-97.3,598.5,-5.6,424,9001,0.00,1.80,0.00,0.000,6,0.000,0.045,1983,1520,3449,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9298,-0.61,-97.3,618.7,-6.9,434,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9599,-0.61,-97.3,640.7,-7.6,444,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9898,-0.61,-97.3,664.2,-7.8,454,9902,0.00,1.85,0.00,0.000,4,0.000,0.057,1975,2578,3446,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9974,-0.61,-97.3,669.9,-7.7,457,9978,0.00,1.90,0.00,0.000,6,0.000,0.067,1975,1522,3446,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10288,-0.61,-97.3,694.9,-8.1,468,10292,0.00,1.95,0.00,0.000,4,0.000,0.090,1975,465,3445,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10394,-0.60,-97.3,704.2,-8.9,472,10398,0.00,1.83,0.00,0.000,6,0.000,0.046,1968,1522,3444,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10712,-0.58,-97.3,729.6,-7.9,483,10714,0.15,0.00,0.00,0.000,6,0.241,0.000,2000,1524,3447,0,0,0,0,0,0,14.22,28.83,28.83
$GC,11011,-0.60,-97.3,747.7,-5.5,493,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1524,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11310,-0.62,-97.3,761.5,-4.3,503,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1524,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11609,-0.64,-97.3,774.9,-4.5,513,11613,0.00,1.98,0.00,0.000,4,0.000,0.092,2000,464,3438,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11728,-0.64,-97.3,780.7,-5.7,517,11732,0.00,1.83,0.00,0.000,6,0.000,0.048,1995,1519,3439,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12029,-0.66,-97.3,800.4,-6.6,527,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12330,-0.67,-97.3,821.2,-7.2,537,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12629,-0.69,-97.3,843.7,-7.4,547,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12930,-0.70,-97.3,863.7,-6.4,557,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13229,-0.72,-97.3,881.3,-5.6,567,13234,0.12,2.00,0.00,0.000,4,0.147,0.093,1953,460,3435,0,0,0,0,0,0,14.54,14.15,28.83
$GC,13305,-0.70,-97.3,887.2,-7.5,570,13309,0.00,1.85,0.00,0.000,6,0.000,0.050,1945,1518,3435,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13621,-0.67,-97.3,914.1,-9.0,581,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13919,-0.65,-97.3,941.9,-9.3,591,13923,0.15,1.90,0.00,0.000,4,0.265,0.060,1970,2583,3433,0,0,0,0,0,0,14.01,14.32,28.83
$GC,13994,-0.65,-97.3,948.0,-8.5,594,13998,0.00,1.95,0.00,0.000,6,0.000,0.071,1970,1521,3433,0,0,0,0,0,0,28.83,14.25,28.83
$GC,14308,-0.65,-97.3,972.8,-7.5,605,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14425,begin apogee
$GC,14434,-0.18,0.0,981.0,-6.8,609,14561,0.60,0.00,115.05,1.888,6,0.209,0.000,2126,1390,3063,0,0,0,0,1,0,13.81,28.83,12.90
$STATE,14562,end apogee,CONTROL_FINISHED_OK
$STATE,14562,begin climb
$GC,14565,0.60,97.3,985.3,0.0,613,14705,0.82,1.95,127.82,1.891,4,0.111,0.058,2382,2462,2666,0,0,0,0,1,0,14.19,14.15,12.95
$GC,14924,0.52,97.3,975.2,6.3,626,14928,0.00,1.95,0.00,0.000,6,0.000,0.075,2391,1393,2661,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15242,0.44,97.3,952.7,7.4,637,15244,0.25,0.00,0.00,0.000,6,0.264,0.000,2335,1393,2658,0,0,0,0,0,0,14.16,28.83,28.83
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$STATE,27701,end climb,SURFACE_DEPTH_REACHED
$STATE,27701,begin surface coast
$FINISH,0.3,1.025535
$STATE,27719,end surface coast,CONTROL_FINISHED_OK
$STATE,27719,begin surface
$SM_CCo,27800,0.00,0.000,0,0,1610,356.18
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$TT8_MAMPS,0.023219,0.023219
$HUMID,55.82
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.50
$XPDR_PINGS,3
$SC_FREEKB,7621504
$TM_FREEKB,3964768
$24V_AH,12.9,184.407
$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
$DEVICE_SECS,20.025,136.975,643.650,0.000,0.000,0.000,0.000,508.800,0.750,0.000,17.941,3186.729,21447.484,896.350,2525.560,658.833,0.000,2380.610,0.000,1889.391,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.337,13.006,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43306,1158
$CAP_FILE_SIZE,246341,0
$CFSIZE,260034560,205164544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,2,0
$CURRENT,0.054,332.2,1
$GPS,210113,152834,2359.529,-3804.356,30,0.8,30,-14.1