version: 66.11
glider: 191
mission: 5
dive: 428
start: 2 4 113 8 47 58
data:
$ID,191
$MISSION,5
$DIVE,428
$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,-5143.2783
$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,50
$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,1
$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
$GPS1,040213,083752,2510.996,-3757.959,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-56.4
$GPS2,040213,084717,2511.041,-3758.003,17,0.8,17,-13.9
$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,310.0,4936,-24.6,-6.049,-28.37
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.92,-33.9,0.0,0.0,0,74,0.00,0.00,-50.28,0.000,6,0.000,0.000,156,1519,3202,0,0,0,0,0,0,28.83,28.83,14.78
$GC,78,-0.92,-33.9,2.8,-7.7,3,91,9.25,1.80,0.00,0.000,4,0.404,0.049,1878,2577,3205,0,0,0,0,0,0,13.90,14.50,28.83
$GC,310,-0.92,-33.9,37.2,-12.8,19,314,0.00,1.90,0.00,0.000,6,0.000,0.064,1881,1517,3207,0,0,0,0,0,0,28.83,14.40,28.83
$GC,610,-0.92,-33.9,70.8,-10.5,39,614,0.00,1.83,0.00,0.000,4,0.000,0.050,1876,2575,3207,0,0,0,0,0,0,28.83,14.46,28.83
$GC,701,-0.92,-33.9,80.1,-10.2,45,705,0.00,1.88,0.00,0.000,6,0.000,0.063,1876,1519,3207,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1000,-0.92,-33.9,110.1,-9.1,65,1004,0.00,1.92,0.00,0.000,4,0.000,0.081,1876,461,3207,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1077,-0.90,-33.9,117.8,-10.4,70,1082,0.12,1.77,0.00,0.000,6,0.321,0.040,1890,1516,3208,0,0,0,0,0,0,13.98,14.54,28.83
$GC,1377,-0.91,-33.9,140.6,-7.6,90,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1517,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1676,-0.93,-33.9,166.8,-9.3,110,1680,0.00,1.92,0.00,0.000,4,0.000,0.081,1892,458,3208,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1857,-0.93,-33.9,184.8,-10.3,122,1861,0.00,1.80,0.00,0.000,6,0.000,0.041,1886,1524,3208,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2156,-0.94,-33.9,212.8,-9.2,142,2160,0.00,1.92,0.00,0.000,4,0.000,0.081,1888,464,3207,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2231,-0.94,-33.9,219.7,-9.4,147,2235,0.00,1.77,0.00,0.000,6,0.000,0.041,1882,1519,3208,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2530,-0.94,-33.9,244.9,-8.5,167,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1520,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.94,-33.9,270.4,-8.7,179,2834,0.00,1.92,0.00,0.000,4,0.000,0.080,1885,458,3207,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2889,-0.94,-33.9,274.6,-8.9,181,2893,0.00,1.80,0.00,0.000,6,0.000,0.041,1879,1525,3207,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3191,-0.94,-33.9,303.1,-8.9,191,3195,0.00,1.92,0.00,0.000,4,0.000,0.081,1879,465,3207,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3266,-0.94,-33.9,310.5,-9.7,194,3269,0.00,1.77,0.00,0.000,6,0.000,0.041,1872,1521,3207,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3580,-0.94,-33.9,338.7,-9.0,205,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,1523,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-0.94,-33.9,364.9,-8.6,215,3885,0.00,1.92,0.00,0.000,4,0.000,0.080,1872,464,3205,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3939,-0.94,-33.9,369.1,-8.7,217,3943,0.00,1.80,0.00,0.000,6,0.000,0.041,1865,1525,3205,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4241,-0.94,-33.9,398.0,-9.4,227,4245,0.00,1.95,0.00,0.000,4,0.000,0.083,1865,460,3204,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4376,-0.92,-33.9,412.7,-11.0,232,4380,0.15,1.80,0.00,0.000,6,0.308,0.041,1886,1521,3204,0,0,0,0,0,0,13.93,14.54,28.83
$GC,4694,-0.94,-33.9,444.3,-10.2,243,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,1523,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4991,-0.96,-33.9,473.1,-9.3,253,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,1522,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-0.98,-33.9,500.2,-9.2,263,5294,0.00,1.95,0.00,0.000,4,0.000,0.083,1888,458,3200,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5366,-0.98,-33.9,507.6,-9.8,266,5369,0.00,1.80,0.00,0.000,6,0.000,0.042,1882,1520,3201,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5683,-1.00,-33.9,538.3,-9.7,277,5686,0.00,1.83,0.00,0.000,4,0.000,0.052,1874,2579,3200,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5770,-1.02,-33.9,545.5,-9.5,280,5774,0.00,1.90,0.00,0.000,6,0.000,0.063,1874,1517,3200,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6071,-1.03,-33.9,574.7,-8.9,290,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1516,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,-1.04,-33.9,599.5,-8.0,300,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1516,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-1.05,-33.9,622.8,-7.7,310,6674,0.00,1.92,0.00,0.000,4,0.000,0.084,1874,466,3197,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6789,-1.05,-33.9,632.1,-8.8,314,6793,0.00,1.80,0.00,0.000,6,0.000,0.042,1866,1521,3197,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7091,-1.05,-33.9,662.1,-9.9,324,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1522,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7390,-1.05,-33.9,692.3,-10.1,334,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1522,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,-1.07,-33.9,720.9,-9.1,344,7695,0.00,1.95,0.00,0.000,4,0.000,0.083,1866,465,3194,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7825,-1.05,-33.9,733.8,-9.6,349,7829,0.00,1.80,0.00,0.000,6,0.000,0.044,1859,1519,3194,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8141,-1.05,-33.9,761.8,-8.6,360,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1520,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8440,-1.05,-33.9,787.5,-8.7,370,8444,0.00,1.95,0.00,0.000,4,0.000,0.086,1858,465,3189,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8546,-1.04,-33.9,797.4,-9.5,374,8549,0.00,1.83,0.00,0.000,6,0.000,0.044,1853,1524,3191,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8861,-1.04,-33.9,825.7,-9.3,385,8865,0.00,1.85,0.00,0.000,4,0.000,0.055,1844,2581,3189,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9009,-1.05,-33.9,838.0,-9.2,390,9013,0.00,1.92,0.00,0.000,6,0.000,0.065,1844,1516,3189,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9311,-1.05,-33.9,867.4,-9.0,400,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1516,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9610,-1.05,-33.9,893.0,-8.6,410,9614,0.00,1.95,0.00,0.000,4,0.000,0.086,1844,465,3187,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9716,-1.03,-33.9,903.2,-9.7,414,9719,0.00,1.83,0.00,0.000,6,0.000,0.044,1838,1521,3186,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10031,-1.03,-33.9,931.2,-9.0,425,10035,0.00,1.85,0.00,0.000,4,0.000,0.054,1830,2577,3185,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10089,-1.03,-33.9,935.2,-8.9,427,10093,0.00,1.92,0.00,0.000,6,0.000,0.066,1830,1519,3184,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10394,-1.02,-33.9,966.0,-10.2,437,10402,0.00,1.98,0.00,0.000,4,0.000,0.086,1828,464,3183,0,0,0,0,0,0,28.83,14.10,28.83
$STATE,10537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10537,begin apogee
$GC,10546,-0.18,0.0,983.0,-11.5,442,10604,1.27,0.00,48.72,1.492,6,0.281,0.000,2121,1410,3062,0,0,0,0,1,0,13.67,28.83,13.09
$STATE,10606,end apogee,CONTROL_FINISHED_OK
$STATE,10606,begin climb
$GC,10610,0.92,33.9,985.9,0.0,444,10675,1.15,0.00,54.80,1.544,6,0.119,0.000,2484,1410,2923,0,0,0,0,1,0,14.34,28.83,12.97
$GC,10976,1.01,128.0,1005.8,-5.2,457,11109,0.00,2.05,123.32,1.869,4,0.000,0.091,2493,338,2540,0,0,0,0,1,0,28.83,14.16,13.00
$GC,11334,0.95,128.0,989.8,9.3,468,11338,0.00,1.85,0.00,0.000,6,0.000,0.046,2492,1410,2535,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11639,0.91,128.0,961.2,9.3,478,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1412,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11935,0.88,128.0,932.1,9.9,488,11939,0.00,2.00,0.00,0.000,4,0.000,0.091,2501,343,2531,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12131,0.82,128.0,912.1,10.2,495,12136,0.20,1.83,0.00,0.000,6,0.300,0.047,2461,1408,2530,0,0,0,0,0,0,13.93,14.54,28.83
$GC,12448,0.82,128.0,888.3,7.0,506,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1409,2529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12747,0.83,139.5,872.1,4.7,516,12781,0.00,0.00,27.12,1.017,6,0.000,0.000,2461,1405,2493,0,0,0,0,1,0,28.83,28.83,13.31
$GC,13078,0.85,150.2,856.9,4.8,527,13118,0.00,1.92,29.58,1.085,4,0.000,0.093,2466,343,2449,0,0,0,0,1,0,28.83,14.46,13.24
$GC,13196,0.83,151.8,849.8,5.9,531,13200,0.00,1.83,0.00,0.000,6,0.000,0.047,2466,1399,2449,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13511,0.83,151.8,827.8,7.4,542,13515,0.00,1.85,0.00,0.000,4,0.000,0.057,2467,2455,2448,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13600,0.83,151.8,821.8,8.0,545,13603,0.00,1.92,0.00,0.000,6,0.000,0.073,2474,1400,2447,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13902,0.82,151.8,792.6,9.6,555,13903,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1400,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14201,0.81,151.8,764.2,9.2,565,14205,0.00,1.98,0.00,0.000,4,0.000,0.093,2482,347,2446,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14321,0.78,151.8,753.8,10.0,569,14326,0.17,1.83,0.00,0.000,6,0.298,0.047,2448,1406,2446,0,0,0,0,0,0,13.82,14.46,28.83
$GC,14622,0.78,151.8,729.2,7.1,579,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1406,2446,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25088,end climb,SURFACE_DEPTH_REACHED
$STATE,25088,begin surface coast
$FINISH,0.4,1.025589
$STATE,25104,end surface coast,CONTROL_FINISHED_OK
$STATE,25104,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,54.60
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.30
$XPDR_PINGS,3
$SC_FREEKB,7605760
$24V_AH,13.0,202.405
$10V_AH,10.9,0.000
$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,19.950,143.150,318.275,138.275,0.000,0.000,0.000,293.075,0.750,0.000,18.185,2990.586,19377.029,722.079,2137.735,600.573,0.000,1912.454,0.000,1766.896,0.000,0.548,0.000
$DEVICE_MAMPS,403.920,101.745,1868.895,690.030,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.212,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,40009,1057
$CAP_FILE_SIZE,223920,0
$CFSIZE,260034560,199761920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$CURRENT,0.059,336.5,1
$GPS,040213,155030,2512.514,-3800.235,39,0.9,39,-13.9