version: 66.11
glider: 191
mission: 5
dive: 433
start: 2 6 113 0 22 46
data:
$ID,191
$MISSION,5
$DIVE,433
$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,-5149.5659
$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,48
$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
$GPS1,060213,001224,2508.427,-3804.813,39,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.3
$GPS2,060213,002217,2508.458,-3804.830,17,0.9,18,-13.9
$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,211.1,88080,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.88,0.000,3,0.000,0.000,153,1522,3461,0,0,0,0,0,0,28.83,28.83,14.76
$GC,87,-0.60,-97.3,3.9,-7.9,4,102,9.85,1.90,0.00,0.000,4,0.409,0.076,1996,463,3464,0,0,0,0,0,0,14.00,14.48,28.83
$GC,324,-0.57,-97.3,29.8,-8.4,20,328,0.00,1.80,0.00,0.000,6,0.000,0.043,1990,1516,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,625,-0.55,-97.3,55.0,-9.0,40,628,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,464,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,685,-0.53,-97.3,59.6,-7.6,44,690,0.15,1.80,0.00,0.000,6,0.237,0.042,2015,1520,3465,0,0,0,0,0,0,14.13,14.51,28.83
$GC,984,-0.53,-97.3,83.7,-6.8,64,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-0.53,-97.3,106.0,-7.8,84,1288,0.00,1.92,0.00,0.000,4,0.000,0.083,2015,465,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1389,-0.53,-97.3,115.3,-8.7,91,1393,0.00,1.80,0.00,0.000,6,0.000,0.042,2009,1527,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1689,-0.53,-97.3,140.6,-7.9,111,1693,0.00,1.95,0.00,0.000,4,0.000,0.083,2010,461,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1750,-0.53,-97.3,145.6,-8.4,115,1753,0.00,1.80,0.00,0.000,6,0.000,0.041,2002,1524,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2050,-0.53,-97.3,162.7,-4.2,135,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1526,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.53,-97.3,174.1,-4.2,155,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1526,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.53,-97.3,189.1,-5.6,175,2654,0.00,1.95,0.00,0.000,4,0.000,0.083,2002,461,3467,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2724,-0.53,-97.3,194.3,-6.9,180,2728,0.00,1.80,0.00,0.000,6,0.000,0.041,1994,1525,3467,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3025,-0.53,-97.3,215.4,-7.2,200,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1526,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,-0.53,-97.3,238.4,-7.9,220,3328,0.00,1.95,0.00,0.000,4,0.000,0.084,1994,458,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3430,-0.53,-97.3,247.4,-8.7,227,3434,0.12,1.80,0.00,0.000,6,0.243,0.042,2012,1523,3467,0,0,0,0,0,0,14.22,14.58,28.83
$GC,3747,-0.55,-97.3,268.5,-6.3,239,3751,0.00,1.92,0.00,0.000,4,0.000,0.084,2012,466,3466,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3821,-0.56,-97.3,273.5,-6.6,242,3825,0.00,1.80,0.00,0.000,6,0.000,0.042,2007,1528,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4137,-0.58,-97.3,292.6,-6.0,253,4141,0.00,1.95,0.00,0.000,4,0.000,0.085,2007,463,3465,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4240,-0.58,-97.3,299.8,-6.9,257,4244,0.00,1.80,0.00,0.000,6,0.000,0.042,1999,1524,3465,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4555,-0.58,-97.3,321.5,-7.2,268,4558,0.00,1.95,0.00,0.000,4,0.000,0.085,1999,461,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4630,-0.58,-97.3,327.7,-8.0,271,4634,0.00,1.80,0.00,0.000,6,0.000,0.041,1991,1524,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4946,-0.58,-97.3,351.9,-7.5,282,4950,0.00,1.95,0.00,0.000,4,0.000,0.085,1991,462,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5004,-0.58,-97.3,355.4,-7.6,284,5007,0.00,1.80,0.00,0.000,6,0.000,0.042,1983,1522,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5305,-0.58,-97.3,379.5,-7.7,294,5308,0.00,1.95,0.00,0.000,4,0.000,0.085,1989,460,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5412,-0.56,-97.3,388.4,-8.5,298,5416,0.12,1.80,0.00,0.000,6,0.247,0.043,2001,1520,3462,0,0,0,0,0,0,14.09,14.45,28.83
$GC,5727,-0.58,-97.3,411.5,-7.4,309,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,-0.59,-97.3,433.3,-7.3,319,6030,0.00,1.95,0.00,0.000,4,0.000,0.086,2001,460,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6160,-0.59,-97.3,444.0,-7.9,324,6163,0.00,1.80,0.00,0.000,6,0.000,0.042,1996,1518,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6476,-0.59,-97.3,465.3,-6.4,335,6479,0.00,1.95,0.00,0.000,4,0.000,0.086,1995,460,3459,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6564,-0.59,-97.3,470.2,-6.5,338,6567,0.00,1.80,0.00,0.000,6,0.000,0.043,1987,1521,3460,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6865,-0.59,-97.3,489.2,-6.3,348,6869,0.00,1.95,0.00,0.000,4,0.000,0.086,1988,463,3459,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6955,-0.59,-97.3,495.0,-7.4,351,6958,0.00,1.80,0.00,0.000,6,0.000,0.043,1980,1521,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7255,-0.59,-97.3,517.4,-6.9,361,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.59,-97.3,536.1,-6.2,371,7559,0.00,1.95,0.00,0.000,4,0.000,0.086,1980,463,3457,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7751,-0.58,-97.3,549.9,-7.2,378,7755,0.12,1.80,0.00,0.000,6,0.253,0.044,1997,1522,3456,0,0,0,0,0,0,14.14,14.53,28.83
$GC,8070,-0.63,-97.3,571.8,-7.6,389,8078,0.00,1.92,0.00,0.000,4,0.000,0.086,1997,469,3455,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8155,-0.66,-97.3,579.1,-8.1,392,8159,0.00,1.80,0.00,0.000,6,0.000,0.044,1993,1521,3455,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8474,-0.71,-97.3,604.4,-8.1,403,8482,0.00,1.95,0.00,0.000,4,0.000,0.086,1993,465,3454,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8620,-0.73,-97.3,616.8,-8.3,408,8624,0.00,1.80,0.00,0.000,6,0.000,0.044,1986,1519,3454,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8938,-0.78,-97.3,639.8,-6.9,419,8942,0.15,1.95,0.00,0.000,4,0.126,0.086,1932,467,3453,0,0,0,0,0,0,14.55,14.10,28.83
$GC,9116,-0.72,-97.3,653.8,-8.7,425,9121,0.15,1.83,0.00,0.000,6,0.276,0.045,1953,1526,3452,0,0,0,0,0,0,13.95,14.47,28.83
$GC,9419,-0.70,-97.3,675.2,-6.5,435,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1527,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9717,-0.68,-97.3,696.2,-7.2,445,9721,0.00,1.98,0.00,0.000,4,0.000,0.089,1953,464,3450,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9791,-0.66,-97.3,702.6,-8.2,448,9795,0.00,1.83,0.00,0.000,6,0.000,0.045,1948,1520,3450,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10110,-0.63,-97.3,730.1,-9.0,459,10112,0.15,0.00,0.00,0.000,6,0.258,0.000,1981,1522,3449,0,0,0,0,0,0,14.14,28.83,28.83
$GC,10406,-0.63,-97.3,754.2,-8.0,469,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10707,-0.63,-97.3,775.9,-7.0,479,10710,0.00,1.98,0.00,0.000,4,0.000,0.090,1979,464,3447,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10781,-0.63,-97.3,781.6,-7.3,482,10784,0.00,1.83,0.00,0.000,6,0.000,0.045,1974,1521,3446,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11098,-0.63,-97.3,800.6,-5.7,493,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11397,-0.63,-97.3,818.0,-5.9,503,11401,0.00,1.98,0.00,0.000,4,0.000,0.090,1974,469,3445,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11455,-0.63,-97.3,820.8,-5.9,505,11459,0.00,1.83,0.00,0.000,6,0.000,0.047,1966,1521,3445,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11757,-0.63,-97.3,842.1,-7.1,515,11760,0.00,1.88,0.00,0.000,4,0.000,0.059,1959,2581,3444,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11815,-0.63,-97.3,845.3,-7.1,517,11819,0.00,1.92,0.00,0.000,6,0.000,0.069,1958,1522,3443,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12120,-0.62,-97.3,872.0,-8.8,527,12129,0.12,2.00,0.00,0.000,4,0.263,0.091,1983,461,3442,0,0,0,0,0,0,14.04,14.09,28.83
$GC,12220,-0.62,-97.3,879.9,-8.8,530,12223,0.00,1.85,0.00,0.000,6,0.000,0.046,1978,1523,3442,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12522,-0.62,-97.3,905.3,-7.9,540,12523,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1524,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12822,-0.62,-97.3,926.7,-6.8,550,12825,0.00,2.00,0.00,0.000,4,0.000,0.093,1978,466,3439,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12910,-0.62,-97.3,932.1,-7.2,553,12914,0.00,1.85,0.00,0.000,6,0.000,0.047,1970,1523,3440,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13212,-0.62,-97.3,953.9,-6.9,563,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13511,-0.62,-97.3,975.2,-7.2,573,13515,0.00,2.00,0.00,0.000,4,0.000,0.093,1970,467,3438,0,0,0,0,0,0,28.83,14.06,28.83
$STATE,13583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13583,begin apogee
$GC,13592,-0.18,0.0,981.1,-7.7,576,13718,0.62,0.00,116.10,1.857,6,0.214,0.000,2123,1409,3062,0,0,0,0,1,0,13.72,28.83,12.90
$STATE,13720,end apogee,CONTROL_FINISHED_OK
$STATE,13720,begin climb
$GC,13724,0.60,97.3,987.0,0.0,580,13862,0.82,2.05,126.05,1.843,4,0.117,0.097,2385,348,2668,0,0,0,0,1,0,14.19,14.14,12.95
$GC,14082,0.57,151.7,985.5,3.8,593,14170,0.00,1.83,77.70,1.698,6,0.000,0.048,2386,1405,2446,0,0,0,0,1,0,28.83,14.54,13.05
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$STATE,27819,end climb,SURFACE_DEPTH_REACHED
$STATE,27819,begin surface coast
$FINISH,0.1,1.025634
$STATE,27835,end surface coast,CONTROL_FINISHED_OK
$STATE,27836,begin surface
$SM_CCo,27856,4.93,0.777,0,0,1756,320.12
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$IRIDIUM_FIX,2500.82,-3803.15,050213,161612
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.04
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,7603840
$24V_AH,12.9,204.517
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,20.800,170.575,615.600,4.925,0.000,0.000,0.000,320.650,0.500,0.000,18.582,3296.081,21177.854,929.813,2357.349,678.037,0.000,2264.179,0.000,1962.158,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27890.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.200,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43265,1165
$CAP_FILE_SIZE,250824,0
$CFSIZE,260034560,199139328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.106,353.8,1
$GPS,060213,080834,2507.281,-3805.843,41,0.9,41,-13.9