version: 66.11
glider: 191
mission: 5
dive: 444
start: 2 9 113 16 25 40
data:
$ID,191
$MISSION,5
$DIVE,444
$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,-5163.3984
$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,25
$R_STBD_OVSHOOT,53
$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
$GPS1,090213,161534,2456.049,-3815.796,32,0.8,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.4
$GPS2,090213,162511,2456.067,-3815.757,20,1.1,20,-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,225.7,58954,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-57.83,0.000,6,0.000,0.000,153,1518,3460,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.3,-8.8,4,102,10.02,1.88,0.00,0.000,4,0.412,0.074,1995,462,3463,1,0,0,0,0,0,13.59,14.41,28.83
$GC,295,-0.57,-97.3,28.0,-9.3,18,299,0.00,1.77,0.00,0.000,6,0.000,0.041,1990,1509,3464,0,0,0,0,0,0,28.83,14.41,28.83
$GC,595,-0.55,-97.3,52.1,-7.7,38,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.54,-97.3,74.2,-7.0,58,899,0.00,1.90,0.00,0.000,4,0.000,0.084,1990,464,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1015,-0.51,-97.3,84.0,-8.6,66,1020,0.17,1.77,0.00,0.000,6,0.230,0.041,2022,1524,3465,0,0,0,0,0,0,14.09,14.52,28.83
$GC,1316,-0.53,-97.3,104.9,-6.8,86,1319,0.00,1.92,0.00,0.000,4,0.000,0.083,2022,462,3462,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1376,-0.53,-97.3,109.3,-7.4,90,1379,0.00,1.77,0.00,0.000,6,0.000,0.041,2016,1519,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1675,-0.55,-97.3,133.4,-8.1,110,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1975,-0.58,-97.3,158.9,-9.0,130,1979,0.00,1.90,0.00,0.000,4,0.000,0.082,2017,463,3465,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2080,-0.60,-97.3,168.6,-9.0,137,2083,0.00,1.77,0.00,0.000,6,0.000,0.041,2010,1520,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2380,-0.63,-97.3,184.3,-4.3,157,2384,0.00,1.90,0.00,0.000,4,0.000,0.082,2009,463,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2455,-0.63,-97.3,188.4,-5.6,162,2459,0.00,1.77,0.00,0.000,6,0.000,0.041,2002,1521,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2755,-0.68,-97.3,208.8,-7.6,182,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-0.72,-97.3,232.1,-7.6,202,3057,0.15,0.00,0.00,0.000,6,0.119,0.000,1942,1519,3465,0,0,0,0,0,0,14.64,28.83,28.83
$GC,3356,-0.68,-97.3,258.3,-9.1,219,3359,0.00,1.92,0.00,0.000,4,0.000,0.083,1942,458,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3444,-0.64,-97.3,265.7,-9.7,222,3448,0.20,1.80,0.00,0.000,6,0.249,0.041,1978,1524,3465,0,0,0,0,0,0,14.06,14.54,28.83
$GC,3747,-0.64,-97.3,290.6,-7.7,232,3750,0.00,1.92,0.00,0.000,4,0.000,0.083,1978,461,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3851,-0.62,-97.3,298.8,-7.9,236,3855,0.00,1.77,0.00,0.000,6,0.000,0.041,1973,1521,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4167,-0.61,-97.3,320.1,-6.6,247,4171,0.00,1.92,0.00,0.000,4,0.000,0.083,1972,462,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4241,-0.59,-97.3,325.5,-7.0,250,4246,0.15,1.77,0.00,0.000,6,0.241,0.041,1998,1521,3464,0,0,0,0,0,0,14.14,14.54,28.83
$GC,4558,-0.60,-97.3,344.2,-6.0,261,4562,0.00,1.92,0.00,0.000,4,0.000,0.084,1998,461,3462,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4661,-0.60,-97.3,351.4,-6.7,265,4665,0.00,1.77,0.00,0.000,6,0.000,0.041,1992,1522,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4975,-0.60,-97.3,372.1,-6.4,276,4979,0.00,1.92,0.00,0.000,4,0.000,0.084,1992,464,3462,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5050,-0.60,-97.3,377.6,-7.1,279,5054,0.00,1.77,0.00,0.000,6,0.000,0.041,1984,1521,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5366,-0.60,-97.3,398.4,-6.5,290,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,-0.60,-97.3,416.9,-6.2,300,5669,0.00,1.92,0.00,0.000,4,0.000,0.084,1984,464,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5771,-0.59,-97.3,424.6,-7.4,304,5775,0.00,1.77,0.00,0.000,6,0.000,0.042,1976,1520,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6085,-0.59,-97.3,450.7,-8.6,315,6089,0.00,1.92,0.00,0.000,4,0.000,0.085,1976,464,3458,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6174,-0.57,-97.3,457.8,-9.2,318,6179,0.15,1.77,0.00,0.000,6,0.237,0.042,2001,1521,3458,0,0,0,0,0,0,14.14,14.54,28.83
$GC,6479,-0.62,-97.3,480.9,-7.0,328,6486,0.00,1.92,0.00,0.000,4,0.000,0.086,2001,464,3458,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6595,-0.66,-97.3,489.0,-6.8,332,6599,0.00,1.80,0.00,0.000,6,0.000,0.043,1997,1530,3458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6915,-0.71,-97.3,510.0,-6.9,343,6922,0.12,1.95,0.00,0.000,4,0.135,0.086,1948,464,3457,0,0,0,0,0,0,14.56,14.29,28.83
$GC,7137,-0.67,-97.3,528.3,-9.0,350,7141,0.15,1.80,0.00,0.000,6,0.256,0.044,1970,1524,3457,0,0,0,0,0,0,14.04,14.50,28.83
$GC,7439,-0.67,-97.3,553.7,-8.0,360,7442,0.00,1.95,0.00,0.000,4,0.000,0.086,1970,461,3456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7571,-0.65,-97.3,565.4,-8.8,365,7575,0.00,1.80,0.00,0.000,6,0.000,0.043,1965,1524,3455,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7890,-0.64,-97.3,589.3,-7.1,376,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1526,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8186,-0.62,-97.3,608.7,-6.2,386,8190,0.00,1.95,0.00,0.000,4,0.000,0.087,1965,464,3453,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8292,-0.60,-97.3,615.6,-6.7,390,8297,0.15,1.80,0.00,0.000,6,0.248,0.043,1989,1523,3453,0,0,0,0,0,0,13.95,14.45,28.83
$GC,8609,-0.65,-97.3,633.8,-6.0,401,8613,0.00,1.95,0.00,0.000,4,0.000,0.086,1988,463,3452,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8697,-0.69,-97.3,638.7,-6.5,404,8701,0.00,1.80,0.00,0.000,6,0.000,0.043,1984,1521,3452,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8997,-0.73,-97.3,660.4,-7.2,414,9001,0.00,1.95,0.00,0.000,4,0.000,0.086,1984,463,3451,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9072,-0.75,-97.3,666.2,-7.4,417,9076,0.00,1.80,0.00,0.000,6,0.000,0.043,1976,1520,3450,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9388,-0.75,-97.3,689.9,-7.6,428,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,-0.75,-97.3,711.0,-6.7,438,9690,0.00,1.95,0.00,0.000,4,0.000,0.088,1976,466,3449,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9793,-0.74,-97.3,719.0,-7.5,442,9797,0.00,1.80,0.00,0.000,6,0.000,0.044,1968,1518,3448,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10107,-0.74,-97.3,740.7,-6.7,453,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10408,-0.74,-97.3,760.5,-6.5,463,10411,0.00,1.95,0.00,0.000,4,0.000,0.089,1968,466,3446,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10556,-0.72,-97.3,770.0,-7.1,468,10560,0.00,1.83,0.00,0.000,6,0.000,0.045,1961,1527,3445,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10858,-0.72,-97.3,792.1,-7.2,478,10861,0.00,1.98,0.00,0.000,4,0.000,0.090,1961,464,3444,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10976,-0.70,-97.3,800.9,-8.3,482,10980,0.00,1.83,0.00,0.000,6,0.000,0.046,1953,1523,3444,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11279,-0.68,-97.3,826.7,-8.3,492,11283,0.00,1.98,0.00,0.000,4,0.000,0.090,1953,463,3443,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11354,-0.65,-97.3,833.5,-9.0,495,11358,0.15,1.85,0.00,0.000,6,0.263,0.045,1975,1526,3443,0,0,0,0,0,0,13.86,14.35,28.83
$GC,11669,-0.65,-97.3,856.7,-7.1,506,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1527,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11968,-0.68,-97.3,877.6,-6.9,516,11972,0.00,2.00,0.00,0.000,4,0.000,0.090,1974,460,3442,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12132,-0.68,-97.3,889.7,-7.4,522,12135,0.00,1.85,0.00,0.000,6,0.000,0.047,1970,1527,3441,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12448,-0.68,-97.3,910.5,-6.5,533,12452,0.00,2.00,0.00,0.000,4,0.000,0.092,1970,461,3440,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12522,-0.68,-97.3,915.8,-7.0,536,12525,0.00,1.85,0.00,0.000,6,0.000,0.046,1961,1528,3439,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12837,-0.68,-97.3,936.4,-6.6,547,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1530,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13138,-0.68,-97.3,957.7,-7.4,557,13142,0.00,2.00,0.00,0.000,4,0.000,0.092,1962,467,3437,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13256,-0.66,-97.3,966.5,-8.5,561,13260,0.00,1.85,0.00,0.000,6,0.000,0.047,1954,1527,3436,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,13404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13404,begin apogee
$GC,13413,-0.18,0.0,980.1,-8.2,566,13539,0.65,0.00,115.80,1.851,6,0.220,0.000,2123,1398,3062,0,0,0,0,1,0,13.59,28.83,12.90
$STATE,13541,end apogee,CONTROL_FINISHED_OK
$STATE,13541,begin climb
$GC,13544,0.60,97.3,986.4,0.0,570,13681,0.82,1.90,125.70,1.836,4,0.116,0.058,2377,2456,2665,0,0,0,0,1,0,14.19,14.19,12.96
$GC,13903,0.59,151.0,984.4,3.8,583,13991,0.00,1.92,76.25,1.697,6,0.000,0.074,2385,1394,2446,0,0,0,0,1,0,28.83,14.44,13.03
$GC,14293,0.53,151.0,959.6,7.2,596,14296,0.00,1.95,0.00,0.000,4,0.000,0.097,2394,348,2441,0,0,0,0,0,0,28.83,14.38,28.83
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$STATE,27888,end climb,SURFACE_DEPTH_REACHED
$STATE,27888,begin surface coast
$FINISH,0.3,1.015653
$STATE,27903,end surface coast,CONTROL_FINISHED_OK
$STATE,27903,begin surface
$SM_CCo,27925,3.22,0.791,0,0,1756,320.12
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$IRIDIUM_FIX,2448.93,-3817.31,090213,080823
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.56
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.60
$XPDR_PINGS,8
$SC_FREEKB,7599616
$24V_AH,12.9,209.070
$10V_AH,10.6,0.000
$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,21.375,192.025,612.250,3.225,0.000,0.000,0.000,301.425,2.000,0.000,20.703,3375.192,21044.885,961.304,2379.064,728.845,0.000,2304.970,0.000,1998.517,0.000,0.548,0.000
$DEVICE_MAMPS,411.570,107.865,1917.090,791.010,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27956.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.294,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43304,1172
$CAP_FILE_SIZE,263639,0
$CFSIZE,260034560,197808128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.080,352.8,1
$GPS,100213,001235,2454.854,-3817.165,40,0.8,40,-14.0