version: 66.11
glider: 191
mission: 5
dive: 465
start: 2 16 113 16 43 0
data:
$ID,191
$MISSION,5
$DIVE,465
$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,-5189.8276
$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,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
$GPS1,160213,163234,2438.316,-3836.655,27,0.8,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.1
$GPS2,160213,164230,2438.381,-3836.608,21,1.0,21,-14.2
$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,226.9,11030,-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,18,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.30,0.000,6,0.000,0.000,161,1521,3459,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.2,-7.0,4,102,9.88,1.80,0.00,0.000,4,0.405,0.049,1982,2577,3462,1,0,0,0,0,0,13.56,14.50,28.83
$GC,325,-0.58,-97.3,29.5,-8.1,20,328,0.00,1.90,0.00,0.000,6,0.000,0.062,1982,1512,3464,0,0,0,0,0,0,28.83,14.36,28.83
$GC,625,-0.56,-97.3,54.7,-8.4,40,628,0.00,1.90,0.00,0.000,4,0.000,0.081,1982,468,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,701,-0.52,-97.3,61.8,-9.5,45,705,0.17,1.77,0.00,0.000,6,0.230,0.041,2013,1516,3464,0,0,0,0,0,0,13.96,14.41,28.83
$GC,1000,-0.52,-97.3,84.4,-7.8,65,1004,0.00,1.92,0.00,0.000,4,0.000,0.081,2013,462,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1074,-0.52,-97.3,90.8,-8.7,70,1078,0.00,1.80,0.00,0.000,6,0.000,0.040,2008,1525,3465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1376,-0.52,-97.3,113.9,-7.5,90,1379,0.00,1.92,0.00,0.000,4,0.000,0.081,2007,468,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1494,-0.52,-97.3,123.6,-8.1,98,1498,0.00,1.77,0.00,0.000,6,0.000,0.041,2000,1520,3465,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1795,-0.52,-97.3,146.9,-7.8,118,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,-0.52,-97.3,168.4,-5.9,138,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,-0.52,-97.3,184.9,-5.5,158,2398,0.00,1.92,0.00,0.000,4,0.000,0.081,2000,467,3466,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2499,-0.52,-97.3,191.8,-6.7,165,2503,0.00,1.80,0.00,0.000,6,0.000,0.040,1992,1532,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2799,-0.52,-97.3,212.4,-6.8,185,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1533,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.52,-97.3,229.5,-5.4,205,3103,0.00,1.95,0.00,0.000,4,0.000,0.081,1992,463,3466,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3267,-0.51,-97.3,239.9,-6.3,216,3272,0.15,1.77,0.00,0.000,6,0.232,0.041,2017,1518,3466,0,0,0,0,0,0,14.09,14.51,28.83
$GC,3581,-0.58,-97.3,258.0,-6.4,233,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-0.64,-97.3,280.4,-7.8,243,3885,0.00,1.80,0.00,0.000,4,0.000,0.051,2012,2575,3464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4001,-0.70,-97.3,288.7,-8.0,247,4006,0.15,1.88,0.00,0.000,6,0.116,0.061,1949,1518,3464,0,0,0,0,0,0,14.42,14.41,28.83
$GC,4303,-0.66,-97.3,316.8,-8.7,257,4307,0.00,1.90,0.00,0.000,4,0.000,0.080,1948,468,3462,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4467,-0.62,-97.3,331.8,-9.0,263,4472,0.20,1.77,0.00,0.000,6,0.238,0.042,1986,1519,3464,0,0,0,0,0,0,14.00,14.52,28.83
$GC,4784,-0.62,-97.3,351.7,-5.9,274,4788,0.00,1.92,0.00,0.000,4,0.000,0.083,1986,465,3462,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4902,-0.62,-97.3,359.0,-6.9,278,4906,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1531,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5201,-0.62,-97.3,382.5,-8.0,288,5205,0.00,1.95,0.00,0.000,4,0.000,0.083,1980,466,3461,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5277,-0.61,-97.3,389.1,-8.6,291,5280,0.00,1.77,0.00,0.000,6,0.000,0.043,1972,1518,3461,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5592,-0.61,-97.3,414.8,-8.0,302,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.61,-97.3,437.3,-7.3,312,5895,0.00,1.92,0.00,0.000,4,0.000,0.084,1973,469,3459,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5998,-0.58,-97.3,445.5,-7.8,316,6002,0.15,1.80,0.00,0.000,6,0.239,0.041,1997,1531,3459,0,0,0,0,0,0,13.99,14.50,28.83
$GC,6314,-0.63,-97.3,465.5,-6.6,327,6318,0.00,1.95,0.00,0.000,4,0.000,0.084,1997,470,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6448,-0.66,-97.3,474.6,-6.9,332,6451,0.00,1.80,0.00,0.000,6,0.000,0.042,1991,1526,3458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6764,-0.71,-97.3,495.2,-6.5,343,6768,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,469,3457,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6929,-0.72,-97.3,506.8,-7.1,349,6932,0.00,1.80,0.00,0.000,6,0.000,0.043,1984,1521,3458,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7245,-0.76,-97.3,530.2,-7.9,360,7250,0.12,1.95,0.00,0.000,4,0.138,0.084,1938,464,3457,0,0,0,0,0,0,14.57,14.20,28.83
$GC,7290,-0.77,-97.3,534.6,-8.4,362,7294,0.00,1.80,0.00,0.000,6,0.000,0.043,1930,1520,3456,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7607,-0.73,-97.3,564.4,-9.5,373,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7906,-0.69,-97.3,592.1,-9.1,383,7910,0.15,1.95,0.00,0.000,4,0.259,0.085,1961,468,3454,0,0,0,0,0,0,14.10,14.18,28.83
$GC,7980,-0.65,-97.3,598.6,-8.6,386,7984,0.00,1.80,0.00,0.000,6,0.000,0.044,1955,1520,3454,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8298,-0.64,-97.3,621.8,-7.1,397,8302,0.00,1.95,0.00,0.000,4,0.000,0.086,1956,469,3453,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8402,-0.61,-97.3,629.9,-7.7,401,8407,0.17,1.80,0.00,0.000,6,0.243,0.044,1986,1518,3453,0,0,0,0,0,0,13.92,14.42,28.83
$GC,8719,-0.62,-97.3,648.2,-5.6,412,8723,0.00,1.95,0.00,0.000,4,0.000,0.086,1986,468,3452,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8777,-0.62,-97.3,651.3,-6.1,414,8780,0.00,1.80,0.00,0.000,6,0.000,0.044,1981,1521,3451,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9077,-0.62,-97.3,671.9,-6.7,424,9081,0.00,1.95,0.00,0.000,4,0.000,0.087,1981,469,3450,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9152,-0.62,-97.3,677.7,-7.5,427,9155,0.00,1.80,0.00,0.000,6,0.000,0.044,1973,1520,3450,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9467,-0.62,-97.3,700.7,-7.4,438,9471,0.00,1.95,0.00,0.000,4,0.000,0.087,1973,470,3449,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9541,-0.62,-97.3,706.7,-7.8,441,9545,0.00,1.83,0.00,0.000,6,0.000,0.044,1965,1529,3449,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9858,-0.62,-97.3,728.9,-7.1,452,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1530,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10157,-0.62,-97.3,749.9,-7.1,462,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1530,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10458,-0.62,-97.3,770.8,-7.0,472,10462,0.00,2.00,0.00,0.000,4,0.000,0.089,1965,462,3445,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10577,-0.60,-97.3,779.0,-7.9,476,10581,0.15,1.83,0.00,0.000,6,0.244,0.045,1989,1516,3444,0,0,0,0,0,0,13.89,14.35,28.83
$GC,10880,-0.65,-97.3,800.9,-7.1,486,10884,0.00,1.98,0.00,0.000,4,0.000,0.090,1989,468,3444,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10998,-0.69,-97.3,808.8,-7.6,490,11002,0.00,1.83,0.00,0.000,6,0.000,0.046,1985,1523,3444,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11301,-0.73,-97.3,831.9,-7.3,500,11305,0.00,1.98,0.00,0.000,4,0.000,0.090,1985,471,3443,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11435,-0.75,-97.3,841.9,-7.3,505,11438,0.00,1.83,0.00,0.000,6,0.000,0.046,1977,1520,3442,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11751,-0.80,-97.3,862.6,-6.5,516,11753,0.15,0.00,0.00,0.000,6,0.129,0.000,1925,1521,3441,0,0,0,0,0,0,14.47,28.83,28.83
$GC,12050,-0.76,-97.3,885.1,-7.7,526,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12349,-0.72,-97.3,908.6,-8.0,536,12354,0.12,2.00,0.00,0.000,4,0.262,0.090,1950,463,3439,0,0,0,0,0,0,14.14,14.01,28.83
$GC,12425,-0.69,-97.3,914.8,-8.2,539,12429,0.00,1.85,0.00,0.000,6,0.000,0.047,1944,1518,3439,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12742,-0.67,-97.3,938.9,-7.8,550,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13040,-0.65,-97.3,963.1,-8.1,560,13044,0.15,2.03,0.00,0.000,4,0.259,0.093,1976,465,3437,0,0,0,0,0,0,14.01,13.97,28.83
$GC,13113,-0.64,-97.3,969.1,-8.1,563,13117,0.00,1.85,0.00,0.000,6,0.000,0.047,1970,1521,3436,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,13275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13275,begin apogee
$GC,13284,-0.18,0.0,981.8,-7.8,569,13411,0.60,0.00,115.03,1.843,6,0.207,0.000,2123,1396,3062,0,0,0,0,1,0,13.70,28.83,12.94
$STATE,13412,end apogee,CONTROL_FINISHED_OK
$STATE,13412,begin climb
$GC,13416,0.60,97.3,988.5,0.0,573,13553,0.82,2.03,125.60,1.831,4,0.111,0.097,2388,345,2666,0,0,0,0,1,0,14.18,14.14,12.95
$GC,13668,0.59,220.5,995.6,0.8,582,13834,0.00,1.85,152.07,1.868,6,0.000,0.047,2388,1413,2163,0,0,0,0,1,0,28.83,14.45,13.00
$GC,14134,0.55,220.5,970.7,6.9,598,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1416,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14436,0.50,220.5,948.4,7.7,608,14440,0.15,2.00,0.00,0.000,4,0.269,0.097,2361,346,2155,0,0,0,0,0,0,14.20,14.35,28.83
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$STATE,28339,end climb,SURFACE_DEPTH_REACHED
$STATE,28340,begin surface coast
$FINISH,0.3,1.025600
$STATE,28356,end surface coast,CONTROL_FINISHED_OK
$STATE,28356,begin surface
$SM_CCo,28377,17.10,0.692,0,0,1756,320.12
$SM_GC,1.55,6.80,0.15,17.10,0.082,0.100,0.692,153,1521,1756,-6.30,-1.50,320.12,0,0,0,0,0,0,14.40,14.59,13.79
$IRIDIUM_FIX,2432.32,-3837.00,160213,080849
$TT8_MAMPS,0.023968,0.023968
$HUMID,56.93
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,25.70
$XPDR_PINGS,6
$SC_FREEKB,7591552
$24V_AH,12.9,217.794
$10V_AH,12.6,0.000
$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,20.700,178.025,564.275,17.100,0.000,0.000,0.000,315.175,1.500,0.000,21.803,3409.042,21531.586,885.571,2415.727,731.964,0.000,2241.803,0.000,2009.363,0.000,0.549,0.000
$DEVICE_MAMPS,405.450,107.865,1868.130,692.325,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28408.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.292,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43370,1202
$CAP_FILE_SIZE,259725,0
$CFSIZE,260034560,195260416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.086,359.7,1
$GPS,170213,003734,2437.236,-3837.882,32,0.7,32,-14.2