version: 66.11
glider: 191
mission: 5
dive: 485
start: 2 23 113 8 55 40
data:
$ID,191
$MISSION,5
$DIVE,485
$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,-5214.9873
$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,52
$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
$GPS1,230213,084535,2421.837,-3821.344,31,0.8,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-57.1
$GPS2,230213,085511,2421.809,-3821.314,16,1.0,16,-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,147.5,58417,-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,-57.67,0.000,6,0.000,0.000,149,1515,3460,0,0,0,0,0,0,28.83,28.83,14.72
$GC,87,-0.60,-97.3,4.6,-9.8,4,102,10.12,1.80,0.00,0.000,4,0.413,0.050,1984,2565,3463,1,0,0,0,0,0,13.55,14.46,28.83
$GC,145,-0.37,-97.3,16.4,-19.3,8,149,0.32,1.88,0.00,0.000,6,0.213,0.063,2066,1519,3464,0,0,0,0,0,0,13.98,14.30,28.83
$GC,445,-0.45,-97.3,36.1,-4.7,28,449,0.00,1.95,0.00,0.000,4,0.000,0.083,2066,463,3465,0,0,0,0,0,0,28.83,14.12,28.83
$GC,506,-0.51,-97.3,39.3,-5.4,32,511,0.12,1.80,0.00,0.000,6,0.129,0.041,2012,1520,3465,0,0,0,0,0,0,14.36,14.45,28.83
$GC,804,-0.51,-97.3,61.8,-7.8,52,808,0.00,1.83,0.00,0.000,4,0.000,0.052,2004,2573,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,926,-0.53,-97.3,71.1,-7.9,60,930,0.00,1.90,0.00,0.000,6,0.000,0.063,2004,1514,3465,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1224,-0.53,-97.3,95.8,-7.7,80,1228,0.00,1.92,0.00,0.000,4,0.000,0.082,2004,465,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1331,-0.52,-97.3,104.3,-8.2,87,1335,0.00,1.80,0.00,0.000,6,0.000,0.041,1997,1525,3464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1630,-0.52,-97.3,126.1,-7.3,107,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1526,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.52,-97.3,148.0,-7.4,127,1933,0.00,1.95,0.00,0.000,4,0.000,0.082,1996,466,3465,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2021,-0.50,-97.3,154.5,-7.5,133,2025,0.15,1.80,0.00,0.000,6,0.239,0.041,2021,1528,3465,0,0,0,0,0,0,13.99,14.44,28.83
$GC,2320,-0.56,-97.3,171.4,-6.1,153,2324,0.00,1.95,0.00,0.000,4,0.000,0.083,2021,467,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2381,-0.59,-97.3,175.0,-6.1,157,2385,0.00,1.80,0.00,0.000,6,0.000,0.041,2017,1529,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2680,-0.65,-97.3,192.5,-6.1,177,2684,0.12,1.83,0.00,0.000,4,0.131,0.053,1958,2576,3465,0,0,0,0,0,0,14.52,14.36,28.83
$GC,2819,-0.64,-97.3,202.2,-7.6,186,2828,0.00,1.90,0.00,0.000,6,0.000,0.062,1958,1511,3465,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3131,-0.61,-97.3,227.4,-8.0,207,3135,0.15,1.92,0.00,0.000,4,0.251,0.082,1996,460,3465,0,0,0,0,0,0,14.14,14.21,28.83
$GC,3190,-0.60,-97.3,232.0,-7.6,211,3193,0.00,1.80,0.00,0.000,6,0.000,0.041,1985,1524,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3504,-0.60,-97.3,252.1,-6.3,231,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3804,-0.60,-97.3,272.2,-6.9,241,3808,0.00,1.95,0.00,0.000,4,0.000,0.083,1985,461,3465,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3880,-0.60,-97.3,278.2,-7.7,244,3884,0.00,1.80,0.00,0.000,6,0.000,0.041,1977,1523,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4195,-0.60,-97.3,303.4,-8.2,255,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,-0.60,-97.3,327.8,-7.9,265,4499,0.00,1.95,0.00,0.000,4,0.000,0.083,1977,462,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4542,-0.59,-97.3,331.7,-8.0,267,4546,0.12,1.80,0.00,0.000,6,0.250,0.041,1995,1523,3464,0,0,0,0,0,0,14.03,14.45,28.83
$GC,4858,-0.63,-97.3,354.1,-7.0,278,4861,0.00,1.95,0.00,0.000,4,0.000,0.083,1995,464,3463,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4916,-0.67,-97.3,357.3,-7.0,280,4919,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1525,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5216,-0.71,-97.3,377.9,-6.3,290,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-0.76,-97.3,397.7,-6.8,300,5520,0.15,1.95,0.00,0.000,4,0.123,0.083,1932,467,3461,0,0,0,0,0,0,14.52,14.17,28.83
$GC,5606,-0.75,-97.3,404.0,-8.0,303,5609,0.00,1.80,0.00,0.000,6,0.000,0.042,1924,1525,3461,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5906,-0.70,-97.3,432.7,-9.5,313,5908,0.17,0.00,0.00,0.000,6,0.250,0.000,1962,1526,3459,0,0,0,0,0,0,14.04,28.83,28.83
$GC,6207,-0.68,-97.3,458.5,-8.7,323,6210,0.00,1.95,0.00,0.000,4,0.000,0.084,1962,467,3459,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6280,-0.66,-97.3,465.6,-9.3,326,6284,0.00,1.80,0.00,0.000,6,0.000,0.042,1957,1520,3459,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6599,-0.64,-97.3,491.8,-7.9,337,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6896,-0.62,-97.3,514.7,-7.4,347,6897,0.12,0.00,0.00,0.000,6,0.255,0.000,1983,1522,3458,0,0,0,0,0,0,14.19,28.83,28.83
$GC,7197,-0.62,-97.3,532.8,-5.8,357,7200,0.00,1.95,0.00,0.000,4,0.000,0.085,1983,468,3457,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7284,-0.62,-97.3,537.8,-6.6,360,7288,0.00,1.83,0.00,0.000,6,0.000,0.042,1978,1528,3457,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7586,-0.62,-97.3,559.4,-7.2,370,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7886,-0.62,-97.3,581.7,-7.5,380,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.62,-97.3,604.2,-7.3,390,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,-0.62,-97.3,623.9,-6.4,400,8490,0.00,1.98,0.00,0.000,4,0.000,0.086,1978,468,3453,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8590,-0.61,-97.3,631.3,-7.0,404,8594,0.00,1.83,0.00,0.000,6,0.000,0.044,1970,1525,3452,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8906,-0.61,-97.3,650.3,-6.0,415,8909,0.00,1.98,0.00,0.000,4,0.000,0.086,1970,468,3451,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8966,-0.60,-97.3,653.3,-6.3,417,8970,0.15,1.83,0.00,0.000,6,0.243,0.044,1994,1522,3451,0,0,0,0,0,0,13.88,14.34,28.83
$GC,9268,-0.65,-97.3,672.1,-6.1,427,9272,0.00,1.98,0.00,0.000,4,0.000,0.086,1994,467,3450,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9386,-0.68,-97.3,678.9,-6.6,431,9390,0.00,1.83,0.00,0.000,6,0.000,0.044,1989,1521,3450,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9686,-0.73,-97.3,701.1,-7.2,441,9691,0.12,1.98,0.00,0.000,4,0.139,0.086,1944,467,3451,0,0,0,0,0,0,14.50,14.05,28.83
$GC,9853,-0.69,-97.3,716.0,-9.3,447,9857,0.00,1.83,0.00,0.000,6,0.000,0.045,1937,1519,3449,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10169,-0.66,-97.3,744.7,-9.1,458,10173,0.17,1.88,0.00,0.000,4,0.249,0.055,1968,2579,3448,0,0,0,0,0,0,13.94,14.21,28.83
$GC,10257,-0.65,-97.3,750.9,-8.2,461,10261,0.00,1.92,0.00,0.000,6,0.000,0.066,1969,1522,3447,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10557,-0.65,-97.3,775.6,-7.8,471,10561,0.00,2.00,0.00,0.000,4,0.000,0.089,1969,461,3446,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10633,-0.63,-97.3,781.7,-8.0,474,10637,0.00,1.85,0.00,0.000,6,0.000,0.044,1961,1522,3445,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10951,-0.62,-97.3,805.3,-7.3,485,10959,0.00,1.88,0.00,0.000,4,0.000,0.057,1954,2580,3444,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11021,-0.62,-97.3,809.9,-7.4,487,11026,0.15,1.95,0.00,0.000,6,0.239,0.067,1989,1517,3444,0,0,0,0,0,0,13.75,14.13,28.83
$GC,11326,-0.67,-97.3,834.0,-8.0,497,11333,0.00,2.00,0.00,0.000,4,0.000,0.089,1984,460,3444,0,0,0,0,0,0,28.83,13.96,28.83
$GC,11473,-0.70,-97.3,846.7,-8.5,502,11477,0.00,1.85,0.00,0.000,6,0.000,0.044,1979,1523,3443,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11791,-0.74,-97.3,872.5,-8.1,513,11799,0.00,2.00,0.00,0.000,4,0.000,0.089,1979,466,3442,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11922,-0.77,-97.3,882.0,-7.9,517,11926,0.00,1.85,0.00,0.000,6,0.000,0.046,1974,1522,3441,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12226,-0.81,-97.3,902.8,-6.2,527,12234,0.15,2.03,0.00,0.000,4,0.132,0.089,1921,458,3441,0,0,0,0,0,0,14.36,13.92,28.83
$GC,12465,-0.75,-97.3,921.8,-8.3,535,12469,0.15,1.88,0.00,0.000,6,0.279,0.046,1941,1521,3439,0,0,0,0,0,0,13.62,14.23,28.83
$GC,12782,-0.73,-97.3,943.2,-6.8,546,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13078,-0.71,-97.3,965.0,-7.3,556,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1523,3438,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13285,begin apogee
$GC,13294,-0.18,0.0,980.3,-7.2,563,13420,0.70,0.00,114.60,1.832,6,0.217,0.000,2123,1400,3063,0,0,0,0,1,0,13.72,28.83,12.99
$STATE,13422,end apogee,CONTROL_FINISHED_OK
$STATE,13422,begin climb
$GC,13425,0.60,97.3,985.5,0.0,567,13563,0.82,1.92,125.88,1.822,4,0.107,0.057,2384,2458,2665,0,0,0,0,1,0,14.15,14.16,12.99
$GC,13783,0.60,162.0,984.0,3.3,580,13886,0.00,1.95,88.47,1.725,6,0.000,0.073,2392,1392,2400,0,0,0,0,1,0,28.83,14.37,13.03
$GC,14203,0.53,162.0,959.4,6.3,594,14207,0.00,1.88,0.00,0.000,4,0.000,0.055,2392,2460,2394,0,0,0,0,0,0,28.83,14.44,28.83
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$STATE,27164,end climb,SURFACE_DEPTH_REACHED
$STATE,27164,begin surface coast
$FINISH,0.5,1.025578
$STATE,27180,end surface coast,CONTROL_FINISHED_OK
$STATE,27180,begin surface
$SM_CCo,27202,0.70,1.038,0,0,1755,320.12
$SM_GC,1.11,6.75,1.67,0.70,0.075,0.066,1.038,154,1514,1755,-6.30,0.65,320.12,0,0,0,0,0,0,14.34,14.27,13.72
$IRIDIUM_FIX,2413.38,-3824.44,230213,000047
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.19
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.50
$XPDR_PINGS,5
$SC_FREEKB,7584000
$24V_AH,13.0,226.131
$10V_AH,12.1,0.000
$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,22.450,182.625,634.375,0.700,0.000,0.000,0.000,291.900,1.250,0.000,17.140,3272.888,20483.393,951.282,2316.087,737.622,0.000,2266.251,0.000,1953.609,0.000,0.548,0.000
$DEVICE_MAMPS,413.100,104.805,1887.255,1038.105,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27236.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.416,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43381,1139
$CAP_FILE_SIZE,255574,0
$CFSIZE,260034560,192868352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.045,214.9,1
$GPS,230213,163030,2419.667,-3819.525,40,1.2,40,-14.1