version: 66.11
glider: 191
mission: 5
dive: 486
start: 2 23 113 16 40 53
data:
$ID,191
$MISSION,5
$DIVE,486
$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,-5216.2451
$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,57
$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
$GPS1,230213,163030,2419.667,-3819.525,40,1.2,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.5
$GPS2,230213,164023,2419.657,-3819.444,18,1.2,18,-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,142.5,53326,-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,-57.90,0.000,6,0.000,0.000,154,1509,3460,0,0,0,0,0,0,28.83,28.83,14.69
$GC,87,-0.60,-97.3,4.6,-10.1,4,102,10.05,1.83,0.00,0.000,4,0.411,0.049,1982,2561,3462,1,0,0,0,0,0,13.54,14.45,28.83
$GC,310,-0.58,-97.3,29.1,-8.3,19,313,0.00,1.88,0.00,0.000,6,0.000,0.063,1982,1517,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,610,-0.56,-97.3,54.3,-8.7,39,614,0.00,1.92,0.00,0.000,4,0.000,0.081,1982,466,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,701,-0.53,-97.3,62.7,-9.5,45,706,0.17,1.77,0.00,0.000,6,0.229,0.041,2013,1503,3464,0,0,0,0,0,0,13.93,14.31,28.83
$GC,1001,-0.54,-97.3,84.6,-7.3,65,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1504,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-0.55,-97.3,106.4,-7.2,85,1305,0.00,1.92,0.00,0.000,4,0.000,0.083,2013,461,3467,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1405,-0.55,-97.3,114.4,-7.4,92,1409,0.00,1.80,0.00,0.000,6,0.000,0.040,2007,1522,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1705,-0.55,-97.3,132.7,-5.6,112,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.55,-97.3,150.6,-6.5,132,2008,0.00,1.95,0.00,0.000,4,0.000,0.082,2007,464,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2079,-0.55,-97.3,156.5,-8.2,137,2083,0.00,1.80,0.00,0.000,6,0.000,0.041,2000,1523,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2379,-0.55,-97.3,178.9,-7.7,157,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-0.55,-97.3,201.3,-7.5,177,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.55,-97.3,221.2,-5.8,197,2984,0.00,1.95,0.00,0.000,4,0.000,0.080,2000,460,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3100,-0.55,-97.3,228.9,-6.4,205,3104,0.00,1.80,0.00,0.000,6,0.000,0.040,1992,1521,3465,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3400,-0.55,-97.3,246.2,-5.6,225,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-0.55,-97.3,264.2,-5.8,238,3720,0.00,1.95,0.00,0.000,4,0.000,0.082,1992,461,3465,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3834,-0.55,-97.3,271.2,-6.7,242,3837,0.00,1.80,0.00,0.000,6,0.000,0.041,1984,1524,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4135,-0.55,-97.3,291.4,-6.5,252,4139,0.00,1.95,0.00,0.000,4,0.000,0.083,1984,463,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4224,-0.54,-97.3,296.9,-7.2,255,4229,0.15,1.80,0.00,0.000,6,0.233,0.041,2010,1522,3464,0,0,0,0,0,0,14.00,14.42,28.83
$GC,4529,-0.60,-97.3,318.2,-7.0,265,4536,0.00,1.95,0.00,0.000,4,0.000,0.082,2009,467,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4689,-0.64,-97.3,329.1,-7.2,270,4692,0.00,1.80,0.00,0.000,6,0.000,0.041,2004,1523,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4991,-0.69,-97.3,351.0,-6.9,280,4995,0.12,1.95,0.00,0.000,4,0.133,0.083,1953,466,3462,0,0,0,0,0,0,14.55,14.16,28.83
$GC,5109,-0.68,-97.3,360.0,-8.6,284,5112,0.00,1.80,0.00,0.000,6,0.000,0.041,1945,1522,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5410,-0.65,-97.3,387.6,-8.9,294,5414,0.15,1.95,0.00,0.000,4,0.245,0.083,1977,466,3461,0,0,0,0,0,0,14.14,14.15,28.83
$GC,5500,-0.63,-97.3,394.0,-8.6,297,5503,0.00,1.80,0.00,0.000,6,0.000,0.041,1972,1522,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5799,-0.63,-97.3,420.0,-8.4,307,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6101,-0.63,-97.3,444.6,-8.1,317,6104,0.00,1.95,0.00,0.000,4,0.000,0.083,1972,467,3459,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6219,-0.61,-97.3,453.5,-8.4,321,6222,0.00,1.80,0.00,0.000,6,0.000,0.041,1964,1521,3459,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6521,-0.59,-97.3,475.6,-6.6,331,6526,0.15,1.95,0.00,0.000,4,0.239,0.083,1997,467,3458,0,0,0,0,0,0,14.12,14.13,28.83
$GC,6580,-0.59,-97.3,478.5,-6.5,333,6584,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1523,3458,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6880,-0.63,-97.3,499.1,-7.2,343,6884,0.00,1.95,0.00,0.000,4,0.000,0.083,1992,467,3457,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6956,-0.66,-97.3,505.0,-7.6,346,6960,0.00,1.80,0.00,0.000,6,0.000,0.042,1985,1520,3458,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7272,-0.71,-97.3,529.7,-7.9,357,7276,0.00,1.95,0.00,0.000,4,0.000,0.084,1986,468,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7361,-0.73,-97.3,536.0,-8.3,360,7364,0.00,1.80,0.00,0.000,6,0.000,0.042,1978,1522,3457,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7660,-0.76,-97.3,559.8,-7.5,370,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7962,-0.79,-97.3,581.2,-7.0,380,7966,0.15,1.98,0.00,0.000,4,0.125,0.084,1923,461,3454,0,0,0,0,0,0,14.47,14.09,28.83
$GC,8188,-0.73,-97.3,601.5,-9.3,388,8193,0.17,1.83,0.00,0.000,6,0.261,0.042,1949,1518,3454,0,0,0,0,0,0,13.73,14.24,28.83
$GC,8506,-0.71,-97.3,624.4,-7.2,399,8514,0.00,1.98,0.00,0.000,4,0.000,0.085,1950,461,3453,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8637,-0.68,-97.3,634.1,-8.1,403,8640,0.00,1.83,0.00,0.000,6,0.000,0.043,1944,1520,3452,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8938,-0.65,-97.3,661.2,-8.9,413,8940,0.15,0.00,0.00,0.000,6,0.250,0.000,1976,1521,3455,0,0,0,0,0,0,14.07,28.83,28.83
$GC,9237,-0.65,-97.3,686.7,-8.4,423,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9537,-0.65,-97.3,708.7,-6.8,433,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,-0.65,-97.3,726.0,-5.4,443,9843,0.00,1.98,0.00,0.000,4,0.000,0.086,1976,469,3449,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9957,-0.65,-97.3,732.2,-5.9,447,9960,0.00,1.83,0.00,0.000,6,0.000,0.044,1971,1522,3448,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10258,-0.65,-97.3,750.4,-5.9,457,10262,0.00,2.00,0.00,0.000,4,0.000,0.087,1971,464,3447,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10332,-0.64,-97.3,755.8,-6.9,460,10336,0.00,1.83,0.00,0.000,6,0.000,0.044,1963,1519,3448,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10648,-0.64,-97.3,778.1,-7.1,471,10652,0.00,2.00,0.00,0.000,4,0.000,0.087,1960,468,3446,0,0,0,0,0,0,28.83,13.96,28.83
$GC,10737,-0.62,-97.3,784.1,-7.7,474,10742,0.15,1.83,0.00,0.000,6,0.244,0.045,1985,1519,3446,0,0,0,0,0,0,13.71,14.19,28.83
$GC,11040,-0.65,-97.3,805.3,-6.5,484,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11339,-0.70,-97.3,825.7,-6.9,494,11343,0.00,1.88,0.00,0.000,4,0.000,0.056,1980,2578,3445,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11412,-0.74,-97.3,831.0,-7.0,497,11416,0.00,1.95,0.00,0.000,6,0.000,0.067,1980,1517,3443,0,0,0,0,0,0,28.83,14.11,28.83
$GC,11731,-0.79,-97.3,853.7,-7.2,508,11739,0.15,1.98,0.00,0.000,4,0.129,0.089,1928,465,3442,0,0,0,0,0,0,14.38,13.84,28.83
$GC,11970,-0.74,-97.3,875.6,-9.2,516,11974,0.00,1.85,0.00,0.000,6,0.000,0.045,1920,1517,3441,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12287,-0.70,-97.3,901.5,-8.2,527,12289,0.17,0.00,0.00,0.000,6,0.256,0.000,1957,1521,3440,0,0,0,0,0,0,13.82,28.83,28.83
$GC,12583,-0.70,-97.3,922.8,-7.3,537,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1522,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12884,-0.70,-97.3,947.8,-8.8,547,12888,0.00,2.03,0.00,0.000,4,0.000,0.090,1957,462,3439,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12972,-0.69,-97.3,954.7,-9.3,550,12976,0.00,1.88,0.00,0.000,6,0.000,0.045,1951,1526,3438,0,0,0,0,0,0,28.83,14.20,28.83
$STATE,13240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13240,begin apogee
$GC,13249,-0.18,0.0,981.4,-9.4,559,13376,0.68,0.00,114.82,1.835,6,0.218,0.000,2125,1399,3062,0,0,0,0,1,0,13.70,28.83,12.99
$STATE,13377,end apogee,CONTROL_FINISHED_OK
$STATE,13377,begin climb
$GC,13381,0.60,97.3,989.1,0.0,563,13517,0.82,2.03,124.65,1.818,4,0.104,0.096,2392,348,2666,0,0,0,0,1,0,14.16,14.12,13.00
$GC,13739,0.58,165.1,991.9,3.2,576,13841,0.00,1.83,92.28,1.753,6,0.000,0.045,2392,1412,2388,0,0,0,0,1,0,28.83,14.49,13.02
$GC,14143,0.52,165.1,963.7,8.3,589,14145,0.15,0.00,0.00,0.000,6,0.274,0.000,2362,1413,2383,0,0,0,0,0,0,14.14,28.83,28.83
$GC,14444,0.48,165.1,940.3,7.6,599,14447,0.00,2.00,0.00,0.000,4,0.000,0.095,2368,348,2380,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14520,0.43,165.1,934.4,7.9,602,14524,0.17,1.83,0.00,0.000,6,0.247,0.046,2330,1410,2379,0,0,0,0,0,0,14.04,14.50,28.83
$GC,14836,0.43,165.3,914.7,6.0,613,14840,0.00,1.83,0.00,0.000,4,0.000,0.056,2330,2445,2378,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,27420,end climb,SURFACE_DEPTH_REACHED
$STATE,27420,begin surface coast
$FINISH,1.0,1.025624
$STATE,27436,end surface coast,CONTROL_FINISHED_OK
$STATE,27436,begin surface
$SM_CCo,27456,26.85,0.685,0,0,1757,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,58.19
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.30
$XPDR_PINGS,7
$SC_FREEKB,7583616
$24V_AH,13.0,226.536
$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
$DEVICE_SECS,21.225,182.225,533.825,26.850,0.000,0.000,0.000,313.800,1.750,0.000,19.681,3322.081,20753.061,864.207,2377.291,746.735,0.000,2208.425,0.000,1989.546,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.293,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43383,1146
$CAP_FILE_SIZE,254410,0
$CFSIZE,260034560,192749568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.029,238.7,1
$GPS,240213,002022,2418.194,-3817.506,38,0.9,38,-14.1