version: 66.11
glider: 191
mission: 5
dive: 488
start: 2 24 113 8 31 53
data:
$ID,191
$MISSION,5
$DIVE,488
$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,-5218.7612
$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,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
$GPS1,240213,082128,2415.992,-3815.304,40,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-52.1
$GPS2,240213,083123,2415.853,-3815.155,19,0.8,19,-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,148.0,43324,-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,-58.40,0.000,6,0.000,0.000,157,1523,3460,0,0,0,0,0,0,28.83,28.83,14.72
$GC,87,-0.60,-97.3,4.1,-7.8,4,102,10.12,1.90,0.00,0.000,4,0.415,0.072,1995,461,3463,1,0,0,0,0,0,13.54,14.40,28.83
$GC,325,-0.57,-97.3,30.6,-8.6,20,328,0.00,1.80,0.00,0.000,6,0.000,0.039,1989,1516,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,625,-0.56,-97.3,52.7,-7.0,40,628,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,463,3464,0,0,0,0,0,0,28.83,14.08,28.83
$GC,853,-0.53,-97.3,70.6,-8.0,55,862,0.15,1.80,0.00,0.000,6,0.235,0.040,2014,1520,3464,0,0,0,0,0,0,13.78,14.15,28.83
$GC,1165,-0.54,-97.3,92.0,-6.9,76,1169,0.00,1.95,0.00,0.000,4,0.000,0.081,2014,461,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1239,-0.54,-97.3,97.5,-7.5,81,1243,0.00,1.80,0.00,0.000,6,0.000,0.039,2009,1523,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1539,-0.54,-97.3,117.8,-6.8,101,1543,0.00,1.95,0.00,0.000,4,0.000,0.080,2009,463,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1600,-0.54,-97.3,122.3,-7.6,105,1603,0.00,1.80,0.00,0.000,6,0.000,0.040,2001,1522,3465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1899,-0.54,-97.3,144.8,-7.6,125,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2199,-0.54,-97.3,167.9,-7.9,145,2203,0.00,1.95,0.00,0.000,4,0.000,0.081,2001,463,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2276,-0.54,-97.3,174.2,-8.4,150,2280,0.00,1.80,0.00,0.000,6,0.000,0.040,1993,1524,3465,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2575,-0.54,-97.3,198.5,-8.1,170,2579,0.00,1.95,0.00,0.000,4,0.000,0.082,1992,464,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2651,-0.53,-97.3,205.1,-9.0,175,2656,0.15,1.80,0.00,0.000,6,0.237,0.041,2017,1527,3465,0,0,0,0,0,0,13.97,14.43,28.83
$GC,2951,-0.58,-97.3,226.2,-6.9,195,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1529,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-0.64,-97.3,245.5,-6.4,215,3254,0.12,1.98,0.00,0.000,4,0.130,0.082,1966,457,3465,0,0,0,0,0,0,14.57,14.14,28.83
$GC,3356,-0.61,-97.3,253.9,-8.1,221,3361,0.12,1.80,0.00,0.000,6,0.251,0.041,1984,1520,3465,0,0,0,0,0,0,13.89,14.39,28.83
$GC,3672,-0.61,-97.3,276.4,-7.1,232,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-0.61,-97.3,296.1,-6.3,242,3974,0.00,1.95,0.00,0.000,4,0.000,0.082,1984,461,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4089,-0.60,-97.3,303.0,-6.7,246,4092,0.00,1.80,0.00,0.000,6,0.000,0.040,1979,1523,3465,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4391,-0.60,-97.3,322.6,-6.3,256,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4689,-0.60,-97.3,343.8,-7.4,266,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,-0.60,-97.3,366.5,-7.7,276,4993,0.00,1.95,0.00,0.000,4,0.000,0.083,1979,464,3462,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5126,-0.58,-97.3,378.2,-8.7,281,5130,0.00,1.80,0.00,0.000,6,0.000,0.041,1971,1520,3462,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5442,-0.57,-97.3,404.1,-8.2,292,5444,0.12,0.00,0.00,0.000,6,0.252,0.000,1997,1522,3461,0,0,0,0,0,0,14.19,28.83,28.83
$GC,5741,-0.59,-97.3,425.7,-7.1,302,5745,0.00,1.95,0.00,0.000,4,0.000,0.083,1997,466,3460,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5798,-0.59,-97.3,429.1,-7.2,304,5802,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1522,3460,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6100,-0.59,-97.3,451.6,-6.8,314,6103,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,465,3459,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6176,-0.59,-97.3,456.9,-7.0,317,6180,0.00,1.80,0.00,0.000,6,0.000,0.042,1984,1520,3459,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6489,-0.59,-97.3,477.1,-6.1,328,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6791,-0.59,-97.3,495.4,-6.1,338,6795,0.00,1.98,0.00,0.000,4,0.000,0.086,1984,458,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6925,-0.58,-97.3,504.4,-6.7,343,6929,0.00,1.83,0.00,0.000,6,0.000,0.042,1976,1523,3461,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7241,-0.58,-97.3,523.4,-6.1,354,7245,0.00,1.98,0.00,0.000,4,0.000,0.085,1976,462,3457,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7315,-0.56,-97.3,528.5,-6.6,357,7319,0.15,1.83,0.00,0.000,6,0.239,0.041,2000,1526,3456,0,0,0,0,0,0,13.92,14.38,28.83
$GC,7633,-0.62,-97.3,547.9,-6.6,368,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1526,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.68,-97.3,569.1,-7.4,378,7935,0.00,1.98,0.00,0.000,4,0.000,0.086,2000,465,3454,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7975,-0.73,-97.3,572.7,-7.7,380,7980,0.12,1.83,0.00,0.000,6,0.134,0.043,1951,1528,3454,0,0,0,0,0,0,14.26,14.37,28.83
$GC,8294,-0.73,-97.3,600.8,-9.2,391,8301,0.00,2.00,0.00,0.000,4,0.000,0.086,1951,460,3453,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8350,-0.73,-97.3,606.8,-9.6,393,8353,0.00,1.83,0.00,0.000,6,0.000,0.042,1943,1521,3453,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8670,-0.70,-97.3,638.9,-10.1,404,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1522,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.67,-97.3,666.6,-8.7,414,8970,0.12,1.98,0.00,0.000,4,0.265,0.086,1967,463,3451,0,0,0,0,0,0,14.17,14.08,28.83
$GC,9040,-0.64,-97.3,672.7,-8.2,417,9044,0.00,1.83,0.00,0.000,6,0.000,0.041,1962,1522,3451,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9359,-0.63,-97.3,693.5,-6.1,428,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,-0.62,-97.3,710.7,-5.8,438,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9957,-0.61,-97.3,730.8,-7.1,448,9958,0.12,0.00,0.00,0.000,6,0.258,0.000,1988,1523,3448,0,0,0,0,0,0,14.14,28.83,28.83
$GC,10256,-0.66,-97.3,754.1,-8.4,458,10260,0.00,1.85,0.00,0.000,4,0.000,0.055,1982,2573,3447,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10331,-0.70,-97.3,760.3,-8.3,461,10335,0.00,1.95,0.00,0.000,6,0.000,0.066,1982,1510,3447,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10648,-0.75,-97.3,785.4,-7.5,472,10652,0.00,1.90,0.00,0.000,4,0.000,0.055,1976,2574,3446,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10722,-0.79,-97.3,790.7,-7.0,475,10727,0.12,1.92,0.00,0.000,6,0.138,0.067,1929,1521,3445,0,0,0,0,0,0,14.11,14.14,28.83
$GC,11040,-0.76,-97.3,812.7,-6.6,486,11047,0.00,2.00,0.00,0.000,4,0.000,0.088,1929,461,3444,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11170,-0.71,-97.3,820.9,-6.8,490,11175,0.17,1.85,0.00,0.000,6,0.262,0.044,1956,1522,3444,0,0,0,0,0,0,13.62,14.24,28.83
$GC,11475,-0.70,-97.3,836.3,-4.8,500,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1525,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11772,-0.69,-97.3,853.8,-6.5,510,11776,0.00,2.00,0.00,0.000,4,0.000,0.089,1956,468,3442,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11860,-0.67,-97.3,859.5,-7.5,513,11864,0.00,1.85,0.00,0.000,6,0.000,0.045,1951,1526,3442,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12161,-0.66,-97.3,885.6,-8.6,523,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1527,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12462,-0.64,-97.3,912.7,-9.1,533,12464,0.12,0.00,0.00,0.000,6,0.263,0.000,1975,1528,3440,0,0,0,0,0,0,14.06,28.83,28.83
$GC,12761,-0.68,-97.3,937.4,-8.2,543,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1528,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13062,-0.73,-97.3,959.0,-6.8,553,13066,0.00,1.88,0.00,0.000,4,0.000,0.058,1971,2575,3438,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13166,-0.78,-97.3,965.8,-6.5,557,13170,0.00,1.95,0.00,0.000,6,0.000,0.069,1971,1523,3438,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,13448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13448,begin apogee
$GC,13457,-0.18,0.0,981.5,-5.2,567,13583,0.55,0.00,115.32,1.830,6,0.191,0.000,2120,1393,3062,0,0,0,0,1,0,13.66,28.83,12.97
$STATE,13585,end apogee,CONTROL_FINISHED_OK
$STATE,13585,begin climb
$GC,13588,0.60,97.3,985.1,0.0,571,13725,0.82,1.92,125.05,1.812,4,0.104,0.057,2379,2455,2665,0,0,0,0,1,0,14.12,14.16,12.98
$GC,13947,0.56,127.9,977.6,4.8,584,14007,0.00,1.92,50.40,1.492,6,0.000,0.073,2387,1402,2540,0,0,0,0,1,0,28.83,14.35,13.10
$GC,14321,0.53,165.0,958.8,4.5,597,14389,0.00,1.90,57.67,1.557,4,0.000,0.057,2387,2461,2389,0,0,0,0,1,0,28.83,14.33,13.09
$GC,14428,0.47,195.5,953.7,4.8,601,14489,0.22,1.95,50.03,1.473,6,0.269,0.073,2346,1400,2265,0,0,0,0,1,0,14.09,14.35,13.05
$GC,14804,0.49,227.1,936.5,4.7,614,14865,0.00,2.03,51.67,1.493,4,0.000,0.099,2352,339,2136,0,0,0,0,1,0,28.83,14.29,13.12
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$STATE,27555,end climb,SURFACE_DEPTH_REACHED
$STATE,27555,begin surface coast
$FINISH,0.1,1.025714
$STATE,27572,end surface coast,CONTROL_FINISHED_OK
$STATE,27572,begin surface
$SM_CCo,27654,0.00,0.000,0,0,1712,331.15
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$IRIDIUM_FIX,2408.65,-3819.66,240213,000051
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.60
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.40
$XPDR_PINGS,8
$SC_FREEKB,7582848
$24V_AH,12.8,227.384
$10V_AH,10.8,0.000
$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,21.675,167.550,646.075,0.000,0.000,0.000,0.000,313.925,2.000,0.000,20.362,3252.829,20996.650,939.804,2317.231,725.129,0.000,2257.560,0.000,1938.702,0.000,0.549,0.000
$DEVICE_MAMPS,415.395,107.100,1829.880,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.273,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43354,1148
$CAP_FILE_SIZE,251540,0
$CFSIZE,260034560,192528384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.053,193.0,1
$GPS,240213,161404,2413.448,-3813.146,34,0.8,34,-14.1