version: 66.11
glider: 191
mission: 5
dive: 499
start: 2 27 113 21 25 52
data:
$ID,191
$MISSION,5
$DIVE,499
$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,-5232.6006
$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,23
$R_STBD_OVSHOOT,49
$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
$GPS1,270213,211600,2401.698,-3755.876,40,1.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.1
$GPS2,270213,212523,2401.673,-3755.787,19,1.0,19,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,48.7,88653,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.88,0.000,2,0.000,0.000,151,1521,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.4,-6.7,4,106,9.95,1.95,-1.73,0.000,4,0.407,0.106,1996,461,3461,1,0,0,0,0,0,13.51,14.35,14.71
$GC,326,-0.58,-97.3,29.0,-7.6,20,329,0.00,1.80,0.00,0.000,6,0.000,0.039,1990,1513,3463,0,0,0,0,0,0,28.83,14.27,28.83
$GC,626,-0.56,-97.3,54.1,-9.4,40,630,0.00,1.95,0.00,0.000,4,0.000,0.081,1995,461,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,762,-0.54,-97.3,66.8,-9.9,49,766,0.15,1.83,0.00,0.000,6,0.233,0.040,2015,1528,3463,0,0,0,0,0,0,13.93,14.33,28.83
$GC,1063,-0.55,-97.3,88.2,-5.6,69,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1529,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1361,-0.60,-97.3,105.6,-6.4,89,1365,0.00,1.98,0.00,0.000,4,0.000,0.083,2015,463,3464,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1467,-0.62,-97.3,113.1,-7.1,96,1471,0.00,1.80,0.00,0.000,6,0.000,0.039,2010,1525,3465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1766,-0.64,-97.3,137.9,-9.2,116,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2066,-0.69,-97.3,165.5,-10.0,136,2070,0.15,1.98,0.00,0.000,4,0.119,0.083,1951,461,3464,0,0,0,0,0,0,14.42,14.08,28.83
$GC,2172,-0.65,-97.3,177.5,-11.7,143,2177,0.15,1.80,0.00,0.000,6,0.248,0.041,1973,1517,3465,0,0,0,0,0,0,13.86,14.38,28.83
$GC,2471,-0.63,-97.3,204.5,-8.3,163,2475,0.00,1.95,0.00,0.000,4,0.000,0.083,1973,464,3464,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2532,-0.61,-97.3,209.8,-8.9,167,2535,0.00,1.80,0.00,0.000,6,0.000,0.041,1968,1520,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2831,-0.60,-97.3,231.2,-6.5,187,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.58,-97.3,250.9,-6.7,207,3135,0.15,1.98,0.00,0.000,4,0.241,0.082,2007,457,3464,0,0,0,0,0,0,14.09,14.07,28.83
$GC,3220,-0.58,-97.3,255.8,-6.5,210,3224,0.00,1.83,0.00,0.000,6,0.000,0.040,1996,1522,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3520,-0.58,-97.3,277.8,-7.3,220,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1524,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.58,-97.3,299.3,-6.9,230,3824,0.00,1.98,0.00,0.000,4,0.000,0.083,1996,462,3464,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3911,-0.58,-97.3,304.5,-7.0,233,3914,0.00,1.80,0.00,0.000,6,0.000,0.040,1988,1521,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4211,-0.58,-97.3,323.4,-5.7,243,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.58,-97.3,341.7,-6.3,253,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.58,-97.3,361.0,-6.4,263,4814,0.00,1.98,0.00,0.000,4,0.000,0.083,1988,460,3462,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4886,-0.58,-97.3,366.3,-6.9,266,4890,0.00,1.83,0.00,0.000,6,0.000,0.041,1980,1526,3462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5202,-0.58,-97.3,387.0,-6.4,277,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1528,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.58,-97.3,405.6,-6.4,287,5504,0.00,2.00,0.00,0.000,4,0.000,0.084,1980,460,3461,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5621,-0.57,-97.3,413.8,-7.9,291,5625,0.15,1.83,0.00,0.000,6,0.245,0.042,2003,1520,3461,0,0,0,0,0,0,13.81,14.32,28.83
$GC,5923,-0.62,-97.3,438.0,-8.3,301,5927,0.00,1.98,0.00,0.000,4,0.000,0.084,2003,463,3460,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6010,-0.67,-97.3,444.7,-8.6,304,6014,0.00,1.83,0.00,0.000,6,0.000,0.041,2005,1528,3460,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6312,-0.72,-97.3,469.9,-7.6,314,6317,0.15,2.00,0.00,0.000,4,0.123,0.084,1943,459,3459,0,0,0,0,0,0,14.45,14.02,28.83
$GC,6477,-0.68,-97.3,483.5,-8.3,320,6481,0.15,1.83,0.00,0.000,6,0.255,0.042,1964,1519,3459,0,0,0,0,0,0,13.78,14.31,28.83
$GC,6797,-0.66,-97.3,499.4,-4.5,331,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.65,-97.3,512.7,-4.7,341,7095,0.00,1.98,0.00,0.000,4,0.000,0.084,1964,462,3457,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7152,-0.63,-97.3,515.2,-5.1,343,7155,0.00,1.83,0.00,0.000,6,0.000,0.041,1959,1522,3457,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7451,-0.61,-97.3,534.1,-6.6,353,7453,0.15,0.00,0.00,0.000,6,0.251,0.000,1990,1523,3456,0,0,0,0,0,0,13.95,28.83,28.83
$GC,7752,-0.61,-97.3,553.4,-6.7,363,7756,0.00,1.98,0.00,0.000,4,0.000,0.083,1990,464,3455,0,0,0,0,0,0,28.83,13.99,28.83
$GC,7810,-0.61,-97.3,556.9,-7.1,365,7813,0.00,1.83,0.00,0.000,6,0.000,0.041,1985,1519,3455,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8111,-0.61,-97.3,581.4,-8.0,375,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,-0.66,-97.3,607.2,-8.8,385,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8711,-0.70,-97.3,631.2,-7.8,395,8715,0.00,2.00,0.00,0.000,4,0.000,0.086,1985,460,3453,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8758,-0.74,-97.3,634.6,-7.7,397,8762,0.00,1.83,0.00,0.000,6,0.000,0.041,1978,1520,3452,0,0,0,0,0,0,28.83,14.27,28.83
$GC,9074,-0.78,-97.3,656.8,-7.0,408,9076,0.12,0.00,0.00,0.000,6,0.138,0.000,1932,1521,3451,0,0,0,0,0,0,14.45,28.83,28.83
$GC,9373,-0.74,-97.3,678.9,-7.2,418,9376,0.00,2.00,0.00,0.000,4,0.000,0.085,1932,461,3451,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9477,-0.69,-97.3,687.3,-8.1,422,9481,0.20,1.85,0.00,0.000,6,0.255,0.042,1965,1524,3450,0,0,0,0,0,0,13.59,14.23,28.83
$GC,9795,-0.69,-97.3,707.0,-6.4,433,9802,0.00,1.85,0.00,0.000,4,0.000,0.055,1959,2576,3449,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9881,-0.69,-97.3,713.1,-6.7,436,9885,0.00,1.95,0.00,0.000,6,0.000,0.066,1959,1518,3449,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10199,-0.67,-97.3,736.6,-7.7,447,10203,0.00,2.00,0.00,0.000,4,0.000,0.088,1959,463,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10274,-0.65,-97.3,743.1,-8.4,450,10277,0.00,1.85,0.00,0.000,6,0.000,0.043,1952,1522,3447,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10591,-0.63,-97.3,769.2,-8.4,461,10593,0.15,0.00,0.00,0.000,6,0.249,0.000,1982,1524,3446,0,0,0,0,0,0,13.91,28.83,28.83
$GC,10889,-0.68,-97.3,792.8,-8.1,471,10893,0.00,2.03,0.00,0.000,4,0.000,0.087,1982,466,3446,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10962,-0.71,-97.3,799.2,-8.5,474,10966,0.00,1.85,0.00,0.000,6,0.000,0.044,1978,1523,3445,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11281,-0.76,-97.3,824.4,-7.9,485,11288,0.00,2.03,0.00,0.000,4,0.000,0.089,1978,461,3445,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11397,-0.78,-97.3,833.9,-7.8,489,11401,0.00,1.85,0.00,0.000,6,0.000,0.044,1972,1520,3444,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11717,-0.81,-97.3,854.3,-6.0,500,11724,0.15,2.00,0.00,0.000,4,0.132,0.089,1921,470,3443,0,0,0,0,0,0,14.33,13.76,28.83
$GC,11892,-0.75,-97.3,868.6,-8.2,506,11897,0.15,1.85,0.00,0.000,6,0.276,0.046,1941,1518,3442,0,0,0,0,0,0,13.54,14.14,28.83
$GC,12212,-0.73,-97.3,890.6,-7.2,517,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1519,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12508,-0.70,-97.3,914.1,-8.1,527,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1519,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12808,-0.68,-97.3,940.3,-9.0,537,12812,0.12,1.92,0.00,0.000,4,0.271,0.058,1962,2574,3440,0,0,0,0,0,0,13.97,13.79,28.83
$GC,12883,-0.68,-97.3,946.4,-8.4,540,12887,0.00,1.98,0.00,0.000,6,0.000,0.069,1962,1517,3439,0,0,0,0,0,0,28.83,13.95,28.83
$GC,13198,-0.68,-97.3,973.1,-8.4,551,13202,0.00,2.03,0.00,0.000,4,0.000,0.092,1962,465,3438,0,0,0,0,0,0,28.83,13.78,28.83
$GC,13274,-0.67,-97.3,979.8,-8.7,554,13277,0.00,1.88,0.00,0.000,6,0.000,0.046,1953,1522,3438,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,13284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13284,begin apogee
$GC,13292,-0.18,0.0,981.0,-8.8,555,13415,0.68,0.00,114.25,1.818,6,0.219,0.000,2123,1396,3063,0,0,0,0,1,0,13.81,28.83,13.01
$STATE,13417,end apogee,CONTROL_FINISHED_OK
$STATE,13417,begin climb
$GC,13421,0.60,97.3,987.2,0.0,559,13558,0.82,2.03,125.40,1.815,4,0.112,0.096,2388,347,2666,0,0,0,0,1,0,14.04,14.09,13.01
$GC,13782,0.57,150.1,985.4,3.8,571,13870,0.00,1.85,75.15,1.665,6,0.000,0.045,2387,1425,2451,0,0,0,0,1,0,28.83,14.45,13.06
$GC,14187,0.50,150.1,959.6,6.8,585,14189,0.15,0.00,0.00,0.000,6,0.278,0.000,2356,1421,2449,0,0,0,0,0,0,14.08,28.83,28.83
$GC,14492,0.52,191.8,945.2,4.3,595,14560,0.00,0.00,61.70,1.580,6,0.000,0.000,2356,1421,2280,0,0,0,0,1,0,28.83,28.83,13.14
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$STATE,26244,end climb,SURFACE_DEPTH_REACHED
$STATE,26247,begin surface coast
$FINISH,0.4,1.025787
$STATE,26260,end surface coast,CONTROL_FINISHED_OK
$STATE,26260,begin surface
$SM_CCo,26343,0.00,0.000,0,0,1410,405.24
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$IRIDIUM_FIX,2352.12,-3755.39,270213,131350
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.27
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,24.90
$XPDR_PINGS,8
$SC_FREEKB,7578624
$24V_AH,13.0,232.195
$10V_AH,12.2,0.000
$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,21.675,160.975,721.250,0.000,0.000,0.000,0.000,281.425,2.000,0.000,20.156,3056.316,19936.359,1007.717,2186.218,700.850,0.000,2256.491,0.000,1838.902,0.000,0.549,0.000
$DEVICE_MAMPS,406.980,105.570,1930.860,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26317.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.164,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,39998,1075
$CAP_FILE_SIZE,238726,0
$CFSIZE,260034560,191311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.013,197.5,1
$GPS,280213,044605,2403.591,-3754.234,26,0.9,27,-14.1