version: 66.11
glider: 191
mission: 5
dive: 544
start: 3 14 113 9 47 53
data:
$ID,191
$MISSION,5
$DIVE,544
$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,-5289.2261
$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,54
$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
$GPS1,140313,093705,2447.418,-3732.602,26,0.9,26,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-46.6
$GPS2,140313,094723,2447.390,-3732.568,16,0.9,16,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,324.8,66046,-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,22,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.08,0.000,2,0.000,0.000,161,1522,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.4,-7.7,4,105,9.88,0.00,-3.62,0.000,6,0.411,0.000,1991,1522,3461,1,0,0,0,0,0,13.55,28.83,14.68
$GC,399,-0.60,-97.3,32.0,-6.6,25,403,0.00,1.98,0.00,0.000,4,0.000,0.083,1991,462,3463,0,0,0,0,0,0,28.83,14.10,28.83
$GC,490,-0.58,-97.3,39.0,-7.6,31,494,0.00,1.80,0.00,0.000,6,0.000,0.039,1986,1512,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,790,-0.57,-97.3,57.1,-6.6,51,791,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.55,-97.3,81.4,-10.1,71,1095,0.00,1.95,0.00,0.000,4,0.000,0.080,1985,464,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1180,-0.53,-97.3,89.0,-8.1,77,1184,0.17,1.80,0.00,0.000,6,0.232,0.038,2016,1520,3463,0,0,0,0,0,0,13.80,14.27,28.83
$GC,1481,-0.55,-97.3,106.3,-6.2,97,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,-0.60,-97.3,126.7,-7.5,117,1784,0.00,1.98,0.00,0.000,4,0.000,0.080,2017,459,3463,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1886,-0.64,-97.3,134.9,-8.0,124,1890,0.00,1.83,0.00,0.000,6,0.000,0.038,2013,1524,3463,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2186,-0.70,-97.3,157.2,-7.4,144,2190,0.15,1.85,0.00,0.000,4,0.118,0.050,1948,2580,3463,0,0,0,0,0,0,14.38,14.13,28.83
$GC,2245,-0.70,-97.3,162.8,-9.2,148,2248,0.00,1.92,0.00,0.000,6,0.000,0.059,1948,1516,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2546,-0.66,-97.3,193.3,-10.6,168,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.63,-97.3,223.3,-8.7,188,2849,0.15,1.95,0.00,0.000,4,0.249,0.080,1980,467,3463,0,0,0,0,0,0,13.97,13.95,28.83
$GC,2922,-0.61,-97.3,229.5,-8.1,193,2925,0.00,1.80,0.00,0.000,6,0.000,0.038,1975,1521,3463,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3220,-0.60,-97.3,248.7,-5.8,213,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.60,-97.3,264.6,-5.1,224,3525,0.00,1.98,0.00,0.000,4,0.000,0.080,1975,463,3463,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3639,-0.59,-97.3,270.4,-5.6,228,3644,0.15,1.83,0.00,0.000,6,0.236,0.038,1998,1528,3463,0,0,0,0,0,0,13.74,14.22,28.83
$GC,3946,-0.62,-97.3,285.2,-4.9,238,3951,0.00,1.92,0.00,0.000,4,0.000,0.082,1998,467,3467,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4001,-0.65,-97.3,288.6,-5.3,240,4005,0.00,1.80,0.00,0.000,6,0.000,0.038,1994,1520,3463,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4319,-0.70,-97.3,306.8,-5.9,251,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.75,-97.3,327.4,-7.6,261,4620,0.15,1.98,0.00,0.000,4,0.118,0.080,1935,465,3462,0,0,0,0,0,0,14.41,13.89,28.83
$GC,4675,-0.76,-97.3,331.6,-8.2,263,4679,0.00,1.83,0.00,0.000,6,0.000,0.039,1927,1525,3463,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4975,-0.72,-97.3,364.1,-10.5,273,4979,0.12,1.98,0.00,0.000,4,0.252,0.080,1951,474,3463,0,0,0,0,0,0,14.02,13.89,28.83
$GC,5051,-0.68,-97.3,371.6,-10.2,276,5054,0.00,1.83,0.00,0.000,6,0.000,0.040,1946,1527,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5369,-0.65,-97.3,400.3,-8.7,287,5378,0.15,1.95,0.00,0.000,4,0.243,0.081,1978,478,3462,0,0,0,0,0,0,13.97,13.82,28.83
$GC,5425,-0.63,-97.3,405.6,-8.9,289,5429,0.00,1.80,0.00,0.000,6,0.000,0.040,1972,1522,3462,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5744,-0.65,-97.3,431.8,-8.5,300,5751,0.00,2.00,0.00,0.000,4,0.000,0.080,1973,464,3462,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5814,-0.67,-97.3,437.2,-8.8,302,5818,0.00,1.83,0.00,0.000,6,0.000,0.038,1965,1521,3462,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6116,-0.66,-97.3,463.9,-8.3,312,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-0.64,-97.3,489.5,-8.4,322,6419,0.00,1.98,0.00,0.000,4,0.000,0.082,1965,468,3459,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6520,-0.62,-97.3,499.4,-9.4,326,6524,0.12,1.83,0.00,0.000,6,0.251,0.040,1983,1524,3458,0,0,0,0,0,0,13.71,14.17,28.83
$GC,6839,-0.65,-97.3,525.9,-8.6,337,6846,0.00,2.00,0.00,0.000,4,0.000,0.082,1982,461,3461,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6909,-0.68,-97.3,531.1,-8.7,339,6913,0.00,1.83,0.00,0.000,6,0.000,0.040,1978,1520,3457,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7212,-0.72,-97.3,557.8,-8.4,349,7216,0.00,1.98,0.00,0.000,4,0.000,0.082,1978,469,3457,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7330,-0.74,-97.3,566.6,-8.4,353,7334,0.00,1.83,0.00,0.000,6,0.000,0.041,1971,1521,3457,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7631,-0.74,-97.3,591.3,-7.9,363,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,-0.74,-97.3,614.3,-7.4,373,7934,0.00,2.00,0.00,0.000,4,0.000,0.082,1971,464,3455,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8050,-0.72,-97.3,622.5,-7.8,377,8053,0.00,1.85,0.00,0.000,6,0.000,0.041,1963,1528,3454,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8351,-0.72,-97.3,644.1,-6.6,387,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1529,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8651,-0.72,-97.3,662.6,-6.0,397,8654,0.00,2.03,0.00,0.000,4,0.000,0.083,1962,463,3452,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8786,-0.70,-97.3,671.8,-6.9,402,8790,0.00,1.85,0.00,0.000,6,0.000,0.041,1955,1524,3452,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9103,-0.69,-97.3,693.9,-7.3,413,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1525,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9402,-0.67,-97.3,719.6,-9.1,423,9405,0.00,2.00,0.00,0.000,4,0.000,0.083,1955,470,3450,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9490,-0.65,-97.3,727.2,-10.0,426,9494,0.12,1.83,0.00,0.000,6,0.255,0.041,1972,1520,3449,0,0,0,0,0,0,13.64,14.12,28.83
$GC,9794,-0.69,-97.3,756.7,-9.3,436,9802,0.00,1.98,0.00,0.000,4,0.000,0.084,1972,472,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9924,-0.71,-97.3,767.6,-9.2,440,9928,0.00,1.85,0.00,0.000,6,0.000,0.041,1968,1524,3448,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10225,-0.75,-97.3,790.2,-6.4,450,10229,0.00,2.03,0.00,0.000,4,0.000,0.084,1968,464,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10332,-0.75,-97.3,796.5,-5.9,454,10336,0.00,1.85,0.00,0.000,6,0.000,0.041,1961,1521,3446,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10648,-0.78,-97.3,812.1,-4.9,465,10656,0.00,2.03,0.00,0.000,4,0.000,0.085,1961,463,3446,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10707,-0.79,-97.3,815.4,-5.4,467,10710,0.00,1.85,0.00,0.000,6,0.000,0.041,1953,1519,3445,0,0,0,0,0,0,28.83,14.06,28.83
$GC,11023,-0.78,-97.3,835.4,-6.7,478,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11322,-0.76,-97.3,858.5,-8.1,488,11326,0.00,2.03,0.00,0.000,4,0.000,0.086,1953,467,3443,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11395,-0.74,-97.3,865.3,-8.9,491,11399,0.00,1.88,0.00,0.000,6,0.000,0.043,1946,1525,3442,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11715,-0.72,-97.3,894.3,-9.2,502,11721,0.00,1.88,0.00,0.000,4,0.000,0.054,1938,2573,3442,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11814,-0.71,-97.3,902.2,-8.8,505,11818,0.00,1.98,0.00,0.000,6,0.000,0.067,1938,1521,3441,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12118,-0.68,-97.3,929.9,-8.6,515,12126,0.12,2.05,0.00,0.000,4,0.269,0.088,1962,464,3441,0,0,0,0,0,0,13.84,13.93,28.83
$GC,12206,-0.66,-97.3,937.5,-8.4,518,12210,0.00,1.88,0.00,0.000,6,0.000,0.043,1953,1522,3440,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12520,-0.66,-97.3,961.1,-7.3,529,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12786,begin apogee
$GC,12796,-0.18,0.0,980.7,-7.2,538,12923,0.65,0.00,113.78,1.803,6,0.209,0.000,2126,1396,3063,0,0,0,0,1,0,13.80,28.83,13.09
$STATE,12924,end apogee,CONTROL_FINISHED_OK
$STATE,12924,begin climb
$GC,12928,0.60,97.3,986.6,0.0,542,13063,0.82,2.03,123.95,1.805,4,0.100,0.093,2391,344,2666,0,0,0,0,1,0,13.96,14.09,13.12
$GC,13285,0.59,174.5,988.3,2.8,555,13397,0.00,1.85,101.50,1.751,6,0.000,0.044,2391,1410,2350,0,0,0,0,1,0,28.83,14.30,13.16
$GC,13690,0.55,188.7,967.9,5.5,568,13732,0.00,1.95,30.40,1.100,4,0.000,0.093,2395,349,2294,0,0,0,0,1,0,28.83,14.24,13.27
$GC,13810,0.49,198.0,961.2,5.7,572,13852,0.22,1.83,28.00,1.024,6,0.250,0.044,2350,1407,2254,0,0,0,0,1,0,13.94,14.38,13.28
$GC,14171,0.53,249.4,946.6,3.9,584,14259,0.00,2.03,73.35,1.641,4,0.000,0.096,2356,344,2045,0,0,0,0,1,0,28.83,14.19,13.21
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$STATE,26096,end climb,SURFACE_DEPTH_REACHED
$STATE,26096,begin surface coast
$FINISH,0.1,1.025780
$STATE,26113,end surface coast,CONTROL_FINISHED_OK
$STATE,26113,begin surface
$SM_CCo,26196,0.00,0.000,0,0,1685,337.78
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$IRIDIUM_FIX,2437.06,-3727.32,140313,010109
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.12
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.90
$XPDR_PINGS,-1
$SC_FREEKB,7561312
$24V_AH,13.1,251.434
$10V_AH,11.2,0.000
$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
$DEVICE_SECS,21.175,195.700,612.275,0.000,0.000,0.000,0.000,327.100,0.000,0.000,17.608,3161.076,19613.994,964.466,2281.506,772.768,0.000,2288.205,0.000,1873.453,0.000,1.063,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.465,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,40065,1091
$CAP_FILE_SIZE,250268,0
$CFSIZE,260034560,186101760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,0,0
$CURRENT,0.043,129.0,1
$GPS,140313,170552,2448.404,-3734.239,38,0.8,38,-13.8