version: 66.11
glider: 191
mission: 5
dive: 15
start: 9 19 112 19 56 46
data:
$ID,191
$MISSION,5
$DIVE,15
$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,500
$T_MISSION,550
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$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,120
$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,350
$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,-3673.9404
$T_RSLEEP,2
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,29
$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,12
$MINV_10V,12
$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,3
$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
$GPS1,190912,193453,2410.039,-3802.031,36,0.9,36,-14.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-64.0
$GPS2,190912,195617,2409.885,-3801.920,22,1.3,23,-14.1
$SPEED_LIMITS,0.113,0.203
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-3802.000
$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,215.3,25715,-12.9,-6.533,-17.88
$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
$STATE,18,begin dive
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$GC,14068,-0.43,-116.8,889.5,-5.7,699,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1506,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14367,-0.45,-116.8,905.3,-5.3,709,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1506,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14668,-0.47,-116.8,923.3,-6.3,719,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1506,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14966,-0.49,-116.8,943.7,-6.9,729,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1506,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15269,-0.51,-116.8,963.0,-5.9,739,15274,0.00,1.88,0.00,0.000,4,0.000,0.112,2049,441,3502,0,0,0,0,0,0,28.83,14.92,28.83
$GC,15335,-0.52,-116.8,966.8,-5.9,741,15340,0.00,1.77,0.00,0.000,6,0.000,0.065,2045,1502,3501,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,15662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15662,begin apogee
$GC,15665,-0.18,0.0,980.9,-3.6,752,15807,0.25,0.00,129.57,2.399,6,0.216,0.000,2118,1504,3068,0,0,0,0,1,0,14.86,28.83,13.14
$STATE,15808,end apogee,CONTROL_FINISHED_OK
$STATE,15808,begin climb
$GC,15810,0.61,116.8,982.1,0.0,756,15971,0.88,0.00,152.88,2.500,6,0.158,0.000,2376,1504,2585,0,0,0,0,1,0,14.09,28.83,13.11
$GC,16262,0.56,116.8,954.1,7.0,772,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1504,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16562,0.56,146.2,937.1,5.4,782,16616,0.00,0.00,46.55,1.744,6,0.000,0.000,2377,1503,2467,0,0,0,0,1,0,28.83,28.83,13.55
$GC,16894,0.52,146.2,916.8,6.8,793,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1504,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17194,0.48,146.2,893.4,8.1,803,17199,0.00,1.77,0.00,0.000,4,0.000,0.073,2376,2563,2464,0,0,0,0,0,0,28.83,14.80,28.83
$GC,17250,0.45,146.2,890.7,8.1,804,17258,0.20,1.88,0.00,0.000,6,0.280,0.090,2339,1494,2466,0,0,0,0,0,0,14.71,14.81,28.83
$GC,17556,0.45,149.5,869.1,6.4,815,17567,0.00,1.92,3.05,2.058,4,0.000,0.116,2345,447,2450,0,0,0,0,0,0,28.83,14.80,14.10
$GC,17628,0.45,149.5,864.7,6.7,817,17633,0.00,1.77,0.00,0.000,6,0.000,0.066,2345,1497,2450,0,0,0,0,0,0,28.83,14.85,28.83
$GC,17951,0.45,149.5,841.6,7.0,828,17956,0.00,1.90,0.00,0.000,4,0.000,0.115,2353,443,2450,0,0,0,0,0,0,28.83,14.84,28.83
$GC,17986,0.45,149.5,839.4,6.9,829,17991,0.00,1.80,0.00,0.000,6,0.000,0.066,2353,1493,2450,0,0,0,0,0,0,28.83,14.88,28.83
$GC,18314,0.44,149.5,815.9,7.2,840,18319,0.00,1.77,0.00,0.000,4,0.000,0.075,2353,2562,2450,0,0,0,0,0,0,28.83,14.90,28.83
$GC,18361,0.42,149.5,813.4,7.3,841,18366,0.15,1.85,0.00,0.000,6,0.278,0.091,2327,1499,2450,0,0,0,0,0,0,14.79,14.88,28.83
$GC,18679,0.45,167.3,793.2,5.9,852,18721,0.00,0.00,35.05,1.375,6,0.000,0.000,2328,1499,2380,0,0,0,0,1,0,28.83,28.83,13.80
$GC,19009,0.48,180.3,774.0,6.0,863,19047,0.00,0.00,30.60,1.187,6,0.000,0.000,2327,1498,2326,0,0,0,0,1,0,28.83,28.83,13.79
$GC,19340,0.51,183.9,752.9,6.4,874,19345,0.00,0.00,3.38,1.893,6,0.000,0.000,2328,1499,2311,0,0,0,0,0,0,28.83,28.83,14.04
$GC,19639,0.53,183.9,732.3,7.0,884,19644,0.00,1.90,0.00,0.000,4,0.000,0.116,2334,444,2313,0,0,0,0,0,0,28.83,14.78,28.83
$GC,19735,0.54,183.9,725.2,7.4,887,19740,0.00,1.80,0.00,0.000,6,0.000,0.064,2334,1511,2312,0,0,0,0,0,0,28.83,14.84,28.83
$GC,20063,0.57,199.8,704.0,5.9,898,20105,0.12,0.00,33.47,1.255,6,0.158,0.000,2382,1513,2247,0,0,0,0,1,0,14.87,28.83,13.81
$GC,20392,0.55,199.8,677.2,8.4,909,20393,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1513,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20692,0.52,199.8,653.6,7.8,919,20693,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1512,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20993,0.49,199.8,628.2,8.8,929,20998,0.12,1.90,0.00,0.000,4,0.278,0.111,2358,444,2246,0,0,0,0,0,0,14.77,14.83,28.83
$GC,21056,0.47,199.8,622.6,8.8,931,21061,0.00,1.77,0.00,0.000,6,0.000,0.063,2358,1503,2248,0,0,0,0,0,0,28.83,14.89,28.83
$GC,21389,0.47,199.8,597.3,7.5,942,21394,0.00,1.75,0.00,0.000,4,0.000,0.073,2358,2557,2248,0,0,0,0,0,0,28.83,14.90,28.83
$GC,21444,0.47,199.8,594.5,7.8,943,21452,0.00,1.85,0.00,0.000,6,0.000,0.090,2372,1494,2248,0,0,0,0,0,0,28.83,14.88,28.83
$GC,21751,0.47,199.8,569.5,7.6,954,21752,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1493,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22052,0.46,199.8,545.4,8.3,964,22053,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1493,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22351,0.46,199.8,519.5,8.5,974,22352,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1494,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22651,0.46,199.8,494.0,8.2,984,22652,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1493,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22951,0.46,199.8,470.4,7.6,994,22952,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1494,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23251,0.46,199.8,449.2,6.9,1004,23252,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1493,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,23551,0.46,199.8,428.9,6.8,1014,23556,0.00,1.80,0.00,0.000,4,0.000,0.070,2366,2568,2248,0,0,0,0,0,0,28.83,14.95,28.83
$GC,23586,0.46,199.8,426.6,6.8,1015,23592,0.08,1.88,0.00,0.000,6,0.249,0.087,2345,1499,2248,0,0,0,0,0,0,14.84,14.92,28.83
$GC,23915,0.48,199.8,404.3,7.2,1026,23920,0.00,1.88,0.00,0.000,4,0.000,0.109,2351,440,2248,0,0,0,0,0,0,28.83,14.90,28.83
$GC,23980,0.49,199.8,399.2,7.6,1028,23986,0.00,1.77,0.00,0.000,6,0.000,0.060,2351,1506,2248,0,0,0,0,0,0,28.83,14.96,28.83
$GC,24309,0.50,211.2,376.9,6.1,1039,24348,0.00,1.98,28.83,0.911,4,0.000,0.109,2359,437,2201,0,0,0,0,1,0,28.83,14.77,14.17
$GC,24379,0.53,234.9,373.5,5.6,1041,24432,0.00,1.77,40.83,1.221,6,0.000,0.060,2359,1498,2105,0,0,0,0,1,0,28.83,14.83,13.83
$GC,24731,0.58,262.2,354.2,5.5,1053,24785,0.00,1.83,43.92,1.265,4,0.000,0.067,2359,2556,1994,0,0,0,0,1,0,28.83,14.50,13.76
$GC,24837,0.61,275.1,348.6,6.0,1056,24876,0.00,1.88,29.50,0.913,6,0.000,0.084,2366,1497,1939,0,0,0,0,1,0,28.83,14.56,13.84
$GC,25183,0.62,275.1,319.3,9.0,1068,25188,0.00,1.90,0.00,0.000,4,0.000,0.107,2374,437,1941,0,0,0,0,0,0,28.83,14.69,28.83
$GC,25235,0.63,275.1,316.0,9.3,1069,25240,0.00,1.77,0.00,0.000,6,0.000,0.057,2373,1500,1940,0,0,0,0,0,0,28.83,14.78,28.83
$GC,25547,0.63,275.1,282.5,10.0,1080,25548,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1501,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,25847,0.63,275.1,256.7,7.9,1090,25848,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1501,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26147,0.64,285.9,236.6,6.1,1112,26188,0.00,0.00,27.40,0.815,6,0.000,0.000,2373,1501,1896,0,0,0,0,1,0,28.83,28.83,14.25
$GC,26488,0.66,285.9,214.6,6.8,1146,26493,0.00,1.92,0.00,0.000,4,0.000,0.106,2381,420,1896,0,0,0,0,0,0,28.83,14.75,28.83
$GC,26550,0.66,285.9,209.8,8.0,1152,26555,0.00,1.80,0.00,0.000,6,0.000,0.057,2381,1500,1896,0,0,0,0,0,0,28.83,14.82,28.83
$GC,26862,0.66,285.9,184.7,8.3,1183,26867,0.00,1.80,0.00,0.000,4,0.000,0.067,2381,2571,1897,0,0,0,0,0,0,28.83,14.81,28.83
$GC,26898,0.66,285.9,182.0,8.4,1186,26905,0.00,1.88,0.00,0.000,6,0.000,0.082,2389,1502,1896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,27205,0.66,285.9,155.0,8.8,1217,27210,0.00,1.88,0.00,0.000,4,0.000,0.104,2397,437,1896,0,0,0,0,0,0,28.83,14.81,28.83
$GC,27247,0.66,285.9,150.9,9.4,1221,27252,0.00,1.77,0.00,0.000,6,0.000,0.056,2396,1507,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,27560,0.66,285.9,121.4,8.8,1252,27565,0.00,1.77,0.00,0.000,4,0.000,0.066,2395,2569,1895,0,0,0,0,0,0,28.83,14.85,28.83
$GC,27595,0.66,285.9,118.3,9.3,1255,27603,0.00,1.85,0.00,0.000,6,0.000,0.080,2404,1496,1897,0,0,0,0,0,0,28.83,14.83,28.83
$GC,27902,0.66,285.9,86.6,10.4,1286,27903,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1496,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28202,0.66,285.9,60.7,7.4,1316,28203,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1496,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28500,0.69,314.8,43.0,5.4,1346,28532,0.00,1.92,26.62,0.781,4,0.000,0.103,2411,441,1776,0,0,0,0,0,0,28.83,14.73,14.41
$GC,28612,0.70,314.8,35.9,7.6,1357,28616,0.00,1.77,0.00,0.000,6,0.000,0.054,2413,1494,1774,0,0,0,0,0,0,28.83,14.81,28.83
$GC,28917,0.72,314.8,13.6,7.2,1388,28918,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1495,1772,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,29076,end climb,SURFACE_DEPTH_REACHED
$STATE,29076,begin surface coast
$FINISH,0.4,0.000000
$STATE,29096,end surface coast,CONTROL_FINISHED_OK
$STATE,29096,begin surface
$SM_CCo,29111,29.20,0.728,0,0,1633,350.04
$SM_GC,0.18,6.68,0.00,29.20,0.102,0.000,0.728,161,1495,1633,-6.29,-0.14,350.04,0,0,0,0,0,0,14.88,28.83,14.43
$IRIDIUM_FIX,2401.56,-3803.07,190912,191927
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.49
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.90
$XPDR_PINGS,1
$SC_FREEKB,7764384
$TM_FREEKB,7784128
$24V_AH,13.1,12.709
$10V_AH,13.3,0.000
$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,18.475,145.475,631.650,29.200,0.000,0.000,0.000,814.075,0.250,0.000,24.040,4087.928,21230.352,872.415,4007.454,216.227,0.000,3215.230,0.000,2870.848,0.000,0.553,0.000
$DEVICE_MAMPS,423.045,116.280,2500.020,727.515,0.000,0.000,0.000,190.485,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29142.000,6837.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.775,12.935,0.000,0.000
$MEM,345392
$DATA_FILE_SIZE,50006,1406
$CAP_FILE_SIZE,308659,0
$CFSIZE,260034560,255754240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$CURRENT,0.053, 98.8,1
$GPS,200912,040334,2406.858,-3802.222,28,1.1,28,-14.1