version: 66.11
glider: 191
mission: 5
dive: 16
start: 9 20 112 4 23 47
data:
$ID,191
$MISSION,5
$DIVE,16
$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,-3675.199
$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,25
$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
$GPS1,200912,040334,2406.858,-3802.222,28,1.1,28,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.8
$GPS2,200912,042318,2406.770,-3802.260,14,0.8,16,-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,207.8,19951,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.61,-116.8,0.0,0.0,0,85,0.00,0.00,-62.28,0.000,2,0.000,0.000,161,1495,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.61,-116.8,4.1,-8.1,4,104,9.12,1.80,0.00,0.000,4,0.425,0.063,1980,2565,3536,0,0,0,0,0,0,14.55,14.74,28.83
$GC,332,-0.53,-116.8,46.0,-14.4,20,337,0.15,1.80,0.00,0.000,6,0.265,0.075,2012,1498,3537,0,0,0,0,0,0,14.72,14.81,28.83
$GC,649,-0.48,-116.8,78.6,-7.4,41,654,0.00,1.75,0.00,0.000,4,0.000,0.063,2007,2565,3537,0,0,0,0,0,0,28.83,14.88,28.83
$GC,880,-0.44,-116.8,98.4,-10.8,56,886,0.15,1.80,0.00,0.000,6,0.249,0.074,2041,1494,3537,0,0,0,0,0,0,14.79,14.88,28.83
$GC,1193,-0.43,-116.8,132.4,-8.5,77,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1494,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1494,-0.42,-116.8,151.3,-5.0,97,1499,0.00,1.83,0.00,0.000,4,0.000,0.099,2041,436,3539,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1556,-0.39,-116.8,154.8,-5.5,101,1562,0.00,1.75,0.00,0.000,6,0.000,0.056,2036,1512,3538,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1874,-0.38,-116.8,173.6,-7.2,122,1876,0.12,0.00,0.00,0.000,6,0.251,0.000,2065,1513,3538,0,0,0,0,0,0,14.83,28.83,28.83
$GC,2174,-0.39,-116.8,192.1,-6.5,142,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1517,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,-0.41,-116.8,209.4,-4.9,162,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1513,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2775,-0.43,-116.8,225.2,-6.0,182,2780,0.00,1.85,0.00,0.000,4,0.000,0.099,2065,442,3536,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2897,-0.43,-116.8,234.8,-7.9,190,2902,0.00,1.73,0.00,0.000,6,0.000,0.057,2059,1504,3536,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3214,-0.45,-116.8,259.9,-7.8,207,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1504,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3515,-0.47,-116.8,276.8,-4.7,217,3520,0.00,1.83,0.00,0.000,4,0.000,0.100,2059,443,3533,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3556,-0.48,-116.8,278.5,-4.7,218,3561,0.00,1.73,0.00,0.000,6,0.000,0.059,2053,1504,3533,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3879,-0.49,-116.8,293.3,-4.6,229,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1505,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4178,-0.50,-116.8,311.3,-6.5,239,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1505,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-0.52,-116.8,336.0,-8.8,249,4484,0.00,1.83,0.00,0.000,4,0.000,0.102,2053,443,3530,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4530,-0.53,-116.8,339.2,-9.0,250,4535,0.00,1.73,0.00,0.000,6,0.000,0.059,2045,1510,3529,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4842,-0.53,-116.8,366.9,-7.4,261,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1507,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,-0.53,-116.8,383.3,-4.5,271,5149,0.00,1.73,0.00,0.000,4,0.000,0.069,2038,2563,3527,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5200,-0.53,-116.8,384.7,-4.3,272,5207,0.00,1.77,0.00,0.000,6,0.000,0.078,2038,1499,3527,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5506,-0.53,-116.8,399.6,-4.8,283,5511,0.00,1.83,0.00,0.000,4,0.000,0.101,2039,435,3525,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5557,-0.53,-116.8,401.5,-5.1,284,5563,0.00,1.73,0.00,0.000,6,0.000,0.058,2030,1499,3525,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5869,-0.53,-116.8,423.7,-7.2,295,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6169,-0.53,-116.8,447.1,-8.0,305,6174,0.00,1.83,0.00,0.000,4,0.000,0.102,2030,437,3523,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6265,-0.52,-116.8,455.1,-8.6,308,6270,0.00,1.73,0.00,0.000,6,0.000,0.058,2022,1500,3523,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6593,-0.52,-116.8,479.8,-7.2,319,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1501,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,-0.52,-116.8,502.0,-7.6,329,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1501,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7192,-0.52,-116.8,527.4,-9.0,339,7198,0.00,1.83,0.00,0.000,4,0.000,0.102,2022,443,3520,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7274,-0.50,-116.8,533.7,-9.5,341,7280,0.00,1.73,0.00,0.000,6,0.000,0.060,2014,1503,3520,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7587,-0.49,-116.8,564.4,-8.8,352,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1504,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7888,-0.48,-116.8,585.7,-6.4,362,7893,0.00,1.85,0.00,0.000,4,0.000,0.103,2014,436,3518,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7950,-0.46,-116.8,590.1,-6.6,364,7955,0.15,1.73,0.00,0.000,6,0.258,0.060,2040,1500,3517,0,0,0,0,0,0,14.92,15.03,28.83
$GC,8283,-0.47,-116.8,606.7,-4.9,375,8288,0.00,1.75,0.00,0.000,4,0.000,0.071,2035,2566,3516,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8355,-0.49,-116.8,609.8,-5.0,377,8361,0.00,1.85,0.00,0.000,6,0.000,0.081,2035,1494,3516,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8679,-0.49,-116.8,629.9,-6.3,388,8684,0.00,1.75,0.00,0.000,4,0.000,0.070,2027,2559,3515,0,0,0,0,0,0,28.83,15.02,28.83
$GC,8765,-0.50,-116.8,633.8,-6.2,390,8772,0.00,1.77,0.00,0.000,6,0.000,0.080,2027,1498,3514,0,0,0,0,0,0,28.83,15.00,28.83
$GC,9071,-0.50,-116.8,655.3,-6.4,401,9076,0.00,1.83,0.00,0.000,4,0.000,0.103,2027,440,3514,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9212,-0.50,-116.8,664.1,-7.2,405,9217,0.00,1.73,0.00,0.000,6,0.000,0.060,2019,1501,3513,0,0,0,0,0,0,28.83,15.02,28.83
$GC,9524,-0.50,-116.8,685.4,-6.4,416,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1503,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,-0.50,-116.8,706.6,-7.4,426,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1503,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,-0.50,-116.8,729.8,-7.7,436,10129,0.00,1.85,0.00,0.000,4,0.000,0.105,2019,439,3511,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10180,-0.50,-116.8,732.2,-7.8,437,10186,0.00,1.75,0.00,0.000,6,0.000,0.061,2011,1508,3510,0,0,0,0,0,0,28.83,15.02,28.83
$GC,10487,-0.49,-116.8,754.6,-6.1,448,10493,0.00,1.85,0.00,0.000,4,0.000,0.105,2011,443,3509,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10539,-0.48,-116.8,756.9,-6.2,449,10545,0.12,1.73,0.00,0.000,6,0.272,0.062,2030,1497,3509,0,0,0,0,0,0,14.89,15.01,28.83
$GC,10853,-0.49,-116.8,776.4,-6.2,460,10858,0.00,1.85,0.00,0.000,4,0.000,0.107,2030,438,3508,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10924,-0.49,-116.8,781.0,-6.9,462,10930,0.00,1.75,0.00,0.000,6,0.000,0.062,2025,1507,3507,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11247,-0.49,-116.8,804.4,-7.0,473,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1507,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11547,-0.49,-116.8,822.8,-6.1,483,11553,0.00,1.75,0.00,0.000,4,0.000,0.073,2017,2566,3505,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11589,-0.49,-116.8,824.9,-6.2,484,11595,0.00,1.83,0.00,0.000,6,0.000,0.084,2017,1496,3505,0,0,0,0,0,0,28.83,14.97,28.83
$GC,11913,-0.49,-116.8,848.1,-7.5,495,11918,0.00,1.85,0.00,0.000,4,0.000,0.109,2017,436,3504,0,0,0,0,0,0,28.83,14.95,28.83
$GC,11978,-0.49,-116.8,853.5,-8.0,497,11983,0.00,1.75,0.00,0.000,6,0.000,0.063,2009,1500,3503,0,0,0,0,0,0,28.83,15.00,28.83
$GC,12305,-0.49,-116.8,881.6,-8.6,508,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1501,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12605,-0.49,-116.8,906.4,-7.9,518,12611,0.00,1.85,0.00,0.000,4,0.000,0.109,2009,444,3502,0,0,0,0,0,0,28.83,14.94,28.83
$GC,12653,-0.48,-116.8,909.0,-8.0,519,12659,0.15,1.75,0.00,0.000,6,0.264,0.065,2034,1505,3501,0,0,0,0,0,0,14.86,15.00,28.83
$GC,12972,-0.49,-116.8,929.8,-5.9,530,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1506,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13272,-0.51,-116.8,947.5,-6.0,540,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1506,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13572,-0.53,-116.8,964.4,-5.5,550,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1506,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13872,-0.55,-116.8,978.9,-4.4,560,13878,0.00,1.88,0.00,0.000,4,0.000,0.111,2034,442,3498,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,13904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13904,begin apogee
$GC,13910,-0.18,0.0,980.7,-4.5,561,14050,0.32,0.00,129.10,2.414,6,0.221,0.000,2123,1507,3063,0,0,0,0,1,0,14.86,28.83,13.18
$STATE,14052,end apogee,CONTROL_FINISHED_OK
$STATE,14052,begin climb
$GC,14053,0.61,116.8,982.7,0.0,565,14215,0.85,0.00,149.98,2.468,6,0.155,0.000,2375,1507,2586,0,0,0,0,1,0,14.09,28.83,13.15
$GC,14538,0.55,116.8,951.9,7.5,582,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1507,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14838,0.50,116.8,931.0,6.7,592,14839,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1507,2580,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26368,end climb,SURFACE_DEPTH_REACHED
$STATE,26368,begin surface coast
$FINISH,-0.1,1.024219
$STATE,26383,end surface coast,CONTROL_FINISHED_OK
$STATE,26383,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.83
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$TCM_TEMP,26.70
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$TM_FREEKB,7774560
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$10V_AH,13.2,0.000
$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
$DEVICE_SECS,18.700,151.200,632.350,4.350,0.000,0.000,0.000,778.175,0.250,0.000,17.081,3536.429,19441.428,832.138,3568.889,194.826,0.000,2997.752,0.000,2483.207,0.000,0.552,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.339,12.877,0.000,0.000
$MEM,345308
$DATA_FILE_SIZE,40016,1071
$CAP_FILE_SIZE,271514,0
$CFSIZE,260034560,255582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$CURRENT,0.008,139.6,1
$GPS,200912,114505,2403.709,-3803.186,35,1.1,35,-14.1