version: 66.11
glider: 191
mission: 5
dive: 18
start: 9 20 112 19 40 34
data:
$ID,191
$MISSION,5
$DIVE,18
$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,-3677.8096
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,200912,192958,2400.958,-3802.227,36,0.9,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.9
$GPS2,200912,194005,2400.923,-3802.234,18,1.1,19,-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,200.4,9125,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.61,-116.8,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,2,0.000,0.000,156,1512,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.61,-116.8,4.2,-9.0,4,103,9.15,1.85,-0.38,0.000,4,0.425,0.108,1993,441,3540,0,0,0,0,0,0,14.55,14.72,14.85
$GC,331,-0.51,-116.8,49.7,-16.5,20,337,0.15,1.73,0.00,0.000,6,0.274,0.057,2019,1496,3543,0,0,0,0,0,0,14.71,14.83,28.83
$GC,649,-0.46,-116.8,87.8,-10.4,41,654,0.00,1.83,0.00,0.000,4,0.000,0.096,2020,443,3544,0,0,0,0,0,0,28.83,14.83,28.83
$GC,880,-0.41,-116.8,107.9,-8.4,56,887,0.17,1.73,0.00,0.000,6,0.253,0.056,2056,1503,3544,0,0,0,0,0,0,14.79,14.90,28.83
$GC,1194,-0.41,-116.8,124.5,-5.1,77,1199,0.00,1.85,0.00,0.000,4,0.000,0.097,2056,436,3545,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1306,-0.40,-116.8,131.2,-6.4,84,1312,0.00,1.73,0.00,0.000,6,0.000,0.056,2050,1500,3545,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1618,-0.40,-116.8,153.5,-8.2,105,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1501,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.40,-116.8,178.2,-7.3,125,1923,0.00,1.83,0.00,0.000,4,0.000,0.097,2050,444,3544,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1999,-0.40,-116.8,183.8,-7.2,130,2004,0.00,1.75,0.00,0.000,6,0.000,0.056,2042,1515,3547,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2311,-0.40,-116.8,204.3,-7.8,151,2317,0.00,1.70,0.00,0.000,4,0.000,0.065,2034,2559,3544,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2367,-0.40,-116.8,208.0,-7.8,154,2374,0.00,1.77,0.00,0.000,6,0.000,0.075,2034,1498,3544,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2673,-0.40,-116.8,232.1,-7.4,175,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1497,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.40,-116.8,254.4,-6.7,194,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1498,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.40,-116.8,276.0,-7.4,204,3294,0.00,1.75,0.00,0.000,4,0.000,0.064,2027,2569,3541,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3324,-0.40,-116.8,278.3,-7.5,205,3331,0.12,1.80,0.00,0.000,6,0.237,0.076,2056,1493,3541,0,0,0,0,0,0,14.90,14.97,28.83
$GC,3654,-0.42,-116.8,302.3,-7.4,216,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,1493,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-0.44,-116.8,322.9,-6.5,226,3959,0.00,1.80,0.00,0.000,4,0.000,0.102,2056,444,3539,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4036,-0.45,-116.8,326.8,-6.3,228,4041,0.00,1.73,0.00,0.000,6,0.000,0.058,2051,1507,3539,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4349,-0.47,-116.8,342.7,-4.5,239,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1508,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4649,-0.48,-116.8,358.7,-6.0,249,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1508,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-0.50,-116.8,383.1,-8.9,259,4954,0.00,1.83,0.00,0.000,4,0.000,0.102,2050,443,3535,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5005,-0.51,-116.8,386.2,-9.0,260,5012,0.00,1.73,0.00,0.000,6,0.000,0.059,2044,1505,3534,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5311,-0.52,-116.8,413.5,-7.1,271,5316,0.00,1.73,0.00,0.000,4,0.000,0.069,2036,2562,3534,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5367,-0.53,-116.8,415.6,-6.8,272,5374,0.00,1.77,0.00,0.000,6,0.000,0.078,2036,1499,3533,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5674,-0.53,-116.8,433.1,-5.0,283,5679,0.00,1.80,0.00,0.000,4,0.000,0.100,2036,446,3532,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5745,-0.53,-116.8,436.8,-5.6,285,5750,0.00,1.73,0.00,0.000,6,0.000,0.057,2029,1509,3532,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6067,-0.53,-116.8,461.8,-8.4,296,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1509,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-0.53,-116.8,486.9,-7.8,306,6372,0.00,1.73,0.00,0.000,4,0.000,0.069,2021,2565,3530,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6432,-0.53,-116.8,490.9,-6.9,308,6438,0.00,1.83,0.00,0.000,6,0.000,0.079,2021,1507,3530,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6760,-0.53,-116.8,508.3,-4.8,319,6765,0.00,1.83,0.00,0.000,4,0.000,0.102,2022,444,3529,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6867,-0.52,-116.8,514.0,-5.9,322,6873,0.00,1.73,0.00,0.000,6,0.000,0.060,2013,1504,3528,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7185,-0.52,-116.8,537.9,-7.9,333,7190,0.00,1.85,0.00,0.000,4,0.000,0.103,2013,437,3527,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7251,-0.51,-116.8,543.9,-8.9,335,7256,0.00,1.75,0.00,0.000,6,0.000,0.060,2005,1507,3527,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7579,-0.49,-116.8,575.3,-9.6,346,7584,0.00,1.73,0.00,0.000,4,0.000,0.069,1997,2566,3526,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7650,-0.48,-116.8,581.0,-9.2,348,7656,0.15,1.80,0.00,0.000,6,0.249,0.080,2033,1495,3526,0,0,0,0,0,0,14.92,15.00,28.83
$GC,7974,-0.48,-116.8,607.3,-7.7,359,7979,0.00,1.83,0.00,0.000,4,0.000,0.103,2033,439,3525,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8030,-0.48,-116.8,610.0,-7.9,360,8038,0.00,1.75,0.00,0.000,6,0.000,0.059,2027,1513,3526,0,0,0,0,0,0,28.83,15.02,28.83
$GC,8336,-0.48,-116.8,637.8,-8.7,371,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1514,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,-0.48,-116.8,663.0,-7.9,381,8642,0.00,1.85,0.00,0.000,4,0.000,0.103,2028,446,3523,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8747,-0.48,-116.8,670.2,-7.8,384,8753,0.00,1.73,0.00,0.000,6,0.000,0.060,2020,1505,3522,0,0,0,0,0,0,28.83,15.02,28.83
$GC,9060,-0.48,-116.8,690.7,-5.6,395,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1505,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9360,-0.48,-116.8,707.0,-5.5,405,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1506,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-0.48,-116.8,724.6,-6.1,415,9665,0.00,1.73,0.00,0.000,4,0.000,0.071,2012,2555,3518,0,0,0,0,0,0,28.83,15.01,28.83
$GC,9722,-0.48,-116.8,728.5,-6.3,417,9727,0.00,1.77,0.00,0.000,6,0.000,0.082,2012,1501,3518,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10054,-0.48,-116.8,750.9,-6.7,428,10059,0.00,1.83,0.00,0.000,4,0.000,0.106,2012,446,3517,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10171,-0.47,-116.8,758.3,-7.8,431,10178,0.12,1.73,0.00,0.000,6,0.265,0.061,2032,1501,3516,0,0,0,0,0,0,14.90,15.00,28.83
$GC,10477,-0.48,-116.8,780.9,-7.1,442,10483,0.00,1.75,0.00,0.000,4,0.000,0.072,2026,2564,3515,0,0,0,0,0,0,28.83,14.98,28.83
$GC,10609,-0.50,-116.8,790.3,-7.7,446,10614,0.00,1.80,0.00,0.000,6,0.000,0.083,2027,1499,3514,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10932,-0.50,-116.8,819.5,-9.0,457,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1499,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11232,-0.50,-116.8,843.5,-7.3,467,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1499,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11532,-0.51,-116.8,860.5,-5.2,477,11538,0.00,1.75,0.00,0.000,4,0.000,0.071,2019,2560,3512,0,0,0,0,0,0,28.83,14.97,28.83
$GC,11584,-0.52,-116.8,862.0,-5.0,478,11589,0.00,1.80,0.00,0.000,6,0.000,0.083,2019,1503,3511,0,0,0,0,0,0,28.83,14.97,28.83
$GC,11897,-0.52,-116.8,878.6,-5.1,489,11902,0.00,1.85,0.00,0.000,4,0.000,0.109,2024,437,3511,0,0,0,0,0,0,28.83,14.94,28.83
$GC,12033,-0.52,-116.8,886.7,-6.6,493,12038,0.00,1.75,0.00,0.000,6,0.000,0.063,2011,1503,3510,0,0,0,0,0,0,28.83,14.99,28.83
$GC,12350,-0.52,-116.8,910.4,-7.5,504,12355,0.00,1.88,0.00,0.000,4,0.000,0.109,2011,435,3509,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12401,-0.52,-116.8,913.0,-7.7,505,12406,0.00,1.75,0.00,0.000,6,0.000,0.063,2003,1497,3509,0,0,0,0,0,0,28.83,14.98,28.83
$GC,12714,-0.52,-116.8,939.1,-7.5,516,12719,0.00,1.88,0.00,0.000,4,0.000,0.111,2003,434,3509,0,0,0,0,0,0,28.83,14.92,28.83
$GC,12749,-0.52,-116.8,941.6,-7.5,517,12755,0.00,1.77,0.00,0.000,6,0.000,0.065,1995,1506,3508,0,0,0,0,0,0,28.83,14.97,28.83
$GC,13079,-0.50,-116.8,963.6,-6.1,528,13080,0.12,0.00,0.00,0.000,6,0.276,0.000,2021,1507,3507,0,0,0,0,0,0,14.88,28.83,28.83
$GC,13379,-0.51,-116.8,976.8,-4.1,538,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1507,3506,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13466,begin apogee
$GC,13469,-0.18,0.0,980.7,-4.2,541,13613,0.35,0.00,132.57,2.443,6,0.219,0.000,2124,1507,3063,0,0,0,0,1,0,14.85,28.83,13.19
$STATE,13614,end apogee,CONTROL_FINISHED_OK
$STATE,13615,begin climb
$GC,13616,0.61,116.8,981.9,0.0,545,13782,0.85,0.00,151.60,2.513,6,0.154,0.000,2377,1507,2585,0,0,0,0,1,0,14.07,28.83,13.11
$GC,14100,0.56,117.1,954.9,6.5,562,14105,0.00,1.77,0.00,0.000,4,0.000,0.070,2377,2560,2580,0,0,0,0,0,0,28.83,14.65,28.83
$GC,14176,0.52,125.0,950.8,6.2,564,14188,0.00,1.88,6.15,2.129,6,0.000,0.088,2384,1496,2553,0,0,0,0,0,0,28.83,14.69,14.40
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$STATE,26144,end climb,SURFACE_DEPTH_REACHED
$STATE,26144,begin surface coast
$FINISH,-0.2,1.009336
$STATE,26175,end surface coast,CONTROL_FINISHED_OK
$STATE,26176,begin surface
$SM_CCo,26251,0.00,0.000,0,0,1620,353.48
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$IRIDIUM_FIX,2354.48,-3803.47,200912,111139
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.70
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,27.00
$XPDR_PINGS,2
$SC_FREEKB,7763232
$TM_FREEKB,7755072
$24V_AH,13.1,14.352
$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,18.325,165.450,641.550,0.000,0.000,0.000,0.000,377.750,0.500,0.000,20.324,3663.315,18941.637,791.263,3277.598,175.371,0.000,2681.068,0.000,2674.837,0.000,0.550,0.000
$DEVICE_MAMPS,424.575,114.750,2513.025,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.138,13.110,0.000,0.000
$MEM,344988
$DATA_FILE_SIZE,36649,1056
$CAP_FILE_SIZE,267359,0
$CFSIZE,260034560,255295488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$CURRENT,0.021,  6.4,1
$GPS,210912,025922,2358.168,-3802.522,40,0.8,40,-14.1