version: 66.11
glider: 191
mission: 5
dive: 22
start: 9 22 112 1 3 58
data:
$ID,191
$MISSION,5
$DIVE,22
$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,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,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,-3682.9409
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,220912,005435,2403.417,-3802.056,39,0.9,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-57.7
$GPS2,220912,010330,2403.338,-3802.084,17,1.4,18,-14.1
$SPEED_LIMITS,0.113,0.187
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-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,8.4,127162,-14.5,-6.533,-19.23
$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,-0.64,-97.3,0.0,0.0,0,85,0.00,0.00,-60.95,0.000,6,0.000,0.000,151,1510,3460,0,0,0,0,0,0,28.83,28.83,14.95
$GC,87,-0.64,-97.3,4.1,-9.0,4,103,9.43,1.75,0.00,0.000,4,0.440,0.059,1966,2558,3463,0,0,0,0,0,0,14.53,14.74,28.83
$GC,214,-0.57,-97.3,26.4,-13.6,12,221,0.17,1.80,0.00,0.000,6,0.281,0.073,2004,1492,3465,0,0,0,0,0,0,14.67,14.78,28.83
$GC,528,-0.53,-97.3,62.5,-9.5,33,533,0.00,1.80,0.00,0.000,4,0.000,0.096,2004,447,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,584,-0.48,-97.3,67.5,-10.7,36,592,0.15,1.73,0.00,0.000,6,0.269,0.054,2031,1506,3466,0,0,0,0,0,0,14.76,14.87,28.83
$GC,890,-0.47,-97.3,94.5,-9.0,57,895,0.00,1.73,0.00,0.000,4,0.000,0.064,2026,2562,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1072,-0.47,-97.3,107.2,-6.3,69,1077,0.00,1.80,0.00,0.000,6,0.000,0.073,2026,1493,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1390,-0.46,-97.3,127.4,-6.0,90,1395,0.00,1.80,0.00,0.000,4,0.000,0.096,2026,444,3468,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1471,-0.43,-97.3,133.5,-7.9,95,1477,0.12,1.73,0.00,0.000,6,0.265,0.054,2045,1509,3468,0,0,0,0,0,0,14.83,14.94,28.83
$GC,1784,-0.44,-97.3,157.6,-8.1,116,1789,0.00,1.70,0.00,0.000,4,0.000,0.065,2039,2558,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1850,-0.46,-97.3,162.5,-8.0,120,1856,0.00,1.77,0.00,0.000,6,0.000,0.074,2040,1496,3467,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2163,-0.47,-97.3,190.9,-9.6,141,2168,0.00,1.80,0.00,0.000,4,0.000,0.096,2040,443,3467,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2255,-0.47,-97.3,200.8,-10.9,147,2261,0.00,1.70,0.00,0.000,6,0.000,0.054,2032,1499,3468,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2572,-0.47,-97.3,231.5,-8.4,168,2577,0.00,1.83,0.00,0.000,4,0.000,0.097,2032,440,3467,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2668,-0.46,-97.3,239.2,-8.5,174,2673,0.00,1.73,0.00,0.000,6,0.000,0.055,2024,1506,3467,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2980,-0.46,-97.3,258.7,-5.4,190,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1508,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3281,-0.46,-97.3,273.8,-5.3,200,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1508,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.46,-97.3,293.2,-7.1,210,3585,0.00,1.83,0.00,0.000,4,0.000,0.098,2024,444,3464,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3641,-0.46,-97.3,298.3,-7.9,212,3647,0.00,1.70,0.00,0.000,6,0.000,0.056,2016,1497,3464,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3974,-0.46,-97.3,326.0,-8.4,223,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1499,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-0.46,-97.3,351.3,-8.8,233,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1499,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-0.46,-97.3,377.3,-8.5,243,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1499,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-0.46,-97.3,400.6,-7.6,253,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1498,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5174,-0.46,-97.3,420.0,-5.9,263,5179,0.00,1.83,0.00,0.000,4,0.000,0.099,2015,437,3459,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5209,-0.46,-97.3,422.2,-6.1,264,5215,0.12,1.73,0.00,0.000,6,0.263,0.058,2035,1501,3459,0,0,0,0,0,0,14.93,15.04,28.83
$GC,5539,-0.48,-97.3,439.9,-5.5,275,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1502,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5838,-0.50,-97.3,458.6,-6.4,285,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1502,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6138,-0.52,-97.3,479.1,-7.1,295,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1502,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6437,-0.54,-97.3,500.8,-7.3,305,6442,0.00,1.83,0.00,0.000,4,0.000,0.101,2035,444,3452,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6549,-0.55,-97.3,508.5,-8.1,308,6554,0.00,1.73,0.00,0.000,6,0.000,0.058,2030,1508,3454,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6862,-0.57,-97.3,535.0,-8.0,319,6868,0.00,1.85,0.00,0.000,4,0.000,0.101,2030,439,3453,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6914,-0.58,-97.3,537.8,-8.1,320,6919,0.00,1.73,0.00,0.000,6,0.000,0.057,2022,1502,3452,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7226,-0.58,-97.3,560.6,-6.2,331,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1503,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,-0.59,-97.3,575.9,-4.9,341,7532,0.00,1.83,0.00,0.000,4,0.000,0.102,2022,446,3450,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7563,-0.59,-97.3,577.9,-5.2,342,7568,0.00,1.73,0.00,0.000,6,0.000,0.058,2014,1507,3450,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7891,-0.59,-97.3,597.8,-6.2,353,7896,0.00,1.73,0.00,0.000,4,0.000,0.068,2007,2564,3449,0,0,0,0,0,0,28.83,15.02,28.83
$GC,8028,-0.59,-97.3,605.2,-6.0,357,8033,0.00,1.80,0.00,0.000,6,0.000,0.080,2006,1494,3448,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8345,-0.59,-97.3,627.0,-6.9,368,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1494,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8645,-0.59,-97.3,648.7,-7.4,378,8650,0.00,1.83,0.00,0.000,4,0.000,0.103,2006,439,3446,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8737,-0.59,-97.3,656.7,-8.3,381,8742,0.00,1.73,0.00,0.000,6,0.000,0.058,1998,1501,3446,0,0,0,0,0,0,28.83,15.02,28.83
$GC,9069,-0.59,-97.3,684.8,-8.8,392,9074,0.00,1.83,0.00,0.000,4,0.000,0.103,1999,445,3445,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9231,-0.57,-97.3,699.9,-10.0,397,9236,0.00,1.73,0.00,0.000,6,0.000,0.059,1990,1504,3443,0,0,0,0,0,0,28.83,15.01,28.83
$GC,9554,-0.56,-97.3,728.7,-8.3,408,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1504,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9853,-0.56,-97.3,750.6,-6.9,418,9858,0.00,1.73,0.00,0.000,4,0.000,0.070,1982,2558,3442,0,0,0,0,0,0,28.83,15.00,28.83
$GC,9924,-0.56,-97.3,754.7,-6.7,420,9930,0.00,1.77,0.00,0.000,6,0.000,0.082,1982,1502,3441,0,0,0,0,0,0,28.83,14.99,28.83
$GC,10248,-0.54,-97.3,776.5,-6.3,431,10253,0.12,1.85,0.00,0.000,4,0.278,0.103,2014,437,3440,0,0,0,0,0,0,14.88,14.95,28.83
$GC,10394,-0.54,-97.3,784.1,-6.1,435,10402,0.00,1.75,0.00,0.000,6,0.000,0.060,2008,1507,3439,0,0,0,0,0,0,28.83,14.99,28.83
$GC,10701,-0.54,-97.3,802.9,-5.8,446,10706,0.00,1.85,0.00,0.000,4,0.000,0.105,2008,444,3439,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10818,-0.54,-97.3,809.9,-7.2,449,10824,0.00,1.73,0.00,0.000,6,0.000,0.061,2000,1497,3438,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11124,-0.54,-97.3,832.4,-6.6,460,11129,0.00,1.75,0.00,0.000,4,0.000,0.073,1992,2560,3437,0,0,0,0,0,0,28.83,14.98,28.83
$GC,11195,-0.54,-97.3,836.4,-6.5,462,11200,0.00,1.80,0.00,0.000,6,0.000,0.083,1992,1497,3437,0,0,0,0,0,0,28.83,14.96,28.83
$GC,11517,-0.54,-97.3,859.6,-7.2,473,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1498,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11817,-0.54,-97.3,881.7,-7.5,483,11822,0.00,1.83,0.00,0.000,4,0.000,0.106,1992,444,3436,0,0,0,0,0,0,28.83,14.93,28.83
$GC,11934,-0.53,-97.3,889.4,-8.2,486,11941,0.15,1.75,0.00,0.000,6,0.272,0.062,2017,1509,3435,0,0,0,0,0,0,14.84,14.98,28.83
$GC,12241,-0.54,-97.3,911.0,-6.5,497,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1510,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12540,-0.56,-97.3,930.6,-6.5,507,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1510,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12840,-0.58,-97.3,949.9,-6.5,517,12845,0.00,1.88,0.00,0.000,4,0.000,0.109,2017,443,3433,0,0,0,0,0,0,28.83,14.92,28.83
$GC,12886,-0.60,-97.3,952.4,-6.7,518,12891,0.00,1.75,0.00,0.000,6,0.000,0.065,2012,1503,3432,0,0,0,0,0,0,28.83,14.97,28.83
$GC,13204,-0.61,-97.3,976.2,-7.1,529,13209,0.00,1.75,0.00,0.000,4,0.000,0.074,2004,2558,3431,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,13265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13265,begin apogee
$GC,13270,-0.18,0.0,980.7,-7.2,531,13392,0.43,0.00,111.12,2.375,6,0.224,0.000,2125,1496,3064,0,0,0,0,1,0,14.83,28.83,13.24
$STATE,13394,end apogee,CONTROL_FINISHED_OK
$STATE,13394,begin climb
$GC,13395,0.64,97.3,984.9,0.0,535,13537,0.88,0.00,128.95,2.449,6,0.152,0.000,2386,1496,2667,0,0,0,0,1,0,14.12,28.83,13.14
$GC,13836,0.59,97.3,962.9,7.0,550,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1496,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14136,0.54,97.3,942.0,7.1,560,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1496,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14437,0.50,100.2,922.1,6.4,570,14443,0.12,1.77,0.00,0.000,4,0.303,0.067,2357,2558,2661,0,0,0,0,0,0,14.72,14.86,28.83
$GC,14494,0.46,107.6,920.1,6.2,571,14535,0.00,1.83,26.88,1.105,6,0.000,0.086,2363,1497,2622,0,0,0,0,1,0,28.83,14.85,13.99
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$STATE,26480,end climb,SURFACE_DEPTH_REACHED
$STATE,26481,begin surface coast
$FINISH,-0.3,1.011042
$STATE,26497,end surface coast,CONTROL_FINISHED_OK
$STATE,26497,begin surface
$SM_CCo,26512,11.82,0.704,0,0,1634,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,46.06
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$TCM_TEMP,26.90
$XPDR_PINGS,1
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$TM_FREEKB,7717248
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$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
$DEVICE_SECS,18.925,139.800,573.775,11.825,0.000,0.000,0.000,320.825,0.250,0.000,19.085,3582.917,19440.533,754.027,3084.417,190.963,0.000,2482.533,0.000,2560.351,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.087,13.105,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,40051,1068
$CAP_FILE_SIZE,256020,0
$CFSIZE,260034560,254722048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$CURRENT,0.048, 19.0,1
$GPS,220912,082722,2406.932,-3802.255,41,0.9,41,-14.1