version: 66.11
glider: 191
mission: 5
dive: 57
start: 10 2 112 5 24 39
data:
$ID,191
$MISSION,5
$DIVE,57
$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,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,-3872.4802
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,27
$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
$GPS1,021012,051435,2440.070,-3801.820,25,1.2,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.5
$GPS2,021012,052411,2440.086,-3801.836,15,1.1,16,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,310.6,92117,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.17,0.000,6,0.000,0.000,160,1496,3460,0,0,0,0,0,0,28.83,28.83,14.94
$GC,87,-0.60,-97.3,3.9,-7.1,4,101,9.15,1.80,0.00,0.000,4,0.418,0.055,1982,2568,3463,0,0,0,0,0,0,14.48,14.73,28.83
$GC,325,-0.53,-97.3,40.5,-13.0,20,329,0.15,1.88,0.00,0.000,6,0.265,0.072,2015,1496,3462,0,0,0,0,0,0,14.67,14.78,28.83
$GC,625,-0.49,-97.3,72.3,-8.8,40,628,0.00,1.83,0.00,0.000,4,0.000,0.058,2009,2576,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,790,-0.46,-97.3,85.4,-8.2,51,795,0.12,1.88,0.00,0.000,6,0.250,0.070,2037,1495,3466,0,0,0,0,0,0,14.75,14.84,28.83
$GC,1091,-0.45,-97.3,110.3,-7.4,71,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1495,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1390,-0.43,-97.3,127.9,-6.2,91,1393,0.00,1.83,0.00,0.000,4,0.000,0.059,2031,2573,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1615,-0.43,-97.3,145.6,-8.3,106,1619,0.00,1.85,0.00,0.000,6,0.000,0.070,2031,1502,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1916,-0.42,-97.3,169.1,-7.3,126,1919,0.00,1.88,0.00,0.000,4,0.000,0.093,2031,444,3470,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2035,-0.39,-97.3,178.7,-8.0,134,2040,0.15,1.77,0.00,0.000,6,0.246,0.050,2058,1508,3467,0,0,0,0,0,0,14.76,14.92,28.83
$GC,2336,-0.41,-97.3,195.6,-5.9,154,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1509,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2636,-0.43,-97.3,212.1,-5.4,174,2639,0.00,1.90,0.00,0.000,4,0.000,0.094,2058,440,3466,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2739,-0.43,-97.3,218.4,-6.1,181,2743,0.00,1.77,0.00,0.000,6,0.000,0.051,2053,1499,3464,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3041,-0.44,-97.3,231.4,-3.9,201,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1501,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-0.46,-97.3,245.5,-5.3,221,3344,0.00,1.77,0.00,0.000,4,0.000,0.063,2045,2556,3464,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3476,-0.48,-97.3,253.3,-5.8,229,3480,0.00,1.85,0.00,0.000,6,0.000,0.073,2045,1491,3464,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3790,-0.48,-97.3,275.7,-7.3,240,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1491,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,-0.49,-97.3,297.8,-7.3,250,4094,0.00,1.85,0.00,0.000,4,0.000,0.096,2044,446,3461,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4148,-0.49,-97.3,301.2,-7.3,252,4152,0.00,1.77,0.00,0.000,6,0.000,0.053,2038,1505,3461,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4450,-0.49,-97.3,321.8,-6.1,262,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1506,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4749,-0.49,-97.3,341.2,-6.8,272,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1506,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5049,-0.49,-97.3,362.8,-7.4,282,5053,0.00,1.90,0.00,0.000,4,0.000,0.096,2037,439,3459,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5155,-0.49,-97.3,371.0,-7.9,286,5158,0.00,1.77,0.00,0.000,6,0.000,0.052,2030,1499,3458,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5470,-0.49,-97.3,390.8,-5.7,297,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1500,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.49,-97.3,408.0,-5.8,307,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1500,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.49,-97.3,425.3,-5.8,317,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.49,-97.3,444.3,-6.6,327,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.49,-97.3,465.5,-7.3,337,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,-0.49,-97.3,489.4,-7.9,347,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.49,-97.3,509.4,-6.0,357,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1500,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.49,-97.3,527.4,-6.2,367,7573,0.00,1.90,0.00,0.000,4,0.000,0.098,2030,438,3450,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7645,-0.49,-97.3,533.1,-7.3,370,7649,0.00,1.80,0.00,0.000,6,0.000,0.054,2021,1506,3449,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7960,-0.49,-97.3,558.1,-8.4,381,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1508,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,-0.49,-97.3,583.4,-8.4,391,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1508,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,-0.49,-97.3,605.2,-6.5,401,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1508,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,-0.49,-97.3,622.2,-5.5,411,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1507,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,-0.49,-97.3,639.5,-6.0,421,9164,0.00,1.92,0.00,0.000,4,0.000,0.100,2022,437,3445,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9295,-0.47,-97.3,649.2,-7.4,426,9299,0.00,1.80,0.00,0.000,6,0.000,0.055,2014,1502,3444,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9609,-0.47,-97.3,671.8,-7.4,437,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1503,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9910,-0.47,-97.3,693.8,-7.1,447,9914,0.00,1.92,0.00,0.000,4,0.000,0.101,2014,436,3441,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9999,-0.46,-97.3,699.2,-7.2,450,10003,0.15,1.80,0.00,0.000,6,0.252,0.057,2040,1500,3441,0,0,0,0,0,0,14.76,14.94,28.83
$GC,10301,-0.48,-97.3,715.4,-4.9,460,10305,0.00,1.80,0.00,0.000,4,0.000,0.068,2034,2556,3440,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10479,-0.51,-97.3,724.1,-5.3,466,10483,0.00,1.85,0.00,0.000,6,0.000,0.079,2034,1500,3440,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10781,-0.53,-97.3,742.5,-5.7,476,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1500,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11080,-0.55,-97.3,760.3,-5.9,486,11084,0.00,1.90,0.00,0.000,4,0.000,0.100,2033,442,3438,0,0,0,0,0,0,28.83,14.84,28.83
$GC,11215,-0.55,-97.3,769.5,-6.9,491,11218,0.00,1.80,0.00,0.000,6,0.000,0.057,2027,1502,3437,0,0,0,0,0,0,28.83,14.92,28.83
$GC,11531,-0.56,-97.3,791.4,-7.5,502,11534,0.00,1.92,0.00,0.000,4,0.000,0.102,2027,439,3437,0,0,0,0,0,0,28.83,14.82,28.83
$GC,11604,-0.56,-97.3,797.9,-8.5,505,11608,0.00,1.83,0.00,0.000,6,0.000,0.058,2019,1509,3436,0,0,0,0,0,0,28.83,14.91,28.83
$GC,11920,-0.56,-97.3,825.0,-8.7,516,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1510,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12219,-0.56,-97.3,849.3,-7.7,526,12223,0.00,1.80,0.00,0.000,4,0.000,0.069,2011,2560,3434,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12369,-0.57,-97.3,858.3,-6.7,531,12373,0.00,1.88,0.00,0.000,6,0.000,0.081,2011,1498,3433,0,0,0,0,0,0,28.83,14.83,28.83
$GC,12670,-0.57,-97.3,875.4,-5.0,541,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1498,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12970,-0.57,-97.3,889.1,-4.7,551,12974,0.00,1.90,0.00,0.000,4,0.000,0.102,2011,446,3432,0,0,0,0,0,0,28.83,14.80,28.83
$GC,13075,-0.56,-97.3,895.4,-6.1,555,13079,0.00,1.80,0.00,0.000,6,0.000,0.059,2003,1498,3431,0,0,0,0,0,0,28.83,14.89,28.83
$GC,13390,-0.56,-97.3,914.9,-6.6,566,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1499,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13689,-0.56,-97.3,937.0,-7.3,576,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1499,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13989,-0.56,-97.3,958.9,-7.1,586,13993,0.00,1.92,0.00,0.000,4,0.000,0.105,2004,443,3429,0,0,0,0,0,0,28.83,14.75,28.83
$GC,14095,-0.55,-97.3,967.2,-8.0,590,14099,0.00,1.83,0.00,0.000,6,0.000,0.062,1996,1503,3428,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,14288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14288,begin apogee
$GC,14292,-0.18,0.0,981.5,-7.4,597,14413,0.47,0.00,113.05,2.393,6,0.218,0.000,2126,1504,3063,0,0,0,0,1,0,14.66,28.83,13.26
$STATE,14415,end apogee,CONTROL_FINISHED_OK
$STATE,14415,begin climb
$GC,14417,0.60,97.3,985.0,0.0,601,14555,0.85,0.00,129.30,2.440,6,0.145,0.000,2377,1504,2666,0,0,0,0,1,0,14.12,28.83,13.16
$GC,14846,0.54,102.0,967.6,5.9,616,14851,0.00,0.00,3.35,2.105,6,0.000,0.000,2377,1504,2646,0,0,0,0,0,0,28.83,28.83,13.81
$GC,15145,0.49,102.0,949.3,6.3,626,15147,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1505,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15445,0.43,102.0,930.5,6.2,636,15450,0.20,1.95,0.00,0.000,4,0.272,0.108,2338,440,2645,0,0,0,0,0,0,14.64,14.75,28.83
$GC,15671,0.44,132.1,919.2,4.8,644,15731,0.00,1.83,50.28,1.866,6,0.000,0.062,2338,1501,2523,0,0,0,0,1,0,28.83,14.84,13.60
$GC,16030,0.46,162.5,902.0,4.8,656,16090,0.00,0.00,51.10,1.874,6,0.000,0.000,2338,1502,2399,0,0,0,0,1,0,28.83,28.83,13.48
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$STATE,28780,end climb,SURFACE_DEPTH_REACHED
$STATE,28780,begin surface coast
$FINISH,-0.0,0.998299
$STATE,28811,end surface coast,CONTROL_FINISHED_OK
$STATE,28811,begin surface
$SM_CCo,28827,80.38,0.781,0,0,1634,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,45.23
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$TCM_TEMP,26.90
$XPDR_PINGS,25
$SC_FREEKB,7748256
$TM_FREEKB,7385312
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$10V_AH,13.4,0.000
$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,18.250,126.200,511.525,80.375,0.000,0.000,0.000,352.900,6.250,0.000,17.035,3308.274,22644.641,843.427,2441.352,240.689,0.000,2185.785,0.000,1928.839,0.000,0.551,0.000
$DEVICE_MAMPS,418.455,110.160,2439.585,781.065,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28849.000,6761.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.160,13.102,0.000,0.000
$MEM,345224
$DATA_FILE_SIZE,43313,1197
$CAP_FILE_SIZE,248302,0
$CFSIZE,260034560,250105856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.049,353.9,1
$GPS,021012,132734,2442.340,-3804.828,27,0.8,27,-14.0