version: 66.11
glider: 191
mission: 5
dive: 72
start: 10 7 112 5 19 45
data:
$ID,191
$MISSION,5
$DIVE,72
$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,-3892.2979
$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,40
$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
$GPS1,071012,050923,2447.310,-3843.727,40,0.9,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.3
$GPS2,071012,051917,2447.344,-3843.670,20,0.8,20,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,199.5,95091,-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,-61.08,0.000,6,0.000,0.000,157,1507,3460,0,0,0,0,0,0,28.83,28.83,14.92
$GC,87,-0.60,-97.3,4.3,-9.1,4,101,9.38,1.75,0.00,0.000,4,0.425,0.052,1983,2557,3463,0,0,0,0,0,0,14.45,14.71,28.83
$GC,325,-0.53,-97.3,43.1,-14.2,20,330,0.15,1.85,0.00,0.000,6,0.259,0.070,2016,1497,3465,0,0,0,0,0,0,14.62,14.74,28.83
$GC,625,-0.49,-97.3,71.3,-7.5,40,628,0.00,1.80,0.00,0.000,4,0.000,0.057,2011,2564,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,700,-0.46,-97.3,77.0,-7.5,45,704,0.00,1.85,0.00,0.000,6,0.000,0.070,2011,1502,3467,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1000,-0.42,-97.3,105.9,-10.0,65,1002,0.15,0.00,0.00,0.000,6,0.257,0.000,2045,1499,3467,0,0,0,0,0,0,14.71,28.83,28.83
$GC,1299,-0.42,-97.3,132.2,-9.0,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.42,-97.3,160.4,-9.4,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1500,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.42,-97.3,185.4,-7.3,125,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.42,-97.3,199.7,-3.3,145,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.42,-97.3,213.1,-5.9,165,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-0.42,-97.3,234.4,-7.2,185,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.42,-97.3,253.0,-5.0,204,3118,0.00,1.88,0.00,0.000,4,0.000,0.094,2046,440,3466,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3205,-0.42,-97.3,256.9,-5.0,207,3209,0.00,1.77,0.00,0.000,6,0.000,0.050,2041,1502,3466,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3505,-0.42,-97.3,271.1,-4.7,217,3509,0.00,1.77,0.00,0.000,4,0.000,0.061,2033,2559,3464,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3670,-0.44,-97.3,279.7,-5.4,223,3674,0.00,1.85,0.00,0.000,6,0.000,0.073,2033,1495,3464,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3986,-0.44,-97.3,302.6,-8.1,234,3989,0.00,1.88,0.00,0.000,4,0.000,0.094,2033,436,3462,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4105,-0.43,-97.3,312.5,-9.5,238,4108,0.00,1.77,0.00,0.000,6,0.000,0.051,2025,1500,3462,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4405,-0.43,-97.3,338.0,-7.2,248,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1501,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4705,-0.43,-97.3,356.2,-6.1,258,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1500,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.43,-97.3,377.5,-7.6,268,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1500,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-0.43,-97.3,403.8,-9.1,278,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1500,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5604,-0.43,-97.3,430.2,-8.4,288,5608,0.00,1.88,0.00,0.000,4,0.000,0.096,2025,443,3454,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5664,-0.43,-97.3,433.9,-8.4,290,5668,0.12,1.77,0.00,0.000,6,0.254,0.054,2044,1498,3456,0,0,0,0,0,0,14.78,14.96,28.83
$GC,5967,-0.44,-97.3,452.9,-5.7,300,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1499,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-0.46,-97.3,471.8,-6.7,310,6269,0.00,1.80,0.00,0.000,4,0.000,0.064,2039,2564,3454,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6400,-0.48,-97.3,481.3,-7.0,315,6404,0.00,1.85,0.00,0.000,6,0.000,0.076,2039,1500,3453,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6715,-0.48,-97.3,502.9,-6.2,326,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1500,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7016,-0.49,-97.3,516.3,-3.9,336,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1500,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.51,-97.3,531.2,-5.9,346,7319,0.00,1.88,0.00,0.000,4,0.000,0.096,2039,443,3451,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7434,-0.51,-97.3,539.4,-7.9,350,7438,0.00,1.80,0.00,0.000,6,0.000,0.054,2031,1511,3450,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7735,-0.51,-97.3,565.1,-7.8,360,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1512,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8035,-0.51,-97.3,584.9,-6.1,370,8038,0.00,1.77,0.00,0.000,4,0.000,0.065,2024,2556,3448,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8154,-0.52,-97.3,591.1,-5.9,374,8158,0.00,1.85,0.00,0.000,6,0.000,0.076,2024,1498,3447,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8456,-0.52,-97.3,612.0,-7.0,384,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1498,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-0.52,-97.3,633.2,-6.8,394,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1499,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9055,-0.52,-97.3,650.8,-5.4,404,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1498,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9355,-0.52,-97.3,667.0,-5.6,414,9359,0.00,1.88,0.00,0.000,4,0.000,0.097,2024,446,3443,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9444,-0.52,-97.3,672.3,-6.8,417,9448,0.00,1.80,0.00,0.000,6,0.000,0.056,2016,1508,3443,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9745,-0.52,-97.3,698.0,-8.8,427,9748,0.00,1.80,0.00,0.000,4,0.000,0.067,2008,2565,3442,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9849,-0.52,-97.3,707.8,-9.4,431,9853,0.00,1.88,0.00,0.000,6,0.000,0.078,2008,1500,3441,0,0,0,0,0,0,28.83,14.86,28.83
$GC,10165,-0.52,-97.3,737.7,-9.1,442,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1500,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10466,-0.52,-97.3,759.5,-6.6,452,10469,0.00,1.90,0.00,0.000,4,0.000,0.098,2008,439,3440,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10615,-0.50,-97.3,769.1,-7.0,457,10618,0.00,1.80,0.00,0.000,6,0.000,0.056,2000,1499,3440,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10916,-0.49,-97.3,787.8,-5.8,467,10918,0.12,0.00,0.00,0.000,6,0.264,0.000,2027,1500,3438,0,0,0,0,0,0,14.69,28.83,28.83
$GC,11217,-0.50,-97.3,802.1,-4.9,477,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1500,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11516,-0.52,-97.3,818.8,-5.8,487,11519,0.00,1.83,0.00,0.000,4,0.000,0.069,2022,2565,3436,0,0,0,0,0,0,28.83,14.86,28.83
$GC,11620,-0.54,-97.3,825.0,-5.9,491,11624,0.00,1.88,0.00,0.000,6,0.000,0.080,2022,1501,3435,0,0,0,0,0,0,28.83,14.83,28.83
$GC,11937,-0.55,-97.3,844.6,-6.2,502,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1502,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12235,-0.55,-97.3,863.2,-6.2,512,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1501,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12536,-0.56,-97.3,880.5,-5.7,522,12540,0.00,1.83,0.00,0.000,4,0.000,0.070,2014,2558,3431,0,0,0,0,0,0,28.83,14.83,28.83
$GC,12624,-0.57,-97.3,884.8,-5.7,525,12628,0.00,1.88,0.00,0.000,6,0.000,0.081,2011,1501,3433,0,0,0,0,0,0,28.83,14.82,28.83
$GC,12925,-0.57,-97.3,903.8,-6.1,535,12929,0.00,1.92,0.00,0.000,4,0.000,0.103,2014,437,3432,0,0,0,0,0,0,28.83,14.75,28.83
$GC,13000,-0.57,-97.3,909.2,-6.8,538,13004,0.00,1.83,0.00,0.000,6,0.000,0.060,2006,1500,3432,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13315,-0.57,-97.3,930.4,-6.8,549,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1501,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13615,-0.57,-97.3,951.5,-7.0,559,13619,0.00,1.92,0.00,0.000,4,0.000,0.103,2006,443,3430,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13705,-0.56,-97.3,957.6,-7.7,562,13708,0.00,1.83,0.00,0.000,6,0.000,0.060,1998,1503,3430,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,14003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14003,begin apogee
$GC,14008,-0.18,0.0,981.7,-7.4,572,14127,0.47,0.00,111.50,2.271,6,0.223,0.000,2127,1504,3062,0,0,0,0,1,0,14.59,28.83,13.13
$STATE,14129,end apogee,CONTROL_FINISHED_OK
$STATE,14129,begin climb
$GC,14131,0.60,97.3,985.3,0.0,576,14274,0.85,2.08,128.62,2.368,4,0.144,0.107,2387,444,2665,0,0,0,0,1,0,14.13,13.99,13.21
$GC,14305,0.47,187.3,982.3,2.2,582,14434,0.20,1.90,117.68,2.238,6,0.263,0.060,2344,1504,2298,0,0,0,0,1,0,14.19,14.26,13.22
$GC,14724,0.47,187.3,950.2,8.0,596,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1507,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15025,0.47,187.3,927.6,7.1,606,15028,0.00,1.98,0.00,0.000,4,0.000,0.109,2350,438,2286,0,0,0,0,0,0,28.83,14.69,28.83
$GC,15130,0.45,187.3,919.2,8.0,610,15134,0.00,1.85,0.00,0.000,6,0.000,0.060,2350,1506,2287,0,0,0,0,0,0,28.83,14.76,28.83
$GC,15446,0.44,187.3,896.1,7.2,621,15450,0.00,1.95,0.00,0.000,4,0.000,0.109,2358,444,2287,0,0,0,0,0,0,28.83,14.75,28.83
$GC,15520,0.42,187.3,889.9,8.0,624,15524,0.00,1.83,0.00,0.000,6,0.000,0.061,2358,1502,2286,0,0,0,0,0,0,28.83,14.82,28.83
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$STATE,27895,end climb,SURFACE_DEPTH_REACHED
$STATE,27895,begin surface coast
$FINISH,0.0,0.999543
$STATE,27909,end surface coast,CONTROL_FINISHED_OK
$STATE,27909,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,46.33
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$TCM_TEMP,27.00
$XPDR_PINGS,1
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$TM_FREEKB,7232928
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$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.850,130.125,511.800,45.950,0.000,0.000,0.000,349.050,0.250,0.000,21.489,3221.913,21883.023,794.721,2424.112,235.879,0.000,2125.708,0.000,1895.242,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.230,13.110,0.000,0.000
$MEM,344784
$DATA_FILE_SIZE,43310,1160
$CAP_FILE_SIZE,244961,0
$CFSIZE,260034560,248066048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$CURRENT,0.020,318.5,1
$GPS,071012,130704,2444.601,-3844.619,26,0.8,26,-14.2