version: 66.11
glider: 191
mission: 5
dive: 124
start: 10 24 112 13 45 35
data:
$ID,191
$MISSION,5
$DIVE,124
$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,-3963.0085
$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,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,49
$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
$GPS1,241012,133423,2425.680,-3718.983,40,0.9,40,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.2
$GPS2,241012,134506,2425.738,-3719.021,18,1.0,18,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,9.2,85692,-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,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.55,0.000,6,0.000,0.000,162,1532,3460,0,0,0,0,0,0,28.83,28.83,14.87
$GC,88,-0.60,-97.3,3.7,-6.8,4,101,9.50,1.75,0.00,0.000,4,0.427,0.054,1982,2568,3462,1,0,0,0,0,0,14.23,14.67,28.83
$GC,325,-0.54,-97.3,39.4,-13.3,20,330,0.12,1.85,0.00,0.000,6,0.270,0.068,2008,1523,3465,0,0,0,0,0,0,14.49,14.68,28.83
$GC,625,-0.50,-97.3,74.9,-10.0,40,629,0.00,1.80,0.00,0.000,4,0.000,0.056,2003,2573,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,852,-0.48,-97.3,91.8,-6.9,55,856,0.12,1.85,0.00,0.000,6,0.249,0.067,2030,1514,3466,0,0,0,0,0,0,14.57,14.73,28.83
$GC,1151,-0.46,-97.3,110.1,-6.2,75,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1514,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.45,-97.3,130.5,-7.7,95,1454,0.00,1.80,0.00,0.000,4,0.000,0.057,2025,2571,3467,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1616,-0.45,-97.3,143.5,-8.2,106,1619,0.00,1.85,0.00,0.000,6,0.000,0.067,2025,1513,3467,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1916,-0.44,-97.3,169.0,-8.2,126,1920,0.00,1.88,0.00,0.000,4,0.000,0.090,2024,464,3467,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1990,-0.41,-97.3,175.7,-9.2,131,1995,0.15,1.75,0.00,0.000,6,0.244,0.047,2052,1508,3467,0,0,0,0,0,0,14.59,14.78,28.83
$GC,2291,-0.42,-97.3,195.0,-5.8,151,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1509,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.44,-97.3,212.0,-5.7,171,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1509,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.46,-97.3,229.7,-6.0,191,2894,0.00,1.80,0.00,0.000,4,0.000,0.057,2046,2576,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3011,-0.49,-97.3,236.7,-5.7,199,3015,0.00,1.85,0.00,0.000,6,0.000,0.068,2046,1519,3465,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3311,-0.50,-97.3,253.8,-5.5,217,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1516,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.52,-97.3,271.3,-6.1,227,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1516,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3911,-0.53,-97.3,290.2,-6.2,237,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4211,-0.55,-97.3,309.4,-6.5,247,4213,0.12,0.00,0.00,0.000,6,0.140,0.000,1997,1516,3462,0,0,0,0,0,0,14.86,28.83,28.83
$GC,4510,-0.53,-97.3,335.5,-8.7,257,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1516,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.50,-97.3,363.8,-9.6,267,4815,0.12,1.83,0.00,0.000,4,0.258,0.059,2019,2578,3460,0,0,0,0,0,0,14.65,14.85,28.83
$GC,4899,-0.50,-97.3,370.2,-8.7,270,4903,0.00,1.85,0.00,0.000,6,0.000,0.069,2019,1517,3460,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5200,-0.50,-97.3,394.9,-7.2,280,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1517,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.50,-97.3,415.0,-6.5,290,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1517,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-0.50,-97.3,435.6,-7.0,300,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1517,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6101,-0.50,-97.3,459.6,-8.3,310,6104,0.00,1.80,0.00,0.000,4,0.000,0.059,2011,2576,3453,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6189,-0.50,-97.3,465.6,-8.1,313,6192,0.00,1.85,0.00,0.000,6,0.000,0.072,2011,1521,3455,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6490,-0.50,-97.3,492.0,-8.2,323,6493,0.00,1.90,0.00,0.000,4,0.000,0.094,2011,463,3454,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6551,-0.49,-97.3,496.0,-8.5,325,6555,0.00,1.77,0.00,0.000,6,0.000,0.050,2003,1515,3454,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6850,-0.48,-97.3,522.4,-8.1,335,6855,0.12,1.83,0.00,0.000,4,0.259,0.060,2025,2580,3453,0,0,0,0,0,0,14.63,14.83,28.83
$GC,6939,-0.48,-97.3,527.3,-7.0,338,6943,0.00,1.88,0.00,0.000,6,0.000,0.071,2025,1512,3453,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7240,-0.48,-97.3,547.5,-6.2,348,7244,0.00,1.83,0.00,0.000,4,0.000,0.060,2017,2579,3452,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7316,-0.49,-97.3,551.7,-5.8,351,7319,0.00,1.88,0.00,0.000,6,0.000,0.071,2017,1511,3451,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7630,-0.49,-97.3,568.7,-5.2,362,7634,0.00,1.83,0.00,0.000,4,0.000,0.060,2009,2579,3451,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7719,-0.49,-97.3,572.5,-5.2,365,7723,0.00,1.88,0.00,0.000,6,0.000,0.072,2010,1513,3450,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8021,-0.49,-97.3,591.7,-6.5,375,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8320,-0.49,-97.3,612.7,-7.4,385,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-0.49,-97.3,635.9,-7.8,395,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,-0.49,-97.3,657.9,-7.3,405,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9220,-0.49,-97.3,680.0,-7.5,415,9223,0.00,1.85,0.00,0.000,4,0.000,0.062,2002,2587,3445,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9339,-0.49,-97.3,687.6,-7.2,419,9343,0.00,1.90,0.00,0.000,6,0.000,0.074,2001,1515,3445,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9640,-0.49,-97.3,711.3,-7.5,429,9644,0.12,1.90,0.00,0.000,4,0.257,0.096,2029,464,3443,0,0,0,0,0,0,14.58,14.69,28.83
$GC,9715,-0.49,-97.3,716.5,-6.9,432,9719,0.00,1.80,0.00,0.000,6,0.000,0.052,2023,1524,3442,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10032,-0.50,-97.3,734.5,-5.4,443,10036,0.00,1.83,0.00,0.000,4,0.000,0.063,2016,2584,3442,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10150,-0.52,-97.3,740.2,-5.5,447,10153,0.00,1.90,0.00,0.000,6,0.000,0.074,2016,1512,3441,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10451,-0.52,-97.3,758.3,-5.9,457,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1512,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10750,-0.52,-97.3,776.2,-5.9,467,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1512,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11051,-0.52,-97.3,792.7,-5.6,477,11054,0.00,1.85,0.00,0.000,4,0.000,0.065,2007,2578,3439,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11156,-0.53,-97.3,798.6,-5.6,481,11160,0.00,1.88,0.00,0.000,6,0.000,0.075,2008,1521,3438,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11470,-0.53,-97.3,819.4,-7.0,492,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11770,-0.53,-97.3,842.2,-8.1,502,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12070,-0.53,-97.3,866.1,-7.9,512,12073,0.00,1.83,0.00,0.000,4,0.000,0.063,2000,2576,3435,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12190,-0.54,-97.3,874.2,-7.7,516,12193,0.00,1.88,0.00,0.000,6,0.000,0.076,2000,1522,3435,0,0,0,0,0,0,28.83,14.72,28.83
$GC,12490,-0.54,-97.3,899.7,-8.1,526,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1522,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12790,-0.54,-97.3,922.3,-7.5,536,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1522,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13090,-0.54,-97.3,944.6,-7.4,546,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1522,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13390,-0.54,-97.3,965.4,-6.8,556,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1522,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13628,begin apogee
$GC,13633,-0.18,0.0,981.4,-6.4,564,13753,0.47,0.00,110.97,2.164,6,0.213,0.000,2130,1390,3062,0,0,0,0,1,0,14.54,28.83,13.25
$STATE,13754,end apogee,CONTROL_FINISHED_OK
$STATE,13754,begin climb
$GC,13757,0.60,97.3,984.1,0.0,568,13891,0.82,0.00,125.93,2.210,6,0.136,0.000,2377,1390,2666,0,0,0,0,1,0,14.14,28.83,13.18
$GC,14185,0.53,97.3,963.4,6.8,583,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1390,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14486,0.47,99.3,945.0,6.0,593,14488,0.15,0.00,0.00,0.000,6,0.278,0.000,2347,1390,2660,0,0,0,0,0,0,14.43,28.83,28.83
$GC,14787,0.48,134.7,931.3,4.6,603,14850,0.00,0.00,55.92,1.805,6,0.000,0.000,2346,1390,2514,0,0,0,0,1,0,28.83,28.83,13.55
$GC,15147,0.47,144.5,911.7,5.6,615,15181,0.00,0.00,27.55,1.099,6,0.000,0.000,2346,1390,2471,0,0,0,0,1,0,28.83,28.83,13.78
$GC,15477,0.45,144.5,890.3,6.8,626,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1390,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15776,0.42,144.5,869.6,6.9,636,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1390,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16076,0.40,144.5,849.0,6.6,646,16077,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1390,2470,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28823,end climb,SURFACE_DEPTH_REACHED
$STATE,28824,begin surface coast
$FINISH,0.1,1.024698
$STATE,28857,end surface coast,CONTROL_FINISHED_OK
$STATE,28857,begin surface
$SM_CCo,28875,72.68,0.763,0,0,1633,350.04
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$IRIDIUM_FIX,2411.01,-3720.57,241012,050506
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.62
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,26.80
$XPDR_PINGS,2
$SC_FREEKB,7722528
$TM_FREEKB,6700512
$24V_AH,13.2,60.450
$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,18.700,122.575,533.125,72.675,0.000,0.000,0.000,383.900,0.500,0.000,19.052,3258.306,22689.643,866.187,2445.082,324.605,0.000,2224.062,0.000,1894.384,0.000,0.549,0.000
$DEVICE_MAMPS,426.870,113.220,2210.085,763.470,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28899.000,6800.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.135,13.093,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,43338,1194
$CAP_FILE_SIZE,248379,0
$CFSIZE,260034560,241016832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.018,140.4,1
$GPS,241012,214922,2428.486,-3718.871,37,1.0,37,-13.8