version: 66.11
glider: 191
mission: 5
dive: 150
start: 11 2 112 5 35 35
data:
$ID,191
$MISSION,5
$DIVE,150
$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,320
$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,-3998.5977
$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,23
$R_STBD_OVSHOOT,55
$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
$GPS1,021112,052435,2513.023,-3739.825,42,1.0,42,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-52.2
$GPS2,021112,053506,2512.912,-3739.817,18,1.0,18,-13.8
$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,289.6,107566,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-62.20,0.000,2,0.000,0.000,151,1537,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.8,-7.9,4,104,9.40,1.75,-0.30,0.000,4,0.418,0.086,1981,2562,3461,1,0,0,0,0,0,14.16,14.63,14.76
$GC,161,-0.46,-97.3,20.9,-21.6,9,166,0.22,1.85,0.00,0.000,6,0.233,0.069,2037,1517,3463,0,0,0,0,0,0,14.42,14.58,28.83
$GC,461,-0.44,-97.3,47.4,-7.6,29,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1517,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,761,-0.42,-97.3,69.8,-7.8,49,765,0.00,1.77,0.00,0.000,4,0.000,0.054,2031,2563,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,972,-0.42,-97.3,86.7,-7.5,63,976,0.00,1.83,0.00,0.000,6,0.000,0.066,2031,1518,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1271,-0.41,-97.3,109.9,-6.9,83,1275,0.00,1.77,0.00,0.000,4,0.000,0.055,2024,2560,3466,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1346,-0.41,-97.3,114.4,-6.0,88,1351,0.12,1.83,0.00,0.000,6,0.242,0.066,2051,1519,3466,0,0,0,0,0,0,14.52,14.71,28.83
$GC,1647,-0.42,-97.3,126.4,-3.9,108,1650,0.00,1.88,0.00,0.000,4,0.000,0.086,2052,463,3466,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1781,-0.42,-97.3,134.5,-6.6,117,1785,0.00,1.75,0.00,0.000,6,0.000,0.044,2046,1511,3466,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2081,-0.42,-97.3,156.3,-7.6,137,2084,0.00,1.80,0.00,0.000,4,0.000,0.056,2039,2575,3466,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2263,-0.44,-97.3,169.8,-7.3,149,2266,0.00,1.85,0.00,0.000,6,0.000,0.066,2039,1515,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2562,-0.44,-97.3,189.4,-5.8,169,2565,0.00,1.90,0.00,0.000,4,0.000,0.088,2039,458,3466,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2621,-0.44,-97.3,193.0,-6.1,173,2624,0.00,1.77,0.00,0.000,6,0.000,0.045,2031,1518,3466,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2922,-0.44,-97.3,207.4,-4.3,193,2925,0.00,1.80,0.00,0.000,4,0.000,0.056,2024,2580,3466,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3042,-0.46,-97.3,212.9,-4.5,201,3045,0.00,1.85,0.00,0.000,6,0.000,0.067,2023,1521,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3341,-0.46,-97.3,230.0,-6.6,221,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.46,-97.3,255.3,-8.7,240,3659,0.00,1.88,0.00,0.000,4,0.000,0.089,2023,465,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3746,-0.46,-97.3,262.4,-9.3,243,3750,0.00,1.77,0.00,0.000,6,0.000,0.047,2016,1523,3464,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4046,-0.46,-97.3,291.5,-9.1,253,4049,0.00,1.77,0.00,0.000,4,0.000,0.057,2008,2575,3463,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4181,-0.46,-97.3,303.7,-9.0,258,4186,0.12,1.85,0.00,0.000,6,0.242,0.067,2036,1515,3463,0,0,0,0,0,0,14.57,14.77,28.83
$GC,4497,-0.47,-97.3,329.1,-7.8,269,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-0.48,-97.3,349.2,-5.9,279,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-0.50,-97.3,362.9,-4.0,289,5100,0.00,1.80,0.00,0.000,4,0.000,0.057,2028,2576,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5216,-0.52,-97.3,367.2,-4.1,293,5219,0.00,1.85,0.00,0.000,6,0.000,0.069,2031,1520,3459,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5517,-0.53,-97.3,385.2,-6.4,303,5521,0.00,1.90,0.00,0.000,4,0.000,0.091,2031,460,3458,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5621,-0.53,-97.3,393.5,-8.0,307,5625,0.00,1.77,0.00,0.000,6,0.000,0.048,2023,1518,3458,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5936,-0.53,-97.3,418.2,-7.9,318,5940,0.00,1.80,0.00,0.000,4,0.000,0.059,2016,2578,3456,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6055,-0.54,-97.3,426.4,-7.8,322,6059,0.00,1.85,0.00,0.000,6,0.000,0.068,2015,1520,3456,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6357,-0.54,-97.3,450.8,-7.6,332,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6656,-0.54,-97.3,472.1,-6.7,342,6659,0.00,1.80,0.00,0.000,4,0.000,0.058,2013,2577,3454,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6775,-0.54,-97.3,478.6,-6.2,346,6779,0.00,1.85,0.00,0.000,6,0.000,0.069,2007,1521,3454,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7077,-0.54,-97.3,499.1,-6.7,356,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7376,-0.54,-97.3,520.4,-7.2,366,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7677,-0.54,-97.3,542.3,-7.4,376,7680,0.00,1.80,0.00,0.000,4,0.000,0.058,1999,2576,3450,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7811,-0.54,-97.3,551.8,-7.1,381,7814,0.00,1.88,0.00,0.000,6,0.000,0.070,2000,1513,3450,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8128,-0.53,-97.3,575.0,-7.3,392,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.53,-97.3,596.0,-7.0,402,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8727,-0.52,-97.3,616.9,-7.0,412,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,-0.52,-97.3,638.6,-7.5,422,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,-0.52,-97.3,662.2,-8.0,432,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9626,-0.52,-97.3,686.0,-7.9,442,9630,0.00,1.83,0.00,0.000,4,0.000,0.060,1992,2576,3444,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9745,-0.52,-97.3,693.9,-7.6,446,9749,0.00,1.88,0.00,0.000,6,0.000,0.071,1992,1519,3443,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10047,-0.51,-97.3,718.0,-7.5,456,10049,0.15,0.00,0.00,0.000,6,0.251,0.000,2025,1519,3442,0,0,0,0,0,0,14.46,28.83,28.83
$GC,10348,-0.52,-97.3,735.0,-5.5,466,10352,0.00,1.92,0.00,0.000,4,0.000,0.096,2025,463,3442,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10436,-0.53,-97.3,739.3,-5.7,469,10440,0.00,1.80,0.00,0.000,6,0.000,0.050,2020,1520,3441,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10738,-0.55,-97.3,756.9,-5.6,479,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11037,-0.56,-97.3,773.9,-5.7,489,11041,0.00,1.83,0.00,0.000,4,0.000,0.062,2013,2578,3439,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11142,-0.58,-97.3,780.1,-5.9,493,11146,0.00,1.88,0.00,0.000,6,0.000,0.073,2012,1519,3439,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11456,-0.58,-97.3,801.6,-7.1,504,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11757,-0.58,-97.3,824.3,-7.5,514,11761,0.00,1.83,0.00,0.000,4,0.000,0.061,2004,2576,3437,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11891,-0.59,-97.3,834.3,-7.4,519,11895,0.00,1.88,0.00,0.000,6,0.000,0.073,2005,1517,3436,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12207,-0.59,-97.3,856.8,-6.8,530,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,-0.59,-97.3,875.5,-6.3,540,12510,0.00,1.92,0.00,0.000,4,0.000,0.096,2005,466,3434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12595,-0.59,-97.3,880.8,-6.9,543,12599,0.00,1.83,0.00,0.000,6,0.000,0.052,1996,1528,3434,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12896,-0.59,-97.3,901.3,-6.2,553,12900,0.00,1.83,0.00,0.000,4,0.000,0.064,1988,2579,3434,0,0,0,0,0,0,28.83,14.68,28.83
$GC,13001,-0.59,-97.3,907.5,-5.9,557,13005,0.00,1.90,0.00,0.000,6,0.000,0.075,1989,1515,3433,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13318,-0.58,-97.3,927.1,-6.3,568,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1515,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13616,-0.57,-97.3,947.7,-7.3,578,13620,0.00,1.85,0.00,0.000,4,0.000,0.065,1981,2575,3431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13766,-0.57,-97.3,958.3,-7.9,583,13770,0.00,1.90,0.00,0.000,6,0.000,0.075,1981,1518,3430,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,14005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14005,begin apogee
$GC,14010,-0.18,0.0,980.4,-8.8,591,14130,0.52,0.00,111.28,2.179,6,0.222,0.000,2123,1398,3062,0,0,0,0,1,0,14.48,28.83,13.23
$STATE,14131,end apogee,CONTROL_FINISHED_OK
$STATE,14131,begin climb
$GC,14134,0.60,97.3,985.1,0.0,595,14269,0.82,0.00,126.43,2.211,6,0.143,0.000,2374,1398,2665,0,0,0,0,1,0,14.12,28.83,13.12
$GC,14562,0.56,122.9,973.3,5.0,610,14613,0.00,0.00,44.20,1.623,6,0.000,0.000,2374,1397,2560,0,0,0,0,1,0,28.83,28.83,13.49
$GC,14893,0.51,122.9,953.5,6.2,621,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1398,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15192,0.46,123.6,935.7,6.0,631,15194,0.15,0.00,0.00,0.000,6,0.269,0.000,2343,1397,2556,0,0,0,0,0,0,14.44,28.83,28.83
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$STATE,28378,end climb,SURFACE_DEPTH_REACHED
$STATE,28378,begin surface coast
$FINISH,-0.0,1.001009
$STATE,28393,end surface coast,CONTROL_FINISHED_OK
$STATE,28393,begin surface
$SM_CCo,28410,29.12,0.762,0,0,1756,320.12
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$TT8_MAMPS,0.02247,0.02247
$HUMID,49.48
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.30
$XPDR_PINGS,4
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$TM_FREEKB,6428992
$24V_AH,13.1,72.309
$10V_AH,13.1,0.000
$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
$DEVICE_SECS,18.625,137.425,571.025,29.125,0.000,0.000,0.000,363.750,1.000,0.000,19.806,3283.978,22102.062,866.384,2450.569,361.865,0.000,2223.363,0.000,1927.273,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28433.000,6904.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.203,13.078,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,43282,1180
$CAP_FILE_SIZE,250398,0
$CFSIZE,260034560,237473792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.031,193.0,1
$GPS,021112,133058,2512.876,-3743.283,40,0.8,40,-13.8