version: 66.11
glider: 191
mission: 5
dive: 161
start: 11 5 112 20 54 47
data:
$ID,191
$MISSION,5
$DIVE,161
$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,-4013.2041
$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,50
$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
$GPS1,051112,204334,2514.189,-3815.409,31,0.8,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-50.9
$GPS2,051112,205417,2514.201,-3815.500,16,1.1,16,-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,287.7,47933,-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,-97.3,0.0,0.0,0,70,0.00,0.00,-46.50,0.000,2,0.000,0.000,153,1525,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.60,-97.3,3.2,-8.3,3,101,9.45,1.80,-8.77,0.000,4,0.418,0.086,1983,2572,3463,1,0,0,0,0,0,14.15,14.64,14.84
$GC,326,-0.55,-97.3,33.8,-11.8,20,330,0.12,1.85,0.00,0.000,6,0.265,0.067,2009,1518,3464,0,0,0,0,0,0,14.42,14.63,28.83
$GC,626,-0.50,-97.3,66.2,-11.4,40,629,0.00,1.77,0.00,0.000,4,0.000,0.054,2003,2564,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,852,-0.48,-97.3,87.8,-7.8,55,856,0.12,1.83,0.00,0.000,6,0.240,0.066,2031,1521,3464,0,0,0,0,0,0,14.49,14.68,28.83
$GC,1150,-0.48,-97.3,109.0,-7.0,75,1154,0.00,1.77,0.00,0.000,4,0.000,0.053,2026,2570,3464,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1285,-0.48,-97.3,118.0,-6.7,84,1288,0.00,1.85,0.00,0.000,6,0.000,0.066,2026,1514,3466,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1585,-0.48,-97.3,141.2,-8.0,104,1589,0.00,1.88,0.00,0.000,4,0.000,0.087,2026,466,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1630,-0.46,-97.3,145.1,-8.6,107,1634,0.00,1.75,0.00,0.000,6,0.000,0.045,2018,1511,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1930,-0.45,-97.3,167.7,-7.0,127,1934,0.00,1.80,0.00,0.000,4,0.000,0.056,2010,2576,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2035,-0.45,-97.3,174.8,-6.7,134,2040,0.12,1.85,0.00,0.000,6,0.236,0.065,2038,1517,3465,0,0,0,0,0,0,14.52,14.71,28.83
$GC,2336,-0.45,-97.3,192.3,-5.4,154,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-0.46,-97.3,207.4,-4.7,174,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1517,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.47,-97.3,221.8,-5.2,194,2940,0.00,1.80,0.00,0.000,4,0.000,0.054,2032,2578,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3071,-0.50,-97.3,229.2,-5.7,203,3075,0.00,1.85,0.00,0.000,6,0.000,0.067,2033,1526,3465,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3370,-0.50,-97.3,249.4,-7.2,223,3374,0.00,1.90,0.00,0.000,4,0.000,0.089,2032,459,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3459,-0.50,-97.3,255.6,-8.1,226,3463,0.00,1.77,0.00,0.000,6,0.000,0.046,2025,1519,3464,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3760,-0.50,-97.3,277.5,-6.3,236,3764,0.00,1.80,0.00,0.000,4,0.000,0.056,2017,2585,3463,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3927,-0.51,-97.3,286.4,-5.4,242,3931,0.00,1.88,0.00,0.000,6,0.000,0.067,2017,1509,3463,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4240,-0.51,-97.3,304.8,-6.1,253,4244,0.00,1.83,0.00,0.000,4,0.000,0.056,2009,2582,3461,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4316,-0.51,-97.3,309.9,-6.6,256,4320,0.00,1.85,0.00,0.000,6,0.000,0.067,2009,1521,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4630,-0.51,-97.3,333.1,-7.4,267,4634,0.00,1.90,0.00,0.000,4,0.000,0.090,2009,460,3460,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4749,-0.49,-97.3,341.9,-8.4,271,4753,0.00,1.77,0.00,0.000,6,0.000,0.047,2001,1520,3460,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5050,-0.47,-97.3,366.4,-7.8,281,5052,0.15,0.00,0.00,0.000,6,0.239,0.000,2036,1520,3459,0,0,0,0,0,0,14.54,28.83,28.83
$GC,5351,-0.49,-97.3,386.4,-6.7,291,5354,0.00,1.80,0.00,0.000,4,0.000,0.057,2030,2582,3458,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5577,-0.51,-97.3,400.5,-6.0,299,5580,0.00,1.88,0.00,0.000,6,0.000,0.070,2030,1515,3456,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5892,-0.52,-97.3,419.3,-5.7,310,5896,0.00,1.83,0.00,0.000,4,0.000,0.057,2023,2584,3456,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5980,-0.54,-97.3,423.2,-5.3,313,5984,0.00,1.88,0.00,0.000,6,0.000,0.070,2023,1519,3456,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6280,-0.54,-97.3,442.1,-6.4,323,6284,0.00,1.80,0.00,0.000,4,0.000,0.058,2013,2576,3455,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6370,-0.55,-97.3,446.9,-6.5,326,6373,0.00,1.85,0.00,0.000,6,0.000,0.070,2015,1519,3454,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6670,-0.55,-97.3,469.3,-7.4,336,6674,0.00,1.80,0.00,0.000,4,0.000,0.057,2007,2576,3453,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6790,-0.55,-97.3,477.8,-8.0,340,6793,0.00,1.88,0.00,0.000,6,0.000,0.070,2008,1511,3453,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7090,-0.55,-97.3,504.6,-8.6,350,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1510,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7390,-0.55,-97.3,530.4,-8.6,360,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1510,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7690,-0.55,-97.3,554.0,-7.6,370,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1510,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,-0.55,-97.3,574.5,-6.5,380,7994,0.00,1.83,0.00,0.000,4,0.000,0.059,1999,2575,3449,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8186,-0.55,-97.3,586.1,-5.8,387,8190,0.00,1.88,0.00,0.000,6,0.000,0.070,1999,1513,3448,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8500,-0.55,-97.3,606.7,-6.6,398,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,-0.55,-97.3,626.4,-6.4,408,8804,0.00,1.83,0.00,0.000,4,0.000,0.060,1992,2574,3446,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9025,-0.55,-97.3,641.1,-6.6,416,9029,0.00,1.88,0.00,0.000,6,0.000,0.071,1992,1516,3445,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9342,-0.54,-97.3,664.7,-7.7,427,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1516,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9640,-0.53,-97.3,689.2,-8.3,437,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1516,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9941,-0.51,-97.3,714.3,-8.3,447,9945,0.12,1.83,0.00,0.000,4,0.259,0.060,2013,2574,3441,0,0,0,0,0,0,14.45,14.70,28.83
$GC,10016,-0.51,-97.3,719.5,-7.2,450,10020,0.00,1.88,0.00,0.000,6,0.000,0.072,2013,1519,3441,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10330,-0.51,-97.3,740.5,-6.4,461,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1519,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10631,-0.51,-97.3,758.5,-5.8,471,10634,0.00,1.83,0.00,0.000,4,0.000,0.060,2005,2574,3439,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10720,-0.53,-97.3,762.9,-5.9,474,10724,0.00,1.88,0.00,0.000,6,0.000,0.073,2005,1521,3439,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11020,-0.53,-97.3,783.9,-6.9,484,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11320,-0.53,-97.3,806.5,-7.6,494,11324,0.00,1.83,0.00,0.000,4,0.000,0.061,1997,2573,3438,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11427,-0.53,-97.3,814.4,-7.6,498,11431,0.00,1.88,0.00,0.000,6,0.000,0.073,1998,1520,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11740,-0.53,-97.3,837.9,-7.2,509,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12040,-0.53,-97.3,857.9,-6.4,519,12044,0.00,1.83,0.00,0.000,4,0.000,0.062,1989,2575,3435,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12146,-0.53,-97.3,864.1,-5.8,523,12150,0.00,1.90,0.00,0.000,6,0.000,0.073,1989,1512,3435,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12460,-0.53,-97.3,883.5,-6.1,534,12462,0.12,0.00,0.00,0.000,6,0.260,0.000,2016,1512,3434,0,0,0,0,0,0,14.45,28.83,28.83
$GC,12762,-0.54,-97.3,898.3,-5.1,544,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1511,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13061,-0.56,-97.3,914.5,-5.5,554,13064,0.00,1.88,0.00,0.000,4,0.000,0.064,2011,2580,3432,0,0,0,0,0,0,28.83,14.64,28.83
$GC,13166,-0.58,-97.3,920.4,-5.6,558,13170,0.00,1.90,0.00,0.000,6,0.000,0.074,2010,1519,3432,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13482,-0.59,-97.3,939.0,-6.0,569,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13781,-0.60,-97.3,957.3,-6.1,579,13785,0.00,1.85,0.00,0.000,4,0.000,0.063,2003,2575,3430,0,0,0,0,0,0,28.83,14.62,28.83
$GC,13929,-0.61,-97.3,965.7,-6.3,584,13933,0.00,1.90,0.00,0.000,6,0.000,0.075,2003,1521,3429,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,14139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14139,begin apogee
$GC,14145,-0.18,0.0,981.1,-7.0,591,14263,0.45,0.00,109.80,2.117,6,0.210,0.000,2125,1389,3062,0,0,0,0,1,0,14.45,28.83,13.24
$STATE,14265,end apogee,CONTROL_FINISHED_OK
$STATE,14265,begin climb
$GC,14267,0.60,97.3,985.0,0.0,595,14400,0.85,0.00,124.65,2.120,6,0.138,0.000,2379,1389,2665,0,0,0,0,1,0,14.13,28.83,13.16
$GC,14696,0.55,113.5,971.0,5.4,610,14736,0.00,0.00,33.35,1.301,6,0.000,0.000,2379,1389,2598,0,0,0,0,1,0,28.83,28.83,13.58
$GC,15028,0.49,113.5,949.8,6.8,621,15029,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1389,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15327,0.43,113.5,928.8,7.1,631,15331,0.22,1.85,0.00,0.000,4,0.259,0.061,2332,2454,2597,0,0,0,0,0,0,14.37,14.66,28.83
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$STATE,28478,end climb,SURFACE_DEPTH_REACHED
$STATE,28478,begin surface coast
$FINISH,1.5,1.024934
$STATE,28511,end surface coast,CONTROL_FINISHED_OK
$STATE,28511,begin surface
$SM_CCo,28531,15.18,0.708,0,0,1756,320.12
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$IRIDIUM_FIX,2505.59,-3809.83,051112,121200
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.05
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,27.60
$XPDR_PINGS,1
$SC_FREEKB,7708320
$TM_FREEKB,6315296
$24V_AH,13.2,77.256
$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,19.350,133.725,670.075,15.175,0.000,0.000,0.000,369.475,0.250,0.000,17.281,3282.872,22104.932,970.553,2461.471,362.916,0.000,2334.368,0.000,1931.666,0.000,0.549,0.000
$DEVICE_MAMPS,418.455,111.690,2119.815,707.625,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28557.000,6578.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.109,13.098,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,43236,1180
$CAP_FILE_SIZE,252165,0
$CFSIZE,260034560,235982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,15,1,0
$CURRENT,0.010,238.2,1
$GPS,061112,045158,2514.732,-3818.849,42,0.9,42,-14.0