version: 66.11
glider: 191
mission: 5
dive: 166
start: 11 7 112 12 50 35
data:
$ID,191
$MISSION,5
$DIVE,166
$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,-4019.7761
$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,45
$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
$GPS1,071112,123904,2514.297,-3833.272,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-52.8
$GPS2,071112,125006,2514.327,-3833.319,18,1.0,18,-14.1
$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,262.1,18410,-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,-97.3,0.0,0.0,0,85,0.00,0.00,-57.90,0.000,6,0.000,0.000,159,1518,3459,0,0,0,0,0,0,28.83,28.83,14.82
$GC,87,-0.60,-97.3,4.4,-8.7,4,101,9.55,1.80,0.00,0.000,4,0.423,0.055,1985,2574,3462,0,0,0,0,0,0,14.31,14.63,28.83
$GC,326,-0.55,-97.3,36.7,-9.9,20,329,0.00,1.88,0.00,0.000,6,0.000,0.067,1985,1517,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,626,-0.49,-97.3,68.5,-10.8,40,630,0.17,1.83,0.00,0.000,4,0.250,0.055,2020,2576,3464,0,0,0,0,0,0,14.42,14.66,28.83
$GC,821,-0.49,-97.3,84.3,-8.0,53,825,0.00,1.88,0.00,0.000,6,0.000,0.066,2020,1509,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1121,-0.47,-97.3,109.8,-8.1,73,1124,0.00,1.88,0.00,0.000,4,0.000,0.089,2019,464,3466,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1196,-0.44,-97.3,116.0,-8.3,78,1201,0.15,1.77,0.00,0.000,6,0.244,0.045,2046,1518,3465,0,0,0,0,0,0,14.45,14.69,28.83
$GC,1496,-0.44,-97.3,133.8,-5.6,98,1500,0.00,1.80,0.00,0.000,4,0.000,0.055,2041,2578,3466,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1662,-0.46,-97.3,143.0,-5.6,109,1665,0.00,1.85,0.00,0.000,6,0.000,0.065,2041,1521,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1960,-0.46,-97.3,162.1,-6.8,129,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2261,-0.47,-97.3,184.0,-7.0,149,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.48,-97.3,202.6,-6.1,169,2564,0.00,1.90,0.00,0.000,4,0.000,0.088,2040,460,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2605,-0.48,-97.3,206.0,-7.0,172,2609,0.00,1.77,0.00,0.000,6,0.000,0.044,2032,1521,3466,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2905,-0.48,-97.3,228.1,-7.2,192,2908,0.00,1.80,0.00,0.000,4,0.000,0.056,2025,2583,3466,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3130,-0.50,-97.3,243.4,-6.5,207,3134,0.00,1.88,0.00,0.000,6,0.000,0.067,2025,1513,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3446,-0.50,-97.3,263.0,-5.9,221,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.50,-97.3,280.6,-6.1,231,3749,0.00,1.88,0.00,0.000,4,0.000,0.090,2025,466,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3820,-0.50,-97.3,286.1,-7.1,234,3823,0.00,1.77,0.00,0.000,6,0.000,0.045,2017,1527,3464,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4135,-0.50,-97.3,310.3,-8.1,245,4139,0.00,1.77,0.00,0.000,4,0.000,0.057,2010,2578,3463,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4360,-0.50,-97.3,328.8,-8.2,253,4364,0.00,1.85,0.00,0.000,6,0.000,0.067,2010,1518,3463,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4675,-0.50,-97.3,354.8,-8.2,264,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4975,-0.50,-97.3,380.0,-8.2,274,4979,0.00,1.80,0.00,0.000,4,0.000,0.056,2002,2578,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5050,-0.50,-97.3,385.8,-7.7,277,5054,0.00,1.85,0.00,0.000,6,0.000,0.067,2008,1519,3461,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5368,-0.48,-97.3,406.6,-5.8,288,5369,0.12,0.00,0.00,0.000,6,0.249,0.000,2029,1519,3460,0,0,0,0,0,0,14.52,28.83,28.83
$GC,5667,-0.50,-97.3,419.5,-4.3,298,5670,0.00,1.80,0.00,0.000,4,0.000,0.056,2024,2576,3459,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5802,-0.52,-97.3,425.6,-4.6,303,5805,0.00,1.85,0.00,0.000,6,0.000,0.068,2024,1519,3458,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6115,-0.52,-97.3,446.3,-7.2,314,6119,0.00,1.80,0.00,0.000,4,0.000,0.057,2016,2576,3457,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6235,-0.53,-97.3,454.1,-7.5,318,6238,0.00,1.85,0.00,0.000,6,0.000,0.069,2016,1519,3456,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6535,-0.53,-97.3,477.7,-7.2,328,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6836,-0.53,-97.3,498.6,-6.7,338,6839,0.00,1.83,0.00,0.000,4,0.000,0.057,2009,2586,3455,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6911,-0.53,-97.3,503.5,-6.7,341,6914,0.00,1.90,0.00,0.000,6,0.000,0.070,2009,1510,3454,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7225,-0.53,-97.3,525.5,-7.2,352,7229,0.00,1.83,0.00,0.000,4,0.000,0.058,2001,2577,3453,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7314,-0.53,-97.3,530.7,-6.8,355,7318,0.00,1.88,0.00,0.000,6,0.000,0.069,2001,1513,3453,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7615,-0.53,-97.3,553.6,-7.4,365,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1513,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-0.53,-97.3,576.6,-7.7,375,7919,0.00,1.83,0.00,0.000,4,0.000,0.059,1993,2577,3451,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8004,-0.53,-97.3,582.3,-7.5,378,8008,0.00,1.88,0.00,0.000,6,0.000,0.070,1993,1514,3451,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8305,-0.52,-97.3,607.5,-7.9,388,8309,0.00,1.83,0.00,0.000,4,0.000,0.059,1985,2576,3449,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8395,-0.52,-97.3,613.6,-8.1,391,8399,0.15,1.88,0.00,0.000,6,0.238,0.070,2019,1516,3449,0,0,0,0,0,0,14.45,14.69,28.83
$GC,8697,-0.53,-97.3,636.5,-7.3,401,8700,0.00,1.83,0.00,0.000,4,0.000,0.059,2014,2576,3448,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8785,-0.54,-97.3,642.0,-7.1,404,8789,0.00,1.88,0.00,0.000,6,0.000,0.070,2014,1517,3447,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9085,-0.54,-97.3,665.4,-7.5,414,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1517,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-0.54,-97.3,686.6,-6.8,424,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1517,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,-0.54,-97.3,706.0,-6.5,434,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1516,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.54,-97.3,725.4,-6.5,444,9989,0.00,1.83,0.00,0.000,4,0.000,0.060,2006,2574,3443,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10091,-0.56,-97.3,732.3,-6.6,448,10095,0.00,1.88,0.00,0.000,6,0.000,0.072,2006,1522,3443,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10405,-0.56,-97.3,753.5,-6.6,459,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10706,-0.56,-97.3,770.7,-5.3,469,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11006,-0.56,-97.3,787.7,-6.0,479,11009,0.00,1.83,0.00,0.000,4,0.000,0.061,1998,2575,3440,0,0,0,0,0,0,28.83,14.67,28.83
$GC,11171,-0.57,-97.3,798.6,-6.7,485,11175,0.00,1.90,0.00,0.000,6,0.000,0.073,1999,1513,3439,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11486,-0.57,-97.3,822.4,-7.4,496,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11785,-0.57,-97.3,844.7,-7.1,506,11789,0.00,1.85,0.00,0.000,4,0.000,0.062,1991,2573,3437,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11891,-0.57,-97.3,852.8,-7.6,510,11895,0.00,1.90,0.00,0.000,6,0.000,0.073,1991,1515,3437,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12205,-0.57,-97.3,877.5,-7.6,521,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1514,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,-0.57,-97.3,900.7,-7.7,531,12509,0.00,1.85,0.00,0.000,4,0.000,0.063,1983,2575,3435,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12594,-0.57,-97.3,906.7,-8.0,534,12598,0.00,1.90,0.00,0.000,6,0.000,0.075,1983,1518,3435,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12896,-0.55,-97.3,932.6,-8.1,544,12899,0.00,1.85,0.00,0.000,4,0.000,0.063,1975,2577,3434,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12985,-0.55,-97.3,938.4,-7.8,547,12990,0.15,1.90,0.00,0.000,6,0.247,0.074,2008,1519,3434,0,0,0,0,0,0,14.35,14.62,28.83
$GC,13286,-0.55,-97.3,958.8,-6.2,557,13290,0.00,1.85,0.00,0.000,4,0.000,0.062,2003,2577,3433,0,0,0,0,0,0,28.83,14.62,28.83
$GC,13421,-0.57,-97.3,966.5,-5.6,562,13425,0.00,1.90,0.00,0.000,6,0.000,0.074,2003,1518,3433,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,13673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13673,begin apogee
$GC,13678,-0.18,0.0,980.9,-5.4,571,13797,0.45,0.00,110.43,2.088,6,0.212,0.000,2125,1398,3062,0,0,0,0,1,0,14.45,28.83,13.26
$STATE,13799,end apogee,CONTROL_FINISHED_OK
$STATE,13799,begin climb
$GC,13802,0.60,97.3,982.8,0.0,575,13937,0.85,2.08,123.65,2.086,4,0.135,0.104,2388,343,2665,0,0,0,0,1,0,14.14,14.00,13.17
$GC,14006,0.47,114.3,976.9,5.3,583,14051,0.20,1.88,34.80,1.332,6,0.269,0.053,2346,1407,2596,0,0,0,0,1,0,14.09,14.31,13.38
$GC,14351,0.43,114.3,953.8,6.7,594,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1408,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14651,0.41,118.7,935.3,5.9,604,14659,0.00,1.83,3.40,1.987,4,0.000,0.062,2345,2456,2579,0,0,0,0,0,0,28.83,14.73,13.82
$GC,14802,0.38,121.9,927.1,5.9,609,14811,0.17,1.90,3.45,1.995,6,0.262,0.079,2312,1404,2563,0,0,0,0,0,0,14.42,14.63,13.82
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$STATE,27311,end climb,SURFACE_DEPTH_REACHED
$STATE,27312,begin surface coast
$FINISH,0.2,1.025013
$STATE,27358,end surface coast,CONTROL_FINISHED_OK
$STATE,27358,begin surface
$SM_CCo,27376,0.32,1.325,0,0,1755,320.12
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$IRIDIUM_FIX,2505.59,-3828.43,071112,040415
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.07
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,7706400
$TM_FREEKB,6264736
$24V_AH,13.2,79.482
$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,19.525,104.300,579.625,0.325,0.000,0.000,0.000,385.375,0.250,0.000,19.111,3103.203,21407.715,800.906,2372.428,346.831,0.000,2123.989,0.000,1832.352,0.000,0.550,0.000
$DEVICE_MAMPS,423.045,117.045,2087.685,1324.980,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27401.000,6336.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,13.120,0.000,0.000
$MEM,344796
$DATA_FILE_SIZE,39973,1129
$CAP_FILE_SIZE,233860,0
$CFSIZE,260034560,235315200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.019, 19.8,1
$GPS,071112,202805,2513.838,-3836.424,30,0.9,30,-14.1