version: 66.11
glider: 191
mission: 5
dive: 180
start: 11 12 112 4 26 10
data:
$ID,191
$MISSION,5
$DIVE,180
$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,-4038.4285
$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,47
$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
$GPS1,121112,041204,2439.713,-3846.125,35,1.0,35,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.4
$GPS2,121112,042542,2439.673,-3846.204,17,1.6,17,-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,190.7,80968,-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,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.30,0.000,6,0.000,0.000,153,1518,3459,0,0,0,0,0,0,28.83,28.83,14.83
$GC,89,-0.60,-97.3,4.1,-8.1,4,103,9.50,1.85,0.00,0.000,4,0.420,0.069,1994,460,3461,0,0,0,0,0,0,14.26,14.60,28.83
$GC,283,-0.53,-97.3,34.3,-12.3,17,287,0.12,1.77,0.00,0.000,6,0.274,0.046,2014,1508,3462,0,0,0,0,0,0,14.29,14.64,28.83
$GC,581,-0.49,-97.3,60.4,-8.2,37,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,881,-0.47,-97.3,87.4,-8.8,57,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.45,-97.3,113.1,-7.9,77,1186,0.12,1.83,0.00,0.000,4,0.252,0.057,2039,2584,3462,0,0,0,0,0,0,14.48,14.67,28.83
$GC,1407,-0.47,-97.3,125.9,-5.4,92,1411,0.00,1.88,0.00,0.000,6,0.000,0.066,2039,1517,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1706,-0.47,-97.3,146.2,-6.9,112,1710,0.00,1.90,0.00,0.000,4,0.000,0.087,2039,460,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1781,-0.47,-97.3,152.1,-7.8,117,1785,0.00,1.80,0.00,0.000,6,0.000,0.046,2031,1529,3463,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2081,-0.47,-97.3,175.3,-7.8,137,2085,0.00,1.77,0.00,0.000,4,0.000,0.057,2023,2576,3463,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2278,-0.48,-97.3,189.4,-7.2,150,2282,0.00,1.85,0.00,0.000,6,0.000,0.066,2024,1520,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2576,-0.48,-97.3,211.6,-7.2,170,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,-0.48,-97.3,232.4,-6.2,190,2880,0.00,1.80,0.00,0.000,4,0.000,0.055,2016,2576,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3073,-0.48,-97.3,244.6,-6.2,203,3076,0.00,1.85,0.00,0.000,6,0.000,0.066,2016,1519,3466,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3372,-0.48,-97.3,263.2,-6.0,216,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3672,-0.48,-97.3,284.0,-7.3,226,3676,0.00,1.80,0.00,0.000,4,0.000,0.057,2008,2578,3461,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3746,-0.48,-97.3,289.3,-7.2,229,3750,0.00,1.85,0.00,0.000,6,0.000,0.067,2008,1519,3461,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4062,-0.48,-97.3,309.2,-5.8,240,4066,0.00,1.90,0.00,0.000,4,0.000,0.089,2008,462,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4182,-0.46,-97.3,316.2,-6.6,244,4186,0.15,1.77,0.00,0.000,6,0.239,0.047,2035,1520,3460,0,0,0,0,0,0,14.47,14.78,28.83
$GC,4483,-0.47,-97.3,333.1,-5.7,254,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.49,-97.3,353.1,-6.9,264,4786,0.00,1.80,0.00,0.000,4,0.000,0.058,2029,2578,3458,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5008,-0.52,-97.3,368.3,-6.7,272,5011,0.00,1.88,0.00,0.000,6,0.000,0.067,2029,1510,3457,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5323,-0.53,-97.3,387.9,-5.9,283,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1509,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.54,-97.3,405.5,-6.2,293,5626,0.00,1.83,0.00,0.000,4,0.000,0.057,2022,2576,3455,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5711,-0.56,-97.3,410.3,-6.3,296,5715,0.00,1.88,0.00,0.000,6,0.000,0.069,2022,1512,3454,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6012,-0.56,-97.3,432.2,-6.9,306,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1511,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6311,-0.56,-97.3,451.0,-6.0,316,6315,0.00,1.83,0.00,0.000,4,0.000,0.059,2014,2576,3452,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6387,-0.57,-97.3,455.4,-5.9,319,6391,0.00,1.88,0.00,0.000,6,0.000,0.069,2014,1513,3452,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6701,-0.57,-97.3,475.1,-6.3,330,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1512,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-0.57,-97.3,494.3,-6.4,340,7006,0.00,1.83,0.00,0.000,4,0.000,0.060,2007,2576,3450,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7121,-0.57,-97.3,500.9,-6.3,344,7124,0.00,1.88,0.00,0.000,6,0.000,0.070,2006,1515,3450,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7422,-0.57,-97.3,520.7,-6.0,354,7426,0.00,1.90,0.00,0.000,4,0.000,0.092,2006,464,3449,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7511,-0.56,-97.3,525.8,-6.6,357,7515,0.00,1.80,0.00,0.000,6,0.000,0.049,1999,1526,3449,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7813,-0.55,-97.3,544.2,-5.8,367,7817,0.00,1.80,0.00,0.000,4,0.000,0.060,1991,2574,3447,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7977,-0.55,-97.3,554.0,-6.0,373,7981,0.00,1.88,0.00,0.000,6,0.000,0.070,1991,1517,3447,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8293,-0.54,-97.3,577.2,-7.8,384,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1517,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8592,-0.52,-97.3,602.6,-8.5,394,8594,0.12,0.00,0.00,0.000,6,0.252,0.000,2018,1517,3444,0,0,0,0,0,0,14.50,28.83,28.83
$GC,8892,-0.53,-97.3,623.5,-6.6,404,8896,0.00,1.92,0.00,0.000,4,0.000,0.093,2018,461,3443,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8996,-0.53,-97.3,631.1,-7.3,408,9000,0.00,1.80,0.00,0.000,6,0.000,0.050,2013,1518,3443,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9313,-0.53,-97.3,650.4,-5.8,419,9316,0.00,1.83,0.00,0.000,4,0.000,0.061,2005,2578,3442,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9462,-0.54,-97.3,657.8,-5.4,424,9466,0.00,1.88,0.00,0.000,6,0.000,0.070,2005,1520,3441,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9761,-0.54,-97.3,675.8,-5.8,434,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10062,-0.54,-97.3,694.5,-6.5,444,10066,0.00,1.83,0.00,0.000,4,0.000,0.061,1998,2576,3440,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10210,-0.54,-97.3,703.7,-6.9,449,10214,0.00,1.88,0.00,0.000,6,0.000,0.071,1998,1521,3439,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10512,-0.54,-97.3,728.3,-8.0,459,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,-0.54,-97.3,752.1,-7.9,469,10815,0.00,1.85,0.00,0.000,4,0.000,0.062,1990,2582,3437,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10961,-0.54,-97.3,762.6,-7.8,474,10965,0.00,1.90,0.00,0.000,6,0.000,0.073,1990,1522,3437,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11263,-0.53,-97.3,788.1,-8.2,484,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11562,-0.52,-97.3,811.3,-7.4,494,11564,0.12,0.00,0.00,0.000,6,0.256,0.000,2016,1522,3435,0,0,0,0,0,0,14.42,28.83,28.83
$GC,11862,-0.54,-97.3,830.5,-6.3,504,11866,0.00,1.95,0.00,0.000,4,0.000,0.096,2017,463,3433,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11936,-0.54,-97.3,835.7,-6.8,507,11940,0.00,1.83,0.00,0.000,6,0.000,0.053,2011,1520,3433,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12251,-0.54,-97.3,855.9,-6.4,518,12255,0.00,1.85,0.00,0.000,4,0.000,0.063,2003,2581,3432,0,0,0,0,0,0,28.83,14.60,28.83
$GC,12431,-0.56,-97.3,866.5,-6.4,524,12435,0.00,1.92,0.00,0.000,6,0.000,0.074,2004,1511,3432,0,0,0,0,0,0,28.83,14.58,28.83
$GC,12731,-0.56,-97.3,888.0,-6.8,534,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1510,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13032,-0.56,-97.3,910.0,-7.4,544,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1510,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13332,-0.56,-97.3,931.1,-6.8,554,13335,0.00,1.88,0.00,0.000,4,0.000,0.065,1996,2578,3429,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13497,-0.57,-97.3,941.3,-6.0,560,13501,0.00,1.92,0.00,0.000,6,0.000,0.075,1996,1512,3428,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13811,-0.57,-97.3,960.8,-6.2,571,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14110,begin apogee
$GC,14116,-0.18,0.0,980.2,-6.5,581,14234,0.47,0.00,110.00,2.094,6,0.211,0.000,2125,1395,3062,0,0,0,0,1,0,14.37,28.83,13.21
$STATE,14236,end apogee,CONTROL_FINISHED_OK
$STATE,14236,begin climb
$GC,14238,0.60,97.3,983.6,0.0,585,14375,0.85,2.05,124.68,2.102,4,0.138,0.105,2388,351,2666,0,0,0,0,1,0,14.13,13.98,13.12
$GC,14547,0.51,97.6,974.9,6.0,596,14551,0.15,1.85,0.00,0.000,6,0.282,0.053,2357,1409,2660,0,0,0,0,0,0,14.19,14.46,28.83
$GC,14850,0.50,125.4,959.0,4.9,606,14908,0.00,1.77,45.78,1.603,4,0.000,0.062,2357,2447,2552,0,0,0,0,1,0,28.83,14.41,13.52
$GC,14982,0.48,143.4,952.6,5.3,610,15029,0.00,1.92,36.67,1.395,6,0.000,0.080,2362,1397,2478,0,0,0,0,1,0,28.83,14.44,13.46
$GC,15342,0.44,143.4,929.1,6.3,623,15347,0.12,1.98,0.00,0.000,4,0.285,0.105,2343,339,2476,0,0,0,0,0,0,14.38,14.51,28.83
$GC,15447,0.40,143.4,922.2,6.6,627,15451,0.00,1.85,0.00,0.000,6,0.000,0.055,2343,1406,2475,0,0,0,0,0,0,28.83,14.63,28.83
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$STATE,28888,end climb,SURFACE_DEPTH_REACHED
$STATE,28888,begin surface coast
$FINISH,0.7,1.024973
$STATE,28902,end surface coast,CONTROL_FINISHED_OK
$STATE,28903,begin surface
$SM_CCo,28920,38.17,0.688,0,0,1756,320.12
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$IRIDIUM_FIX,2429.95,-3847.00,121112,040441
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.48
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.60
$XPDR_PINGS,1
$SC_FREEKB,7701024
$TM_FREEKB,6119296
$24V_AH,13.1,85.778
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,19.075,138.300,557.175,38.175,0.000,0.000,0.000,477.125,0.250,0.000,17.929,3350.647,22539.631,870.810,2613.980,392.161,0.000,2366.060,0.000,1983.763,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28947.000,6876.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.229,13.129,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,43346,1201
$CAP_FILE_SIZE,254955,0
$CFSIZE,260034560,233381888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.018,353.8,1
$GPS,121112,123005,2436.985,-3846.314,33,0.8,33,-14.2