version: 66.11
glider: 191
mission: 5
dive: 235
start: 11 30 112 13 19 37
data:
$ID,191
$MISSION,5
$DIVE,235
$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,-4111.2173
$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
$GPS1,301112,130728,2428.089,-3718.739,34,0.8,34,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-54.1
$GPS2,301112,131907,2428.068,-3718.765,15,1.5,15,-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,10.1,81388,-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,-58.33,0.000,6,0.000,0.000,162,1534,3462,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.2,-8.8,4,104,9.57,1.80,0.00,0.000,4,0.415,0.055,1983,2576,3464,1,0,0,0,0,0,13.95,14.54,28.83
$GC,327,-0.57,-97.3,32.0,-8.6,20,331,0.00,1.88,0.00,0.000,6,0.000,0.067,1983,1520,3466,0,0,0,0,0,0,28.83,14.50,28.83
$GC,627,-0.53,-97.3,58.6,-8.7,40,629,0.15,0.00,0.00,0.000,6,0.250,0.000,2016,1520,3466,0,0,0,0,0,0,14.29,28.83,28.83
$GC,926,-0.53,-97.3,80.3,-7.4,60,930,0.00,1.80,0.00,0.000,4,0.000,0.054,2011,2571,3467,0,0,0,0,0,0,28.83,14.59,28.83
$GC,986,-0.53,-97.3,84.0,-6.3,64,990,0.00,1.85,0.00,0.000,6,0.000,0.065,2011,1519,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1286,-0.53,-97.3,103.8,-6.9,84,1290,0.00,1.92,0.00,0.000,4,0.000,0.087,2011,458,3467,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1377,-0.51,-97.3,111.6,-8.9,90,1381,0.00,1.77,0.00,0.000,6,0.000,0.044,2009,1512,3467,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1677,-0.50,-97.3,138.5,-8.3,110,1681,0.00,1.83,0.00,0.000,4,0.000,0.056,1995,2576,3467,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1797,-0.50,-97.3,147.3,-7.1,118,1801,0.12,1.85,0.00,0.000,6,0.237,0.064,2023,1519,3468,0,0,0,0,0,0,14.36,14.59,28.83
$GC,2098,-0.51,-97.3,163.1,-4.8,138,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1518,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-0.53,-97.3,178.7,-5.4,158,2401,0.00,1.92,0.00,0.000,4,0.000,0.087,2023,459,3468,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2487,-0.53,-97.3,184.0,-6.0,164,2490,0.00,1.80,0.00,0.000,6,0.000,0.044,2014,1527,3467,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2787,-0.53,-97.3,199.0,-4.6,184,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1527,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3087,-0.53,-97.3,212.8,-4.5,204,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1528,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-0.53,-97.3,227.0,-5.0,224,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1528,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.54,-97.3,244.7,-6.4,244,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1528,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3989,-0.55,-97.3,265.9,-7.2,257,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1528,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,-0.55,-97.3,288.0,-7.3,267,4290,0.00,1.77,0.00,0.000,4,0.000,0.056,2011,2576,3465,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4392,-0.56,-97.3,295.3,-7.0,271,4396,0.00,1.85,0.00,0.000,6,0.000,0.067,2010,1520,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4707,-0.56,-97.3,317.5,-7.2,282,4711,0.00,1.90,0.00,0.000,4,0.000,0.087,2010,461,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4795,-0.56,-97.3,323.4,-7.7,285,4799,0.00,1.77,0.00,0.000,6,0.000,0.044,2002,1519,3464,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5097,-0.56,-97.3,346.3,-7.2,295,5100,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2579,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5261,-0.56,-97.3,357.9,-7.0,301,5265,0.00,1.85,0.00,0.000,6,0.000,0.066,1994,1518,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5576,-0.56,-97.3,381.6,-7.8,312,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5877,-0.56,-97.3,407.0,-8.6,322,5880,0.00,1.80,0.00,0.000,4,0.000,0.056,1986,2576,3462,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6025,-0.56,-97.3,419.5,-9.3,327,6029,0.00,1.85,0.00,0.000,6,0.000,0.067,1987,1521,3461,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6327,-0.55,-97.3,449.7,-9.6,337,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6627,-0.54,-97.3,474.5,-7.9,347,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6927,-0.53,-97.3,495.6,-6.4,357,6929,0.12,0.00,0.00,0.000,6,0.251,0.000,2013,1521,3459,0,0,0,0,0,0,14.47,28.83,28.83
$GC,7229,-0.54,-97.3,509.1,-4.1,367,7232,0.00,1.80,0.00,0.000,4,0.000,0.056,2008,2576,3458,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7333,-0.56,-97.3,513.6,-4.3,371,7337,0.00,1.88,0.00,0.000,6,0.000,0.067,2008,1514,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7647,-0.56,-97.3,531.0,-6.0,382,7650,0.00,1.90,0.00,0.000,4,0.000,0.091,2008,466,3457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7722,-0.56,-97.3,536.4,-7.0,385,7725,0.00,1.77,0.00,0.000,6,0.000,0.047,2000,1517,3456,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8037,-0.56,-97.3,560.7,-8.2,396,8041,0.00,1.83,0.00,0.000,4,0.000,0.057,1992,2582,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8172,-0.56,-97.3,572.7,-9.0,401,8175,0.00,1.88,0.00,0.000,6,0.000,0.069,1993,1521,3454,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8487,-0.56,-97.3,603.4,-9.6,412,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8786,-0.56,-97.3,629.7,-8.1,422,8790,0.00,1.83,0.00,0.000,4,0.000,0.058,1990,2579,3452,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8861,-0.56,-97.3,635.6,-8.1,425,8865,0.00,1.88,0.00,0.000,6,0.000,0.068,1985,1521,3452,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9177,-0.56,-97.3,657.2,-6.3,436,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9477,-0.56,-97.3,674.1,-5.5,446,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9777,-0.56,-97.3,691.8,-6.2,456,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10076,-0.56,-97.3,712.2,-7.2,466,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10377,-0.56,-97.3,734.9,-7.8,476,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10676,-0.56,-97.3,759.4,-8.4,486,10680,0.00,1.83,0.00,0.000,4,0.000,0.060,1977,2576,3446,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10752,-0.56,-97.3,765.8,-8.6,489,10757,0.12,1.90,0.00,0.000,6,0.249,0.070,2003,1512,3445,0,0,0,0,0,0,14.28,14.55,28.83
$GC,11069,-0.57,-97.3,791.1,-7.9,500,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11367,-0.58,-97.3,812.6,-6.8,510,11370,0.00,1.85,0.00,0.000,4,0.000,0.060,1997,2574,3444,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11517,-0.61,-97.3,820.8,-6.0,515,11520,0.00,1.90,0.00,0.000,6,0.000,0.071,1997,1518,3443,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11817,-0.61,-97.3,836.8,-4.6,525,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12117,-0.61,-97.3,848.5,-3.8,535,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12417,-0.61,-97.3,860.1,-4.0,545,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12717,-0.61,-97.3,875.4,-5.5,555,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13016,-0.61,-97.3,896.1,-7.5,565,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1517,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13316,-0.61,-97.3,921.6,-8.9,575,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13617,-0.62,-97.3,950.4,-10.0,585,13621,0.00,1.88,0.00,0.000,4,0.000,0.063,1990,2579,3436,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13706,-0.63,-97.3,957.8,-9.9,588,13709,0.00,1.92,0.00,0.000,6,0.000,0.073,1989,1515,3436,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,13914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13914,begin apogee
$GC,13921,-0.18,0.0,980.4,-9.9,595,14044,0.50,0.00,114.55,2.119,6,0.207,0.000,2124,1398,3062,0,0,0,0,1,0,14.17,28.83,13.05
$STATE,14045,end apogee,CONTROL_FINISHED_OK
$STATE,14046,begin climb
$GC,14048,0.60,97.3,988.1,0.0,599,14186,0.82,2.05,126.85,2.125,4,0.127,0.103,2386,350,2666,0,0,0,0,1,0,14.09,13.95,12.98
$GC,14292,0.57,179.9,991.6,2.6,608,14412,0.00,1.85,109.10,2.056,6,0.000,0.048,2386,1411,2334,0,0,0,0,1,0,28.83,14.33,13.04
$GC,14712,0.52,179.9,960.1,8.8,622,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1411,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15012,0.47,179.9,932.3,9.5,632,15014,0.17,0.00,0.00,0.000,6,0.272,0.000,2347,1411,2322,0,0,0,0,0,0,14.35,28.83,28.83
$GC,15312,0.45,179.9,908.5,7.7,642,15314,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1411,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15612,0.44,179.9,886.8,7.0,652,15616,0.00,1.80,0.00,0.000,4,0.000,0.061,2347,2446,2319,0,0,0,0,0,0,28.83,14.55,28.83
$GC,15657,0.42,179.9,883.7,7.0,654,15660,0.00,1.88,0.00,0.000,6,0.000,0.080,2353,1405,2318,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,28074,end climb,SURFACE_DEPTH_REACHED
$STATE,28074,begin surface coast
$FINISH,0.4,1.025433
$STATE,28091,end surface coast,CONTROL_FINISHED_OK
$STATE,28091,begin surface
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$TM_FREEKB,5559776
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$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.325,138.375,651.525,0.000,0.000,0.000,0.000,398.425,1.000,0.000,16.398,3225.846,21810.617,907.008,2462.459,452.395,0.000,2298.714,0.000,1914.669,0.000,0.550,0.000
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$MEM,344820
$DATA_FILE_SIZE,43329,1178
$CAP_FILE_SIZE,247177,0
$CFSIZE,260034560,226058240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.077,166.3,1
$GPS,301112,211058,2429.980,-3718.500,70,0.8,70,-13.8