version: 66.11
glider: 191
mission: 5
dive: 249
start: 12 5 112 6 11 53
data:
$ID,191
$MISSION,5
$DIVE,249
$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,-4129.9746
$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,41
$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
$GPS1,051212,060006,2459.566,-3718.897,35,1.0,35,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.2
$GPS2,051212,061123,2459.575,-3718.945,15,1.5,15,-13.7
$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,18.8,23078,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-61.72,0.000,2,0.000,0.000,154,1515,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.5,-7.4,4,107,9.82,1.83,-1.58,0.000,4,0.422,0.083,1983,2575,3461,1,0,0,0,0,0,13.90,14.58,14.78
$GC,328,-0.58,-97.3,27.4,-7.4,20,332,0.00,1.88,0.00,0.000,6,0.000,0.067,1983,1520,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,628,-0.54,-97.3,53.4,-8.3,40,632,0.12,1.80,0.00,0.000,4,0.257,0.053,2004,2575,3463,0,0,0,0,0,0,14.37,14.52,28.83
$GC,809,-0.54,-97.3,67.6,-7.9,52,813,0.00,1.88,0.00,0.000,6,0.000,0.065,2004,1515,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1107,-0.54,-97.3,90.5,-6.7,72,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1407,-0.54,-97.3,110.9,-6.9,92,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.54,-97.3,129.2,-5.6,112,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1514,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.54,-97.3,146.9,-6.5,132,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2307,-0.54,-97.3,168.0,-7.0,152,2311,0.00,1.80,0.00,0.000,4,0.000,0.054,1996,2576,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2382,-0.54,-97.3,173.3,-7.1,157,2386,0.00,1.88,0.00,0.000,6,0.000,0.065,1996,1509,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2682,-0.54,-97.3,197.5,-8.3,177,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1509,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-0.54,-97.3,220.1,-7.2,197,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,-0.54,-97.3,241.5,-7.1,217,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3585,-0.54,-97.3,263.1,-7.2,231,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1509,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.54,-97.3,284.6,-7.2,241,3886,0.00,1.83,0.00,0.000,4,0.000,0.055,1988,2579,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4002,-0.54,-97.3,292.2,-7.2,245,4006,0.00,1.85,0.00,0.000,6,0.000,0.067,1988,1522,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4303,-0.53,-97.3,315.7,-7.3,255,4307,0.00,1.80,0.00,0.000,4,0.000,0.054,1981,2580,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4391,-0.53,-97.3,321.0,-7.1,258,4396,0.15,1.85,0.00,0.000,6,0.233,0.066,2014,1520,3462,0,0,0,0,0,0,14.40,14.65,28.83
$GC,4695,-0.54,-97.3,339.7,-5.8,268,4699,0.00,1.80,0.00,0.000,4,0.000,0.054,2009,2579,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4782,-0.56,-97.3,343.9,-5.7,271,4786,0.00,1.85,0.00,0.000,6,0.000,0.066,2009,1520,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5083,-0.56,-97.3,362.5,-6.0,281,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5383,-0.56,-97.3,380.8,-6.0,291,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5683,-0.56,-97.3,397.6,-5.5,301,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.56,-97.3,413.6,-5.3,311,5986,0.00,1.80,0.00,0.000,4,0.000,0.055,2001,2576,3457,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6073,-0.57,-97.3,417.7,-5.4,314,6077,0.00,1.85,0.00,0.000,6,0.000,0.067,2001,1520,3458,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6372,-0.57,-97.3,437.0,-6.7,324,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,-0.57,-97.3,459.7,-8.0,334,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,-0.57,-97.3,484.5,-8.3,344,6977,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2577,3455,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7091,-0.57,-97.3,493.1,-8.2,348,7095,0.00,1.88,0.00,0.000,6,0.000,0.068,1994,1512,3455,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7393,-0.57,-97.3,517.2,-7.2,358,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1511,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,-0.57,-97.3,534.7,-5.2,368,7696,0.00,1.83,0.00,0.000,4,0.000,0.057,1986,2576,3453,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7842,-0.57,-97.3,541.6,-5.0,373,7845,0.00,1.88,0.00,0.000,6,0.000,0.069,1986,1515,3452,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8143,-0.57,-97.3,560.5,-6.3,383,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,-0.57,-97.3,582.7,-8.0,393,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1514,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,-0.57,-97.3,609.3,-9.1,403,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1515,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9042,-0.57,-97.3,635.3,-8.4,413,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,-0.57,-97.3,659.1,-7.6,423,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9643,-0.57,-97.3,678.6,-6.1,433,9647,0.00,1.83,0.00,0.000,4,0.000,0.057,1978,2574,3447,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9732,-0.57,-97.3,682.7,-5.6,436,9736,0.00,1.88,0.00,0.000,6,0.000,0.070,1978,1520,3446,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10035,-0.56,-97.3,698.4,-4.6,446,10040,0.12,1.83,0.00,0.000,4,0.259,0.058,1999,2578,3445,0,0,0,0,0,0,14.39,14.59,28.83
$GC,10122,-0.56,-97.3,701.0,-3.7,449,10126,0.00,1.90,0.00,0.000,6,0.000,0.069,1998,1510,3445,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10424,-0.56,-97.3,711.8,-3.6,459,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1509,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10723,-0.56,-97.3,726.4,-5.5,469,10727,0.00,1.85,0.00,0.000,4,0.000,0.057,1991,2578,3443,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10813,-0.57,-97.3,730.8,-5.8,472,10816,0.00,1.90,0.00,0.000,6,0.000,0.070,1991,1512,3443,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11113,-0.57,-97.3,755.5,-8.7,482,11117,0.00,1.92,0.00,0.000,4,0.000,0.094,1991,462,3442,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11172,-0.57,-97.3,760.1,-9.5,484,11175,0.00,1.80,0.00,0.000,6,0.000,0.047,1983,1518,3441,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11473,-0.57,-97.3,792.4,-10.4,494,11477,0.00,1.83,0.00,0.000,4,0.000,0.059,1975,2577,3441,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11608,-0.57,-97.3,806.5,-10.5,499,11611,0.00,1.90,0.00,0.000,6,0.000,0.070,1975,1511,3440,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11923,-0.57,-97.3,837.3,-9.2,510,11927,0.00,1.85,0.00,0.000,4,0.000,0.060,1967,2577,3440,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12012,-0.57,-97.3,844.1,-9.0,513,12016,0.15,1.90,0.00,0.000,6,0.245,0.072,2000,1514,3439,0,0,0,0,0,0,14.14,14.45,28.83
$GC,12315,-0.59,-97.3,866.2,-6.5,523,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12614,-0.60,-97.3,882.7,-4.9,533,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12914,-0.61,-97.3,894.8,-3.7,543,12917,0.00,1.85,0.00,0.000,4,0.000,0.060,1994,2576,3437,0,0,0,0,0,0,28.83,14.51,28.83
$GC,13004,-0.63,-97.3,897.3,-3.5,546,13007,0.00,1.90,0.00,0.000,6,0.000,0.072,1994,1519,3436,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13303,-0.63,-97.3,908.6,-3.6,556,13304,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13604,-0.64,-97.3,922.4,-5.0,566,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13903,-0.64,-97.3,940.4,-6.5,576,13906,0.00,1.85,0.00,0.000,4,0.000,0.061,1986,2576,3434,0,0,0,0,0,0,28.83,14.48,28.83
$GC,14053,-0.66,-97.3,949.7,-7.0,581,14057,0.00,1.90,0.00,0.000,6,0.000,0.073,1986,1523,3433,0,0,0,0,0,0,28.83,14.45,28.83
$GC,14353,-0.66,-97.3,973.4,-7.8,591,14356,0.00,1.85,0.00,0.000,4,0.000,0.060,1979,2578,3433,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14442,-0.66,-97.3,979.3,-7.9,594,14445,0.00,1.92,0.00,0.000,6,0.000,0.073,1979,1513,3432,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,14471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14471,begin apogee
$GC,14478,-0.18,0.0,983.1,-8.1,595,14601,0.55,0.00,114.50,2.121,6,0.210,0.000,2126,1395,3064,0,0,0,0,1,0,14.14,28.83,13.02
$STATE,14603,end apogee,CONTROL_FINISHED_OK
$STATE,14603,begin climb
$GC,14605,0.60,97.3,989.4,0.0,599,14745,0.82,2.05,128.32,2.140,4,0.125,0.103,2387,349,2666,0,0,0,0,1,0,14.08,13.95,12.95
$GC,14967,0.56,140.3,987.3,4.2,611,15043,0.00,1.83,64.22,1.824,6,0.000,0.050,2387,1408,2491,0,0,0,0,1,0,28.83,14.52,13.16
$GC,15343,0.51,140.3,963.6,6.8,624,15345,0.15,0.00,0.00,0.000,6,0.275,0.000,2356,1409,2485,0,0,0,0,0,0,14.32,28.83,28.83
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$STATE,27595,end climb,SURFACE_DEPTH_REACHED
$STATE,27596,begin surface coast
$FINISH,0.0,1.025494
$STATE,27612,end surface coast,CONTROL_FINISHED_OK
$STATE,27612,begin surface
$SM_CCo,27692,0.00,0.000,0,0,1687,337.29
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$IRIDIUM_FIX,2446.56,-3718.33,041212,222227
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.32
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,14
$SC_FREEKB,7674528
$TM_FREEKB,5415360
$24V_AH,12.9,118.685
$10V_AH,12.7,0.000
$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,19.675,119.650,635.850,0.000,0.000,0.000,0.000,369.875,3.500,0.000,17.167,3116.240,21524.135,867.018,2375.318,475.260,0.000,2203.842,0.000,1858.580,0.000,0.549,0.000
$DEVICE_MAMPS,422.280,117.045,2140.470,0.000,0.000,0.000,0.000,179.010,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27658.000,6355.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.286,13.003,0.000,0.000
$MEM,344792
$DATA_FILE_SIZE,39979,1132
$CAP_FILE_SIZE,238136,0
$CFSIZE,260034560,224198656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.063,208.0,1
$GPS,051212,135434,2501.772,-3718.933,27,0.9,27,-13.7