version: 66.11
glider: 191
mission: 5
dive: 510
start: 3 3 113 10 19 35
data:
$ID,191
$MISSION,5
$DIVE,510
$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,-5246.4395
$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,22
$R_STBD_OVSHOOT,36
$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,10
$MINV_10V,10
$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,1
$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
$GPS1,030313,100935,2415.947,-3743.524,35,0.9,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.1
$GPS2,030313,101905,2415.913,-3743.527,20,1.0,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,67.6,55657,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.42,0.000,2,0.000,0.000,157,1500,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.5,-6.6,4,106,9.93,1.92,-2.62,0.000,4,0.408,0.110,1997,461,3461,1,0,0,0,0,0,13.51,14.31,14.71
$GC,296,-0.58,-97.3,28.5,-10.3,18,300,0.00,1.83,0.00,0.000,6,0.000,0.040,1992,1527,3462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,596,-0.57,-97.3,54.5,-8.2,38,600,0.00,2.00,0.00,0.000,4,0.000,0.083,1992,457,3462,0,0,0,0,0,0,28.83,14.09,28.83
$GC,657,-0.54,-97.3,59.9,-9.0,42,662,0.12,1.83,0.00,0.000,6,0.249,0.041,2009,1522,3462,0,0,0,0,0,0,13.93,14.28,28.83
$GC,957,-0.54,-97.3,83.4,-8.2,62,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.55,-97.3,105.5,-7.7,82,1260,0.00,1.98,0.00,0.000,4,0.000,0.080,2009,457,3462,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1422,-0.55,-97.3,118.1,-7.3,93,1426,0.00,1.83,0.00,0.000,6,0.000,0.040,2004,1523,3460,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1720,-0.55,-97.3,139.3,-7.5,113,1724,0.00,1.98,0.00,0.000,4,0.000,0.080,2004,461,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1797,-0.55,-97.3,145.4,-8.4,118,1801,0.00,1.83,0.00,0.000,6,0.000,0.039,1996,1528,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2096,-0.55,-97.3,169.5,-8.2,138,2100,0.00,1.98,0.00,0.000,4,0.000,0.083,1996,464,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2157,-0.55,-97.3,175.1,-9.1,142,2161,0.00,1.80,0.00,0.000,6,0.000,0.040,1988,1519,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2456,-0.55,-97.3,200.5,-8.2,162,2460,0.00,1.98,0.00,0.000,4,0.000,0.081,1988,458,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2518,-0.54,-97.3,205.5,-8.4,166,2522,0.15,1.83,0.00,0.000,6,0.231,0.039,2012,1527,3463,0,0,0,0,0,0,13.76,14.25,28.83
$GC,2818,-0.59,-97.3,222.8,-4.9,186,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1527,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-0.65,-97.3,236.7,-5.1,206,3121,0.00,1.83,0.00,0.000,4,0.000,0.051,2008,2577,3462,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3253,-0.71,-97.3,244.3,-5.8,215,3257,0.15,1.92,0.00,0.000,6,0.116,0.060,1948,1509,3463,0,0,0,0,0,0,14.16,14.16,28.83
$GC,3552,-0.68,-97.3,269.7,-9.4,228,3555,0.00,1.92,0.00,0.000,4,0.000,0.080,1947,468,3463,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3598,-0.64,-97.3,274.5,-10.2,230,3602,0.17,1.80,0.00,0.000,6,0.243,0.039,1976,1522,3463,0,0,0,0,0,0,13.65,14.23,28.83
$GC,3915,-0.64,-97.3,303.5,-9.0,241,3918,0.00,1.95,0.00,0.000,4,0.000,0.080,1976,467,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3972,-0.63,-97.3,307.6,-8.9,243,3976,0.00,1.80,0.00,0.000,6,0.000,0.039,1971,1522,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4274,-0.62,-97.3,330.4,-6.4,253,4277,0.00,1.98,0.00,0.000,4,0.000,0.081,1971,461,3463,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4362,-0.60,-97.3,335.6,-6.8,256,4366,0.15,1.83,0.00,0.000,6,0.237,0.039,1995,1528,3463,0,0,0,0,0,0,13.83,14.30,28.83
$GC,4667,-0.61,-97.3,353.1,-5.7,266,4674,0.00,1.98,0.00,0.000,4,0.000,0.083,1995,462,3463,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4722,-0.61,-97.3,357.1,-6.2,268,4726,0.00,1.80,0.00,0.000,6,0.000,0.039,1990,1519,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5038,-0.61,-97.3,379.4,-7.4,279,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.61,-97.3,403.7,-8.1,289,5341,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,468,3463,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5473,-0.61,-97.3,415.4,-8.8,294,5476,0.00,1.83,0.00,0.000,6,0.000,0.040,1983,1531,3462,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5789,-0.61,-97.3,438.3,-6.8,305,5792,0.00,2.00,0.00,0.000,4,0.000,0.083,1983,464,3461,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5907,-0.60,-97.3,445.6,-7.1,309,5910,0.00,1.83,0.00,0.000,6,0.000,0.040,1975,1525,3461,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6208,-0.60,-97.3,464.8,-6.1,319,6212,0.00,2.00,0.00,0.000,4,0.000,0.083,1975,461,3459,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6313,-0.58,-97.3,471.7,-6.7,323,6317,0.15,1.83,0.00,0.000,6,0.238,0.040,1999,1523,3459,0,0,0,0,0,0,13.79,14.28,28.83
$GC,6631,-0.64,-97.3,490.3,-6.1,334,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1525,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6928,-0.69,-97.3,509.8,-6.8,344,6932,0.00,1.85,0.00,0.000,4,0.000,0.052,1994,2577,3457,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7064,-0.75,-97.3,519.4,-7.1,349,7069,0.15,1.92,0.00,0.000,6,0.118,0.062,1936,1519,3457,0,0,0,0,0,0,14.09,14.09,28.83
$GC,7382,-0.71,-97.3,546.1,-8.7,360,7389,0.00,1.98,0.00,0.000,4,0.000,0.083,1936,462,3456,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7528,-0.66,-97.3,560.5,-9.7,365,7532,0.20,1.83,0.00,0.000,6,0.245,0.041,1970,1521,3455,0,0,0,0,0,0,13.59,14.13,28.83
$GC,7846,-0.66,-97.3,584.7,-7.7,376,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8143,-0.66,-97.3,609.0,-8.2,386,8147,0.00,1.98,0.00,0.000,4,0.000,0.083,1970,467,3454,0,0,0,0,0,0,28.83,13.91,28.83
$GC,8293,-0.64,-97.3,621.5,-9.3,391,8297,0.00,1.83,0.00,0.000,6,0.000,0.042,1965,1520,3453,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8593,-0.64,-97.3,648.4,-8.3,401,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8894,-0.64,-97.3,672.0,-7.7,411,8897,0.00,2.00,0.00,0.000,4,0.000,0.084,1965,462,3452,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9012,-0.62,-97.3,680.4,-8.0,415,9016,0.12,1.85,0.00,0.000,6,0.253,0.042,1981,1523,3451,0,0,0,0,0,0,13.74,14.19,28.83
$GC,9317,-0.62,-97.3,699.4,-5.7,425,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1524,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-0.67,-97.3,717.7,-6.3,435,9617,0.00,2.00,0.00,0.000,4,0.000,0.086,1981,467,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9688,-0.71,-97.3,722.6,-6.5,438,9692,0.00,1.85,0.00,0.000,6,0.000,0.042,1977,1522,3448,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10007,-0.75,-97.3,743.0,-6.6,449,10014,0.00,2.00,0.00,0.000,4,0.000,0.085,1978,467,3447,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10167,-0.77,-97.3,753.0,-6.8,454,10171,0.00,1.85,0.00,0.000,6,0.000,0.043,1972,1526,3446,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10469,-0.80,-97.3,772.6,-6.1,464,10474,0.12,2.03,0.00,0.000,4,0.144,0.085,1927,464,3446,0,0,0,0,0,0,14.40,13.84,28.83
$GC,10604,-0.76,-97.3,783.2,-8.1,469,10607,0.00,1.85,0.00,0.000,6,0.000,0.044,1919,1521,3445,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10922,-0.71,-97.3,806.6,-7.4,480,10924,0.17,0.00,0.00,0.000,6,0.259,0.000,1955,1522,3444,0,0,0,0,0,0,13.71,28.83,28.83
$GC,11218,-0.70,-97.3,824.8,-6.1,490,11222,0.00,2.03,0.00,0.000,4,0.000,0.086,1955,463,3443,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11325,-0.68,-97.3,832.2,-7.1,494,11328,0.00,1.85,0.00,0.000,6,0.000,0.043,1950,1517,3443,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11641,-0.66,-97.3,853.7,-7.1,505,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11939,-0.64,-97.3,878.6,-8.8,515,11944,0.12,2.03,0.00,0.000,4,0.260,0.086,1975,466,3441,0,0,0,0,0,0,13.89,13.90,28.83
$GC,11997,-0.63,-97.3,882.6,-9.0,517,12001,0.00,1.85,0.00,0.000,6,0.000,0.044,1969,1522,3440,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12298,-0.63,-97.3,911.2,-9.4,527,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1524,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12599,-0.63,-97.3,938.6,-8.9,537,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12898,-0.63,-97.3,960.8,-6.7,547,12901,0.00,2.03,0.00,0.000,4,0.000,0.088,1970,468,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,13004,-0.63,-97.3,968.0,-6.8,551,13007,0.00,1.88,0.00,0.000,6,0.000,0.046,1962,1525,3436,0,0,0,0,0,0,28.83,14.10,28.83
$STATE,13224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13224,begin apogee
$GC,13232,-0.18,0.0,980.6,-5.4,559,13356,0.65,0.00,114.68,1.826,6,0.211,0.000,2127,1399,3062,0,0,0,0,1,0,13.78,28.83,13.00
$STATE,13357,end apogee,CONTROL_FINISHED_OK
$STATE,13357,begin climb
$GC,13362,0.60,97.3,983.8,0.0,563,13499,0.80,1.92,125.28,1.815,4,0.104,0.055,2380,2462,2665,0,0,0,0,1,0,13.96,14.14,13.05
$GC,13722,0.56,130.1,977.3,4.7,575,13785,0.00,1.95,52.95,1.506,6,0.000,0.070,2387,1399,2531,0,0,0,0,1,0,28.83,14.28,13.14
$GC,14083,0.51,147.6,956.7,5.3,587,14129,0.15,2.00,35.42,1.246,4,0.287,0.096,2364,344,2460,0,0,0,0,1,0,14.04,14.34,13.21
$GC,14203,0.48,174.0,951.6,4.9,590,14260,0.00,1.85,47.03,1.438,6,0.000,0.045,2364,1412,2351,0,0,0,0,1,0,28.83,14.47,13.11
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$STATE,27072,end climb,SURFACE_DEPTH_REACHED
$STATE,27072,begin surface coast
$FINISH,0.4,1.025689
$STATE,27090,end surface coast,CONTROL_FINISHED_OK
$STATE,27091,begin surface
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$TCM_TEMP,25.20
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$10V_AH,12.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.925,176.175,748.650,0.000,0.000,0.000,0.000,287.375,1.500,0.000,20.934,3206.388,20420.469,1084.056,2283.640,730.672,0.000,2381.958,0.000,1910.182,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.248,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43312,1124
$CAP_FILE_SIZE,250350,0
$CFSIZE,260034560,190042112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,16,1,0
$CURRENT,0.048,254.3,1
$GPS,030313,175353,2417.195,-3742.350,42,0.8,42,-14.0