version: 66.11
glider: 191
mission: 5
dive: 260
start: 12 8 112 22 4 23
data:
$ID,191
$MISSION,5
$DIVE,260
$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,-4144.5708
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,081212,215204,2511.501,-3741.108,30,0.8,30,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.3
$GPS2,081212,220354,2511.505,-3741.048,16,1.3,16,-13.8
$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,297.1,105496,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-60.08,0.000,6,0.000,0.000,153,1513,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,3.9,-7.3,4,104,9.90,1.83,0.00,0.000,4,0.423,0.054,1983,2581,3463,1,0,0,0,0,0,13.91,14.57,28.83
$GC,327,-0.58,-97.3,30.9,-8.0,20,331,0.00,1.88,0.00,0.000,6,0.000,0.064,1983,1515,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,627,-0.54,-97.3,58.3,-8.8,40,629,0.12,0.00,0.00,0.000,6,0.255,0.000,2010,1515,3468,0,0,0,0,0,0,14.35,28.83,28.83
$GC,926,-0.54,-97.3,81.4,-7.7,60,930,0.00,1.90,0.00,0.000,4,0.000,0.088,2010,461,3465,0,0,0,0,0,0,28.83,14.44,28.83
$GC,972,-0.53,-97.3,84.8,-7.5,63,976,0.00,1.80,0.00,0.000,6,0.000,0.044,2005,1528,3465,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1271,-0.53,-97.3,107.4,-8.3,83,1275,0.00,1.92,0.00,0.000,4,0.000,0.087,2005,461,3469,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1332,-0.51,-97.3,112.4,-8.5,87,1335,0.00,1.77,0.00,0.000,6,0.000,0.044,1997,1520,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1632,-0.50,-97.3,133.4,-6.4,107,1634,0.12,0.00,0.00,0.000,6,0.250,0.000,2024,1522,3467,0,0,0,0,0,0,14.43,28.83,28.83
$GC,1933,-0.51,-97.3,149.4,-5.7,127,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1522,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.53,-97.3,168.9,-6.6,147,2235,0.00,1.80,0.00,0.000,4,0.000,0.054,2018,2577,3467,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2368,-0.55,-97.3,177.1,-6.0,156,2372,0.00,1.85,0.00,0.000,6,0.000,0.065,2019,1521,3467,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2668,-0.56,-97.3,195.2,-5.9,176,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-0.57,-97.3,213.9,-6.3,196,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.59,-97.3,232.8,-6.5,216,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.60,-97.3,251.7,-5.4,236,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3883,-0.62,-97.3,267.9,-5.6,246,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.63,-97.3,289.2,-7.7,256,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.65,-97.3,311.6,-7.2,266,4484,0.12,0.00,0.00,0.000,6,0.139,0.000,1969,1521,3464,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4783,-0.62,-97.3,336.6,-8.3,276,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.60,-97.3,359.9,-7.8,286,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5382,-0.58,-97.3,382.3,-7.2,296,5386,0.15,1.83,0.00,0.000,4,0.245,0.055,1997,2581,3461,0,0,0,0,0,0,14.45,14.69,28.83
$GC,5487,-0.58,-97.3,388.1,-5.5,300,5491,0.00,1.85,0.00,0.000,6,0.000,0.067,1997,1521,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5802,-0.58,-97.3,404.1,-5.0,311,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6102,-0.58,-97.3,419.7,-5.4,321,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,-0.58,-97.3,436.8,-5.8,331,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,-0.58,-97.3,454.4,-5.7,341,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-0.58,-97.3,474.6,-7.3,351,7006,0.00,1.90,0.00,0.000,4,0.000,0.090,1997,464,3457,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7061,-0.58,-97.3,478.3,-7.9,353,7065,0.00,1.77,0.00,0.000,6,0.000,0.044,1990,1523,3457,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7362,-0.58,-97.3,504.7,-8.3,363,7366,0.00,1.80,0.00,0.000,4,0.000,0.055,1981,2579,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7438,-0.58,-97.3,510.9,-8.3,366,7441,0.00,1.88,0.00,0.000,6,0.000,0.067,1982,1514,3456,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7752,-0.58,-97.3,535.7,-7.6,377,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1514,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8052,-0.58,-97.3,556.8,-7.0,387,8056,0.00,1.83,0.00,0.000,4,0.000,0.057,1974,2576,3454,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8156,-0.58,-97.3,563.9,-6.8,391,8161,0.12,1.88,0.00,0.000,6,0.245,0.068,1999,1512,3454,0,0,0,0,0,0,14.36,14.62,28.83
$GC,8474,-0.58,-97.3,583.7,-6.5,402,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1512,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,-0.58,-97.3,602.4,-6.0,412,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1512,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.58,-97.3,618.4,-5.0,422,9076,0.00,1.83,0.00,0.000,4,0.000,0.057,1995,2576,3451,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9177,-0.59,-97.3,623.6,-5.0,426,9181,0.00,1.88,0.00,0.000,6,0.000,0.069,1995,1516,3451,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9495,-0.59,-97.3,640.6,-5.4,437,9498,0.00,1.83,0.00,0.000,4,0.000,0.057,1987,2578,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9581,-0.59,-97.3,644.5,-5.2,440,9584,0.00,1.88,0.00,0.000,6,0.000,0.069,1987,1518,3449,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9882,-0.59,-97.3,663.8,-6.1,450,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10182,-0.59,-97.3,682.4,-6.2,460,10186,0.00,1.83,0.00,0.000,4,0.000,0.058,1979,2577,3447,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10346,-0.59,-97.3,693.3,-6.7,466,10350,0.00,1.88,0.00,0.000,6,0.000,0.070,1979,1521,3447,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10663,-0.59,-97.3,717.4,-8.2,477,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10961,-0.59,-97.3,745.6,-9.7,487,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,-0.59,-97.3,773.8,-9.2,497,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11561,-0.59,-97.3,799.2,-8.1,507,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,-0.59,-97.3,822.6,-7.7,517,11866,0.00,1.83,0.00,0.000,4,0.000,0.059,1971,2576,3443,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11982,-0.59,-97.3,830.8,-7.8,521,11985,0.00,1.90,0.00,0.000,6,0.000,0.072,1971,1516,3443,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12282,-0.58,-97.3,853.8,-7.0,531,12284,0.12,0.00,0.00,0.000,6,0.262,0.000,1997,1515,3441,0,0,0,0,0,0,14.35,28.83,28.83
$GC,12585,-0.59,-97.3,870.5,-5.4,541,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1515,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12882,-0.61,-97.3,884.9,-4.7,551,12886,0.00,1.85,0.00,0.000,4,0.000,0.059,1992,2576,3440,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12973,-0.62,-97.3,888.5,-4.7,554,12976,0.00,1.90,0.00,0.000,6,0.000,0.073,1992,1520,3439,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13271,-0.62,-97.3,906.7,-6.3,564,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13573,-0.62,-97.3,926.8,-6.8,574,13576,0.00,1.85,0.00,0.000,4,0.000,0.061,1984,2577,3437,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13691,-0.64,-97.3,933.9,-6.7,578,13695,0.00,1.90,0.00,0.000,6,0.000,0.073,1984,1521,3437,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13991,-0.64,-97.3,955.7,-6.8,588,13995,0.00,1.83,0.00,0.000,4,0.000,0.060,1976,2571,3436,0,0,0,0,0,0,28.83,14.40,28.83
$GC,14082,-0.64,-97.3,960.7,-6.6,591,14085,0.00,1.90,0.00,0.000,6,0.000,0.073,1977,1521,3434,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,14349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14349,begin apogee
$GC,14356,-0.18,0.0,980.5,-7.0,600,14480,0.55,0.00,116.20,2.141,6,0.212,0.000,2124,1389,3063,0,0,0,0,1,0,14.11,28.83,12.97
$STATE,14482,end apogee,CONTROL_FINISHED_OK
$STATE,14482,begin climb
$GC,14485,0.60,97.3,985.2,0.0,604,14624,0.82,2.03,127.30,2.154,4,0.125,0.102,2386,350,2667,0,0,0,0,1,0,14.08,13.95,12.93
$GC,14847,0.55,127.4,980.4,4.8,616,14907,0.00,1.80,49.95,1.648,6,0.000,0.049,2386,1405,2544,0,0,0,0,1,0,28.83,14.54,13.19
$GC,15208,0.50,134.7,959.4,5.7,628,15244,0.15,1.98,26.10,1.019,4,0.280,0.103,2361,351,2511,0,0,0,0,1,0,14.33,14.47,13.43
$GC,15313,0.46,151.3,953.7,5.4,632,15357,0.00,1.80,34.38,1.307,6,0.000,0.050,2361,1398,2446,0,0,0,0,1,0,28.83,14.57,13.31
$GC,15658,0.44,163.3,935.1,5.5,643,15701,0.00,1.83,30.85,1.191,4,0.000,0.061,2361,2445,2397,0,0,0,0,1,0,28.83,14.52,13.40
$GC,15762,0.42,167.8,929.8,5.9,646,15779,0.17,1.88,5.05,2.022,6,0.265,0.077,2331,1403,2377,0,0,0,0,0,0,14.30,14.50,13.39
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$STATE,28555,end climb,SURFACE_DEPTH_REACHED
$STATE,28556,begin surface coast
$FINISH,-0.0,1.025448
$STATE,28571,end surface coast,CONTROL_FINISHED_OK
$STATE,28571,begin surface
$SM_CCo,28650,0.00,0.000,0,0,1638,349.31
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$IRIDIUM_FIX,2503.20,-3739.34,081212,131334
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.77
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.80
$XPDR_PINGS,4
$SC_FREEKB,7670272
$TM_FREEKB,5300480
$24V_AH,12.9,123.922
$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,19.800,115.725,700.375,0.000,0.000,0.000,0.000,398.675,1.000,0.000,17.773,3221.335,22235.250,943.642,2458.583,487.833,0.000,2337.659,0.000,1912.437,0.000,0.549,0.000
$DEVICE_MAMPS,423.045,110.160,2154.240,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28618.000,6715.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.235,13.025,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,43332,1179
$CAP_FILE_SIZE,246144,0
$CFSIZE,260034560,222707712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.066,167.6,1
$GPS,091212,060304,2511.310,-3744.103,28,1.3,28,-13.8