version: 66.11
glider: 191
mission: 5
dive: 21
start: 9 21 112 17 47 27
data:
$ID,191
$MISSION,5
$DIVE,21
$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,500
$T_MISSION,550
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$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,350
$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,-3681.5862
$T_RSLEEP,2
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,34
$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
$GPS1,210912,173704,2400.142,-3801.842,40,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-59.3
$GPS2,210912,174659,2400.124,-3801.835,15,0.8,16,-14.1
$SPEED_LIMITS,0.113,0.187
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-3802.000
$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,5.9,133114,-14.5,-6.533,-19.23
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.64,-97.3,0.0,0.0,0,84,0.00,0.00,-60.28,0.000,6,0.000,0.000,155,1493,3460,0,0,0,0,0,0,28.83,28.83,14.95
$GC,86,-0.64,-97.3,4.2,-9.3,4,103,9.75,1.77,0.00,0.000,4,0.457,0.059,1965,2562,3463,0,0,0,0,0,0,14.53,14.74,28.83
$GC,214,-0.56,-97.3,28.2,-15.8,12,220,0.17,1.80,0.00,0.000,6,0.280,0.074,2003,1496,3465,0,0,0,0,0,0,14.67,14.78,28.83
$GC,527,-0.51,-97.3,68.0,-10.4,33,532,0.00,1.83,0.00,0.000,4,0.000,0.096,2003,439,3466,0,0,0,0,0,0,28.83,14.82,28.83
$GC,728,-0.46,-97.3,90.4,-11.1,46,734,0.17,1.73,0.00,0.000,6,0.269,0.054,2043,1497,3469,0,0,0,0,0,0,14.77,14.89,28.83
$GC,1040,-0.46,-97.3,115.9,-8.5,67,1046,0.00,1.75,0.00,0.000,4,0.000,0.065,2031,2566,3471,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1107,-0.46,-97.3,121.2,-8.5,71,1112,0.00,1.80,0.00,0.000,6,0.000,0.074,2032,1492,3471,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1418,-0.46,-97.3,148.1,-8.4,92,1424,0.00,1.80,0.00,0.000,4,0.000,0.098,2032,444,3471,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1496,-0.44,-97.3,155.2,-9.2,97,1501,0.00,1.73,0.00,0.000,6,0.000,0.054,2024,1510,3472,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1813,-0.44,-97.3,182.0,-8.0,118,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1511,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,-0.44,-97.3,205.1,-7.3,138,2118,0.00,1.85,0.00,0.000,4,0.000,0.097,2024,437,3472,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2184,-0.42,-97.3,210.3,-8.4,142,2191,0.15,1.77,0.00,0.000,6,0.255,0.055,2050,1525,3472,0,0,0,0,0,0,14.85,14.96,28.83
$GC,2490,-0.44,-97.3,225.4,-3.7,163,2496,0.00,1.88,0.00,0.000,4,0.000,0.097,2050,438,3470,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2558,-0.44,-97.3,228.1,-4.2,167,2563,0.00,1.73,0.00,0.000,6,0.000,0.055,2044,1504,3470,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2870,-0.46,-97.3,242.1,-5.0,188,2875,0.00,1.83,0.00,0.000,4,0.000,0.098,2044,446,3470,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2963,-0.46,-97.3,247.9,-6.5,194,2968,0.00,1.70,0.00,0.000,6,0.000,0.056,2037,1499,3470,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3281,-0.47,-97.3,271.7,-8.5,206,3286,0.00,1.73,0.00,0.000,4,0.000,0.067,2033,2564,3469,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3332,-0.48,-97.3,274.6,-8.6,207,3337,0.00,1.77,0.00,0.000,6,0.000,0.076,2029,1499,3468,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3644,-0.48,-97.3,307.1,-9.5,218,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1500,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3944,-0.48,-97.3,332.5,-8.1,228,3949,0.00,1.80,0.00,0.000,4,0.000,0.098,2029,444,3465,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4024,-0.48,-97.3,337.8,-8.3,230,4030,0.00,1.75,0.00,0.000,6,0.000,0.057,2021,1497,3465,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4337,-0.48,-97.3,361.2,-6.3,241,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1499,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-0.48,-97.3,378.1,-5.6,251,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1499,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4936,-0.48,-97.3,397.4,-7.1,261,4941,0.00,1.83,0.00,0.000,4,0.000,0.099,2021,437,3461,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5008,-0.48,-97.3,402.4,-7.7,263,5013,0.00,1.73,0.00,0.000,6,0.000,0.057,2013,1503,3461,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5329,-0.48,-97.3,430.1,-8.5,274,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1504,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5630,-0.48,-97.3,453.7,-7.4,284,5635,0.00,1.83,0.00,0.000,4,0.000,0.099,2013,444,3458,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5696,-0.47,-97.3,458.9,-7.7,286,5701,0.12,1.73,0.00,0.000,6,0.265,0.058,2032,1504,3458,0,0,0,0,0,0,14.92,15.02,28.83
$GC,6025,-0.49,-97.3,479.9,-6.1,297,6030,0.00,1.73,0.00,0.000,4,0.000,0.068,2027,2562,3457,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6102,-0.50,-97.3,483.8,-6.2,299,6107,0.00,1.77,0.00,0.000,6,0.000,0.077,2027,1499,3457,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6420,-0.52,-97.3,506.5,-6.8,310,6425,0.00,1.80,0.00,0.000,4,0.000,0.099,2027,446,3454,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6501,-0.52,-97.3,511.4,-7.5,312,6507,0.00,1.75,0.00,0.000,6,0.000,0.057,2020,1498,3454,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6814,-0.52,-97.3,535.5,-6.9,323,6819,0.00,1.83,0.00,0.000,4,0.000,0.100,2019,440,3454,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6840,-0.52,-97.3,535.5,-6.9,323,6846,0.00,1.73,0.00,0.000,6,0.000,0.059,2011,1499,3453,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7147,-0.52,-97.3,556.7,-6.1,334,7152,0.00,1.83,0.00,0.000,4,0.000,0.101,2011,442,3452,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7212,-0.52,-97.3,561.2,-6.6,336,7218,0.00,1.73,0.00,0.000,6,0.000,0.059,2003,1503,3451,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7540,-0.52,-97.3,584.4,-7.1,347,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1503,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,-0.52,-97.3,606.8,-7.7,357,7845,0.00,1.83,0.00,0.000,4,0.000,0.103,2003,446,3449,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7891,-0.52,-97.3,609.5,-8.0,358,7896,0.00,1.73,0.00,0.000,6,0.000,0.060,1995,1504,3449,0,0,0,0,0,0,28.83,15.02,28.83
$GC,8204,-0.51,-97.3,637.8,-8.6,369,8205,0.12,0.00,0.00,0.000,6,0.271,0.000,2022,1505,3448,0,0,0,0,0,0,14.91,28.83,28.83
$GC,8503,-0.52,-97.3,659.6,-7.1,379,8508,0.00,1.73,0.00,0.000,4,0.000,0.070,2017,2558,3447,0,0,0,0,0,0,28.83,15.01,28.83
$GC,8544,-0.53,-97.3,661.9,-7.0,380,8549,0.00,1.77,0.00,0.000,6,0.000,0.080,2017,1499,3447,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8867,-0.53,-97.3,685.1,-6.8,391,8872,0.00,1.83,0.00,0.000,4,0.000,0.103,2017,442,3446,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8923,-0.53,-97.3,687.4,-6.9,392,8930,0.00,1.73,0.00,0.000,6,0.000,0.060,2009,1496,3446,0,0,0,0,0,0,28.83,15.02,28.83
$GC,9229,-0.53,-97.3,709.8,-6.8,403,9234,0.00,1.83,0.00,0.000,4,0.000,0.104,2009,446,3444,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9340,-0.53,-97.3,717.1,-7.7,406,9345,0.00,1.73,0.00,0.000,6,0.000,0.059,2001,1504,3444,0,0,0,0,0,0,28.83,15.01,28.83
$GC,9653,-0.53,-97.3,741.2,-7.3,417,9658,0.00,1.85,0.00,0.000,4,0.000,0.104,1997,441,3446,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9755,-0.52,-97.3,749.3,-8.6,420,9760,0.00,1.73,0.00,0.000,6,0.000,0.060,1993,1498,3443,0,0,0,0,0,0,28.83,15.01,28.83
$GC,10077,-0.52,-97.3,778.4,-8.8,431,10082,0.00,1.83,0.00,0.000,4,0.000,0.105,1993,444,3442,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10139,-0.51,-97.3,784.4,-9.1,433,10145,0.15,1.73,0.00,0.000,6,0.267,0.061,2019,1497,3441,0,0,0,0,0,0,14.88,15.00,28.83
$GC,10472,-0.52,-97.3,808.0,-6.9,444,10477,0.00,1.85,0.00,0.000,4,0.000,0.106,2019,441,3440,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10524,-0.53,-97.3,810.3,-6.9,445,10529,0.00,1.73,0.00,0.000,6,0.000,0.062,2013,1505,3440,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10837,-0.55,-97.3,832.2,-6.6,456,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1510,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11137,-0.56,-97.3,851.9,-6.6,466,11142,0.00,1.85,0.00,0.000,4,0.000,0.107,2013,446,3438,0,0,0,0,0,0,28.83,14.95,28.83
$GC,11248,-0.56,-97.3,858.8,-7.3,469,11253,0.00,1.73,0.00,0.000,6,0.000,0.062,2005,1498,3437,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11560,-0.56,-97.3,881.9,-6.7,480,11565,0.00,1.85,0.00,0.000,4,0.000,0.107,2006,441,3437,0,0,0,0,0,0,28.83,14.94,28.83
$GC,11616,-0.56,-97.3,884.3,-6.8,481,11623,0.00,1.75,0.00,0.000,6,0.000,0.063,1998,1506,3436,0,0,0,0,0,0,28.83,14.98,28.83
$GC,11923,-0.56,-97.3,904.8,-5.8,492,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1507,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,-0.56,-97.3,924.2,-6.8,502,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1507,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12522,-0.56,-97.3,946.2,-7.6,512,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1507,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12823,-0.56,-97.3,970.3,-8.4,522,12828,0.00,1.75,0.00,0.000,4,0.000,0.073,1989,2564,3433,0,0,0,0,0,0,28.83,14.97,28.83
$GC,12868,-0.56,-97.3,973.0,-8.4,523,12874,0.00,1.83,0.00,0.000,6,0.000,0.086,1989,1493,3433,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,12944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12944,begin apogee
$GC,12948,-0.18,0.0,980.4,-8.2,526,13072,0.47,0.00,113.50,2.370,6,0.234,0.000,2122,1494,3063,0,0,0,0,1,0,14.83,28.83,13.21
$STATE,13073,end apogee,CONTROL_FINISHED_OK
$STATE,13073,begin climb
$GC,13074,0.64,97.3,984.8,0.0,530,13217,0.90,1.98,129.05,2.433,4,0.155,0.069,2389,2561,2666,0,0,0,0,1,0,14.11,14.02,13.15
$GC,13270,0.62,172.3,980.9,3.1,536,13385,0.00,1.90,102.53,2.319,6,0.000,0.085,2397,1499,2359,0,0,0,0,1,0,28.83,14.32,13.16
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$STATE,25472,end climb,SURFACE_DEPTH_REACHED
$STATE,25472,begin surface coast
$FINISH,-0.1,1.024388
$STATE,25488,end surface coast,CONTROL_FINISHED_OK
$STATE,25489,begin surface
$SM_CCo,25503,47.10,0.764,0,0,1634,350.04
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$IRIDIUM_FIX,2347.41,-3800.56,210912,101009
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.80
$XPDR_PINGS,1
$SC_FREEKB,7762080
$TM_FREEKB,7726368
$24V_AH,13.2,15.772
$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,19.375,157.850,566.275,47.100,0.000,0.000,0.000,379.925,0.250,0.000,16.805,3495.445,18582.008,809.077,3076.200,174.740,0.000,2583.194,0.000,2492.364,0.000,0.549,0.000
$DEVICE_MAMPS,457.470,112.455,2433.465,764.235,0.000,0.000,0.000,168.300,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25512.000,6164.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.064,13.102,0.000,0.000
$MEM,345004
$DATA_FILE_SIZE,36629,1045
$CAP_FILE_SIZE,255752,0
$CFSIZE,260034560,254869504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$CURRENT,0.031, 36.6,1
$GPS,220912,005435,2403.417,-3802.056,39,0.9,39,-14.1