version: 66.11
glider: 191
mission: 5
dive: 27
start: 9 23 112 16 32 21
data:
$ID,191
$MISSION,5
$DIVE,27
$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,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,-3689.4204
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,230912,162204,2422.491,-3802.369,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-58.9
$GPS2,230912,163153,2422.455,-3802.402,18,1.0,19,-14.0
$SPEED_LIMITS,0.105,0.182
$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,12.0,91761,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-61.67,0.000,2,0.000,0.000,156,1494,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.60,-97.3,3.6,-7.3,4,103,9.30,1.77,0.00,0.000,4,0.432,0.055,1980,2565,3461,0,0,0,0,0,0,14.53,14.74,28.83
$GC,195,-0.52,-97.3,22.7,-13.7,11,202,0.17,1.80,0.00,0.000,6,0.262,0.073,2019,1498,3462,0,0,0,0,0,0,14.66,14.77,28.83
$GC,514,-0.47,-97.3,59.7,-11.0,32,519,0.00,1.75,0.00,0.000,4,0.000,0.062,2014,2564,3463,0,0,0,0,0,0,28.83,14.84,28.83
$GC,580,-0.44,-97.3,65.4,-9.1,36,587,0.12,1.80,0.00,0.000,6,0.255,0.073,2041,1492,3463,0,0,0,0,0,0,14.76,14.84,28.83
$GC,894,-0.42,-97.3,91.0,-7.8,57,899,0.00,1.80,0.00,0.000,4,0.000,0.096,2041,444,3464,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1115,-0.39,-97.3,107.7,-7.5,71,1122,0.00,1.75,0.00,0.000,6,0.000,0.054,2036,1495,3466,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1421,-0.37,-97.3,129.8,-7.6,92,1423,0.12,0.00,0.00,0.000,6,0.257,0.000,2065,1496,3465,0,0,0,0,0,0,14.83,28.83,28.83
$GC,1722,-0.38,-97.3,149.4,-5.6,112,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1496,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2022,-0.40,-97.3,165.1,-5.5,132,2027,0.00,1.75,0.00,0.000,4,0.000,0.063,2058,2566,3465,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2095,-0.42,-97.3,168.9,-6.0,136,2102,0.00,1.80,0.00,0.000,6,0.000,0.073,2058,1492,3465,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2399,-0.43,-97.3,189.9,-6.2,157,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1492,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2699,-0.44,-97.3,205.3,-4.6,177,2704,0.00,1.80,0.00,0.000,4,0.000,0.097,2058,442,3464,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2765,-0.44,-97.3,208.8,-5.6,181,2770,0.00,1.77,0.00,0.000,6,0.000,0.054,2051,1508,3464,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3077,-0.44,-97.3,229.1,-7.0,202,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1509,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3393,-0.45,-97.3,252.2,-7.2,222,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1509,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,-0.46,-97.3,272.6,-6.7,232,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1508,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3992,-0.46,-97.3,292.1,-6.4,242,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1509,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4293,-0.48,-97.3,310.4,-5.9,252,4298,0.00,1.83,0.00,0.000,4,0.000,0.098,2051,444,3459,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4365,-0.48,-97.3,314.2,-5.8,254,4370,0.00,1.70,0.00,0.000,6,0.000,0.057,2043,1496,3459,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4688,-0.48,-97.3,332.8,-5.7,265,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1497,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.48,-97.3,354.1,-7.8,275,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1497,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5287,-0.48,-97.3,379.3,-8.5,285,5292,0.00,1.75,0.00,0.000,4,0.000,0.069,2036,2568,3455,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5383,-0.49,-97.3,386.6,-8.0,288,5388,0.00,1.77,0.00,0.000,6,0.000,0.077,2036,1501,3455,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5710,-0.49,-97.3,411.6,-7.3,299,5715,0.00,1.80,0.00,0.000,4,0.000,0.099,2037,446,3454,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5826,-0.49,-97.3,418.8,-7.7,302,5833,0.00,1.73,0.00,0.000,6,0.000,0.057,2029,1512,3453,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6131,-0.49,-97.3,440.2,-6.2,313,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1513,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,-0.49,-97.3,458.9,-6.2,323,6437,0.00,1.85,0.00,0.000,4,0.000,0.099,2029,439,3451,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6494,-0.49,-97.3,463.5,-6.8,325,6499,0.00,1.73,0.00,0.000,6,0.000,0.057,2021,1504,3451,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6827,-0.49,-97.3,489.2,-8.0,336,6832,0.00,1.83,0.00,0.000,4,0.000,0.100,2021,446,3450,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6903,-0.47,-97.3,494.9,-8.6,338,6909,0.00,1.73,0.00,0.000,6,0.000,0.057,2012,1510,3449,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7222,-0.46,-97.3,524.0,-8.7,349,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1514,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,-0.45,-97.3,548.2,-7.9,359,7523,0.12,0.00,0.00,0.000,6,0.260,0.000,2040,1511,3448,0,0,0,0,0,0,14.91,28.83,28.83
$GC,7822,-0.46,-97.3,566.6,-6.0,369,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1510,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8121,-0.47,-97.3,584.6,-6.2,379,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1510,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8421,-0.49,-97.3,604.3,-6.7,389,8427,0.00,1.85,0.00,0.000,4,0.000,0.102,2040,442,3444,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8523,-0.49,-97.3,611.5,-7.6,392,8529,0.00,1.73,0.00,0.000,6,0.000,0.059,2035,1501,3444,0,0,0,0,0,0,28.83,15.03,28.83
$GC,8845,-0.49,-97.3,634.7,-6.8,403,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1503,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,-0.50,-97.3,655.4,-7.0,413,9151,0.00,1.83,0.00,0.000,4,0.000,0.103,2031,447,3442,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9197,-0.50,-97.3,657.8,-7.1,414,9202,0.00,1.73,0.00,0.000,6,0.000,0.059,2027,1505,3442,0,0,0,0,0,0,28.83,15.02,28.83
$GC,9509,-0.50,-97.3,682.8,-7.7,425,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1506,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9809,-0.50,-97.3,705.7,-7.5,435,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1506,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10109,-0.50,-97.3,727.0,-6.9,445,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1506,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10410,-0.50,-97.3,745.5,-5.9,455,10416,0.00,1.85,0.00,0.000,4,0.000,0.104,2033,443,3437,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10516,-0.50,-97.3,751.7,-6.5,458,10521,0.00,1.73,0.00,0.000,6,0.000,0.060,2019,1498,3437,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10834,-0.50,-97.3,770.7,-5.3,469,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1499,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11134,-0.50,-97.3,786.2,-5.0,479,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1499,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11434,-0.50,-97.3,802.8,-5.8,489,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1499,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11733,-0.50,-97.3,823.8,-7.5,499,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1498,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12033,-0.50,-97.3,846.5,-7.5,509,12038,0.00,1.85,0.00,0.000,4,0.000,0.106,2019,440,3433,0,0,0,0,0,0,28.83,14.94,28.83
$GC,12109,-0.50,-97.3,851.6,-7.8,511,12114,0.00,1.75,0.00,0.000,6,0.000,0.063,2011,1503,3432,0,0,0,0,0,0,28.83,14.97,28.83
$GC,12426,-0.50,-97.3,875.8,-7.2,522,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1505,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12727,-0.50,-97.3,896.0,-6.7,532,12732,0.00,1.85,0.00,0.000,4,0.000,0.107,2011,447,3431,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12797,-0.50,-97.3,900.8,-7.1,534,12802,0.00,1.75,0.00,0.000,6,0.000,0.063,2003,1509,3430,0,0,0,0,0,0,28.83,14.98,28.83
$GC,13120,-0.50,-97.3,925.2,-7.6,545,13125,0.00,1.88,0.00,0.000,4,0.000,0.107,2003,442,3429,0,0,0,0,0,0,28.83,14.91,28.83
$GC,13166,-0.49,-97.3,928.0,-7.7,546,13172,0.15,1.75,0.00,0.000,6,0.267,0.063,2028,1503,3429,0,0,0,0,0,0,14.83,14.97,28.83
$GC,13485,-0.50,-97.3,951.5,-7.0,557,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1503,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13785,-0.52,-97.3,971.9,-6.6,567,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1503,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13932,begin apogee
$GC,13936,-0.18,0.0,981.4,-6.3,572,14059,0.32,0.00,110.35,2.335,6,0.220,0.000,2123,1503,3064,0,0,0,0,1,0,14.83,28.83,13.25
$STATE,14061,end apogee,CONTROL_FINISHED_OK
$STATE,14062,begin climb
$GC,14063,0.60,97.3,984.9,0.0,576,14205,0.82,0.00,130.38,2.466,6,0.152,0.000,2371,1504,2666,0,0,0,0,1,0,14.16,28.83,13.19
$GC,14504,0.55,97.3,962.6,6.7,591,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1504,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14804,0.50,97.3,943.6,6.3,601,14805,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1504,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15104,0.45,97.3,925.1,6.3,611,15106,0.15,0.00,0.00,0.000,6,0.281,0.000,2339,1504,2658,0,0,0,0,0,0,14.72,28.83,28.83
$GC,15405,0.45,108.9,908.6,5.6,621,15439,0.00,0.00,27.33,1.118,6,0.000,0.000,2339,1504,2617,0,0,0,0,1,0,28.83,28.83,14.00
$GC,15735,0.43,108.9,886.0,7.2,632,15740,0.00,1.88,0.00,0.000,4,0.000,0.112,2345,449,2618,0,0,0,0,0,0,28.83,14.80,28.83
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$STATE,27753,end climb,SURFACE_DEPTH_REACHED
$STATE,27753,begin surface coast
$FINISH,-0.3,1.024363
$STATE,27768,end surface coast,CONTROL_FINISHED_OK
$STATE,27768,begin surface
$SM_CCo,27785,15.82,0.733,0,0,1633,350.04
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$IRIDIUM_FIX,2411.01,-3800.80,230912,080804
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.22
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.80
$XPDR_PINGS,2
$SC_FREEKB,7759776
$TM_FREEKB,7665248
$24V_AH,13.2,18.689
$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,18.825,147.575,571.325,15.825,0.000,0.000,0.000,366.525,0.500,0.000,20.580,3693.085,20557.658,769.381,3159.681,200.502,0.000,2567.558,0.000,2584.804,0.000,0.551,0.000
$DEVICE_MAMPS,432.225,113.220,2466.360,732.870,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27792.000,6777.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.159,13.097,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,40039,1141
$CAP_FILE_SIZE,268284,0
$CFSIZE,260034560,253956096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.055, 55.6,1
$GPS,240912,001658,2426.067,-3801.740,37,1.0,37,-14.0