version: 66.11
glider: 191
mission: 5
dive: 60
start: 10 3 112 5 9 22
data:
$ID,191
$MISSION,5
$DIVE,60
$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,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,-3876.251
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,031012,045905,2447.290,-3810.512,32,1.0,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-59.4
$GPS2,031012,050853,2447.293,-3810.538,18,0.9,18,-14.0
$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,308.8,72374,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.78,0.000,6,0.000,0.000,158,1511,3460,0,0,0,0,0,0,28.83,28.83,14.93
$GC,87,-0.60,-97.3,4.4,-9.5,4,101,9.32,1.77,0.00,0.000,4,0.426,0.054,1982,2568,3462,0,0,0,0,0,0,14.49,14.73,28.83
$GC,325,-0.53,-97.3,41.5,-13.0,20,330,0.15,1.88,0.00,0.000,6,0.260,0.070,2014,1492,3465,0,0,0,0,0,0,14.66,14.78,28.83
$GC,625,-0.49,-97.3,66.7,-6.5,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1494,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.45,-97.3,95.6,-11.0,60,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1495,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-0.42,-97.3,124.1,-9.1,80,1227,0.15,0.00,0.00,0.000,6,0.253,0.000,2052,1492,3467,0,0,0,0,0,0,14.77,28.83,28.83
$GC,1524,-0.42,-97.3,144.2,-6.5,100,1528,0.00,1.88,0.00,0.000,4,0.000,0.093,2052,441,3468,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1645,-0.42,-97.3,154.8,-9.2,108,1648,0.00,1.77,0.00,0.000,6,0.000,0.049,2047,1503,3464,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1944,-0.42,-97.3,178.2,-6.6,128,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1505,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2245,-0.42,-97.3,196.0,-5.5,148,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1504,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,-0.42,-97.3,213.2,-6.4,168,2548,0.00,1.77,0.00,0.000,4,0.000,0.061,2039,2559,3466,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2680,-0.44,-97.3,222.7,-7.2,177,2684,0.00,1.83,0.00,0.000,6,0.000,0.073,2039,1506,3466,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2979,-0.44,-97.3,243.7,-6.5,197,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1506,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.44,-97.3,265.5,-7.0,211,3299,0.00,1.88,0.00,0.000,4,0.000,0.094,2039,441,3464,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3400,-0.44,-97.3,273.8,-7.9,215,3404,0.00,1.77,0.00,0.000,6,0.000,0.052,2031,1501,3465,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3714,-0.44,-97.3,297.6,-7.7,226,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1502,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4015,-0.44,-97.3,322.1,-8.2,236,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1502,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4314,-0.44,-97.3,345.0,-7.3,246,4318,0.00,1.90,0.00,0.000,4,0.000,0.096,2031,434,3460,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4420,-0.42,-97.3,353.2,-7.9,250,4424,0.00,1.80,0.00,0.000,6,0.000,0.053,2023,1510,3460,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4734,-0.42,-97.3,374.8,-6.7,261,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5035,-0.42,-97.3,393.7,-6.3,271,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5335,-0.42,-97.3,413.3,-6.7,281,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,-0.42,-97.3,435.5,-7.8,291,5638,0.00,1.90,0.00,0.000,4,0.000,0.096,2023,445,3456,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5771,-0.40,-97.3,447.5,-9.0,296,5775,0.17,1.77,0.00,0.000,6,0.239,0.054,2058,1498,3456,0,0,0,0,0,0,14.83,14.99,28.83
$GC,6085,-0.43,-97.3,469.0,-6.5,307,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1499,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.46,-97.3,485.6,-5.1,317,6389,0.00,1.80,0.00,0.000,4,0.000,0.065,2052,2563,3453,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6491,-0.50,-97.3,490.2,-4.5,321,6495,0.00,1.88,0.00,0.000,6,0.000,0.076,2053,1490,3452,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6806,-0.52,-97.3,502.2,-3.6,332,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1489,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7105,-0.55,-97.3,512.9,-3.6,342,7110,0.12,1.85,0.00,0.000,4,0.144,0.098,2003,444,3450,0,0,0,0,0,0,14.96,14.90,28.83
$GC,7240,-0.52,-97.3,522.0,-7.0,347,7244,0.00,1.77,0.00,0.000,6,0.000,0.054,1995,1501,3450,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7556,-0.50,-97.3,545.6,-8.0,358,7560,0.15,1.80,0.00,0.000,4,0.252,0.066,2024,2567,3449,0,0,0,0,0,0,14.79,14.94,28.83
$GC,7673,-0.50,-97.3,552.7,-6.7,362,7677,0.00,1.88,0.00,0.000,6,0.000,0.076,2024,1495,3449,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7975,-0.50,-97.3,575.1,-7.2,372,7978,0.00,1.88,0.00,0.000,4,0.000,0.098,2024,443,3447,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8079,-0.50,-97.3,583.9,-8.4,376,8083,0.00,1.80,0.00,0.000,6,0.000,0.056,2016,1507,3446,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8395,-0.50,-97.3,607.8,-7.5,387,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1509,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,-0.50,-97.3,628.8,-6.8,397,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1509,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,-0.50,-97.3,646.5,-5.6,407,8999,0.00,1.92,0.00,0.000,4,0.000,0.099,2016,438,3444,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9084,-0.49,-97.3,651.0,-5.9,410,9088,0.00,1.80,0.00,0.000,6,0.000,0.057,2008,1499,3443,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9385,-0.49,-97.3,667.9,-5.2,420,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1500,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.49,-97.3,686.3,-6.5,430,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1500,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,-0.49,-97.3,708.6,-7.7,440,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1501,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10285,-0.49,-97.3,729.8,-6.8,450,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1500,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10584,-0.49,-97.3,749.1,-6.3,460,10588,0.00,1.90,0.00,0.000,4,0.000,0.101,2008,444,3440,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10704,-0.47,-97.3,756.6,-7.2,464,10708,0.15,1.80,0.00,0.000,6,0.256,0.058,2034,1501,3438,0,0,0,0,0,0,14.72,14.92,28.83
$GC,11006,-0.49,-97.3,773.4,-5.1,474,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1502,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11305,-0.51,-97.3,788.5,-4.9,484,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1502,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11606,-0.53,-97.3,804.6,-5.4,494,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1501,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11905,-0.55,-97.3,821.8,-6.0,504,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1502,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12206,-0.57,-97.3,842.0,-7.0,514,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1501,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12505,-0.59,-97.3,863.4,-7.1,524,12507,0.12,0.00,0.00,0.000,6,0.148,0.000,1990,1502,3432,0,0,0,0,0,0,14.88,28.83,28.83
$GC,12805,-0.58,-97.3,888.8,-8.5,534,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1502,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13105,-0.56,-97.3,912.2,-7.5,544,13109,0.00,1.92,0.00,0.000,4,0.000,0.104,1991,444,3430,0,0,0,0,0,0,28.83,14.82,28.83
$GC,13284,-0.53,-97.3,926.0,-8.4,550,13289,0.15,1.83,0.00,0.000,6,0.265,0.061,2015,1505,3429,0,0,0,0,0,0,14.64,14.87,28.83
$GC,13585,-0.53,-97.3,944.1,-5.4,560,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1506,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13886,-0.54,-97.3,960.4,-5.5,570,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1506,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14185,-0.56,-97.3,977.8,-6.0,580,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1505,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14243,begin apogee
$GC,14247,-0.18,0.0,981.1,-5.8,582,14368,0.40,0.00,112.50,2.322,6,0.213,0.000,2128,1506,3062,0,0,0,0,1,0,14.66,28.83,13.27
$STATE,14369,end apogee,CONTROL_FINISHED_OK
$STATE,14370,begin climb
$GC,14371,0.60,97.3,983.9,0.0,586,14514,0.85,1.92,129.43,2.409,4,0.143,0.070,2380,2556,2666,0,0,0,0,1,0,14.13,14.01,13.20
$GC,14592,0.52,115.5,976.5,5.3,594,14638,0.00,1.95,36.65,1.513,6,0.000,0.083,2387,1499,2591,0,0,0,0,1,0,28.83,14.38,13.43
$GC,14936,0.46,115.5,951.6,7.4,605,14938,0.20,0.00,0.00,0.000,6,0.280,0.000,2343,1499,2590,0,0,0,0,0,0,14.50,28.83,28.83
$GC,15236,0.44,116.0,933.8,6.0,615,15240,0.00,1.92,0.00,0.000,4,0.000,0.107,2349,446,2588,0,0,0,0,0,0,28.83,14.71,28.83
$GC,15324,0.41,116.0,928.8,6.4,618,15327,0.00,1.83,0.00,0.000,6,0.000,0.060,2349,1500,2587,0,0,0,0,0,0,28.83,14.78,28.83
$GC,15625,0.38,116.0,907.7,6.9,628,15630,0.15,1.95,0.00,0.000,4,0.262,0.109,2322,438,2586,0,0,0,0,0,0,14.68,14.76,28.83
$GC,15714,0.36,116.0,902.9,6.7,631,15718,0.00,1.83,0.00,0.000,6,0.000,0.061,2322,1499,2585,0,0,0,0,0,0,28.83,14.84,28.83
$GC,16015,0.36,116.0,882.3,6.7,641,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1500,2585,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28734,end climb,SURFACE_DEPTH_REACHED
$STATE,28734,begin surface coast
$FINISH,0.6,1.024323
$STATE,28750,end surface coast,CONTROL_FINISHED_OK
$STATE,28750,begin surface
$SM_CCo,28768,46.58,0.782,0,0,1634,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,45.58
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.10
$XPDR_PINGS,2
$SC_FREEKB,7747104
$TM_FREEKB,7354912
$24V_AH,13.2,30.893
$10V_AH,13.4,0.000
$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,19.500,130.575,634.675,46.575,0.000,0.000,0.000,360.850,0.500,0.000,19.159,3293.700,22465.830,954.782,2460.544,223.467,0.000,2313.960,0.000,1929.654,0.000,0.550,0.000
$DEVICE_MAMPS,426.105,110.925,2408.985,781.830,0.000,0.000,0.000,172.890,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28785.000,6630.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.208,13.126,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,43369,1187
$CAP_FILE_SIZE,252704,0
$CFSIZE,260034560,249700352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$CURRENT,0.059,354.4,1
$GPS,031012,131054,2449.616,-3813.596,37,0.8,37,-14.0