version: 66.11
glider: 191
mission: 5
dive: 107
start: 10 18 112 21 23 59
data:
$ID,191
$MISSION,5
$DIVE,107
$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,-3939.5977
$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,22
$R_STBD_OVSHOOT,39
$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
$GPS1,181012,211306,2351.895,-3748.918,29,0.9,29,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-51.9
$GPS2,181012,212330,2351.891,-3749.017,16,1.0,17,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,90.4,49705,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-60.88,0.000,6,0.000,0.000,155,1501,3458,0,0,0,0,0,0,28.83,28.83,14.88
$GC,86,-0.60,-97.3,4.4,-9.4,4,99,9.32,0.00,0.00,0.000,6,0.420,0.000,1988,1501,3462,0,0,0,0,0,0,14.36,28.83,28.83
$GC,399,-0.52,-97.3,56.9,-13.4,25,404,0.12,1.80,0.00,0.000,4,0.285,0.058,2010,2566,3463,0,0,0,0,0,0,14.52,14.73,28.83
$GC,459,-0.49,-97.3,63.4,-10.8,29,463,0.00,1.88,0.00,0.000,6,0.000,0.069,2010,1496,3463,0,0,0,0,0,0,28.83,14.72,28.83
$GC,759,-0.45,-97.3,99.3,-11.9,49,761,0.12,0.00,0.00,0.000,6,0.256,0.000,2037,1496,3464,0,0,0,0,0,0,14.58,28.83,28.83
$GC,1059,-0.44,-97.3,124.8,-7.8,69,1063,0.00,1.88,0.00,0.000,4,0.000,0.089,2038,443,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1135,-0.42,-97.3,130.6,-7.9,74,1139,0.00,1.77,0.00,0.000,6,0.000,0.047,2032,1502,3465,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1435,-0.41,-97.3,151.8,-6.9,94,1438,0.00,1.77,0.00,0.000,4,0.000,0.058,2024,2555,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1584,-0.41,-97.3,162.5,-7.2,104,1589,0.12,1.85,0.00,0.000,6,0.238,0.068,2053,1493,3465,0,0,0,0,0,0,14.64,14.79,28.83
$GC,1885,-0.42,-97.3,180.6,-5.9,124,1888,0.00,1.80,0.00,0.000,4,0.000,0.057,2046,2557,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2004,-0.44,-97.3,187.7,-5.8,132,2008,0.00,1.85,0.00,0.000,6,0.000,0.068,2048,1494,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2304,-0.44,-97.3,206.2,-5.9,152,2308,0.00,1.80,0.00,0.000,4,0.000,0.057,2040,2557,3465,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2439,-0.46,-97.3,214.8,-6.4,161,2443,0.00,1.85,0.00,0.000,6,0.000,0.069,2040,1497,3464,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2739,-0.46,-97.3,235.4,-6.9,181,2742,0.00,1.88,0.00,0.000,4,0.000,0.090,2040,443,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2844,-0.46,-97.3,243.0,-7.4,188,2847,0.00,1.77,0.00,0.000,6,0.000,0.048,2031,1504,3464,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3145,-0.46,-97.3,260.3,-5.1,202,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1505,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3444,-0.46,-97.3,275.4,-5.1,212,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1505,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.46,-97.3,294.5,-7.1,222,3748,0.00,1.77,0.00,0.000,4,0.000,0.059,2024,2558,3461,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3864,-0.47,-97.3,302.5,-7.7,226,3867,0.00,1.85,0.00,0.000,6,0.000,0.070,2024,1497,3460,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4164,-0.47,-97.3,331.2,-9.3,236,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1497,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-0.47,-97.3,356.0,-7.7,246,4468,0.00,1.80,0.00,0.000,4,0.000,0.058,2016,2558,3459,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4569,-0.47,-97.3,363.0,-6.8,250,4572,0.00,1.85,0.00,0.000,6,0.000,0.071,2016,1500,3459,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4884,-0.47,-97.3,383.8,-6.4,261,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1500,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5184,-0.47,-97.3,403.5,-6.8,271,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1500,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5484,-0.47,-97.3,425.5,-7.6,281,5488,0.00,1.80,0.00,0.000,4,0.000,0.060,2009,2563,3457,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5573,-0.47,-97.3,431.4,-8.0,284,5577,0.00,1.88,0.00,0.000,6,0.000,0.073,2009,1494,3456,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5874,-0.46,-97.3,458.5,-8.4,294,5876,0.12,0.00,0.00,0.000,6,0.249,0.000,2037,1494,3455,0,0,0,0,0,0,14.69,28.83,28.83
$GC,6175,-0.47,-97.3,478.7,-6.4,304,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1494,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6475,-0.49,-97.3,495.9,-5.3,314,6478,0.00,1.83,0.00,0.000,4,0.000,0.061,2031,2564,3452,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6564,-0.51,-97.3,499.7,-5.1,317,6568,0.00,1.88,0.00,0.000,6,0.000,0.073,2031,1497,3452,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6864,-0.51,-97.3,515.0,-4.9,327,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1497,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,-0.52,-97.3,531.3,-5.8,337,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1497,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,-0.53,-97.3,551.3,-7.0,347,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1497,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,-0.54,-97.3,573.1,-7.2,357,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1497,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8064,-0.56,-97.3,594.7,-7.3,367,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1497,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8365,-0.57,-97.3,615.8,-6.9,377,8369,0.00,1.83,0.00,0.000,4,0.000,0.061,2024,2567,3445,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8484,-0.59,-97.3,622.6,-6.5,381,8488,0.00,1.88,0.00,0.000,6,0.000,0.074,2024,1502,3445,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8784,-0.59,-97.3,642.2,-5.9,391,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9085,-0.59,-97.3,659.2,-5.8,401,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9384,-0.59,-97.3,676.4,-5.8,411,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1502,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.60,-97.3,695.1,-6.3,421,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9984,-0.61,-97.3,714.8,-6.5,431,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1501,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10285,-0.62,-97.3,733.6,-6.2,441,10287,0.12,0.00,0.00,0.000,6,0.147,0.000,1978,1501,3439,0,0,0,0,0,0,14.82,28.83,28.83
$GC,10585,-0.59,-97.3,757.1,-8.0,451,10588,0.00,1.83,0.00,0.000,4,0.000,0.063,1971,2560,3438,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10689,-0.58,-97.3,765.1,-7.7,455,10694,0.12,1.88,0.00,0.000,6,0.263,0.076,1997,1500,3438,0,0,0,0,0,0,14.56,14.78,28.83
$GC,11005,-0.58,-97.3,788.4,-7.6,466,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1500,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11304,-0.58,-97.3,811.5,-7.8,476,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1500,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11605,-0.58,-97.3,833.1,-6.9,486,11608,0.00,1.92,0.00,0.000,4,0.000,0.099,1997,442,3435,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11724,-0.56,-97.3,840.8,-7.3,490,11727,0.00,1.80,0.00,0.000,6,0.000,0.055,1992,1495,3435,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12025,-0.54,-97.3,860.9,-6.2,500,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1497,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12325,-0.53,-97.3,880.7,-6.6,510,12328,0.00,1.92,0.00,0.000,4,0.000,0.099,1992,443,3434,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12444,-0.51,-97.3,889.2,-8.0,514,12448,0.17,1.83,0.00,0.000,6,0.260,0.057,2023,1504,3433,0,0,0,0,0,0,14.50,14.79,28.83
$GC,12745,-0.52,-97.3,908.3,-6.0,524,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1506,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13045,-0.54,-97.3,926.6,-6.1,534,13049,0.00,1.95,0.00,0.000,4,0.000,0.102,2024,444,3431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13133,-0.55,-97.3,931.7,-6.5,537,13137,0.00,1.83,0.00,0.000,6,0.000,0.057,2018,1502,3431,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13435,-0.57,-97.3,951.4,-6.3,547,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1503,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13734,-0.58,-97.3,971.3,-6.7,557,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1503,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13882,begin apogee
$GC,13886,-0.18,0.0,980.8,-6.4,562,14006,0.40,0.00,111.53,2.205,6,0.211,0.000,2128,1503,3062,0,0,0,0,1,0,14.58,28.83,13.24
$STATE,14008,end apogee,CONTROL_FINISHED_OK
$STATE,14008,begin climb
$GC,14010,0.60,97.3,984.6,0.0,566,14147,0.85,0.00,128.10,2.364,6,0.142,0.000,2381,1503,2665,0,0,0,0,1,0,14.14,28.83,13.10
$GC,14439,0.55,113.1,969.2,5.4,581,14480,0.00,0.00,33.58,1.392,6,0.000,0.000,2380,1503,2600,0,0,0,0,1,0,28.83,28.83,13.54
$GC,14771,0.49,114.8,949.9,6.0,592,14776,0.15,1.85,0.00,0.000,4,0.273,0.067,2349,2565,2599,0,0,0,0,0,0,14.46,14.64,28.83
$GC,14844,0.47,131.1,946.0,5.4,595,14891,0.00,1.92,36.70,1.500,6,0.000,0.082,2355,1500,2527,0,0,0,0,1,0,28.83,14.64,13.62
$GC,15191,0.44,135.6,926.8,5.9,606,15202,0.00,1.95,3.92,2.092,4,0.000,0.105,2363,447,2509,0,0,0,0,0,0,28.83,14.65,13.79
$GC,15293,0.40,135.6,920.8,6.4,609,15298,0.17,1.83,0.00,0.000,6,0.253,0.056,2323,1502,2509,0,0,0,0,0,0,14.53,14.70,28.83
$GC,15595,0.43,160.9,904.7,5.0,619,15647,0.00,0.00,44.83,1.701,6,0.000,0.000,2323,1503,2407,0,0,0,0,1,0,28.83,28.83,13.59
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$STATE,28208,end climb,SURFACE_DEPTH_REACHED
$STATE,28208,begin surface coast
$FINISH,0.3,1.024593
$STATE,28224,end surface coast,CONTROL_FINISHED_OK
$STATE,28224,begin surface
$SM_CCo,28301,0.00,0.000,0,0,1626,352.50
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$IRIDIUM_FIX,2342.70,-3752.50,181012,131342
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.88
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.90
$XPDR_PINGS,1
$SC_FREEKB,7729056
$TM_FREEKB,6876352
$24V_AH,13.1,52.631
$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,19.225,130.400,592.750,0.000,0.000,0.000,0.000,376.675,0.250,0.000,17.932,3213.106,22153.533,854.135,2417.647,278.527,0.000,2198.700,0.000,1877.606,0.000,0.550,0.000
$DEVICE_MAMPS,419.985,106.335,2363.850,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28264.000,6392.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.257,13.107,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,43230,1162
$CAP_FILE_SIZE,246684,0
$CFSIZE,260034560,243335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.073, 65.3,1
$GPS,191012,051658,2352.694,-3744.560,39,1.0,39,-14.0