version: 66.11
glider: 191
mission: 5
dive: 110
start: 10 19 112 21 46 34
data:
$ID,191
$MISSION,5
$DIVE,110
$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,-3943.4619
$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,23
$R_STBD_OVSHOOT,41
$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
$GPS1,191012,213329,2352.100,-3735.760,37,1.0,37,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-54.5
$GPS2,191012,214606,2352.020,-3735.755,21,0.9,21,-14.0
$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,70.3,27669,-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,-61.42,0.000,6,0.000,0.000,153,1499,3460,0,0,0,0,0,0,28.83,28.83,14.88
$GC,87,-0.60,-97.3,4.0,-6.9,4,101,9.30,1.83,0.00,0.000,4,0.417,0.056,1981,2574,3465,0,0,0,0,0,0,14.40,14.69,28.83
$GC,252,-0.53,-97.3,30.6,-13.5,15,256,0.15,1.88,0.00,0.000,6,0.258,0.069,2014,1511,3464,0,0,0,0,0,0,14.51,14.69,28.83
$GC,550,-0.49,-97.3,63.4,-9.4,35,554,0.00,1.88,0.00,0.000,4,0.000,0.089,2015,463,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,656,-0.44,-97.3,74.2,-10.1,42,661,0.15,1.77,0.00,0.000,6,0.252,0.046,2042,1518,3465,0,0,0,0,0,0,14.55,14.76,28.83
$GC,956,-0.44,-97.3,95.3,-6.8,62,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1255,-0.44,-97.3,113.5,-6.5,82,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-0.44,-97.3,134.2,-6.9,102,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.44,-97.3,154.5,-6.6,122,1859,0.00,1.80,0.00,0.000,4,0.000,0.057,2037,2587,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1945,-0.45,-97.3,160.3,-6.3,128,1949,0.00,1.88,0.00,0.000,6,0.000,0.069,2037,1513,3466,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2245,-0.45,-97.3,181.7,-7.4,148,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.45,-97.3,204.3,-7.6,168,2548,0.00,1.80,0.00,0.000,4,0.000,0.057,2029,2577,3465,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2680,-0.46,-97.3,214.3,-7.5,177,2684,0.00,1.85,0.00,0.000,6,0.000,0.069,2029,1516,3465,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2980,-0.46,-97.3,237.7,-7.6,197,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1516,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3281,-0.46,-97.3,257.7,-6.1,213,3285,0.00,1.88,0.00,0.000,4,0.000,0.090,2029,462,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3356,-0.45,-97.3,262.6,-6.4,216,3359,0.00,1.77,0.00,0.000,6,0.000,0.047,2021,1523,3464,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3670,-0.45,-97.3,282.9,-6.8,227,3674,0.00,1.77,0.00,0.000,4,0.000,0.059,2013,2576,3462,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3819,-0.45,-97.3,292.3,-7.0,232,3822,0.00,1.85,0.00,0.000,6,0.000,0.070,2013,1514,3462,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4121,-0.44,-97.3,318.7,-8.8,242,4123,0.12,0.00,0.00,0.000,6,0.246,0.000,2041,1513,3460,0,0,0,0,0,0,14.67,28.83,28.83
$GC,4420,-0.46,-97.3,340.6,-7.0,252,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1513,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,-0.47,-97.3,358.0,-5.5,262,4724,0.00,1.80,0.00,0.000,4,0.000,0.060,2036,2576,3459,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4886,-0.50,-97.3,367.6,-5.9,268,4890,0.00,1.85,0.00,0.000,6,0.000,0.071,2036,1516,3458,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5201,-0.51,-97.3,387.0,-6.2,279,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1517,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.52,-97.3,403.9,-5.6,289,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1517,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,-0.53,-97.3,420.6,-5.5,299,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1517,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6101,-0.54,-97.3,438.4,-6.3,309,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1517,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6400,-0.56,-97.3,459.9,-7.5,319,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1516,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6701,-0.57,-97.3,482.3,-7.5,329,6704,0.00,1.83,0.00,0.000,4,0.000,0.060,2028,2581,3451,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6865,-0.59,-97.3,494.3,-7.3,335,6869,0.00,1.88,0.00,0.000,6,0.000,0.073,2027,1518,3451,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7180,-0.59,-97.3,517.4,-7.3,346,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1517,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.59,-97.3,538.2,-6.7,356,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,-0.59,-97.3,556.5,-6.0,366,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.60,-97.3,573.3,-5.6,376,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8381,-0.61,-97.3,590.3,-6.0,386,8382,0.12,0.00,0.00,0.000,6,0.145,0.000,1981,1518,3445,0,0,0,0,0,0,14.85,28.83,28.83
$GC,8681,-0.58,-97.3,616.4,-9.0,396,8684,0.00,1.83,0.00,0.000,4,0.000,0.062,1973,2580,3444,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8785,-0.56,-97.3,625.6,-8.7,400,8790,0.12,1.88,0.00,0.000,6,0.256,0.073,2000,1516,3447,0,0,0,0,0,0,14.60,14.80,28.83
$GC,9102,-0.55,-97.3,650.2,-7.4,411,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1516,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9400,-0.54,-97.3,669.9,-6.3,421,9404,0.00,1.90,0.00,0.000,4,0.000,0.096,2001,464,3441,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9490,-0.52,-97.3,675.2,-6.9,424,9493,0.00,1.80,0.00,0.000,6,0.000,0.052,1996,1522,3441,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9790,-0.51,-97.3,695.5,-6.4,434,9794,0.00,1.80,0.00,0.000,4,0.000,0.063,1987,2577,3440,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9879,-0.51,-97.3,700.4,-6.5,437,9884,0.15,1.88,0.00,0.000,6,0.238,0.073,2022,1515,3440,0,0,0,0,0,0,14.59,14.79,28.83
$GC,10181,-0.52,-97.3,719.6,-6.2,447,10185,0.00,1.90,0.00,0.000,4,0.000,0.097,2022,464,3439,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10255,-0.52,-97.3,725.0,-7.0,450,10259,0.00,1.80,0.00,0.000,6,0.000,0.053,2017,1519,3438,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10570,-0.52,-97.3,746.7,-6.7,461,10574,0.00,1.83,0.00,0.000,4,0.000,0.064,2010,2584,3438,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10675,-0.53,-97.3,754.0,-6.9,465,10679,0.00,1.90,0.00,0.000,6,0.000,0.076,2010,1512,3437,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10990,-0.53,-97.3,776.5,-6.9,476,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1511,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11290,-0.53,-97.3,798.2,-7.2,486,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1511,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11590,-0.53,-97.3,818.2,-6.5,496,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1512,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11890,-0.53,-97.3,837.4,-6.3,506,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1512,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12190,-0.53,-97.3,855.9,-6.3,516,12193,0.00,1.90,0.00,0.000,4,0.000,0.099,2010,466,3432,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12296,-0.53,-97.3,863.4,-7.2,520,12299,0.00,1.83,0.00,0.000,6,0.000,0.056,1999,1528,3432,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12610,-0.53,-97.3,884.8,-7.0,531,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1530,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12911,-0.53,-97.3,907.7,-7.8,541,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1530,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13210,-0.53,-97.3,930.6,-7.7,551,13213,0.00,1.83,0.00,0.000,4,0.000,0.068,1994,2578,3429,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13329,-0.53,-97.3,938.3,-7.4,555,13332,0.00,1.90,0.00,0.000,6,0.000,0.077,1994,1513,3429,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13631,-0.53,-97.3,961.1,-7.4,565,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1514,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13898,begin apogee
$GC,13903,-0.18,0.0,981.0,-7.3,574,14022,0.47,0.00,110.12,2.153,6,0.219,0.000,2123,1396,3062,0,0,0,0,1,0,14.54,28.83,13.28
$STATE,14023,end apogee,CONTROL_FINISHED_OK
$STATE,14023,begin climb
$GC,14026,0.60,97.3,984.2,0.0,578,14162,0.85,1.95,125.32,2.189,4,0.145,0.065,2376,2456,2666,0,0,0,0,1,0,14.15,14.04,13.21
$GC,14245,0.47,125.0,977.1,4.9,585,14306,0.17,1.95,47.25,1.659,6,0.283,0.081,2347,1403,2552,0,0,0,0,1,0,14.19,14.33,13.38
$GC,14605,0.45,125.0,952.1,7.1,597,14609,0.00,1.98,0.00,0.000,4,0.000,0.106,2353,346,2549,0,0,0,0,0,0,28.83,14.55,28.83
$GC,14711,0.41,125.0,943.7,8.0,601,14715,0.12,1.83,0.00,0.000,6,0.263,0.056,2327,1406,2547,0,0,0,0,0,0,14.48,14.67,28.83
$GC,15026,0.41,126.5,923.7,6.0,612,15030,0.00,1.83,0.00,0.000,4,0.000,0.064,2327,2460,2546,0,0,0,0,0,0,28.83,14.72,28.83
$GC,15115,0.40,130.3,919.3,5.9,615,15123,0.00,1.92,3.40,1.996,6,0.000,0.083,2332,1390,2530,0,0,0,0,0,0,28.83,14.71,13.95
$GC,15417,0.43,164.6,903.5,4.6,625,15479,0.00,0.00,54.72,1.764,6,0.000,0.000,2332,1390,2390,0,0,0,0,1,0,28.83,28.83,13.61
$GC,15776,0.48,200.5,887.5,4.5,637,15838,0.00,0.00,54.58,1.753,6,0.000,0.000,2332,1390,2244,0,0,0,0,1,0,28.83,28.83,13.52
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$STATE,27954,end climb,SURFACE_DEPTH_REACHED
$STATE,27954,begin surface coast
$FINISH,0.8,1.024628
$STATE,27972,end surface coast,CONTROL_FINISHED_OK
$STATE,27972,begin surface
$SM_CCo,27989,37.35,0.752,0,0,1633,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,47.00
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.80
$XPDR_PINGS,2
$SC_FREEKB,7727904
$TM_FREEKB,6845056
$24V_AH,13.2,54.018
$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,19.000,111.775,509.850,37.350,0.000,0.000,0.000,437.775,0.500,0.000,21.854,3175.326,22052.943,778.184,2465.902,303.195,0.000,2173.590,0.000,1859.958,0.000,0.551,0.000
$DEVICE_MAMPS,416.925,120.870,2188.665,751.995,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27999.000,6665.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.303,13.102,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,43303,1161
$CAP_FILE_SIZE,242108,0
$CFSIZE,260034560,242933760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$CURRENT,0.082, 72.2,1
$GPS,201012,053505,2353.998,-3731.593,42,0.8,42,-14.0