version: 66.11
glider: 191
mission: 5
dive: 114
start: 10 21 112 5 45 58
data:
$ID,191
$MISSION,5
$DIVE,114
$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,-3948.7747
$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,48
$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
$GPS1,211012,053504,2356.664,-3720.263,24,1.1,24,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.0
$GPS2,211012,054529,2356.664,-3720.258,19,1.1,19,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-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,359.1,139524,-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,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.28,0.000,6,0.000,0.000,161,1530,3458,0,0,0,0,0,0,28.83,28.83,14.88
$GC,88,-0.60,-97.3,4.0,-8.0,4,101,9.43,1.75,0.00,0.000,4,0.423,0.053,1983,2570,3461,0,0,0,0,0,0,14.38,14.69,28.83
$GC,281,-0.54,-97.3,33.0,-11.0,17,286,0.12,1.85,0.00,0.000,6,0.268,0.069,2009,1519,3464,0,0,0,0,0,0,14.50,14.68,28.83
$GC,580,-0.50,-97.3,63.7,-9.6,37,584,0.00,1.77,0.00,0.000,4,0.000,0.055,2004,2566,3464,0,0,0,0,0,0,28.83,14.74,28.83
$GC,685,-0.47,-97.3,74.1,-9.4,44,690,0.12,1.83,0.00,0.000,6,0.242,0.067,2031,1519,3464,0,0,0,0,0,0,14.58,14.74,28.83
$GC,985,-0.45,-97.3,100.6,-8.7,64,989,0.00,1.90,0.00,0.000,4,0.000,0.090,2032,457,3465,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1060,-0.42,-97.3,107.6,-9.5,69,1064,0.00,1.77,0.00,0.000,6,0.000,0.047,2026,1515,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1360,-0.41,-97.3,131.2,-7.4,89,1364,0.12,1.77,0.00,0.000,4,0.250,0.056,2048,2575,3465,0,0,0,0,0,0,14.62,14.79,28.83
$GC,1451,-0.42,-97.3,135.9,-5.2,95,1455,0.00,1.85,0.00,0.000,6,0.000,0.068,2048,1515,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1750,-0.42,-97.3,152.5,-5.5,115,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.42,-97.3,170.1,-6.0,135,2054,0.00,1.80,0.00,0.000,4,0.000,0.057,2040,2576,3463,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2231,-0.44,-97.3,181.1,-6.2,147,2235,0.00,1.85,0.00,0.000,6,0.000,0.068,2040,1516,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2530,-0.44,-97.3,201.0,-6.6,167,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1516,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.44,-97.3,221.4,-7.1,187,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-0.44,-97.3,244.1,-7.8,207,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.44,-97.3,265.8,-7.0,220,3433,0.00,1.80,0.00,0.000,4,0.000,0.057,2033,2577,3463,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3535,-0.46,-97.3,272.7,-6.5,224,3539,0.00,1.85,0.00,0.000,6,0.000,0.070,2032,1515,3462,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3851,-0.46,-97.3,291.1,-5.2,235,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4150,-0.46,-97.3,307.1,-5.6,245,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.46,-97.3,325.3,-6.2,255,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1515,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.46,-97.3,344.1,-6.2,265,4753,0.00,1.80,0.00,0.000,4,0.000,0.060,2025,2576,3459,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4900,-0.47,-97.3,352.6,-6.3,270,4904,0.00,1.85,0.00,0.000,6,0.000,0.070,2025,1515,3459,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5200,-0.47,-97.3,376.0,-7.8,280,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1515,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.47,-97.3,401.0,-8.4,290,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1515,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-0.47,-97.3,424.8,-7.7,300,5803,0.00,1.80,0.00,0.000,4,0.000,0.060,2018,2575,3455,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5891,-0.47,-97.3,430.1,-7.2,303,5894,0.00,1.85,0.00,0.000,6,0.000,0.071,2018,1516,3455,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6190,-0.47,-97.3,451.1,-6.4,313,6194,0.00,1.80,0.00,0.000,4,0.000,0.060,2010,2574,3454,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6295,-0.47,-97.3,457.6,-6.3,317,6298,0.00,1.85,0.00,0.000,6,0.000,0.071,2010,1518,3453,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6611,-0.47,-97.3,480.5,-7.6,328,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1517,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,-0.47,-97.3,503.6,-7.7,338,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,-0.47,-97.3,527.1,-7.9,348,7214,0.00,1.90,0.00,0.000,4,0.000,0.096,2010,460,3450,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7315,-0.45,-97.3,536.4,-8.9,352,7320,0.15,1.77,0.00,0.000,6,0.245,0.051,2036,1515,3449,0,0,0,0,0,0,14.62,14.87,28.83
$GC,7631,-0.47,-97.3,557.7,-6.5,363,7635,0.00,1.80,0.00,0.000,4,0.000,0.061,2031,2577,3448,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7750,-0.49,-97.3,563.8,-5.7,367,7754,0.00,1.85,0.00,0.000,6,0.000,0.072,2031,1520,3448,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8052,-0.50,-97.3,580.4,-5.0,377,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8351,-0.51,-97.3,595.3,-5.1,387,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8651,-0.52,-97.3,612.5,-6.0,397,8655,0.00,1.80,0.00,0.000,4,0.000,0.061,2022,2576,3445,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8845,-0.54,-97.3,624.8,-6.4,404,8849,0.00,1.88,0.00,0.000,6,0.000,0.073,2023,1511,3444,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9160,-0.54,-97.3,647.4,-7.1,415,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1510,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,-0.54,-97.3,667.0,-6.3,425,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1515,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9761,-0.54,-97.3,682.9,-4.8,435,9762,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10060,-0.54,-97.3,696.2,-4.2,445,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10361,-0.54,-97.3,710.5,-5.1,455,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1510,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10660,-0.54,-97.3,727.8,-6.2,465,10664,0.00,1.85,0.00,0.000,4,0.000,0.063,2015,2583,3439,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10750,-0.56,-97.3,732.7,-6.4,468,10754,0.00,1.88,0.00,0.000,6,0.000,0.075,2016,1522,3438,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11050,-0.56,-97.3,754.9,-7.1,478,11053,0.00,1.83,0.00,0.000,4,0.000,0.063,2008,2580,3437,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11185,-0.56,-97.3,764.3,-6.9,483,11189,0.00,1.88,0.00,0.000,6,0.000,0.075,2008,1520,3436,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11500,-0.56,-97.3,787.6,-7.4,494,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11801,-0.56,-97.3,809.7,-7.4,504,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12100,-0.56,-97.3,832.0,-7.5,514,12104,0.00,1.83,0.00,0.000,4,0.000,0.064,2000,2576,3434,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12189,-0.56,-97.3,837.1,-6.9,517,12193,0.00,1.88,0.00,0.000,6,0.000,0.075,2000,1519,3433,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12490,-0.56,-97.3,857.5,-6.1,527,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12791,-0.56,-97.3,873.1,-4.9,537,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13091,-0.56,-97.3,888.7,-5.6,547,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13390,-0.56,-97.3,907.9,-6.8,557,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1519,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13690,-0.56,-97.3,930.2,-7.7,567,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1519,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13991,-0.56,-97.3,953.1,-7.7,577,13994,0.00,1.85,0.00,0.000,4,0.000,0.065,1992,2582,3428,0,0,0,0,0,0,28.83,14.73,28.83
$GC,14095,-0.56,-97.3,961.4,-8.0,581,14098,0.00,1.90,0.00,0.000,6,0.000,0.077,1992,1519,3428,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,14318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14318,begin apogee
$GC,14323,-0.18,0.0,980.2,-8.5,589,14443,0.50,0.00,111.18,2.183,6,0.218,0.000,2129,1387,3062,0,0,0,0,1,0,14.55,28.83,13.24
$STATE,14445,end apogee,CONTROL_FINISHED_OK
$STATE,14445,begin climb
$GC,14447,0.60,97.3,985.5,0.0,593,14583,0.82,0.00,127.60,2.264,6,0.142,0.000,2375,1387,2665,0,0,0,0,1,0,14.14,28.83,13.16
$GC,14875,0.56,120.0,973.1,5.1,608,14926,0.00,1.92,40.72,1.563,4,0.000,0.064,2375,2460,2573,0,0,0,0,1,0,28.83,14.39,13.54
$GC,15010,0.51,121.0,964.8,6.0,612,15014,0.00,1.95,0.00,0.000,6,0.000,0.080,2382,1394,2573,0,0,0,0,0,0,28.83,14.48,28.83
$GC,15327,0.45,121.0,943.5,7.0,623,15329,0.20,0.00,0.00,0.000,6,0.269,0.000,2338,1395,2571,0,0,0,0,0,0,14.47,28.83,28.83
$GC,15626,0.43,126.0,925.7,5.8,633,15633,0.00,0.00,4.68,2.103,6,0.000,0.000,2338,1395,2548,0,0,0,0,0,0,28.83,28.83,13.88
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$STATE,28830,end climb,SURFACE_DEPTH_REACHED
$STATE,28830,begin surface coast
$FINISH,0.2,1.024632
$STATE,28860,end surface coast,CONTROL_FINISHED_OK
$STATE,28860,begin surface
$SM_CCo,28878,42.80,0.773,0,0,1635,350.04
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$IRIDIUM_FIX,2347.41,-3725.20,201012,212133
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.04
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.80
$XPDR_PINGS,4
$SC_FREEKB,7726368
$TM_FREEKB,6803168
$24V_AH,13.2,55.845
$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,18.950,92.900,579.300,42.800,0.000,0.000,0.000,369.950,1.000,0.000,20.374,3232.063,22723.309,846.658,2438.282,300.287,0.000,2184.727,0.000,1898.472,0.000,0.549,0.000
$DEVICE_MAMPS,423.045,127.755,2263.635,772.650,0.000,0.000,0.000,172.890,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28902.000,6725.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.110,13.085,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,43302,1191
$CAP_FILE_SIZE,241074,0
$CFSIZE,260034560,242401280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.063,135.9,1
$GPS,211012,134922,2358.958,-3720.226,41,0.9,41,-13.9