version: 66.11
glider: 191
mission: 5
dive: 118
start: 10 22 112 13 58 59
data:
$ID,191
$MISSION,5
$DIVE,118
$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,-3954.1848
$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,26
$R_STBD_OVSHOOT,44
$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
$GPS1,221012,134752,2407.342,-3719.414,36,0.8,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.5
$GPS2,221012,135830,2407.375,-3719.454,17,0.9,17,-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,5.2,119688,-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,-61.53,0.000,6,0.000,0.000,160,1524,3460,0,0,0,0,0,0,28.83,28.83,14.88
$GC,88,-0.60,-97.3,4.0,-8.6,4,101,9.27,1.77,0.00,0.000,4,0.418,0.052,1983,2574,3462,0,0,0,0,0,0,14.38,14.66,28.83
$GC,325,-0.53,-97.3,38.4,-12.7,20,330,0.15,1.85,0.00,0.000,6,0.261,0.067,2015,1521,3465,0,0,0,0,0,0,14.51,14.69,28.83
$GC,625,-0.50,-97.3,70.5,-9.5,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.47,-97.3,95.2,-8.8,60,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-0.44,-97.3,123.7,-9.5,80,1227,0.12,0.00,0.00,0.000,6,0.253,0.000,2045,1521,3466,0,0,0,0,0,0,14.62,28.83,28.83
$GC,1525,-0.44,-97.3,145.8,-6.8,100,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1521,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.44,-97.3,160.9,-4.0,120,1829,0.00,1.77,0.00,0.000,4,0.000,0.055,2040,2571,3467,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2022,-0.46,-97.3,169.1,-4.5,133,2025,0.00,1.85,0.00,0.000,6,0.000,0.067,2040,1511,3467,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2320,-0.46,-97.3,187.6,-6.7,153,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1508,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,-0.46,-97.3,207.9,-7.0,173,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1511,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.46,-97.3,227.9,-6.4,193,2923,0.00,1.80,0.00,0.000,4,0.000,0.056,2032,2575,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3145,-0.48,-97.3,242.6,-6.6,208,3149,0.00,1.85,0.00,0.000,6,0.000,0.069,2032,1514,3465,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3461,-0.48,-97.3,268.8,-8.8,222,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.48,-97.3,290.7,-6.6,232,3763,0.00,1.80,0.00,0.000,4,0.000,0.058,2025,2577,3463,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3865,-0.49,-97.3,296.6,-5.6,236,3869,0.00,1.85,0.00,0.000,6,0.000,0.068,2025,1511,3462,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4182,-0.49,-97.3,314.2,-5.6,247,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1514,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.49,-97.3,331.4,-5.8,257,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,-0.49,-97.3,349.2,-6.1,267,4784,0.00,1.80,0.00,0.000,4,0.000,0.059,2016,2575,3460,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4915,-0.49,-97.3,358.2,-6.7,272,4918,0.00,1.83,0.00,0.000,6,0.000,0.070,2016,1525,3463,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5231,-0.49,-97.3,385.2,-8.8,283,5234,0.00,1.77,0.00,0.000,4,0.000,0.059,2009,2570,3459,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5319,-0.49,-97.3,391.7,-8.7,286,5322,0.00,1.85,0.00,0.000,6,0.000,0.071,2010,1515,3458,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5621,-0.48,-97.3,418.3,-8.3,296,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1515,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5921,-0.46,-97.3,443.4,-8.5,306,5925,0.12,1.83,0.00,0.000,4,0.249,0.061,2032,2574,3456,0,0,0,0,0,0,14.68,14.85,28.83
$GC,6070,-0.49,-97.3,452.5,-6.7,311,6074,0.00,1.85,0.00,0.000,6,0.000,0.071,2032,1520,3455,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6370,-0.49,-97.3,474.7,-7.4,321,6374,0.00,1.90,0.00,0.000,4,0.000,0.094,2032,461,3452,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6445,-0.49,-97.3,481.0,-8.1,324,6448,0.00,1.77,0.00,0.000,6,0.000,0.050,2024,1515,3453,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6760,-0.49,-97.3,506.7,-8.0,335,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1517,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,-0.49,-97.3,528.2,-6.8,345,7064,0.00,1.80,0.00,0.000,4,0.000,0.060,2016,2576,3452,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7149,-0.49,-97.3,532.8,-6.1,348,7152,0.00,1.85,0.00,0.000,6,0.000,0.072,2016,1519,3451,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7451,-0.49,-97.3,550.7,-5.4,358,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,-0.49,-97.3,566.9,-5.6,368,7754,0.00,1.80,0.00,0.000,4,0.000,0.060,2008,2575,3449,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7842,-0.49,-97.3,571.0,-5.5,371,7845,0.00,1.85,0.00,0.000,6,0.000,0.073,2008,1520,3446,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8140,-0.49,-97.3,592.0,-6.8,381,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,-0.49,-97.3,614.3,-7.8,391,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8740,-0.49,-97.3,640.2,-9.1,401,8744,0.00,1.83,0.00,0.000,4,0.000,0.060,2001,2582,3445,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8919,-0.49,-97.3,655.2,-9.1,407,8923,0.12,1.88,0.00,0.000,6,0.239,0.073,2029,1518,3444,0,0,0,0,0,0,14.61,14.79,28.83
$GC,9222,-0.50,-97.3,680.3,-7.5,417,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1518,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,-0.52,-97.3,700.7,-6.5,427,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.53,-97.3,718.0,-5.6,437,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1518,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10121,-0.55,-97.3,734.5,-5.6,447,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10422,-0.57,-97.3,751.9,-5.7,457,10425,0.00,1.83,0.00,0.000,4,0.000,0.063,2023,2576,3440,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10510,-0.59,-97.3,756.0,-5.6,460,10513,0.00,1.88,0.00,0.000,6,0.000,0.073,2023,1516,3439,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10812,-0.60,-97.3,773.6,-5.4,470,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1516,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11111,-0.62,-97.3,789.7,-5.3,480,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1516,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11411,-0.63,-97.3,805.7,-5.3,490,11416,0.12,1.83,0.00,0.000,4,0.148,0.064,1972,2574,3437,0,0,0,0,0,0,14.78,14.76,28.83
$GC,11545,-0.61,-97.3,814.9,-6.9,495,11549,0.00,1.88,0.00,0.000,6,0.000,0.076,1971,1521,3435,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11862,-0.58,-97.3,839.1,-7.6,506,11864,0.12,0.00,0.00,0.000,6,0.278,0.000,1997,1521,3435,0,0,0,0,0,0,14.51,28.83,28.83
$GC,12160,-0.58,-97.3,860.8,-7.5,516,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12460,-0.58,-97.3,884.1,-7.9,526,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12760,-0.58,-97.3,909.1,-8.6,536,12764,0.00,1.83,0.00,0.000,4,0.000,0.065,1992,2574,3432,0,0,0,0,0,0,28.83,14.74,28.83
$GC,12895,-0.58,-97.3,920.5,-8.6,541,12898,0.00,1.88,0.00,0.000,6,0.000,0.076,1991,1523,3431,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13212,-0.57,-97.3,949.7,-9.5,552,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1524,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13511,-0.56,-97.3,977.2,-8.9,562,13515,0.00,1.83,0.00,0.000,4,0.000,0.066,1984,2574,3430,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,13553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13553,begin apogee
$GC,13560,-0.18,0.0,980.9,-8.6,564,13681,0.52,0.00,112.47,2.271,6,0.219,0.000,2127,1399,3062,0,0,0,0,1,0,14.55,28.83,13.21
$STATE,13683,end apogee,CONTROL_FINISHED_OK
$STATE,13683,begin climb
$GC,13684,0.60,97.3,985.3,0.0,568,13825,0.82,2.08,128.90,2.372,4,0.141,0.108,2385,347,2666,0,0,0,0,1,0,14.12,13.97,13.12
$GC,13944,0.50,97.3,977.6,6.2,577,13949,0.15,1.85,0.00,0.000,6,0.283,0.054,2356,1404,2661,0,0,0,0,0,0,14.21,14.41,28.83
$GC,14246,0.46,97.3,955.0,7.4,587,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1405,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14546,0.41,97.3,933.0,7.3,597,14548,0.12,0.00,0.00,0.000,6,0.278,0.000,2328,1405,2657,0,0,0,0,0,0,14.50,28.83,28.83
$GC,14845,0.40,97.3,914.2,6.1,607,14846,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1405,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15146,0.42,136.2,899.2,4.4,617,15213,0.00,1.88,57.45,1.875,4,0.000,0.065,2328,2450,2507,0,0,0,0,1,0,28.83,14.40,13.55
$GC,15326,0.44,165.7,891.4,4.8,623,15385,0.00,1.92,49.58,1.779,6,0.000,0.083,2333,1400,2386,0,0,0,0,1,0,28.83,14.50,13.40
$GC,15701,0.47,192.3,872.4,4.9,636,15753,0.00,0.00,45.28,1.701,6,0.000,0.000,2334,1400,2277,0,0,0,0,1,0,28.83,28.83,13.50
$GC,16031,0.49,206.1,855.4,5.5,647,16070,0.00,0.00,31.38,1.292,6,0.000,0.000,2333,1400,2222,0,0,0,0,1,0,28.83,28.83,13.61
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$STATE,27293,end climb,SURFACE_DEPTH_REACHED
$STATE,27294,begin surface coast
$FINISH,0.7,1.024693
$STATE,27310,end surface coast,CONTROL_FINISHED_OK
$STATE,27310,begin surface
$SM_CCo,27387,0.00,0.000,0,0,1519,378.50
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$HUMID,48.70
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$TCM_TEMP,26.30
$XPDR_PINGS,3
$SC_FREEKB,7724832
$TM_FREEKB,6762528
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$10V_AH,13.1,0.000
$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
$DEVICE_SECS,19.050,126.525,636.600,0.000,0.000,0.000,0.000,383.025,0.750,0.000,17.970,3088.023,21393.557,874.554,2366.716,293.892,0.000,2207.662,0.000,1824.082,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.991,13.072,0.000,0.000
$MEM,344772
$DATA_FILE_SIZE,40019,1124
$CAP_FILE_SIZE,236948,0
$CFSIZE,260034560,241856512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.031,107.3,1
$GPS,221012,213634,2410.259,-3719.081,28,0.9,28,-13.9