version: 66.11
glider: 191
mission: 5
dive: 121
start: 10 23 112 13 52 35
data:
$ID,191
$MISSION,5
$DIVE,121
$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,-3958.9561
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,231012,134152,2416.623,-3719.067,41,0.8,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-60.0
$GPS2,231012,135206,2416.590,-3719.130,21,0.9,21,-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,8.5,102630,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-61.85,0.000,3,0.000,0.000,158,1519,3460,0,0,0,0,0,0,28.83,28.83,14.89
$GC,88,-0.60,-97.3,4.0,-8.2,4,102,9.43,1.80,0.00,0.000,4,0.427,0.053,1983,2584,3463,0,0,0,0,0,0,14.44,14.70,28.83
$GC,325,-0.55,-97.3,37.3,-11.9,20,330,0.12,1.88,0.00,0.000,6,0.271,0.068,2008,1518,3464,0,0,0,0,0,0,14.50,14.66,28.83
$GC,625,-0.51,-97.3,70.7,-9.3,40,629,0.00,1.80,0.00,0.000,4,0.000,0.055,2003,2577,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,806,-0.48,-97.3,87.0,-8.5,52,811,0.12,1.85,0.00,0.000,6,0.248,0.067,2030,1516,3465,0,0,0,0,0,0,14.58,14.75,28.83
$GC,1105,-0.47,-97.3,108.4,-6.3,72,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1516,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-0.46,-97.3,128.5,-6.8,92,1409,0.00,1.88,0.00,0.000,4,0.000,0.090,2030,465,3466,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1450,-0.44,-97.3,131.8,-7.2,95,1454,0.00,1.77,0.00,0.000,6,0.000,0.047,2025,1520,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1750,-0.43,-97.3,152.4,-6.8,115,1754,0.00,1.80,0.00,0.000,4,0.000,0.057,2017,2579,3465,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1856,-0.43,-97.3,159.7,-7.0,122,1860,0.12,1.85,0.00,0.000,6,0.233,0.067,2045,1516,3466,0,0,0,0,0,0,14.62,14.78,28.83
$GC,2155,-0.43,-97.3,178.4,-6.3,142,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1516,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,-0.44,-97.3,198.2,-6.6,162,2459,0.00,1.80,0.00,0.000,4,0.000,0.057,2040,2577,3466,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2680,-0.46,-97.3,212.9,-6.7,177,2684,0.00,1.85,0.00,0.000,6,0.000,0.068,2043,1518,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2980,-0.46,-97.3,232.9,-7.0,197,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.47,-97.3,254.4,-6.9,215,3284,0.00,1.88,0.00,0.000,4,0.000,0.091,2040,467,3464,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3415,-0.47,-97.3,264.8,-7.8,220,3418,0.00,1.77,0.00,0.000,6,0.000,0.048,2033,1522,3464,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3730,-0.47,-97.3,286.8,-6.9,231,3734,0.00,1.77,0.00,0.000,4,0.000,0.059,2025,2576,3463,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3879,-0.48,-97.3,295.5,-6.3,236,3883,0.00,1.85,0.00,0.000,6,0.000,0.070,2025,1517,3463,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4180,-0.48,-97.3,316.1,-6.5,246,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1517,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.48,-97.3,337.0,-7.3,256,4483,0.00,1.80,0.00,0.000,4,0.000,0.058,2017,2576,3461,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4539,-0.48,-97.3,340.3,-7.3,258,4543,0.00,1.85,0.00,0.000,6,0.000,0.070,2017,1519,3460,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4840,-0.48,-97.3,365.0,-7.9,268,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1519,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.48,-97.3,388.3,-7.5,278,5143,0.00,1.90,0.00,0.000,4,0.000,0.093,2017,460,3459,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5216,-0.47,-97.3,394.3,-7.8,281,5220,0.00,1.80,0.00,0.000,6,0.000,0.049,2009,1531,3459,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5531,-0.46,-97.3,415.2,-6.2,292,5536,0.12,1.80,0.00,0.000,4,0.250,0.060,2031,2579,3457,0,0,0,0,0,0,14.66,14.85,28.83
$GC,5650,-0.47,-97.3,420.1,-4.6,296,5654,0.00,1.85,0.00,0.000,6,0.000,0.070,2031,1519,3457,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5950,-0.47,-97.3,435.9,-5.3,306,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1519,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6251,-0.48,-97.3,455.1,-7.0,316,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,-0.50,-97.3,477.1,-7.3,326,6554,0.00,1.80,0.00,0.000,4,0.000,0.059,2024,2575,3454,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6639,-0.51,-97.3,482.1,-6.8,329,6643,0.00,1.85,0.00,0.000,6,0.000,0.071,2024,1520,3454,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6940,-0.51,-97.3,505.2,-7.7,339,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,-0.51,-97.3,528.6,-7.7,349,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7541,-0.51,-97.3,547.6,-5.5,359,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,-0.51,-97.3,562.8,-5.1,369,7844,0.00,1.80,0.00,0.000,4,0.000,0.060,2016,2574,3450,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8005,-0.53,-97.3,571.0,-5.1,375,8009,0.00,1.85,0.00,0.000,6,0.000,0.073,2016,1522,3449,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8320,-0.53,-97.3,590.1,-6.2,386,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-0.53,-97.3,610.3,-7.0,396,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,-0.53,-97.3,633.1,-7.9,406,8924,0.00,1.80,0.00,0.000,4,0.000,0.060,2009,2575,3446,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9039,-0.53,-97.3,641.4,-8.0,410,9043,0.00,1.88,0.00,0.000,6,0.000,0.073,2009,1514,3445,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9341,-0.53,-97.3,666.6,-7.9,420,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9640,-0.53,-97.3,690.5,-8.2,430,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9940,-0.53,-97.3,715.5,-8.1,440,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10240,-0.53,-97.3,737.1,-6.9,450,10244,0.00,1.83,0.00,0.000,4,0.000,0.062,2001,2575,3441,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10389,-0.53,-97.3,745.7,-6.4,455,10393,0.00,1.88,0.00,0.000,6,0.000,0.075,2001,1520,3442,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10690,-0.53,-97.3,765.5,-6.4,465,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1519,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10990,-0.53,-97.3,784.9,-6.5,475,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11291,-0.53,-97.3,804.3,-6.5,485,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11590,-0.53,-97.3,825.0,-7.0,495,11593,0.00,1.83,0.00,0.000,4,0.000,0.063,1993,2574,3437,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11679,-0.53,-97.3,830.3,-7.2,498,11682,0.00,1.88,0.00,0.000,6,0.000,0.076,1993,1520,3437,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11981,-0.53,-97.3,854.4,-7.6,508,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12280,-0.53,-97.3,877.5,-7.8,518,12283,0.00,1.83,0.00,0.000,4,0.000,0.064,1985,2574,3435,0,0,0,0,0,0,28.83,14.75,28.83
$GC,12429,-0.53,-97.3,887.8,-7.7,523,12434,0.12,1.90,0.00,0.000,6,0.246,0.076,2013,1514,3435,0,0,0,0,0,0,14.52,14.73,28.83
$GC,12731,-0.53,-97.3,910.2,-7.1,533,12734,0.00,1.92,0.00,0.000,4,0.000,0.100,2013,460,3434,0,0,0,0,0,0,28.83,14.65,28.83
$GC,12805,-0.53,-97.3,916.0,-7.4,536,12809,0.00,1.83,0.00,0.000,6,0.000,0.054,2008,1523,3433,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13120,-0.53,-97.3,938.5,-7.0,547,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1525,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13420,-0.53,-97.3,960.2,-7.2,557,13423,0.00,1.83,0.00,0.000,4,0.000,0.066,1999,2576,3432,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13526,-0.54,-97.3,967.7,-7.2,561,13529,0.00,1.90,0.00,0.000,6,0.000,0.077,1999,1515,3432,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,13718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13718,begin apogee
$GC,13723,-0.18,0.0,982.0,-7.3,568,13843,0.47,0.00,111.78,2.192,6,0.213,0.000,2129,1394,3062,0,0,0,0,1,0,14.56,28.83,13.25
$STATE,13845,end apogee,CONTROL_FINISHED_OK
$STATE,13845,begin climb
$GC,13847,0.60,97.3,985.3,0.0,572,13982,0.82,0.00,125.65,2.214,6,0.138,0.000,2376,1394,2665,0,0,0,0,1,0,14.14,28.83,13.19
$GC,14275,0.56,115.7,969.5,5.3,587,14319,0.00,0.00,36.25,1.452,6,0.000,0.000,2376,1395,2590,0,0,0,0,1,0,28.83,28.83,13.57
$GC,14607,0.51,123.6,951.1,5.7,598,14640,0.00,0.00,26.02,1.058,6,0.000,0.000,2376,1394,2557,0,0,0,0,1,0,28.83,28.83,13.72
$GC,14936,0.46,132.3,932.7,5.7,609,14971,0.15,0.00,26.40,1.073,6,0.276,0.000,2345,1394,2521,0,0,0,0,1,0,14.49,28.83,13.85
$GC,15267,0.45,142.1,915.0,5.6,620,15304,0.00,1.98,27.42,1.113,4,0.000,0.109,2351,348,2482,0,0,0,0,1,0,28.83,14.59,13.81
$GC,15433,0.42,142.1,903.3,7.3,626,15437,0.00,1.83,0.00,0.000,6,0.000,0.054,2351,1407,2482,0,0,0,0,0,0,28.83,14.67,28.83
$GC,15748,0.39,142.1,880.6,7.2,637,15750,0.15,0.00,0.00,0.000,6,0.264,0.000,2318,1409,2481,0,0,0,0,0,0,14.52,28.83,28.83
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$STATE,27612,end climb,SURFACE_DEPTH_REACHED
$STATE,27612,begin surface coast
$FINISH,0.1,1.024725
$STATE,27628,end surface coast,CONTROL_FINISHED_OK
$STATE,27628,begin surface
$SM_CCo,27706,0.00,0.000,0,0,1557,368.93
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$IRIDIUM_FIX,2403.92,-3717.25,231012,050516
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.42
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.50
$XPDR_PINGS,2
$SC_FREEKB,7723680
$TM_FREEKB,6731648
$24V_AH,13.2,59.109
$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
$DEVICE_SECS,19.625,118.700,697.100,0.000,0.000,0.000,0.000,353.650,0.500,0.000,22.065,3132.716,21551.777,963.611,2364.471,297.506,0.000,2267.854,0.000,1842.102,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.158,13.118,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,40014,1144
$CAP_FILE_SIZE,239175,0
$CFSIZE,260034560,241442816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$CURRENT,0.020, 52.1,1
$GPS,231012,213536,2419.806,-3718.975,35,1.0,35,-13.8