version: 66.11
glider: 191
mission: 5
dive: 136
start: 10 28 112 13 43 58
data:
$ID,191
$MISSION,5
$DIVE,136
$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,-3978.9448
$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,22
$R_STBD_OVSHOOT,46
$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
$GPS1,281012,133323,2455.547,-3718.343,40,0.9,40,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-55.3
$GPS2,281012,134329,2455.512,-3718.327,18,0.9,18,-13.7
$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,6.0,30664,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-62.40,0.000,2,0.000,0.000,158,1523,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.6,-7.5,4,104,9.18,1.90,-0.28,0.000,4,0.409,0.106,2001,460,3461,0,0,0,0,0,0,14.36,14.60,14.76
$GC,326,-0.52,-97.3,40.5,-13.7,20,331,0.12,1.77,0.00,0.000,6,0.269,0.046,2016,1513,3463,0,0,0,0,0,0,14.47,14.71,28.83
$GC,627,-0.48,-97.3,68.8,-9.1,40,630,0.00,1.80,0.00,0.000,4,0.000,0.057,2010,2574,3463,0,0,0,0,0,0,28.83,14.67,28.83
$GC,777,-0.46,-97.3,80.9,-7.7,50,782,0.12,1.85,0.00,0.000,6,0.243,0.067,2038,1515,3463,0,0,0,0,0,0,14.54,14.71,28.83
$GC,1076,-0.46,-97.3,99.6,-6.1,70,1080,0.00,1.80,0.00,0.000,4,0.000,0.055,2033,2576,3464,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1211,-0.46,-97.3,108.6,-7.1,79,1215,0.00,1.85,0.00,0.000,6,0.000,0.067,2033,1517,3464,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1511,-0.46,-97.3,135.7,-8.9,99,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,-0.46,-97.3,161.8,-8.8,119,1814,0.00,1.88,0.00,0.000,4,0.000,0.088,2033,465,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1872,-0.44,-97.3,167.4,-9.3,123,1876,0.00,1.77,0.00,0.000,6,0.000,0.045,2025,1524,3465,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2171,-0.44,-97.3,188.2,-5.8,143,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.44,-97.3,200.5,-4.3,163,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,-0.44,-97.3,218.0,-7.0,183,2775,0.00,1.77,0.00,0.000,4,0.000,0.057,2017,2576,3464,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2921,-0.44,-97.3,229.5,-8.0,193,2924,0.00,1.85,0.00,0.000,6,0.000,0.067,2017,1513,3464,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3221,-0.43,-97.3,256.8,-9.0,211,3223,0.12,0.00,0.00,0.000,6,0.243,0.000,2045,1516,3464,0,0,0,0,0,0,14.62,28.83,28.83
$GC,3521,-0.45,-97.3,279.8,-7.3,221,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3822,-0.47,-97.3,299.0,-6.2,231,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4122,-0.48,-97.3,315.9,-5.6,241,4125,0.00,1.80,0.00,0.000,4,0.000,0.058,2040,2577,3461,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4241,-0.51,-97.3,321.4,-5.3,245,4245,0.00,1.85,0.00,0.000,6,0.000,0.068,2040,1516,3461,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4543,-0.52,-97.3,339.6,-5.9,255,4546,0.00,1.88,0.00,0.000,4,0.000,0.090,2040,466,3460,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4616,-0.52,-97.3,344.6,-6.6,258,4620,0.00,1.77,0.00,0.000,6,0.000,0.047,2032,1523,3460,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4932,-0.52,-97.3,365.4,-6.6,269,4935,0.00,1.80,0.00,0.000,4,0.000,0.060,2025,2583,3459,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5050,-0.54,-97.3,371.9,-6.3,273,5054,0.00,1.85,0.00,0.000,6,0.000,0.070,2025,1522,3458,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5351,-0.54,-97.3,393.1,-6.9,283,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5651,-0.54,-97.3,412.2,-6.2,293,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5952,-0.54,-97.3,429.9,-5.9,303,5955,0.00,1.80,0.00,0.000,4,0.000,0.058,2016,2577,3455,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6071,-0.55,-97.3,436.0,-5.8,307,6074,0.00,1.85,0.00,0.000,6,0.000,0.070,2017,1521,3455,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6371,-0.55,-97.3,456.7,-6.9,317,6374,0.00,1.80,0.00,0.000,4,0.000,0.059,2009,2577,3454,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6490,-0.55,-97.3,464.0,-6.9,321,6494,0.00,1.85,0.00,0.000,6,0.000,0.070,2009,1521,3452,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6791,-0.55,-97.3,487.6,-7.7,331,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,-0.55,-97.3,512.3,-8.2,341,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,-0.55,-97.3,536.8,-8.1,351,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,-0.55,-97.3,559.3,-7.4,361,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7992,-0.55,-97.3,581.2,-7.3,371,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8291,-0.55,-97.3,603.8,-7.7,381,8294,0.00,1.83,0.00,0.000,4,0.000,0.060,2001,2583,3447,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8380,-0.55,-97.3,609.4,-7.5,384,8384,0.00,1.88,0.00,0.000,6,0.000,0.072,2001,1520,3447,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8681,-0.55,-97.3,634.4,-7.8,394,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,-0.55,-97.3,656.0,-6.7,404,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,-0.55,-97.3,673.6,-5.4,414,9285,0.00,1.83,0.00,0.000,4,0.000,0.060,1993,2580,3443,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9400,-0.55,-97.3,678.8,-5.0,418,9404,0.00,1.88,0.00,0.000,6,0.000,0.073,1994,1521,3443,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9703,-0.54,-97.3,696.0,-5.5,428,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10002,-0.53,-97.3,713.1,-5.9,438,10005,0.00,1.83,0.00,0.000,4,0.000,0.062,1986,2578,3441,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10180,-0.53,-97.3,723.3,-6.3,444,10185,0.12,1.88,0.00,0.000,6,0.241,0.073,2013,1519,3441,0,0,0,0,0,0,14.53,14.74,28.83
$GC,10482,-0.53,-97.3,744.1,-7.0,454,10485,0.00,1.83,0.00,0.000,4,0.000,0.061,2008,2578,3440,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10631,-0.54,-97.3,753.7,-7.1,459,10634,0.00,1.88,0.00,0.000,6,0.000,0.072,2007,1519,3439,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10931,-0.54,-97.3,776.4,-7.1,469,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11231,-0.54,-97.3,796.7,-6.5,479,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11531,-0.54,-97.3,817.6,-6.9,489,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11831,-0.54,-97.3,837.4,-6.5,499,11834,0.00,1.83,0.00,0.000,4,0.000,0.063,2000,2575,3436,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11997,-0.54,-97.3,847.4,-6.2,505,12001,0.00,1.88,0.00,0.000,6,0.000,0.075,1999,1522,3434,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12312,-0.54,-97.3,866.7,-5.9,516,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12611,-0.54,-97.3,885.9,-6.8,526,12615,0.00,1.83,0.00,0.000,4,0.000,0.063,1992,2574,3433,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12700,-0.54,-97.3,891.0,-6.9,529,12704,0.00,1.90,0.00,0.000,6,0.000,0.075,1998,1512,3432,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13001,-0.54,-97.3,916.5,-8.2,539,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1512,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13301,-0.54,-97.3,941.0,-8.0,549,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1512,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13601,-0.54,-97.3,963.8,-7.4,559,13605,0.00,1.85,0.00,0.000,4,0.000,0.066,1984,2572,3430,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13767,-0.54,-97.3,975.4,-6.8,565,13771,0.12,1.90,0.00,0.000,6,0.246,0.077,2011,1517,3429,0,0,0,0,0,0,14.45,14.66,28.83
$STATE,13870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13870,begin apogee
$GC,13875,-0.18,0.0,981.6,-5.9,569,13994,0.43,0.00,111.03,2.168,6,0.206,0.000,2130,1398,3063,0,0,0,0,1,0,14.52,28.83,13.24
$STATE,13996,end apogee,CONTROL_FINISHED_OK
$STATE,13996,begin climb
$GC,13999,0.60,97.3,984.1,0.0,573,14134,0.80,0.00,126.57,2.225,6,0.136,0.000,2376,1397,2667,0,0,0,0,1,0,14.13,28.83,13.16
$GC,14426,0.53,97.3,962.7,7.1,588,14430,0.00,1.85,0.00,0.000,4,0.000,0.063,2376,2453,2661,0,0,0,0,0,0,28.83,14.55,28.83
$GC,14546,0.47,97.3,955.1,7.2,592,14550,0.17,1.92,0.00,0.000,6,0.278,0.080,2347,1395,2661,0,0,0,0,0,0,14.36,14.57,28.83
$GC,14847,0.43,97.3,935.2,6.1,602,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1394,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15147,0.40,97.3,917.1,6.0,612,15148,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1395,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15447,0.37,109.0,900.0,5.6,622,15484,0.15,1.98,27.20,1.095,4,0.269,0.107,2318,338,2619,0,0,0,0,1,0,14.45,14.68,13.88
$GC,15583,0.40,140.1,893.6,4.7,627,15645,0.00,1.85,52.03,1.743,6,0.000,0.054,2318,1412,2490,0,0,0,0,1,0,28.83,14.69,13.53
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$STATE,27912,end climb,SURFACE_DEPTH_REACHED
$STATE,27912,begin surface coast
$FINISH,-0.2,1.025012
$STATE,27928,end surface coast,CONTROL_FINISHED_OK
$STATE,27929,begin surface
$SM_CCo,27945,48.20,0.757,0,0,1634,350.04
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$IRIDIUM_FIX,2441.81,-3716.89,281012,050553
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.03
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.30
$XPDR_PINGS,2
$SC_FREEKB,7717920
$TM_FREEKB,6575712
$24V_AH,13.2,65.940
$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,19.000,115.350,540.725,48.200,0.000,0.000,0.000,345.800,0.500,0.000,19.760,3165.721,21920.221,826.877,2362.473,319.505,0.000,2124.509,0.000,1854.574,0.000,0.550,0.000
$DEVICE_MAMPS,408.510,118.575,2224.620,756.585,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27969.000,6586.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.110,13.094,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,43303,1156
$CAP_FILE_SIZE,238393,0
$CFSIZE,260034560,239394816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.045,170.2,1
$GPS,281012,213152,2457.846,-3718.432,37,0.9,37,-13.7