version: 66.11
glider: 191
mission: 5
dive: 143
start: 10 30 112 21 38 47
data:
$ID,191
$MISSION,5
$DIVE,143
$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,-3989.2297
$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,24
$R_STBD_OVSHOOT,51
$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
$GPS1,301012,212730,2511.370,-3720.350,41,1.1,41,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-56.3
$GPS2,301012,213817,2511.257,-3720.294,16,1.4,16,-13.7
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,304.1,140276,-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,-61.85,0.000,2,0.000,0.000,157,1534,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.3,-6.4,4,103,9.45,0.00,-1.90,0.000,6,0.422,0.000,1989,1534,3460,1,0,0,0,0,0,14.16,28.83,14.85
$GC,401,-0.53,-97.3,43.7,-12.1,25,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1535,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,700,-0.48,-97.3,76.2,-10.5,45,705,0.17,1.75,0.00,0.000,4,0.249,0.056,2027,2570,3464,0,0,0,0,0,0,14.48,14.71,28.83
$GC,925,-0.48,-97.3,94.5,-8.3,60,928,0.00,1.85,0.00,0.000,6,0.000,0.067,2027,1513,3464,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1226,-0.46,-97.3,116.9,-6.6,80,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.45,-97.3,138.1,-7.7,100,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.45,-97.3,165.0,-8.6,120,1828,0.00,1.88,0.00,0.000,4,0.000,0.088,2027,464,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1930,-0.43,-97.3,173.7,-7.9,127,1935,0.12,1.75,0.00,0.000,6,0.253,0.044,2047,1511,3465,0,0,0,0,0,0,14.54,14.79,28.83
$GC,2231,-0.44,-97.3,186.6,-3.5,147,2234,0.00,1.80,0.00,0.000,4,0.000,0.056,2041,2576,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2456,-0.46,-97.3,193.6,-3.3,162,2460,0.00,1.85,0.00,0.000,6,0.000,0.066,2041,1516,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2756,-0.46,-97.3,209.6,-6.5,182,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1517,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-0.47,-97.3,232.1,-7.4,202,3059,0.00,1.80,0.00,0.000,4,0.000,0.056,2031,2576,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3176,-0.50,-97.3,241.3,-7.6,210,3180,0.00,1.85,0.00,0.000,6,0.000,0.067,2034,1522,3464,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3475,-0.50,-97.3,262.4,-6.5,224,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-0.50,-97.3,278.9,-5.3,234,3780,0.00,1.80,0.00,0.000,4,0.000,0.057,2026,2578,3463,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3895,-0.51,-97.3,284.3,-5.0,238,3899,0.00,1.85,0.00,0.000,6,0.000,0.067,2026,1516,3462,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4196,-0.51,-97.3,302.2,-5.8,248,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.51,-97.3,321.2,-6.5,258,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1516,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4795,-0.51,-97.3,341.2,-6.8,268,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1516,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5096,-0.51,-97.3,360.3,-6.3,278,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1516,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5395,-0.51,-97.3,381.6,-7.3,288,5398,0.00,1.80,0.00,0.000,4,0.000,0.057,2018,2574,3457,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5501,-0.52,-97.3,389.6,-7.6,292,5504,0.00,1.85,0.00,0.000,6,0.000,0.069,2019,1520,3457,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5815,-0.52,-97.3,416.0,-8.3,303,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.52,-97.3,437.1,-6.3,313,6118,0.00,1.80,0.00,0.000,4,0.000,0.058,2011,2578,3455,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6205,-0.52,-97.3,441.6,-6.0,316,6209,0.00,1.85,0.00,0.000,6,0.000,0.069,2011,1521,3454,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6506,-0.52,-97.3,459.1,-5.6,326,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,-0.52,-97.3,478.2,-7.0,336,6809,0.00,1.80,0.00,0.000,4,0.000,0.059,2003,2576,3453,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6924,-0.52,-97.3,486.2,-7.6,340,6928,0.00,1.85,0.00,0.000,6,0.000,0.070,2003,1521,3452,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7225,-0.52,-97.3,513.4,-8.9,350,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,-0.51,-97.3,539.6,-8.6,360,7530,0.00,1.90,0.00,0.000,4,0.000,0.093,2004,466,3450,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7585,-0.49,-97.3,543.9,-9.0,362,7589,0.15,1.77,0.00,0.000,6,0.252,0.049,2029,1518,3450,0,0,0,0,0,0,14.51,14.81,28.83
$GC,7887,-0.51,-97.3,566.5,-6.8,372,7891,0.00,1.80,0.00,0.000,4,0.000,0.060,2024,2575,3449,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8050,-0.53,-97.3,576.7,-6.1,378,8054,0.00,1.85,0.00,0.000,6,0.000,0.070,2024,1521,3449,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8366,-0.53,-97.3,596.4,-6.2,389,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8665,-0.53,-97.3,614.3,-5.8,399,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8967,-0.53,-97.3,631.3,-5.6,409,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,-0.54,-97.3,650.2,-6.4,419,9269,0.00,1.83,0.00,0.000,4,0.000,0.060,2017,2579,3444,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9370,-0.56,-97.3,657.0,-6.5,423,9374,0.00,1.88,0.00,0.000,6,0.000,0.070,2017,1517,3444,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9686,-0.56,-97.3,681.0,-7.9,434,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.56,-97.3,705.1,-8.0,444,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10286,-0.56,-97.3,726.6,-6.7,454,10290,0.00,1.92,0.00,0.000,4,0.000,0.096,2017,460,3441,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10360,-0.56,-97.3,731.9,-6.9,457,10364,0.00,1.80,0.00,0.000,6,0.000,0.051,2009,1517,3441,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10677,-0.56,-97.3,749.9,-5.5,468,10681,0.00,1.83,0.00,0.000,4,0.000,0.061,2001,2578,3440,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10780,-0.56,-97.3,755.3,-5.1,472,10784,0.00,1.88,0.00,0.000,6,0.000,0.072,2001,1517,3439,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11096,-0.56,-97.3,773.1,-5.9,483,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1517,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11396,-0.56,-97.3,792.0,-6.4,493,11399,0.00,1.83,0.00,0.000,4,0.000,0.062,1993,2576,3437,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11484,-0.56,-97.3,796.5,-6.1,496,11488,0.00,1.88,0.00,0.000,6,0.000,0.073,1993,1521,3437,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11786,-0.56,-97.3,817.0,-6.7,506,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12085,-0.56,-97.3,837.2,-6.9,516,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12385,-0.56,-97.3,858.8,-7.3,526,12389,0.00,1.83,0.00,0.000,4,0.000,0.063,1986,2576,3435,0,0,0,0,0,0,28.83,14.71,28.83
$GC,12551,-0.56,-97.3,870.9,-7.4,532,12554,0.00,1.90,0.00,0.000,6,0.000,0.074,1986,1512,3434,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12866,-0.54,-97.3,896.5,-8.1,543,12870,0.00,1.92,0.00,0.000,4,0.000,0.098,1985,462,3434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12941,-0.52,-97.3,903.1,-8.6,546,12945,0.17,1.83,0.00,0.000,6,0.257,0.053,2017,1524,3433,0,0,0,0,0,0,14.40,14.73,28.83
$GC,13256,-0.54,-97.3,924.2,-6.7,557,13260,0.00,1.83,0.00,0.000,4,0.000,0.064,2012,2577,3431,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13391,-0.56,-97.3,933.2,-6.7,562,13394,0.00,1.90,0.00,0.000,6,0.000,0.074,2012,1512,3431,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13705,-0.56,-97.3,956.6,-7.6,573,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1512,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14006,-0.57,-97.3,978.8,-7.3,583,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1511,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14033,begin apogee
$GC,14038,-0.18,0.0,980.8,-7.2,584,14157,0.43,0.00,110.53,2.193,6,0.210,0.000,2128,1395,3063,0,0,0,0,1,0,14.52,28.83,13.21
$STATE,14159,end apogee,CONTROL_FINISHED_OK
$STATE,14159,begin climb
$GC,14161,0.60,97.3,984.7,0.0,588,14299,0.82,0.00,128.62,2.317,6,0.138,0.000,2375,1394,2665,0,0,0,0,1,0,14.13,28.83,13.12
$GC,14591,0.54,101.7,968.8,5.9,603,14596,0.00,0.00,3.45,2.004,6,0.000,0.000,2376,1394,2645,0,0,0,0,0,0,28.83,28.83,13.75
$GC,14891,0.48,101.7,949.6,6.6,613,14893,0.15,0.00,0.00,0.000,6,0.275,0.000,2344,1394,2646,0,0,0,0,0,0,14.42,28.83,28.83
$GC,15192,0.45,109.2,932.7,5.7,623,15204,0.00,0.00,10.48,1.460,6,0.000,0.000,2344,1394,2618,0,0,0,0,0,0,28.83,28.83,14.45
$GC,15493,0.44,128.2,915.9,5.2,633,15541,0.00,1.90,38.30,1.473,4,0.000,0.064,2344,2464,2542,0,0,0,0,1,0,28.83,14.56,13.69
$GC,15640,0.44,148.6,908.8,5.2,637,15689,0.00,1.92,39.75,1.509,6,0.000,0.080,2350,1405,2454,0,0,0,0,1,0,28.83,14.54,13.53
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$STATE,27998,end climb,SURFACE_DEPTH_REACHED
$STATE,27998,begin surface coast
$FINISH,-0.1,1.002202
$STATE,28030,end surface coast,CONTROL_FINISHED_OK
$STATE,28030,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,46.92
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$TCM_TEMP,26.60
$XPDR_PINGS,2
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$TM_FREEKB,6502656
$24V_AH,13.1,69.106
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,18.525,115.425,469.550,94.050,0.000,0.000,0.000,384.125,0.500,0.000,17.320,3235.009,21977.098,791.124,2447.674,331.789,0.000,2147.807,0.000,1904.445,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28071.000,6873.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.277,13.087,0.000,0.000
$MEM,344796
$DATA_FILE_SIZE,43318,1174
$CAP_FILE_SIZE,241456,0
$CFSIZE,260034560,238444544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,6,1,0
$CURRENT,0.079,150.6,1
$GPS,311012,052904,2511.373,-3722.790,33,0.8,33,-13.7