version: 66.11
glider: 191
mission: 5
dive: 144
start: 10 31 112 5 39 49
data:
$ID,191
$MISSION,5
$DIVE,144
$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,-3990.5845
$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,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
$GPS1,311012,052904,2511.373,-3722.790,33,0.8,33,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-52.3
$GPS2,311012,053919,2511.330,-3722.789,20,1.4,20,-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,306.2,136094,-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,-62.15,0.000,2,0.000,0.000,152,1520,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.4,-7.0,4,101,9.38,0.00,-1.02,0.000,6,0.418,0.000,1988,1526,3461,0,0,0,0,0,0,14.36,28.83,14.82
$GC,401,-0.53,-97.3,40.7,-11.2,25,403,0.12,0.00,0.00,0.000,6,0.275,0.000,2016,1522,3464,0,0,0,0,0,0,14.47,28.83,28.83
$GC,700,-0.49,-97.3,72.7,-11.6,45,704,0.00,1.80,0.00,0.000,4,0.000,0.057,2010,2576,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,912,-0.48,-97.3,92.1,-8.3,59,915,0.00,1.85,0.00,0.000,6,0.000,0.067,2010,1518,3464,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1211,-0.45,-97.3,116.4,-7.5,79,1215,0.12,1.88,0.00,0.000,4,0.251,0.086,2038,464,3465,0,0,0,0,0,0,14.52,14.66,28.83
$GC,1330,-0.44,-97.3,125.1,-6.9,87,1334,0.00,1.75,0.00,0.000,6,0.000,0.044,2033,1514,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1630,-0.44,-97.3,145.1,-6.8,107,1633,0.00,1.80,0.00,0.000,4,0.000,0.055,2025,2574,3465,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1765,-0.44,-97.3,154.7,-7.4,116,1768,0.00,1.85,0.00,0.000,6,0.000,0.066,2025,1515,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2065,-0.44,-97.3,179.1,-8.2,136,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.44,-97.3,201.0,-7.1,156,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.44,-97.3,221.9,-6.8,176,2668,0.00,1.88,0.00,0.000,4,0.000,0.089,2025,466,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2741,-0.42,-97.3,227.5,-7.7,181,2745,0.15,1.77,0.00,0.000,6,0.239,0.045,2051,1521,3465,0,0,0,0,0,0,14.53,14.79,28.83
$GC,3041,-0.44,-97.3,242.8,-5.2,201,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-0.47,-97.3,259.8,-5.4,216,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.49,-97.3,274.2,-4.6,226,3660,0.00,1.80,0.00,0.000,4,0.000,0.057,2046,2586,3462,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3745,-0.52,-97.3,277.6,-4.5,229,3749,0.00,1.88,0.00,0.000,6,0.000,0.068,2046,1513,3463,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4047,-0.54,-97.3,294.3,-5.8,239,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-0.56,-97.3,315.7,-7.6,249,4348,0.12,0.00,0.00,0.000,6,0.139,0.000,1997,1513,3461,0,0,0,0,0,0,14.83,28.83,28.83
$GC,4646,-0.54,-97.3,345.5,-10.2,259,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4946,-0.52,-97.3,374.5,-9.2,269,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.49,-97.3,397.8,-7.1,279,5248,0.12,0.00,0.00,0.000,6,0.252,0.000,2024,1513,3457,0,0,0,0,0,0,14.59,28.83,28.83
$GC,5546,-0.49,-97.3,414.6,-5.6,289,5549,0.00,1.83,0.00,0.000,4,0.000,0.058,2018,2583,3456,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5771,-0.51,-97.3,427.1,-5.6,297,5775,0.00,1.88,0.00,0.000,6,0.000,0.070,2018,1515,3456,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6086,-0.51,-97.3,449.7,-7.5,308,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6385,-0.51,-97.3,473.8,-8.2,318,6388,0.00,1.83,0.00,0.000,4,0.000,0.060,2011,2580,3454,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6612,-0.52,-97.3,492.6,-8.4,326,6616,0.00,1.88,0.00,0.000,6,0.000,0.070,2010,1513,3453,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6926,-0.52,-97.3,519.1,-8.0,337,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1513,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7225,-0.52,-97.3,539.1,-6.1,347,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1513,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,-0.52,-97.3,554.9,-5.3,357,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7825,-0.52,-97.3,572.5,-6.0,367,7829,0.00,1.83,0.00,0.000,4,0.000,0.060,2003,2576,3449,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7915,-0.52,-97.3,577.1,-6.1,370,7919,0.00,1.88,0.00,0.000,6,0.000,0.070,2003,1514,3448,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8215,-0.52,-97.3,598.1,-6.7,380,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,-0.52,-97.3,616.3,-6.0,390,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8815,-0.52,-97.3,635.4,-6.7,400,8818,0.00,1.83,0.00,0.000,4,0.000,0.060,1995,2576,3444,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9010,-0.52,-97.3,648.5,-6.7,407,9014,0.00,1.88,0.00,0.000,6,0.000,0.072,1995,1516,3444,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9327,-0.51,-97.3,670.8,-7.0,418,9329,0.12,0.00,0.00,0.000,6,0.254,0.000,2022,1516,3441,0,0,0,0,0,0,14.54,28.83,28.83
$GC,9627,-0.52,-97.3,688.3,-5.8,428,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1516,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9926,-0.53,-97.3,707.6,-6.8,438,9929,0.00,1.83,0.00,0.000,4,0.000,0.061,2013,2575,3441,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10030,-0.55,-97.3,714.8,-6.9,442,10034,0.00,1.88,0.00,0.000,6,0.000,0.072,2016,1518,3441,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10346,-0.55,-97.3,738.3,-7.6,453,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,-0.55,-97.3,760.0,-7.0,463,10649,0.00,1.83,0.00,0.000,4,0.000,0.062,2009,2575,3439,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10751,-0.56,-97.3,767.0,-6.6,467,10755,0.00,1.88,0.00,0.000,6,0.000,0.073,2009,1522,3439,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11065,-0.56,-97.3,788.9,-6.9,478,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1522,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11365,-0.56,-97.3,811.3,-7.6,488,11368,0.00,1.83,0.00,0.000,4,0.000,0.062,2001,2575,3436,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11531,-0.58,-97.3,823.5,-7.4,494,11535,0.00,1.88,0.00,0.000,6,0.000,0.073,2001,1521,3435,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11845,-0.58,-97.3,847.0,-7.6,505,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12145,-0.58,-97.3,869.7,-7.4,515,12149,0.00,1.83,0.00,0.000,4,0.000,0.063,1994,2574,3433,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12264,-0.58,-97.3,877.1,-7.1,519,12268,0.00,1.90,0.00,0.000,6,0.000,0.074,1993,1510,3434,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12566,-0.58,-97.3,899.8,-7.1,529,12570,0.00,1.92,0.00,0.000,4,0.000,0.099,1994,461,3433,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12640,-0.56,-97.3,905.5,-7.4,532,12644,0.00,1.83,0.00,0.000,6,0.000,0.054,1986,1523,3432,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12958,-0.55,-97.3,925.5,-6.0,543,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13256,-0.54,-97.3,942.0,-5.3,553,13260,0.12,1.83,0.00,0.000,4,0.263,0.064,2006,2576,3431,0,0,0,0,0,0,14.46,14.68,28.83
$GC,13391,-0.55,-97.3,948.1,-4.4,558,13395,0.00,1.90,0.00,0.000,6,0.000,0.075,2003,1515,3430,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13706,-0.55,-97.3,965.4,-5.9,569,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13943,begin apogee
$GC,13949,-0.18,0.0,981.6,-7.0,577,14068,0.45,0.00,110.78,2.209,6,0.207,0.000,2129,1397,3062,0,0,0,0,1,0,14.45,28.83,13.21
$STATE,14070,end apogee,CONTROL_FINISHED_OK
$STATE,14070,begin climb
$GC,14072,0.60,97.3,985.2,0.0,581,14214,0.82,2.08,127.35,2.287,4,0.135,0.106,2385,344,2666,0,0,0,0,1,0,14.13,13.97,13.11
$GC,14274,0.58,197.1,983.7,1.8,588,14414,0.00,1.88,128.98,2.270,6,0.000,0.052,2385,1406,2258,0,0,0,0,1,0,28.83,14.29,13.11
$GC,14725,0.54,197.1,944.3,10.0,604,14729,0.00,1.83,0.00,0.000,4,0.000,0.062,2385,2450,2252,0,0,0,0,0,0,28.83,14.57,28.83
$GC,14785,0.50,197.1,939.5,10.5,606,14789,0.17,1.90,0.00,0.000,6,0.275,0.080,2355,1403,2255,0,0,0,0,0,0,14.39,14.57,28.83
$GC,15087,0.48,197.1,909.5,9.6,616,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1403,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15386,0.46,197.1,879.8,9.8,626,15390,0.00,1.98,0.00,0.000,4,0.000,0.106,2360,344,2250,0,0,0,0,0,0,28.83,14.63,28.83
$GC,15475,0.43,197.1,872.1,10.2,629,15478,0.00,1.83,0.00,0.000,6,0.000,0.054,2360,1404,2249,0,0,0,0,0,0,28.83,14.73,28.83
$GC,15776,0.41,197.1,844.2,8.3,639,15778,0.15,0.00,0.00,0.000,6,0.258,0.000,2327,1406,2249,0,0,0,0,0,0,14.49,28.83,28.83
$GC,16076,0.44,220.6,827.2,5.1,649,16125,0.00,1.85,39.45,1.473,4,0.000,0.064,2327,2453,2163,0,0,0,0,1,0,28.83,14.59,13.74
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$STATE,26979,end climb,SURFACE_DEPTH_REACHED
$STATE,26979,begin surface coast
$FINISH,-0.1,1.014761
$STATE,27010,end surface coast,CONTROL_FINISHED_OK
$STATE,27010,begin surface
$SM_CCo,27027,58.85,0.755,0,0,1634,350.04
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$IRIDIUM_FIX,2505.59,-3718.87,301012,212150
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.75
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,7714848
$TM_FREEKB,6492384
$24V_AH,13.1,69.559
$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
$DEVICE_SECS,18.850,111.925,486.025,58.850,0.000,0.000,0.000,343.450,0.000,0.000,21.109,3116.454,21152.738,756.705,2350.486,319.839,0.000,2043.630,0.000,1842.411,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.251,13.092,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,40014,1126
$CAP_FILE_SIZE,234636,0
$CFSIZE,260034560,238317568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.068,173.0,1
$GPS,311012,131234,2511.675,-3725.669,36,0.8,36,-13.7