version: 66.11
glider: 191
mission: 5
dive: 145
start: 10 31 112 13 26 40
data:
$ID,191
$MISSION,5
$DIVE,145
$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,-3991.8413
$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,43
$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
$GPS1,311012,131234,2511.675,-3725.669,36,0.8,36,-13.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-48.7
$GPS2,311012,132612,2511.645,-3725.528,21,1.0,21,-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,305.8,131500,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-61.62,0.000,2,0.000,0.000,165,1519,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.5,-6.5,4,101,9.20,0.00,-1.12,0.000,6,0.410,0.000,1987,1520,3461,0,0,0,0,0,0,14.34,28.83,14.85
$GC,400,-0.53,-97.3,48.7,-13.2,25,405,0.12,1.80,0.00,0.000,4,0.281,0.056,2009,2576,3462,0,0,0,0,0,0,14.44,14.64,28.83
$GC,491,-0.50,-97.3,59.0,-11.1,31,494,0.00,1.85,0.00,0.000,6,0.000,0.067,2009,1520,3461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,790,-0.46,-97.3,87.5,-7.2,51,795,0.12,1.90,0.00,0.000,4,0.259,0.087,2037,457,3462,0,0,0,0,0,0,14.52,14.65,28.83
$GC,911,-0.44,-97.3,95.4,-6.3,59,914,0.00,1.77,0.00,0.000,6,0.000,0.045,2031,1517,3464,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1211,-0.43,-97.3,113.2,-7.0,79,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-0.42,-97.3,139.7,-8.9,99,1514,0.00,1.80,0.00,0.000,4,0.000,0.055,2023,2578,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1735,-0.42,-97.3,158.5,-7.7,114,1740,0.12,1.85,0.00,0.000,6,0.236,0.066,2050,1518,3465,0,0,0,0,0,0,14.55,14.73,28.83
$GC,2037,-0.43,-97.3,176.4,-5.0,134,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.45,-97.3,190.5,-5.4,154,2340,0.00,1.90,0.00,0.000,4,0.000,0.090,2051,458,3465,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2396,-0.46,-97.3,194.4,-6.6,158,2400,0.00,1.77,0.00,0.000,6,0.000,0.046,2046,1518,3465,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2696,-0.48,-97.3,215.0,-7.2,178,2699,0.00,1.80,0.00,0.000,4,0.000,0.056,2038,2579,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2816,-0.50,-97.3,223.3,-6.7,186,2819,0.00,1.85,0.00,0.000,6,0.000,0.066,2038,1519,3464,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3117,-0.51,-97.3,242.9,-6.0,206,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-0.52,-97.3,261.2,-6.2,220,3420,0.00,1.80,0.00,0.000,4,0.000,0.055,2030,2579,3463,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3505,-0.54,-97.3,265.9,-6.3,223,3509,0.00,1.85,0.00,0.000,6,0.000,0.067,2030,1517,3463,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3805,-0.54,-97.3,286.7,-6.6,233,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1517,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4105,-0.54,-97.3,306.1,-6.5,243,4109,0.00,1.80,0.00,0.000,4,0.000,0.057,2023,2578,3461,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4195,-0.55,-97.3,311.0,-6.5,246,4198,0.00,1.85,0.00,0.000,6,0.000,0.067,2023,1517,3461,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4496,-0.55,-97.3,334.0,-7.5,256,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4795,-0.55,-97.3,357.8,-8.1,266,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1517,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5095,-0.55,-97.3,381.8,-7.9,276,5099,0.00,1.80,0.00,0.000,4,0.000,0.058,2015,2576,3457,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5170,-0.55,-97.3,387.5,-7.7,279,5173,0.00,1.85,0.00,0.000,6,0.000,0.069,2015,1519,3456,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5486,-0.55,-97.3,410.2,-7.0,290,5489,0.00,1.90,0.00,0.000,4,0.000,0.091,2015,460,3456,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5545,-0.54,-97.3,413.5,-7.1,292,5549,0.00,1.77,0.00,0.000,6,0.000,0.048,2007,1518,3456,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5845,-0.54,-97.3,435.2,-6.7,302,5849,0.00,1.80,0.00,0.000,4,0.000,0.058,1999,2579,3455,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6070,-0.54,-97.3,450.5,-6.9,310,6074,0.00,1.85,0.00,0.000,6,0.000,0.068,1999,1522,3454,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6387,-0.52,-97.3,475.3,-8.1,321,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,-0.51,-97.3,500.3,-8.4,331,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.49,-97.3,525.2,-8.2,341,6990,0.00,1.80,0.00,0.000,4,0.000,0.058,1992,2577,3450,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7150,-0.49,-97.3,538.0,-7.9,347,7155,0.15,1.85,0.00,0.000,6,0.237,0.069,2026,1519,3450,0,0,0,0,0,0,14.52,14.76,28.83
$GC,7466,-0.51,-97.3,559.6,-6.5,358,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7766,-0.52,-97.3,578.4,-6.2,368,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1519,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,-0.53,-97.3,595.8,-5.8,378,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,-0.54,-97.3,613.0,-5.8,388,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.56,-97.3,630.7,-5.9,398,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1519,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8967,-0.57,-97.3,648.3,-5.8,408,8970,0.00,1.83,0.00,0.000,4,0.000,0.058,2020,2584,3444,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9071,-0.59,-97.3,654.1,-5.5,412,9075,0.00,1.88,0.00,0.000,6,0.000,0.071,2020,1520,3442,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9386,-0.59,-97.3,671.7,-5.7,423,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.59,-97.3,690.2,-6.4,433,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,-0.59,-97.3,710.4,-6.9,443,9988,0.00,1.83,0.00,0.000,4,0.000,0.060,2013,2581,3440,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10150,-0.61,-97.3,722.1,-7.2,449,10154,0.00,1.88,0.00,0.000,6,0.000,0.073,2012,1521,3439,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10465,-0.61,-97.3,745.7,-7.4,460,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10765,-0.61,-97.3,766.9,-6.8,470,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,-0.61,-97.3,787.0,-6.8,480,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1518,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11365,-0.61,-97.3,807.4,-6.8,490,11369,0.00,1.92,0.00,0.000,4,0.000,0.097,2012,464,3436,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11440,-0.61,-97.3,813.3,-7.7,493,11444,0.00,1.80,0.00,0.000,6,0.000,0.051,2005,1518,3435,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11755,-0.61,-97.3,837.0,-7.7,504,11758,0.00,1.83,0.00,0.000,4,0.000,0.063,1997,2577,3434,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11874,-0.61,-97.3,844.6,-7.2,508,11878,0.00,1.88,0.00,0.000,6,0.000,0.073,1997,1519,3434,0,0,0,0,0,0,28.83,14.69,28.83
$GC,12175,-0.61,-97.3,867.6,-7.3,518,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12475,-0.61,-97.3,889.1,-7.3,528,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12775,-0.61,-97.3,911.3,-7.5,538,12779,0.00,1.85,0.00,0.000,4,0.000,0.063,1989,2584,3431,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12880,-0.61,-97.3,919.1,-7.4,542,12884,0.00,1.90,0.00,0.000,6,0.000,0.075,1989,1521,3432,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13195,-0.61,-97.3,944.7,-8.1,553,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13495,-0.61,-97.3,968.4,-7.8,563,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13673,begin apogee
$GC,13679,-0.18,0.0,981.8,-7.3,569,13798,0.50,0.00,111.00,2.186,6,0.220,0.000,2124,1389,3063,0,0,0,0,1,0,14.49,28.83,13.23
$STATE,13800,end apogee,CONTROL_FINISHED_OK
$STATE,13800,begin climb
$GC,13802,0.60,97.3,985.3,0.0,573,13938,0.85,0.00,127.65,2.295,6,0.142,0.000,2376,1389,2665,0,0,0,0,1,0,14.13,28.83,13.14
$GC,14230,0.53,97.3,966.9,6.5,588,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1389,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14530,0.47,97.3,948.4,6.1,598,14535,0.15,1.92,0.00,0.000,4,0.275,0.103,2350,354,2659,0,0,0,0,0,0,14.40,14.56,28.83
$GC,14650,0.44,115.4,942.8,5.3,602,14697,0.00,1.83,34.58,1.384,6,0.000,0.051,2350,1416,2593,0,0,0,0,1,0,28.83,14.69,13.68
$GC,14996,0.44,138.9,924.3,5.1,614,15046,0.00,0.00,43.03,1.597,6,0.000,0.000,2350,1416,2496,0,0,0,0,1,0,28.83,28.83,13.60
$GC,15326,0.41,138.9,904.3,6.4,625,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1416,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15625,0.38,138.9,883.7,7.2,635,15627,0.15,0.00,0.00,0.000,6,0.260,0.000,2317,1417,2493,0,0,0,0,0,0,14.47,28.83,28.83
$GC,15925,0.38,138.9,864.9,6.4,645,15926,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1416,2492,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28629,end climb,SURFACE_DEPTH_REACHED
$STATE,28629,begin surface coast
$FINISH,0.4,1.024867
$STATE,28646,end surface coast,CONTROL_FINISHED_OK
$STATE,28646,begin surface
$SM_CCo,28664,45.78,0.756,0,0,1634,350.04
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$IRIDIUM_FIX,2500.82,-3727.44,311012,131354
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.50
$XPDR_PINGS,5
$SC_FREEKB,7714464
$TM_FREEKB,6481856
$24V_AH,13.1,70.026
$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,18.325,115.000,599.100,45.775,0.000,0.000,0.000,487.775,1.250,0.000,22.038,3239.419,22509.367,896.826,2545.239,329.105,0.000,2357.718,0.000,1898.549,0.000,0.550,0.000
$DEVICE_MAMPS,410.040,111.690,2295.000,755.820,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28688.000,6725.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.107,13.089,0.000,0.000
$MEM,344720
$DATA_FILE_SIZE,43308,1185
$CAP_FILE_SIZE,247350,0
$CFSIZE,260034560,238166016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$CURRENT,0.081,168.4,1
$GPS,311012,212634,2511.716,-3728.333,41,1.0,41,-13.8