version: 66.11
glider: 191
mission: 5
dive: 148
start: 11 1 112 13 46 58
data:
$ID,191
$MISSION,5
$DIVE,148
$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,-3995.8979
$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,37
$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
$GPS1,011112,133604,2512.389,-3734.196,41,0.8,41,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-51.3
$GPS2,011112,134629,2512.376,-3734.131,16,1.1,16,-13.8
$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,298.2,117084,-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,-62.50,0.000,2,0.000,0.000,160,1508,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.6,-7.3,4,104,9.30,1.83,-0.38,0.000,4,0.414,0.081,1983,2578,3460,0,0,0,0,0,0,14.29,14.63,14.76
$GC,161,-0.45,-97.3,18.0,-17.2,9,166,0.22,1.88,0.00,0.000,6,0.246,0.067,2036,1516,3463,0,0,0,0,0,0,14.40,14.58,28.83
$GC,461,-0.43,-97.3,45.6,-8.7,29,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,761,-0.42,-97.3,68.1,-6.8,49,765,0.00,1.90,0.00,0.000,4,0.000,0.088,2036,460,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,972,-0.40,-97.3,84.3,-7.4,63,977,0.12,1.80,0.00,0.000,6,0.249,0.045,2058,1530,3464,0,0,0,0,0,0,14.51,14.74,28.83
$GC,1272,-0.41,-97.3,101.7,-6.0,83,1275,0.00,1.77,0.00,0.000,4,0.000,0.056,2052,2578,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1377,-0.44,-97.3,108.4,-6.8,90,1381,0.00,1.85,0.00,0.000,6,0.000,0.065,2052,1516,3464,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1677,-0.45,-97.3,129.4,-7.1,110,1680,0.00,1.80,0.00,0.000,4,0.000,0.055,2044,2580,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1812,-0.47,-97.3,138.9,-6.8,119,1815,0.00,1.85,0.00,0.000,6,0.000,0.065,2044,1517,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2111,-0.48,-97.3,160.1,-6.4,139,2115,0.00,1.80,0.00,0.000,4,0.000,0.055,2037,2578,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2202,-0.50,-97.3,165.7,-6.2,145,2206,0.00,1.85,0.00,0.000,6,0.000,0.066,2037,1518,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2501,-0.50,-97.3,184.1,-6.4,165,2504,0.00,1.88,0.00,0.000,4,0.000,0.088,2037,466,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2577,-0.50,-97.3,189.7,-7.6,170,2580,0.00,1.77,0.00,0.000,6,0.000,0.046,2031,1523,3465,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2877,-0.50,-97.3,210.9,-6.9,190,2880,0.00,1.77,0.00,0.000,4,0.000,0.055,2023,2576,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2997,-0.51,-97.3,219.0,-6.6,198,3000,0.00,1.85,0.00,0.000,6,0.000,0.067,2022,1517,3463,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3297,-0.51,-97.3,238.7,-6.3,218,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1517,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.51,-97.3,258.4,-6.3,235,3614,0.00,1.80,0.00,0.000,4,0.000,0.057,2014,2578,3463,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3730,-0.51,-97.3,265.2,-6.4,239,3734,0.00,1.85,0.00,0.000,6,0.000,0.067,2014,1517,3462,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4031,-0.51,-97.3,288.1,-7.6,249,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1517,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.51,-97.3,311.9,-8.0,259,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1517,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.51,-97.3,337.0,-8.4,269,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1517,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.51,-97.3,362.2,-8.4,279,4934,0.00,1.80,0.00,0.000,4,0.000,0.057,2007,2576,3460,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5050,-0.51,-97.3,371.1,-8.6,283,5054,0.00,1.85,0.00,0.000,6,0.000,0.069,2007,1521,3459,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5352,-0.50,-97.3,400.9,-9.7,293,5355,0.00,1.90,0.00,0.000,4,0.000,0.090,2006,460,3458,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5457,-0.48,-97.3,411.9,-10.5,297,5462,0.15,1.77,0.00,0.000,6,0.250,0.047,2032,1518,3458,0,0,0,0,0,0,14.52,14.83,28.83
$GC,5772,-0.49,-97.3,435.7,-7.0,308,5776,0.00,1.80,0.00,0.000,4,0.000,0.058,2026,2580,3457,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5920,-0.51,-97.3,444.4,-6.3,313,5924,0.00,1.88,0.00,0.000,6,0.000,0.069,2027,1511,3456,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6221,-0.51,-97.3,463.7,-6.1,323,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1511,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6521,-0.51,-97.3,483.1,-6.6,333,6524,0.00,1.83,0.00,0.000,4,0.000,0.059,2019,2578,3454,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6641,-0.53,-97.3,489.9,-6.5,337,6644,0.00,1.88,0.00,0.000,6,0.000,0.070,2019,1511,3454,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6941,-0.53,-97.3,511.6,-6.9,347,6944,0.00,1.83,0.00,0.000,4,0.000,0.059,2010,2576,3453,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7047,-0.54,-97.3,518.2,-6.2,351,7051,0.00,1.85,0.00,0.000,6,0.000,0.069,2011,1520,3452,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7361,-0.54,-97.3,537.9,-6.1,362,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,-0.54,-97.3,554.3,-5.2,372,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7962,-0.54,-97.3,570.9,-5.7,382,7965,0.00,1.83,0.00,0.000,4,0.000,0.059,2003,2585,3449,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8156,-0.54,-97.3,582.6,-6.1,389,8160,0.00,1.88,0.00,0.000,6,0.000,0.071,2003,1521,3449,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8472,-0.54,-97.3,604.2,-7.0,400,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,-0.54,-97.3,624.3,-6.6,410,8774,0.00,1.83,0.00,0.000,4,0.000,0.060,1995,2582,3446,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8846,-0.54,-97.3,629.1,-6.4,413,8850,0.00,1.88,0.00,0.000,6,0.000,0.071,1995,1521,3445,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9162,-0.53,-97.3,652.7,-7.9,424,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,-0.51,-97.3,677.7,-8.6,434,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9762,-0.51,-97.3,703.1,-8.6,444,9765,0.00,1.92,0.00,0.000,4,0.000,0.094,1995,460,3443,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9836,-0.50,-97.3,710.2,-9.1,447,9841,0.17,1.80,0.00,0.000,6,0.247,0.050,2027,1518,3443,0,0,0,0,0,0,14.44,14.77,28.83
$GC,10153,-0.51,-97.3,729.7,-5.6,458,10157,0.00,1.83,0.00,0.000,4,0.000,0.061,2022,2582,3442,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10378,-0.54,-97.3,740.6,-4.6,466,10382,0.00,1.88,0.00,0.000,6,0.000,0.073,2022,1521,3441,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10693,-0.55,-97.3,755.9,-5.1,477,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10992,-0.56,-97.3,774.0,-6.3,487,10995,0.00,1.83,0.00,0.000,4,0.000,0.061,2014,2576,3439,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11111,-0.58,-97.3,780.8,-6.5,491,11115,0.00,1.88,0.00,0.000,6,0.000,0.073,2014,1522,3441,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11411,-0.58,-97.3,803.0,-7.0,501,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1522,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11711,-0.58,-97.3,823.1,-6.6,511,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1522,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12011,-0.58,-97.3,841.7,-6.0,521,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1524,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12312,-0.58,-97.3,860.4,-6.3,531,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1522,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12611,-0.58,-97.3,879.6,-6.4,541,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1522,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12911,-0.60,-97.3,899.0,-6.4,551,12915,0.00,1.85,0.00,0.000,4,0.000,0.063,2006,2583,3433,0,0,0,0,0,0,28.83,14.67,28.83
$GC,13031,-0.61,-97.3,905.5,-6.2,555,13034,0.00,1.90,0.00,0.000,6,0.000,0.075,2006,1520,3432,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13331,-0.61,-97.3,925.9,-6.5,565,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13631,-0.61,-97.3,944.9,-6.3,575,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1519,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13931,-0.61,-97.3,964.5,-6.6,585,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14200,begin apogee
$GC,14205,-0.18,0.0,981.6,-6.3,594,14324,0.45,0.00,110.53,2.166,6,0.214,0.000,2128,1389,3063,0,0,0,0,1,0,14.47,28.83,13.23
$STATE,14326,end apogee,CONTROL_FINISHED_OK
$STATE,14326,begin climb
$GC,14328,0.60,97.3,984.1,0.0,598,14466,0.85,2.05,126.10,2.213,4,0.138,0.104,2390,348,2666,0,0,0,0,1,0,14.13,13.98,13.14
$GC,14593,0.50,97.3,974.3,6.6,608,14598,0.15,1.85,0.00,0.000,6,0.278,0.053,2359,1408,2665,0,0,0,0,0,0,14.18,14.41,28.83
$GC,14910,0.48,114.2,956.7,5.3,619,14952,0.00,0.00,33.75,1.335,6,0.000,0.000,2360,1408,2597,0,0,0,0,1,0,28.83,28.83,13.64
$GC,15270,0.44,123.1,936.7,5.7,631,15304,0.00,0.00,27.17,1.083,6,0.000,0.000,2360,1409,2559,0,0,0,0,1,0,28.83,28.83,13.79
$GC,15600,0.40,123.1,916.1,6.6,642,15602,0.15,0.00,0.00,0.000,6,0.262,0.000,2325,1409,2559,0,0,0,0,0,0,14.45,28.83,28.83
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$STATE,28647,end climb,SURFACE_DEPTH_REACHED
$STATE,28647,begin surface coast
$FINISH,0.6,1.024895
$STATE,28662,end surface coast,CONTROL_FINISHED_OK
$STATE,28662,begin surface
$SM_CCo,28680,38.78,0.770,0,0,1635,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,47.71
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.60
$XPDR_PINGS,2
$SC_FREEKB,7713312
$TM_FREEKB,6449696
$24V_AH,13.1,71.387
$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,18.450,118.800,620.400,38.775,0.000,0.000,0.000,357.550,0.500,0.000,17.542,3285.818,22337.805,914.695,2456.767,341.897,0.000,2266.370,0.000,1937.907,0.000,0.550,0.000
$DEVICE_MAMPS,413.865,112.455,2213.145,770.355,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28705.000,7206.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.229,13.090,0.000,0.000
$MEM,344792
$DATA_FILE_SIZE,43318,1202
$CAP_FILE_SIZE,246052,0
$CFSIZE,260034560,237748224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$CURRENT,0.058,162.9,1
$GPS,011112,214659,2512.333,-3737.066,39,1.0,39,-13.8