version: 66.11
glider: 191
mission: 5
dive: 165
start: 11 7 112 4 49 9
data:
$ID,191
$MISSION,5
$DIVE,165
$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,320
$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,-4018.4253
$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,44
$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
$GPS1,071112,043522,2514.344,-3829.497,42,1.0,42,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.2
$GPS2,071112,044841,2514.338,-3829.573,19,1.0,19,-14.0
$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,271.7,24560,-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,-97.3,0.0,0.0,0,71,0.00,0.00,-47.00,0.000,2,0.000,0.000,155,1524,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.60,-97.3,3.0,-7.6,3,102,9.38,1.95,-8.15,0.000,4,0.413,0.119,1991,460,3460,0,0,0,0,0,0,14.33,14.57,14.83
$GC,326,-0.53,-97.3,39.3,-11.4,20,331,0.12,1.80,0.00,0.000,6,0.276,0.047,2010,1520,3462,0,0,0,0,0,0,14.39,14.67,28.83
$GC,627,-0.49,-97.3,69.0,-11.0,40,630,0.00,1.92,0.00,0.000,4,0.000,0.090,2010,457,3462,0,0,0,0,0,0,28.83,14.56,28.83
$GC,672,-0.45,-97.3,74.4,-11.7,43,676,0.15,1.80,0.00,0.000,6,0.259,0.047,2038,1520,3462,0,0,0,0,0,0,14.43,14.71,28.83
$GC,971,-0.45,-97.3,96.6,-6.6,63,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.45,-97.3,117.6,-7.4,83,1274,0.00,1.80,0.00,0.000,4,0.000,0.055,2032,2580,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1453,-0.46,-97.3,129.6,-6.5,95,1457,0.00,1.88,0.00,0.000,6,0.000,0.066,2033,1509,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1751,-0.46,-97.3,148.6,-5.8,115,1755,0.00,1.88,0.00,0.000,4,0.000,0.089,2033,464,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1872,-0.44,-97.3,156.6,-6.8,123,1875,0.00,1.77,0.00,0.000,6,0.000,0.044,2025,1521,3463,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2171,-0.44,-97.3,175.4,-6.9,143,2175,0.00,1.80,0.00,0.000,4,0.000,0.056,2017,2580,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2351,-0.44,-97.3,188.5,-7.4,155,2355,0.12,1.85,0.00,0.000,6,0.236,0.067,2044,1521,3463,0,0,0,0,0,0,14.47,14.64,28.83
$GC,2651,-0.46,-97.3,210.5,-7.8,175,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.48,-97.3,233.1,-7.0,195,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3254,-0.50,-97.3,250.8,-6.2,215,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.52,-97.3,271.7,-7.2,225,3555,0.00,1.80,0.00,0.000,4,0.000,0.055,2039,2580,3463,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3670,-0.55,-97.3,279.3,-7.3,229,3674,0.00,1.85,0.00,0.000,6,0.000,0.067,2038,1521,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3972,-0.56,-97.3,301.2,-6.5,239,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4272,-0.58,-97.3,318.0,-5.3,249,4274,0.12,0.00,0.00,0.000,6,0.143,0.000,1991,1521,3460,0,0,0,0,0,0,14.81,28.83,28.83
$GC,4572,-0.56,-97.3,338.7,-6.7,259,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4872,-0.53,-97.3,360.3,-7.4,269,4875,0.00,1.80,0.00,0.000,4,0.000,0.056,1983,2579,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5020,-0.52,-97.3,370.8,-7.8,274,5025,0.15,1.85,0.00,0.000,6,0.239,0.068,2017,1520,3458,0,0,0,0,0,0,14.51,14.76,28.83
$GC,5322,-0.52,-97.3,394.1,-7.4,284,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5621,-0.52,-97.3,416.1,-7.3,294,5625,0.00,1.80,0.00,0.000,4,0.000,0.057,2011,2578,3456,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5740,-0.52,-97.3,423.3,-6.9,298,5744,0.00,1.85,0.00,0.000,6,0.000,0.068,2012,1520,3457,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6041,-0.52,-97.3,446.2,-7.3,308,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6341,-0.52,-97.3,470.4,-8.2,318,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,-0.52,-97.3,494.6,-7.9,328,6645,0.00,1.80,0.00,0.000,4,0.000,0.057,2004,2576,3452,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6746,-0.52,-97.3,502.3,-7.4,332,6750,0.00,1.88,0.00,0.000,6,0.000,0.070,2004,1511,3452,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7061,-0.52,-97.3,527.0,-8.0,343,7065,0.00,1.83,0.00,0.000,4,0.000,0.057,1996,2578,3451,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7196,-0.52,-97.3,537.9,-8.2,348,7200,0.00,1.88,0.00,0.000,6,0.000,0.069,1996,1512,3450,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7513,-0.50,-97.3,564.6,-8.7,359,7515,0.12,0.00,0.00,0.000,6,0.256,0.000,2023,1512,3449,0,0,0,0,0,0,14.53,28.83,28.83
$GC,7812,-0.51,-97.3,588.4,-7.8,369,7815,0.00,1.90,0.00,0.000,4,0.000,0.094,2023,463,3448,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7887,-0.51,-97.3,594.6,-8.1,372,7890,0.00,1.80,0.00,0.000,6,0.000,0.048,2018,1527,3448,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8201,-0.51,-97.3,616.3,-6.3,383,8205,0.00,1.80,0.00,0.000,4,0.000,0.060,2010,2578,3447,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8277,-0.52,-97.3,620.3,-5.4,386,8281,0.00,1.88,0.00,0.000,6,0.000,0.070,2010,1514,3447,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8592,-0.52,-97.3,633.9,-3.9,397,8596,0.00,1.83,0.00,0.000,4,0.000,0.059,2002,2577,3445,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8667,-0.52,-97.3,636.6,-3.8,400,8671,0.00,1.88,0.00,0.000,6,0.000,0.070,2002,1515,3445,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8982,-0.52,-97.3,652.7,-5.5,411,8985,0.00,1.83,0.00,0.000,4,0.000,0.059,1995,2577,3444,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9070,-0.52,-97.3,656.8,-5.5,414,9074,0.00,1.88,0.00,0.000,6,0.000,0.071,1995,1517,3444,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9372,-0.51,-97.3,678.8,-7.3,424,9375,0.00,1.83,0.00,0.000,4,0.000,0.060,1987,2577,3443,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9536,-0.51,-97.3,691.8,-8.0,430,9541,0.15,1.88,0.00,0.000,6,0.238,0.071,2021,1517,3442,0,0,0,0,0,0,14.45,14.68,28.83
$GC,9852,-0.53,-97.3,717.2,-8.3,441,9856,0.00,1.83,0.00,0.000,4,0.000,0.060,2015,2581,3441,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9957,-0.55,-97.3,726.3,-8.7,445,9961,0.00,1.88,0.00,0.000,6,0.000,0.070,2015,1518,3441,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10271,-0.55,-97.3,753.1,-8.1,456,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1518,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.55,-97.3,770.5,-4.8,466,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1518,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10871,-0.55,-97.3,780.3,-3.2,476,10875,0.00,1.83,0.00,0.000,4,0.000,0.060,2008,2576,3437,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11098,-0.56,-97.3,786.4,-2.9,484,11102,0.00,1.90,0.00,0.000,6,0.000,0.073,2007,1514,3437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11412,-0.56,-97.3,800.7,-5.3,495,11416,0.00,1.85,0.00,0.000,4,0.000,0.062,2000,2579,3436,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11591,-0.58,-97.3,811.1,-6.5,501,11595,0.00,1.90,0.00,0.000,6,0.000,0.073,2000,1513,3435,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11891,-0.58,-97.3,837.6,-8.7,511,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12192,-0.58,-97.3,864.5,-8.8,521,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1513,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12491,-0.58,-97.3,887.5,-7.2,531,12495,0.00,1.85,0.00,0.000,4,0.000,0.063,1992,2573,3433,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12596,-0.58,-97.3,894.3,-6.5,535,12600,0.00,1.90,0.00,0.000,6,0.000,0.075,1992,1516,3432,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12912,-0.58,-97.3,914.4,-6.1,546,12915,0.00,1.85,0.00,0.000,4,0.000,0.063,1984,2575,3432,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13060,-0.58,-97.3,922.8,-6.3,551,13064,0.00,1.90,0.00,0.000,6,0.000,0.075,1984,1517,3431,0,0,0,0,0,0,28.83,14.62,28.83
$GC,13363,-0.56,-97.3,942.4,-6.1,561,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1517,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13662,-0.55,-97.3,959.7,-5.7,571,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1517,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13962,-0.54,-97.3,977.8,-6.2,581,13964,0.12,0.00,0.00,0.000,6,0.265,0.000,2010,1516,3427,0,0,0,0,0,0,14.38,28.83,28.83
$STATE,14019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14019,begin apogee
$GC,14025,-0.18,0.0,980.9,-5.8,583,14143,0.43,0.00,109.57,2.103,6,0.209,0.000,2128,1388,3064,0,0,0,0,1,0,14.45,28.83,13.25
$STATE,14144,end apogee,CONTROL_FINISHED_OK
$STATE,14144,begin climb
$GC,14147,0.60,97.3,983.6,0.0,587,14283,0.82,2.05,124.47,2.101,4,0.133,0.106,2385,347,2666,0,0,0,0,1,0,14.14,13.99,13.16
$GC,14428,0.52,110.6,977.8,5.5,597,14472,0.00,1.85,30.80,1.206,6,0.000,0.054,2385,1403,2610,0,0,0,0,1,0,28.83,14.43,13.47
$GC,14771,0.46,110.6,955.5,6.1,609,14773,0.20,0.00,0.00,0.000,6,0.272,0.000,2341,1404,2608,0,0,0,0,0,0,14.32,28.83,28.83
$GC,15073,0.46,136.7,940.2,5.0,619,15132,0.00,2.00,44.70,1.580,4,0.000,0.109,2347,347,2505,0,0,0,0,1,0,28.83,14.42,13.62
$GC,15297,0.42,136.7,927.1,6.7,626,15301,0.00,1.83,0.00,0.000,6,0.000,0.054,2346,1400,2503,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,28044,end climb,SURFACE_DEPTH_REACHED
$STATE,28044,begin surface coast
$FINISH,0.2,1.024988
$STATE,28061,end surface coast,CONTROL_FINISHED_OK
$STATE,28061,begin surface
$SM_CCo,28078,33.67,0.694,0,0,1755,320.12
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$IRIDIUM_FIX,2503.20,-3825.08,071112,040450
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.17
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,7706784
$TM_FREEKB,6274656
$24V_AH,13.2,79.036
$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,19.250,142.025,544.000,33.675,0.000,0.000,0.000,460.450,0.250,0.000,20.187,3254.045,21885.244,848.655,2539.287,374.661,0.000,2304.737,0.000,1920.901,0.000,0.550,0.000
$DEVICE_MAMPS,413.100,118.575,2102.985,693.855,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28103.000,6665.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,13.113,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,43304,1165
$CAP_FILE_SIZE,249839,0
$CFSIZE,260034560,235438080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.033,310.5,1
$GPS,071112,123904,2514.297,-3833.272,39,0.8,39,-14.1