version: 66.11
glider: 191
mission: 5
dive: 172
start: 11 9 112 12 27 17
data:
$ID,191
$MISSION,5
$DIVE,172
$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,-4027.8948
$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,45
$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
$GPS1,091112,121533,2502.789,-3844.306,42,1.1,42,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-51.0
$GPS2,091112,122647,2502.745,-3844.382,16,1.0,16,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,193.3,123614,-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,-57.25,0.000,6,0.000,0.000,155,1516,3459,0,0,0,0,0,0,28.83,28.83,14.83
$GC,88,-0.60,-97.3,4.9,-10.1,4,102,9.40,1.88,0.00,0.000,4,0.414,0.079,1996,464,3460,0,0,0,0,0,0,14.31,14.59,28.83
$GC,299,-0.53,-97.3,35.8,-10.6,18,302,0.00,1.80,0.00,0.000,6,0.000,0.047,1991,1518,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,597,-0.48,-97.3,70.3,-13.1,38,601,0.17,1.83,0.00,0.000,4,0.247,0.057,2026,2574,3463,0,0,0,0,0,0,14.41,14.64,28.83
$GC,657,-0.46,-97.3,75.3,-8.2,42,661,0.00,1.88,0.00,0.000,6,0.000,0.066,2026,1508,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,957,-0.44,-97.3,95.2,-7.4,62,960,0.00,1.83,0.00,0.000,4,0.000,0.055,2018,2577,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1167,-0.44,-97.3,113.4,-9.1,76,1171,0.00,1.85,0.00,0.000,6,0.000,0.066,2018,1521,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1467,-0.43,-97.3,143.4,-9.5,96,1469,0.12,0.00,0.00,0.000,6,0.251,0.000,2045,1521,3463,0,0,0,0,0,0,14.50,28.83,28.83
$GC,1767,-0.44,-97.3,161.6,-4.9,116,1770,0.00,1.90,0.00,0.000,4,0.000,0.089,2046,466,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1827,-0.44,-97.3,164.9,-5.6,120,1830,0.00,1.77,0.00,0.000,6,0.000,0.047,2041,1521,3464,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2126,-0.44,-97.3,181.2,-5.7,140,2130,0.00,1.80,0.00,0.000,4,0.000,0.056,2034,2579,3464,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2323,-0.47,-97.3,191.8,-5.5,153,2327,0.00,1.85,0.00,0.000,6,0.000,0.066,2033,1523,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2622,-0.47,-97.3,208.8,-5.8,173,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,-0.47,-97.3,228.0,-6.9,193,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-0.48,-97.3,249.2,-7.3,213,3225,0.00,1.80,0.00,0.000,4,0.000,0.057,2026,2578,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3357,-0.49,-97.3,259.0,-7.3,218,3361,0.00,1.85,0.00,0.000,6,0.000,0.067,2025,1519,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3671,-0.49,-97.3,282.3,-7.0,229,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3971,-0.49,-97.3,301.5,-6.5,239,3975,0.00,1.80,0.00,0.000,4,0.000,0.057,2018,2576,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4091,-0.51,-97.3,308.8,-6.9,243,4095,0.00,1.85,0.00,0.000,6,0.000,0.068,2018,1520,3461,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4391,-0.51,-97.3,332.2,-7.2,253,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1518,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4692,-0.51,-97.3,349.9,-5.5,263,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4991,-0.51,-97.3,369.1,-6.9,273,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1518,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-0.51,-97.3,391.7,-7.5,283,5295,0.00,1.80,0.00,0.000,4,0.000,0.059,2010,2576,3457,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5366,-0.51,-97.3,397.2,-7.5,286,5370,0.00,1.88,0.00,0.000,6,0.000,0.070,2010,1513,3457,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5681,-0.51,-97.3,420.1,-7.3,297,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1513,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5982,-0.51,-97.3,443.6,-8.1,307,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,-0.51,-97.3,468.8,-8.4,317,6285,0.00,1.83,0.00,0.000,4,0.000,0.060,2002,2576,3453,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6460,-0.51,-97.3,481.7,-7.8,323,6464,0.00,1.88,0.00,0.000,6,0.000,0.070,2002,1515,3453,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6762,-0.51,-97.3,505.8,-7.1,333,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,-0.51,-97.3,522.6,-5.0,343,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,-0.51,-97.3,537.7,-5.4,353,7365,0.00,1.83,0.00,0.000,4,0.000,0.060,1994,2573,3450,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7540,-0.51,-97.3,547.3,-5.8,359,7545,0.12,1.88,0.00,0.000,6,0.235,0.070,2022,1517,3449,0,0,0,0,0,0,14.46,14.68,28.83
$GC,7843,-0.52,-97.3,568.4,-7.1,369,7847,0.00,1.83,0.00,0.000,4,0.000,0.060,2016,2577,3449,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7930,-0.53,-97.3,573.7,-7.0,372,7934,0.00,1.88,0.00,0.000,6,0.000,0.071,2016,1517,3448,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8232,-0.53,-97.3,595.2,-6.6,382,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,-0.53,-97.3,613.2,-5.9,392,8535,0.00,1.92,0.00,0.000,4,0.000,0.095,2016,462,3446,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8606,-0.53,-97.3,618.2,-6.5,395,8610,0.00,1.80,0.00,0.000,6,0.000,0.050,2009,1519,3446,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8922,-0.53,-97.3,637.9,-6.3,406,8925,0.00,1.83,0.00,0.000,4,0.000,0.062,2001,2581,3444,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9146,-0.53,-97.3,652.1,-6.3,414,9150,0.00,1.90,0.00,0.000,6,0.000,0.073,2000,1514,3444,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9462,-0.53,-97.3,673.9,-7.1,425,9465,0.00,1.85,0.00,0.000,4,0.000,0.061,1993,2581,3443,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9610,-0.53,-97.3,683.5,-7.2,430,9614,0.00,1.90,0.00,0.000,6,0.000,0.073,1993,1515,3442,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9912,-0.52,-97.3,707.9,-7.8,440,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10212,-0.51,-97.3,730.5,-7.4,450,10214,0.12,0.00,0.00,0.000,6,0.253,0.000,2020,1515,3440,0,0,0,0,0,0,14.46,28.83,28.83
$GC,10513,-0.53,-97.3,747.1,-5.1,460,10517,0.00,1.85,0.00,0.000,4,0.000,0.063,2014,2576,3439,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10587,-0.54,-97.3,750.8,-4.9,463,10590,0.00,1.90,0.00,0.000,6,0.000,0.073,2014,1512,3438,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10903,-0.54,-97.3,764.6,-4.1,474,10907,0.00,1.85,0.00,0.000,4,0.000,0.063,2006,2575,3438,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11051,-0.56,-97.3,770.6,-4.4,479,11055,0.00,1.90,0.00,0.000,6,0.000,0.075,2007,1513,3437,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11351,-0.56,-97.3,786.7,-5.4,489,11355,0.00,1.85,0.00,0.000,4,0.000,0.064,1995,2576,3435,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11471,-0.56,-97.3,792.5,-5.6,493,11475,0.00,1.90,0.00,0.000,6,0.000,0.075,1999,1516,3436,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11771,-0.56,-97.3,815.8,-8.0,503,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1515,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12072,-0.56,-97.3,842.0,-8.6,513,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1515,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12371,-0.56,-97.3,866.5,-7.7,523,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1515,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12671,-0.56,-97.3,887.3,-6.7,533,12675,0.00,1.88,0.00,0.000,4,0.000,0.067,1991,2580,3432,0,0,0,0,0,0,28.83,14.60,28.83
$GC,12880,-0.56,-97.3,899.0,-5.9,540,12884,0.00,1.90,0.00,0.000,6,0.000,0.076,1991,1524,3432,0,0,0,0,0,0,28.83,14.58,28.83
$GC,13182,-0.56,-97.3,918.6,-6.3,550,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1524,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13481,-0.56,-97.3,938.8,-7.0,560,13485,0.00,1.85,0.00,0.000,4,0.000,0.066,1982,2575,3430,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13557,-0.56,-97.3,944.4,-7.4,563,13560,0.00,1.90,0.00,0.000,6,0.000,0.077,1983,1522,3430,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13873,-0.54,-97.3,970.0,-8.5,574,13875,0.12,0.00,0.00,0.000,6,0.262,0.000,2009,1522,3429,0,0,0,0,0,0,14.37,28.83,28.83
$STATE,14020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14020,begin apogee
$GC,14026,-0.18,0.0,981.3,-7.5,579,14144,0.43,0.00,109.78,2.092,6,0.206,0.000,2128,1392,3062,0,0,0,0,1,0,14.42,28.83,13.23
$STATE,14145,end apogee,CONTROL_FINISHED_OK
$STATE,14146,begin climb
$GC,14148,0.60,97.3,985.9,0.0,583,14284,0.85,2.05,123.90,2.095,4,0.135,0.106,2389,351,2667,0,0,0,0,1,0,14.14,13.99,13.15
$GC,14382,0.48,108.8,981.0,5.6,592,14421,0.20,1.88,29.12,1.137,6,0.263,0.054,2347,1412,2618,0,0,0,0,1,0,14.12,14.35,13.43
$GC,14729,0.45,108.8,955.7,7.8,604,14733,0.00,2.00,0.00,0.000,4,0.000,0.106,2353,346,2617,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14804,0.40,108.8,949.2,8.4,607,14809,0.15,1.83,0.00,0.000,6,0.260,0.056,2321,1402,2615,0,0,0,0,0,0,14.35,14.62,28.83
$GC,15121,0.39,108.8,924.8,7.7,618,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1403,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15420,0.38,108.8,903.9,6.5,628,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1404,2613,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27450,end climb,SURFACE_DEPTH_REACHED
$STATE,27451,begin surface coast
$FINISH,0.1,1.004453
$STATE,27466,end surface coast,CONTROL_FINISHED_OK
$STATE,27466,begin surface
$SM_CCo,27544,0.00,0.000,0,0,1448,395.91
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$IRIDIUM_FIX,2458.45,-3844.05,091112,040403
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.97
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,7704096
$TM_FREEKB,6202464
$24V_AH,13.2,82.130
$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,19.400,138.825,648.325,0.000,0.000,0.000,0.000,392.350,0.250,0.000,17.761,3170.421,21341.174,898.396,2426.054,372.139,0.000,2259.424,0.000,1873.460,0.000,0.550,0.000
$DEVICE_MAMPS,413.865,113.985,2095.335,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27511.000,6282.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.040,13.119,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,39951,1137
$CAP_FILE_SIZE,244106,0
$CFSIZE,260034560,234487808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.021, 16.8,1
$GPS,091112,200735,2500.030,-3844.434,34,0.8,34,-14.1