version: 66.11
glider: 191
mission: 5
dive: 181
start: 11 12 112 12 41 54
data:
$ID,191
$MISSION,5
$DIVE,181
$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,-4039.7795
$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,47
$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
$GPS1,121112,123005,2436.985,-3846.314,33,0.8,33,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-54.4
$GPS2,121112,124124,2437.014,-3846.371,22,1.0,22,-14.2
$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,190.8,76064,-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,-97.3,0.0,0.0,0,85,0.00,0.00,-57.60,0.000,6,0.000,0.000,163,1518,3460,0,0,0,0,0,0,28.83,28.83,14.83
$GC,87,-0.60,-97.3,4.9,-10.2,4,101,9.35,1.88,0.00,0.000,4,0.412,0.071,1998,452,3461,0,0,0,0,0,0,14.27,14.59,28.83
$GC,267,-0.53,-97.3,32.7,-12.3,16,270,0.00,1.80,0.00,0.000,6,0.000,0.047,1989,1514,3463,0,0,0,0,0,0,28.83,14.61,28.83
$GC,565,-0.48,-97.3,69.1,-12.4,36,567,0.17,0.00,0.00,0.000,6,0.249,0.000,2033,1516,3463,0,0,0,0,0,0,14.40,28.83,28.83
$GC,865,-0.48,-97.3,93.7,-6.7,56,869,0.00,1.80,0.00,0.000,4,0.000,0.056,2027,2576,3467,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1091,-0.48,-97.3,109.5,-7.0,71,1095,0.00,1.85,0.00,0.000,6,0.000,0.065,2027,1519,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1390,-0.48,-97.3,135.1,-8.8,91,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.48,-97.3,157.4,-6.8,111,1694,0.00,1.80,0.00,0.000,4,0.000,0.055,2020,2576,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1796,-0.48,-97.3,164.3,-6.6,118,1799,0.00,1.85,0.00,0.000,6,0.000,0.065,2020,1519,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2096,-0.48,-97.3,184.2,-6.2,138,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,-0.48,-97.3,202.9,-6.5,158,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,-0.48,-97.3,222.0,-6.3,178,2699,0.00,1.80,0.00,0.000,4,0.000,0.056,2011,2576,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2757,-0.48,-97.3,225.5,-6.0,182,2760,0.00,1.85,0.00,0.000,6,0.000,0.067,2012,1519,3464,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3055,-0.48,-97.3,244.9,-6.8,202,3059,0.00,1.90,0.00,0.000,4,0.000,0.087,2012,461,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3116,-0.46,-97.3,249.6,-7.9,206,3121,0.15,1.77,0.00,0.000,6,0.239,0.045,2035,1518,3463,0,0,0,0,0,0,14.45,14.73,28.83
$GC,3432,-0.48,-97.3,269.5,-6.3,217,3436,0.00,1.80,0.00,0.000,4,0.000,0.057,2033,2583,3463,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3658,-0.51,-97.3,282.5,-5.6,225,3662,0.00,1.88,0.00,0.000,6,0.000,0.067,2032,1510,3462,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3972,-0.52,-97.3,298.6,-5.1,236,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4271,-0.53,-97.3,317.9,-6.9,246,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1510,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-0.55,-97.3,339.3,-6.9,256,4574,0.00,1.83,0.00,0.000,4,0.000,0.057,2025,2580,3459,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4737,-0.57,-97.3,349.4,-6.0,262,4741,0.00,1.85,0.00,0.000,6,0.000,0.067,2025,1522,3458,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5052,-0.58,-97.3,370.1,-6.7,273,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5350,-0.58,-97.3,390.7,-6.9,283,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5651,-0.59,-97.3,409.9,-6.2,293,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5950,-0.60,-97.3,428.6,-6.3,303,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6251,-0.61,-97.3,448.7,-6.9,313,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6551,-0.62,-97.3,469.6,-6.9,323,6553,0.12,0.00,0.00,0.000,6,0.142,0.000,1978,1523,3453,0,0,0,0,0,0,14.77,28.83,28.83
$GC,6851,-0.59,-97.3,495.3,-8.3,333,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.56,-97.3,516.8,-7.1,343,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7451,-0.54,-97.3,537.7,-7.0,353,7453,0.15,0.00,0.00,0.000,6,0.249,0.000,2011,1521,3450,0,0,0,0,0,0,14.40,28.83,28.83
$GC,7751,-0.54,-97.3,555.8,-6.1,363,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.54,-97.3,573.1,-5.6,373,8054,0.00,1.83,0.00,0.000,4,0.000,0.059,2006,2578,3448,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8127,-0.54,-97.3,577.0,-5.3,376,8130,0.00,1.88,0.00,0.000,6,0.000,0.069,2006,1519,3448,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8440,-0.54,-97.3,594.2,-5.5,387,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8740,-0.54,-97.3,613.9,-6.9,397,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9040,-0.54,-97.3,634.4,-6.7,407,9044,0.00,1.83,0.00,0.000,4,0.000,0.060,1998,2576,3445,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9189,-0.54,-97.3,643.6,-6.8,412,9193,0.00,1.88,0.00,0.000,6,0.000,0.070,1998,1520,3444,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9491,-0.54,-97.3,665.3,-7.1,422,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-0.54,-97.3,689.5,-8.5,432,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10091,-0.54,-97.3,715.8,-8.7,442,10094,0.00,1.85,0.00,0.000,4,0.000,0.060,1990,2582,3441,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10165,-0.54,-97.3,721.9,-8.3,445,10169,0.00,1.90,0.00,0.000,6,0.000,0.072,1990,1518,3441,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10482,-0.53,-97.3,745.9,-7.1,456,10486,0.00,1.85,0.00,0.000,4,0.000,0.062,1982,2579,3439,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10556,-0.53,-97.3,750.8,-6.7,459,10560,0.15,1.90,0.00,0.000,6,0.239,0.071,2016,1514,3439,0,0,0,0,0,0,14.35,14.62,28.83
$GC,10873,-0.54,-97.3,766.3,-4.5,470,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1514,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11171,-0.55,-97.3,778.5,-4.1,480,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1514,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11471,-0.56,-97.3,794.3,-5.6,490,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11771,-0.58,-97.3,813.0,-6.4,500,11775,0.00,1.85,0.00,0.000,4,0.000,0.062,2010,2574,3435,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11859,-0.60,-97.3,817.7,-6.2,503,11863,0.00,1.90,0.00,0.000,6,0.000,0.074,2011,1520,3435,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12161,-0.60,-97.3,836.2,-5.5,513,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12460,-0.60,-97.3,853.9,-6.4,523,12464,0.00,1.85,0.00,0.000,4,0.000,0.063,2003,2575,3433,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12550,-0.61,-97.3,858.8,-6.5,526,12554,0.00,1.90,0.00,0.000,6,0.000,0.073,2003,1521,3433,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12850,-0.61,-97.3,882.5,-7.9,536,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13150,-0.61,-97.3,907.0,-8.3,546,13154,0.00,1.85,0.00,0.000,4,0.000,0.064,1995,2574,3431,0,0,0,0,0,0,28.83,14.58,28.83
$GC,13346,-0.62,-97.3,923.1,-8.3,553,13350,0.00,1.90,0.00,0.000,6,0.000,0.075,1995,1521,3431,0,0,0,0,0,0,28.83,14.56,28.83
$GC,13660,-0.62,-97.3,949.3,-8.2,564,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13961,-0.62,-97.3,973.1,-8.0,574,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14048,begin apogee
$GC,14054,-0.18,0.0,980.3,-8.1,577,14173,0.47,0.00,110.80,2.094,6,0.211,0.000,2124,1390,3062,0,0,0,0,1,0,14.37,28.83,13.19
$STATE,14175,end apogee,CONTROL_FINISHED_OK
$STATE,14175,begin climb
$GC,14177,0.60,97.3,985.1,0.0,581,14313,0.85,2.05,124.68,2.094,4,0.140,0.104,2385,351,2666,0,0,0,0,1,0,14.13,13.98,13.12
$GC,14458,0.55,133.9,981.7,4.5,591,14524,0.00,1.85,56.53,1.733,6,0.000,0.053,2385,1408,2516,0,0,0,0,1,0,28.83,14.42,13.31
$GC,14816,0.49,133.9,955.5,7.8,603,14818,0.15,0.00,0.00,0.000,6,0.278,0.000,2354,1408,2512,0,0,0,0,0,0,14.31,28.83,28.83
$GC,15117,0.46,133.9,935.2,6.9,613,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1408,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15416,0.42,133.9,915.9,6.4,623,15420,0.00,1.98,0.00,0.000,4,0.000,0.103,2360,349,2510,0,0,0,0,0,0,28.83,14.53,28.83
$GC,15521,0.38,133.9,908.7,6.9,627,15526,0.20,1.83,0.00,0.000,6,0.247,0.054,2315,1404,2508,0,0,0,0,0,0,14.38,14.67,28.83
$GC,15838,0.44,178.7,894.7,4.2,638,15912,0.00,1.88,63.67,1.802,4,0.000,0.064,2313,2451,2334,0,0,0,0,1,0,28.83,14.35,13.46
$GC,16001,0.47,206.6,886.7,4.9,643,16061,0.00,1.92,46.50,1.575,6,0.000,0.081,2318,1405,2220,0,0,0,0,1,0,28.83,14.38,13.40
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$STATE,28061,end climb,SURFACE_DEPTH_REACHED
$STATE,28062,begin surface coast
$FINISH,-0.1,1.010978
$STATE,28078,end surface coast,CONTROL_FINISHED_OK
$STATE,28078,begin surface
$SM_CCo,28155,0.00,0.000,0,0,1707,332.38
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$IRIDIUM_FIX,2432.32,-3847.00,121112,040453
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.72
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.40
$XPDR_PINGS,3
$SC_FREEKB,7700640
$TM_FREEKB,6108960
$24V_AH,13.1,86.224
$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,19.425,112.400,591.450,0.000,0.000,0.000,0.000,387.775,0.750,0.000,23.657,3172.521,22038.549,817.274,2418.280,376.801,0.000,2166.918,0.000,1868.896,0.000,0.550,0.000
$DEVICE_MAMPS,411.570,112.455,2093.805,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28125.000,6610.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.109,13.098,0.000,0.000
$MEM,344788
$DATA_FILE_SIZE,43315,1162
$CAP_FILE_SIZE,241223,0
$CFSIZE,260034560,233259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.018,206.1,1
$GPS,121112,203234,2433.700,-3846.570,44,0.9,44,-14.2