version: 66.11
glider: 191
mission: 5
dive: 183
start: 11 13 112 4 38 29
data:
$ID,191
$MISSION,5
$DIVE,183
$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,-4042.4851
$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,42
$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
$GPS1,131112,042704,2430.706,-3846.623,26,0.8,26,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.3
$GPS2,131112,043759,2430.709,-3846.652,17,1.3,17,-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,190.4,64437,-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,-57.38,0.000,6,0.000,0.000,158,1521,3459,0,0,0,0,0,0,28.83,28.83,14.81
$GC,87,-0.60,-97.3,4.8,-10.3,4,101,9.43,1.88,0.00,0.000,4,0.415,0.073,1996,460,3461,1,0,0,0,0,0,14.07,14.59,28.83
$GC,252,-0.53,-97.3,29.3,-10.3,15,256,0.00,1.80,0.00,0.000,6,0.000,0.046,1991,1518,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,550,-0.47,-97.3,66.1,-12.4,35,555,0.17,1.83,0.00,0.000,4,0.250,0.058,2025,2576,3464,0,0,0,0,0,0,14.33,14.58,28.83
$GC,640,-0.47,-97.3,75.9,-10.7,41,644,0.00,1.88,0.00,0.000,6,0.000,0.065,2025,1509,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,940,-0.46,-97.3,100.1,-6.9,61,944,0.00,1.83,0.00,0.000,4,0.000,0.054,2017,2576,3464,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1091,-0.46,-97.3,109.4,-6.7,71,1094,0.00,1.85,0.00,0.000,6,0.000,0.064,2017,1521,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1390,-0.45,-97.3,135.9,-10.6,91,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.44,-97.3,161.0,-7.5,111,1695,0.12,1.92,0.00,0.000,4,0.246,0.087,2045,460,3466,0,0,0,0,0,0,14.47,14.58,28.83
$GC,1765,-0.44,-97.3,166.5,-7.5,116,1769,0.00,1.80,0.00,0.000,6,0.000,0.045,2040,1523,3466,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2065,-0.45,-97.3,188.8,-7.4,136,2069,0.00,1.92,0.00,0.000,4,0.000,0.087,2040,459,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2126,-0.45,-97.3,193.7,-8.0,140,2129,0.00,1.80,0.00,0.000,6,0.000,0.045,2032,1527,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2425,-0.45,-97.3,213.4,-5.7,160,2429,0.00,1.77,0.00,0.000,4,0.000,0.056,2024,2576,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2546,-0.46,-97.3,219.8,-5.3,168,2550,0.00,1.85,0.00,0.000,6,0.000,0.066,2024,1521,3466,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2845,-0.46,-97.3,238.1,-6.8,188,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3147,-0.46,-97.3,258.7,-6.8,204,3150,0.00,1.80,0.00,0.000,4,0.000,0.056,2017,2578,3464,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3220,-0.46,-97.3,263.2,-6.2,207,3224,0.00,1.85,0.00,0.000,6,0.000,0.066,2016,1519,3465,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3536,-0.46,-97.3,280.9,-5.2,218,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-0.46,-97.3,297.0,-5.5,228,3840,0.00,1.80,0.00,0.000,4,0.000,0.057,2009,2577,3463,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3941,-0.46,-97.3,303.1,-5.8,232,3945,0.00,1.85,0.00,0.000,6,0.000,0.067,2009,1521,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4255,-0.46,-97.3,326.5,-8.3,243,4257,0.12,0.00,0.00,0.000,6,0.245,0.000,2037,1521,3462,0,0,0,0,0,0,14.55,28.83,28.83
$GC,4557,-0.49,-97.3,351.5,-8.4,253,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-0.51,-97.3,373.6,-6.6,263,4859,0.00,1.80,0.00,0.000,4,0.000,0.057,2032,2576,3460,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4945,-0.53,-97.3,378.1,-6.1,266,4949,0.00,1.85,0.00,0.000,6,0.000,0.067,2032,1520,3460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5246,-0.55,-97.3,397.2,-6.3,276,5249,0.00,1.80,0.00,0.000,4,0.000,0.058,2024,2576,3459,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5321,-0.57,-97.3,402.1,-6.5,279,5324,0.00,1.88,0.00,0.000,6,0.000,0.068,2025,1510,3459,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5637,-0.58,-97.3,424.3,-7.1,290,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1510,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5936,-0.59,-97.3,442.3,-5.5,300,5940,0.00,1.83,0.00,0.000,4,0.000,0.058,2017,2576,3457,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6041,-0.61,-97.3,447.4,-4.9,304,6045,0.00,1.88,0.00,0.000,6,0.000,0.068,2017,1513,3456,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6356,-0.61,-97.3,462.3,-4.9,315,6360,0.00,1.83,0.00,0.000,4,0.000,0.059,2014,2576,3455,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6506,-0.62,-97.3,469.2,-5.2,320,6510,0.00,1.88,0.00,0.000,6,0.000,0.068,2009,1513,3455,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6805,-0.62,-97.3,487.7,-6.2,330,6809,0.00,1.90,0.00,0.000,4,0.000,0.091,2009,464,3453,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6911,-0.61,-97.3,495.4,-7.4,334,6914,0.00,1.80,0.00,0.000,6,0.000,0.048,2002,1524,3453,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7226,-0.61,-97.3,519.0,-7.8,345,7230,0.00,1.80,0.00,0.000,4,0.000,0.060,1994,2576,3453,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7390,-0.61,-97.3,532.4,-8.2,351,7394,0.00,1.88,0.00,0.000,6,0.000,0.069,1993,1516,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7707,-0.60,-97.3,562.0,-9.6,362,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1516,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8006,-0.59,-97.3,591.3,-9.5,372,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8306,-0.58,-97.3,615.8,-7.8,382,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1516,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,-0.57,-97.3,636.9,-6.6,392,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8906,-0.56,-97.3,656.0,-6.4,402,8909,0.00,1.83,0.00,0.000,4,0.000,0.061,1986,2575,3446,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9040,-0.56,-97.3,664.6,-6.5,407,9044,0.00,1.88,0.00,0.000,6,0.000,0.071,1986,1520,3446,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9357,-0.54,-97.3,689.6,-8.2,418,9359,0.12,0.00,0.00,0.000,6,0.259,0.000,2012,1519,3445,0,0,0,0,0,0,14.43,28.83,28.83
$GC,9657,-0.54,-97.3,712.0,-7.6,428,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,-0.54,-97.3,732.4,-6.5,438,9959,0.00,1.83,0.00,0.000,4,0.000,0.061,2007,2574,3442,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10046,-0.55,-97.3,737.1,-6.2,441,10049,0.00,1.88,0.00,0.000,6,0.000,0.071,2008,1521,3442,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10346,-0.55,-97.3,756.6,-6.2,451,10349,0.00,1.83,0.00,0.000,4,0.000,0.062,1999,2573,3442,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10511,-0.56,-97.3,767.6,-6.8,457,10515,0.00,1.90,0.00,0.000,6,0.000,0.072,1999,1513,3441,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10826,-0.56,-97.3,792.7,-7.9,468,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1512,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11125,-0.56,-97.3,813.0,-6.1,478,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1512,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11427,-0.56,-97.3,826.6,-4.0,488,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1512,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11725,-0.56,-97.3,839.8,-4.7,498,11729,0.00,1.85,0.00,0.000,4,0.000,0.063,1991,2573,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11816,-0.56,-97.3,844.0,-5.4,501,11819,0.00,1.90,0.00,0.000,6,0.000,0.074,1991,1517,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12116,-0.56,-97.3,865.5,-7.4,511,12119,0.00,1.95,0.00,0.000,4,0.000,0.097,1991,461,3436,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12175,-0.55,-97.3,869.2,-7.7,513,12178,0.00,1.83,0.00,0.000,6,0.000,0.053,1983,1518,3436,0,0,0,0,0,0,28.83,14.65,28.83
$GC,12478,-0.54,-97.3,894.3,-7.8,523,12482,0.15,1.85,0.00,0.000,4,0.250,0.064,2012,2578,3435,0,0,0,0,0,0,14.34,14.57,28.83
$GC,12625,-0.56,-97.3,903.3,-6.6,528,12628,0.00,1.90,0.00,0.000,6,0.000,0.073,2011,1519,3434,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12927,-0.57,-97.3,923.2,-6.4,538,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13226,-0.59,-97.3,942.3,-6.3,548,13229,0.00,1.88,0.00,0.000,4,0.000,0.064,2004,2585,3432,0,0,0,0,0,0,28.83,14.57,28.83
$GC,13361,-0.61,-97.3,950.8,-6.3,553,13365,0.00,1.92,0.00,0.000,6,0.000,0.076,2004,1519,3431,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13677,-0.61,-97.3,970.3,-6.0,564,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13883,begin apogee
$GC,13889,-0.18,0.0,981.0,-5.0,571,14009,0.45,0.00,111.25,2.098,6,0.210,0.000,2124,1389,3062,0,0,0,0,1,0,14.37,28.83,13.20
$STATE,14011,end apogee,CONTROL_FINISHED_OK
$STATE,14011,begin climb
$GC,14013,0.60,97.3,982.2,0.0,575,14149,0.82,2.05,124.82,2.093,4,0.140,0.103,2387,349,2666,0,0,0,0,1,0,14.11,13.97,13.12
$GC,14367,0.51,97.3,963.1,8.0,588,14372,0.12,1.85,0.00,0.000,6,0.282,0.053,2361,1409,2660,0,0,0,0,0,0,14.23,14.49,28.83
$GC,14685,0.48,113.0,944.0,5.4,599,14724,0.00,0.00,32.40,1.274,6,0.000,0.000,2361,1410,2601,0,0,0,0,1,0,28.83,28.83,13.63
$GC,15014,0.49,157.1,928.9,4.2,610,15089,0.00,1.88,65.50,1.825,4,0.000,0.065,2361,2447,2421,0,0,0,0,1,0,28.83,14.26,13.40
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$STATE,27461,end climb,SURFACE_DEPTH_REACHED
$STATE,27461,begin surface coast
$FINISH,0.3,1.024992
$STATE,27476,end surface coast,CONTROL_FINISHED_OK
$STATE,27476,begin surface
$SM_CCo,27554,0.00,0.000,0,0,1655,345.38
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$IRIDIUM_FIX,2422.84,-3847.36,121112,202006
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.68
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.50
$XPDR_PINGS,1
$SC_FREEKB,7699872
$TM_FREEKB,6088992
$24V_AH,13.1,87.141
$10V_AH,13.0,0.000
$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,19.450,145.850,643.575,0.000,0.000,0.000,0.000,377.300,0.250,0.000,18.769,3178.481,21338.762,908.071,2397.698,376.385,0.000,2257.916,0.000,1865.722,0.000,0.551,0.000
$DEVICE_MAMPS,415.395,112.455,2098.395,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27520.000,6244.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.014,13.118,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,40103,1135
$CAP_FILE_SIZE,247740,0
$CFSIZE,260034560,232988672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.022, 16.4,1
$GPS,131112,121904,2427.985,-3846.526,40,0.8,40,-14.2