version: 66.11
glider: 191
mission: 5
dive: 191
start: 11 15 112 21 5 17
data:
$ID,191
$MISSION,5
$DIVE,191
$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,-4052.925
$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,26
$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
$GPS1,151112,205358,2405.798,-3845.670,38,1.4,38,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-51.1
$GPS2,151112,210447,2405.775,-3845.732,17,1.5,17,-14.3
$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,202.3,18339,-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,23,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-62.05,0.000,2,0.000,0.000,159,1528,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.6,-6.4,4,105,9.55,1.92,-0.93,0.000,4,0.420,0.111,1998,465,3460,1,0,0,0,0,0,14.02,14.57,14.81
$GC,327,-0.54,-97.3,34.0,-10.7,20,331,0.00,1.77,0.00,0.000,6,0.000,0.047,1993,1508,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,627,-0.48,-97.3,71.7,-12.3,40,629,0.17,0.00,0.00,0.000,6,0.250,0.000,2033,1509,3460,0,0,0,0,0,0,14.35,28.83,28.83
$GC,926,-0.48,-97.3,98.3,-7.6,60,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1509,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-0.48,-97.3,117.8,-5.6,80,1231,0.00,1.83,0.00,0.000,4,0.000,0.056,2027,2578,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1377,-0.48,-97.3,125.4,-4.9,90,1381,0.00,1.85,0.00,0.000,6,0.000,0.064,2027,1522,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1676,-0.48,-97.3,146.9,-7.6,110,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,-0.48,-97.3,170.3,-7.3,130,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.48,-97.3,189.7,-7.3,150,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1522,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,-0.48,-97.3,211.0,-6.4,170,2580,0.00,1.80,0.00,0.000,4,0.000,0.054,2020,2578,3467,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2743,-0.50,-97.3,221.1,-6.2,181,2747,0.00,1.85,0.00,0.000,6,0.000,0.064,2020,1518,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3041,-0.50,-97.3,243.7,-7.5,201,3045,0.00,1.90,0.00,0.000,4,0.000,0.089,2020,461,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3117,-0.49,-97.3,249.7,-8.3,206,3121,0.00,1.80,0.00,0.000,6,0.000,0.046,2012,1531,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3433,-0.49,-97.3,272.9,-7.2,217,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1533,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3731,-0.49,-97.3,293.0,-6.3,227,3735,0.00,1.77,0.00,0.000,4,0.000,0.057,2004,2578,3461,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3959,-0.49,-97.3,305.8,-5.7,235,3962,0.00,1.85,0.00,0.000,6,0.000,0.067,2004,1518,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4271,-0.49,-97.3,326.3,-7.2,246,4275,0.00,1.90,0.00,0.000,4,0.000,0.089,2004,459,3461,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4333,-0.47,-97.3,329.9,-7.6,248,4337,0.15,1.77,0.00,0.000,6,0.240,0.047,2029,1518,3461,0,0,0,0,0,0,14.37,14.69,28.83
$GC,4633,-0.49,-97.3,353.0,-7.4,258,4636,0.00,1.80,0.00,0.000,4,0.000,0.057,2024,2578,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4721,-0.51,-97.3,358.7,-7.6,261,4724,0.00,1.85,0.00,0.000,6,0.000,0.067,2024,1520,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5022,-0.52,-97.3,382.5,-7.3,271,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.53,-97.3,403.6,-6.8,281,5325,0.00,1.90,0.00,0.000,4,0.000,0.090,2024,464,3458,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5381,-0.53,-97.3,406.8,-6.8,283,5384,0.00,1.77,0.00,0.000,6,0.000,0.047,2017,1520,3458,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5681,-0.53,-97.3,427.6,-6.8,293,5685,0.00,1.80,0.00,0.000,4,0.000,0.058,2009,2580,3457,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5817,-0.55,-97.3,437.5,-7.4,298,5821,0.00,1.85,0.00,0.000,6,0.000,0.067,2009,1522,3456,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6131,-0.55,-97.3,463.1,-8.3,309,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6431,-0.55,-97.3,486.3,-7.4,319,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6732,-0.55,-97.3,504.9,-5.6,329,6736,0.00,1.83,0.00,0.000,4,0.000,0.058,2001,2582,3453,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6880,-0.55,-97.3,512.2,-5.4,334,6884,0.00,1.88,0.00,0.000,6,0.000,0.070,2001,1519,3452,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7182,-0.55,-97.3,531.1,-6.0,344,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1519,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7481,-0.55,-97.3,549.7,-6.4,354,7485,0.00,1.83,0.00,0.000,4,0.000,0.059,1993,2579,3450,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7540,-0.55,-97.3,552.5,-6.5,356,7544,0.00,1.88,0.00,0.000,6,0.000,0.068,1993,1515,3450,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7842,-0.55,-97.3,576.2,-8.0,366,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,-0.55,-97.3,603.2,-9.5,376,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,-0.55,-97.3,630.2,-8.8,386,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8741,-0.55,-97.3,655.1,-8.2,396,8745,0.00,1.85,0.00,0.000,4,0.000,0.060,1986,2581,3445,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8846,-0.55,-97.3,663.5,-8.0,400,8850,0.00,1.90,0.00,0.000,6,0.000,0.071,1985,1514,3445,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9164,-0.53,-97.3,689.3,-8.1,411,9166,0.12,0.00,0.00,0.000,6,0.258,0.000,2012,1514,3443,0,0,0,0,0,0,14.42,28.83,28.83
$GC,9462,-0.54,-97.3,710.8,-7.0,421,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9762,-0.54,-97.3,730.6,-6.5,431,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10062,-0.55,-97.3,747.1,-5.2,441,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1514,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10363,-0.56,-97.3,759.9,-3.8,451,10367,0.00,1.85,0.00,0.000,4,0.000,0.062,2006,2577,3440,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10541,-0.58,-97.3,765.4,-3.3,457,10545,0.00,1.90,0.00,0.000,6,0.000,0.073,2006,1513,3439,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10842,-0.58,-97.3,777.2,-4.1,467,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1516,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11141,-0.58,-97.3,793.0,-5.8,477,11145,0.00,1.85,0.00,0.000,4,0.000,0.063,1998,2575,3436,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11231,-0.59,-97.3,798.1,-6.6,480,11235,0.00,1.90,0.00,0.000,6,0.000,0.073,1999,1516,3437,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11531,-0.59,-97.3,824.3,-9.0,490,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1516,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11832,-0.59,-97.3,851.3,-9.0,500,11835,0.00,1.85,0.00,0.000,4,0.000,0.063,1991,2574,3435,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11950,-0.59,-97.3,860.0,-8.3,504,11954,0.00,1.90,0.00,0.000,6,0.000,0.074,1990,1520,3435,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12251,-0.59,-97.3,883.8,-7.0,514,12255,0.00,1.85,0.00,0.000,4,0.000,0.063,1983,2576,3433,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12371,-0.59,-97.3,890.4,-6.3,518,12374,0.00,1.90,0.00,0.000,6,0.000,0.074,1983,1521,3433,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12671,-0.58,-97.3,909.8,-6.2,528,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12972,-0.57,-97.3,928.8,-6.6,538,12976,0.00,1.85,0.00,0.000,4,0.000,0.063,1975,2573,3431,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13090,-0.57,-97.3,935.9,-6.8,542,13095,0.12,1.90,0.00,0.000,6,0.248,0.076,2001,1522,3431,0,0,0,0,0,0,14.28,14.52,28.83
$GC,13393,-0.57,-97.3,956.8,-6.9,552,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13691,-0.57,-97.3,977.8,-7.0,562,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13749,begin apogee
$GC,13755,-0.18,0.0,982.0,-7.1,564,13875,0.45,0.00,111.93,2.119,6,0.205,0.000,2126,1392,3062,0,0,0,0,1,0,14.35,28.83,13.16
$STATE,13877,end apogee,CONTROL_FINISHED_OK
$STATE,13877,begin climb
$GC,13879,0.60,97.3,986.0,0.0,568,14021,0.82,2.05,126.12,2.135,4,0.138,0.106,2384,351,2665,0,0,0,0,1,0,14.09,13.95,13.07
$GC,14141,0.50,141.4,982.3,4.2,577,14219,0.15,1.85,65.55,1.838,6,0.275,0.053,2352,1408,2484,0,0,0,0,1,0,14.12,14.38,13.23
$GC,14517,0.48,147.9,960.4,5.8,590,14524,0.00,0.00,5.28,2.103,6,0.000,0.000,2354,1407,2458,0,0,0,0,0,0,28.83,28.83,13.57
$GC,14819,0.45,152.8,942.7,5.8,600,14826,0.00,0.00,4.62,2.072,6,0.000,0.000,2354,1408,2439,0,0,0,0,0,0,28.83,28.83,13.66
$GC,15118,0.43,158.5,925.0,5.8,610,15126,0.00,0.00,5.97,2.127,6,0.000,0.000,2354,1408,2415,0,0,0,0,0,0,28.83,28.83,13.67
$GC,15419,0.41,162.1,907.3,5.9,620,15425,0.12,0.00,3.30,2.020,6,0.272,0.000,2326,1408,2401,0,0,0,0,0,0,14.42,28.83,13.73
$GC,15718,0.44,186.8,892.3,5.0,630,15769,0.00,0.00,44.20,1.562,6,0.000,0.000,2326,1407,2300,0,0,0,0,1,0,28.83,28.83,13.58
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$STATE,27879,end climb,SURFACE_DEPTH_REACHED
$STATE,27880,begin surface coast
$FINISH,0.4,1.025008
$STATE,27895,end surface coast,CONTROL_FINISHED_OK
$STATE,27895,begin surface
$SM_CCo,27974,0.00,0.000,0,0,1648,346.85
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$IRIDIUM_FIX,2401.56,-3850.28,151112,121237
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.92
$INTERNAL_PRESSURE,9.30182
$TCM_TEMP,26.30
$XPDR_PINGS,4
$SC_FREEKB,7696800
$TM_FREEKB,6007904
$24V_AH,13.1,90.794
$10V_AH,12.9,0.000
$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,19.200,104.875,627.725,0.000,0.000,0.000,0.000,367.275,1.000,0.000,18.721,3130.487,21863.332,852.701,2378.674,388.379,0.000,2181.302,0.000,1854.077,0.000,0.550,0.000
$DEVICE_MAMPS,419.985,113.985,2135.115,0.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27939.000,6277.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.159,13.110,0.000,0.000
$MEM,344776
$DATA_FILE_SIZE,40046,1138
$CAP_FILE_SIZE,237380,0
$CFSIZE,260034560,231936000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,0,0
$CURRENT,0.030, 82.1,1
$GPS,161112,045234,2402.815,-3845.737,22,1.1,22,-14.3