version: 66.11
glider: 191
mission: 5
dive: 198
start: 11 18 112 5 47 42
data:
$ID,191
$MISSION,5
$DIVE,198
$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,-4062.2024
$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,46
$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
$GPS1,181112,053622,2355.311,-3829.251,36,0.8,36,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.0
$GPS2,181112,054712,2355.302,-3829.285,18,0.8,18,-14.3
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$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,94.9,117291,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-57.72,0.000,6,0.000,0.000,163,1518,3458,0,0,0,0,0,0,28.83,28.83,14.79
$GC,88,-0.60,-97.3,4.8,-10.6,4,101,10.60,0.00,0.00,0.000,6,0.463,0.000,1989,1518,3461,1,0,0,0,0,0,13.97,28.83,28.83
$GC,402,-0.55,-97.3,49.6,-13.3,25,406,0.00,1.80,0.00,0.000,4,0.000,0.054,1983,2573,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,477,-0.51,-97.3,59.3,-12.6,30,482,0.17,1.88,0.00,0.000,6,0.252,0.065,2022,1509,3464,0,0,0,0,0,0,14.31,14.54,28.83
$GC,777,-0.51,-97.3,89.1,-8.4,50,781,0.00,1.83,0.00,0.000,4,0.000,0.054,2017,2575,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,957,-0.51,-97.3,102.3,-6.6,62,960,0.00,1.85,0.00,0.000,6,0.000,0.064,2017,1522,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1257,-0.50,-97.3,120.5,-5.8,82,1261,0.00,1.90,0.00,0.000,4,0.000,0.086,2017,463,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1317,-0.48,-97.3,124.5,-6.6,86,1321,0.00,1.77,0.00,0.000,6,0.000,0.045,2009,1518,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1617,-0.47,-97.3,146.2,-8.0,106,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.45,-97.3,171.6,-9.0,126,1919,0.12,0.00,0.00,0.000,6,0.243,0.000,2037,1518,3465,0,0,0,0,0,0,14.42,28.83,28.83
$GC,2217,-0.47,-97.3,195.7,-8.1,146,2220,0.00,1.80,0.00,0.000,4,0.000,0.054,2031,2578,3464,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2441,-0.50,-97.3,211.2,-6.2,161,2445,0.00,1.85,0.00,0.000,6,0.000,0.064,2031,1519,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2743,-0.51,-97.3,225.0,-3.7,181,2746,0.00,1.80,0.00,0.000,4,0.000,0.054,2021,2577,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2847,-0.53,-97.3,229.4,-4.2,188,2851,0.00,1.85,0.00,0.000,6,0.000,0.065,2024,1520,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3146,-0.53,-97.3,244.8,-6.0,208,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.54,-97.3,266.1,-7.6,221,3451,0.00,1.90,0.00,0.000,4,0.000,0.088,2024,461,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3505,-0.54,-97.3,269.8,-7.9,223,3509,0.00,1.77,0.00,0.000,6,0.000,0.045,2017,1519,3464,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3806,-0.54,-97.3,294.3,-7.5,233,3810,0.00,1.80,0.00,0.000,4,0.000,0.056,2009,2580,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4034,-0.55,-97.3,311.1,-7.5,241,4037,0.00,1.85,0.00,0.000,6,0.000,0.065,2009,1521,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4346,-0.55,-97.3,333.0,-6.6,252,4350,0.00,1.90,0.00,0.000,4,0.000,0.089,2009,463,3461,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4422,-0.55,-97.3,338.7,-7.2,255,4426,0.00,1.77,0.00,0.000,6,0.000,0.046,2001,1518,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4737,-0.55,-97.3,360.2,-6.8,266,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-0.55,-97.3,382.5,-7.7,276,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,-0.55,-97.3,405.2,-7.6,286,5340,0.00,1.80,0.00,0.000,4,0.000,0.057,1993,2578,3459,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5515,-0.55,-97.3,417.2,-7.3,292,5519,0.00,1.85,0.00,0.000,6,0.000,0.067,1993,1521,3459,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5817,-0.54,-97.3,441.1,-7.7,302,5821,0.00,1.80,0.00,0.000,4,0.000,0.057,1986,2576,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5891,-0.54,-97.3,446.6,-7.5,305,5895,0.00,1.88,0.00,0.000,6,0.000,0.067,1986,1513,3456,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6209,-0.52,-97.3,471.9,-8.0,316,6210,0.15,0.00,0.00,0.000,6,0.241,0.000,2020,1514,3455,0,0,0,0,0,0,14.45,28.83,28.83
$GC,6507,-0.54,-97.3,493.3,-7.3,326,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1513,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6807,-0.55,-97.3,513.6,-6.2,336,6811,0.00,1.83,0.00,0.000,4,0.000,0.057,2015,2577,3453,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6897,-0.57,-97.3,517.6,-5.4,339,6900,0.00,1.88,0.00,0.000,6,0.000,0.068,2015,1515,3453,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7197,-0.57,-97.3,534.0,-5.1,349,7200,0.00,1.83,0.00,0.000,4,0.000,0.057,2007,2576,3452,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7316,-0.58,-97.3,539.1,-4.9,353,7320,0.00,1.88,0.00,0.000,6,0.000,0.068,2007,1518,3452,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7617,-0.58,-97.3,555.7,-5.5,363,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1518,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7917,-0.58,-97.3,573.9,-6.4,373,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1517,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,-0.58,-97.3,593.1,-6.4,383,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,-0.58,-97.3,611.9,-6.2,393,8520,0.00,1.83,0.00,0.000,4,0.000,0.059,2000,2576,3448,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8606,-0.58,-97.3,616.1,-5.7,396,8610,0.00,1.88,0.00,0.000,6,0.000,0.069,2000,1521,3445,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8906,-0.58,-97.3,633.5,-5.3,406,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9207,-0.58,-97.3,648.8,-5.1,416,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9506,-0.58,-97.3,665.4,-5.8,426,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9807,-0.58,-97.3,683.4,-6.3,436,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10107,-0.58,-97.3,702.8,-6.6,446,10110,0.00,1.85,0.00,0.000,4,0.000,0.060,1992,2581,3442,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10213,-0.58,-97.3,709.5,-6.5,450,10216,0.00,1.90,0.00,0.000,6,0.000,0.071,1992,1519,3441,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10527,-0.58,-97.3,732.8,-7.4,461,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10826,-0.58,-97.3,754.4,-7.0,471,10830,0.00,1.85,0.00,0.000,4,0.000,0.060,1984,2579,3440,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10962,-0.58,-97.3,763.5,-6.7,476,10965,0.00,1.90,0.00,0.000,6,0.000,0.071,1985,1518,3439,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11278,-0.57,-97.3,785.7,-7.0,487,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11578,-0.56,-97.3,806.8,-6.9,497,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11877,-0.55,-97.3,826.5,-6.4,507,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12176,-0.55,-97.3,845.9,-6.5,517,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12477,-0.55,-97.3,866.5,-6.9,527,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12776,-0.55,-97.3,888.3,-7.4,537,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13077,-0.55,-97.3,910.2,-7.3,547,13080,0.00,1.85,0.00,0.000,4,0.000,0.063,1976,2573,3432,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13271,-0.55,-97.3,923.3,-6.7,554,13276,0.15,1.90,0.00,0.000,6,0.244,0.074,2010,1521,3431,0,0,0,0,0,0,14.21,14.50,28.83
$GC,13589,-0.56,-97.3,941.2,-5.5,565,13590,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13887,-0.58,-97.3,956.8,-5.2,575,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14188,-0.60,-97.3,972.4,-5.2,585,14191,0.00,1.85,0.00,0.000,4,0.000,0.063,2004,2574,3429,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14336,-0.62,-97.3,979.6,-5.4,590,14340,0.00,1.92,0.00,0.000,6,0.000,0.075,2005,1515,3429,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,14365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14365,begin apogee
$GC,14371,-0.18,0.0,982.2,-5.5,591,14491,0.45,0.00,112.25,2.132,6,0.205,0.000,2126,1398,3062,0,0,0,0,1,0,14.32,28.83,13.12
$STATE,14493,end apogee,CONTROL_FINISHED_OK
$STATE,14493,begin climb
$GC,14496,0.60,97.3,985.9,0.0,595,14631,0.80,0.00,126.40,2.144,6,0.130,0.000,2373,1398,2665,0,0,0,0,1,0,14.09,28.83,13.03
$GC,14922,0.59,144.7,977.8,4.0,610,15000,0.00,1.92,68.28,1.863,4,0.000,0.063,2373,2454,2473,0,0,0,0,1,0,28.83,14.18,13.27
$GC,15027,0.56,181.2,973.0,4.5,613,15095,0.00,1.95,57.75,1.749,6,0.000,0.079,2381,1405,2323,0,0,0,0,1,0,28.83,14.26,13.22
$GC,15403,0.51,181.2,946.0,7.7,626,15407,0.00,2.00,0.00,0.000,4,0.000,0.106,2389,342,2317,0,0,0,0,0,0,28.83,14.47,28.83
$GC,15478,0.46,181.2,939.6,8.3,629,15483,0.20,1.85,0.00,0.000,6,0.254,0.054,2344,1408,2316,0,0,0,0,0,0,14.34,14.60,28.83
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$STATE,27747,end climb,SURFACE_DEPTH_REACHED
$STATE,27747,begin surface coast
$FINISH,-0.0,1.025083
$STATE,27763,end surface coast,CONTROL_FINISHED_OK
$STATE,27763,begin surface
$SM_CCo,27842,0.00,0.000,0,0,1738,324.78
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$IRIDIUM_FIX,2345.05,-3832.60,171112,212115
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.66
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,7694112
$TM_FREEKB,5936672
$24V_AH,13.0,94.013
$10V_AH,12.8,0.000
$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,19.775,127.475,596.775,0.000,0.000,0.000,0.000,359.100,0.000,0.000,20.251,3163.398,21680.264,853.611,2381.876,403.140,0.000,2172.072,0.000,1859.776,0.000,0.549,0.000
$DEVICE_MAMPS,462.825,118.575,2144.295,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27811.000,6354.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.112,13.096,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,40009,1150
$CAP_FILE_SIZE,240826,0
$CFSIZE,260034560,230985728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,0,0
$CURRENT,0.033,154.0,1
$GPS,181112,133304,2355.155,-3825.732,39,0.8,39,-14.2