version: 66.11
glider: 191
mission: 5
dive: 204
start: 11 20 112 5 48 29
data:
$ID,191
$MISSION,5
$DIVE,204
$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,-4070.324
$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,50
$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
$GPS1,201112,053722,2354.315,-3809.395,38,0.9,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-51.8
$GPS2,201112,054800,2354.336,-3809.419,14,1.1,14,-14.2
$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,89.4,83711,-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,-61.70,0.000,2,0.000,0.000,161,1529,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.2,-5.9,4,107,9.62,0.00,-4.45,0.000,6,0.422,0.000,1987,1530,3460,1,0,0,0,0,0,13.99,28.83,14.82
$GC,402,-0.55,-97.3,43.8,-8.9,25,406,0.00,1.77,0.00,0.000,4,0.000,0.056,1982,2568,3462,0,0,0,0,0,0,28.83,14.59,28.83
$GC,492,-0.52,-97.3,52.9,-10.0,31,496,0.15,1.85,0.00,0.000,6,0.240,0.066,2015,1518,3463,0,0,0,0,0,0,14.36,14.58,28.83
$GC,791,-0.50,-97.3,75.9,-7.9,51,795,0.00,1.90,0.00,0.000,4,0.000,0.087,2015,464,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,837,-0.48,-97.3,79.6,-8.2,54,841,0.00,1.77,0.00,0.000,6,0.000,0.044,2010,1518,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1137,-0.46,-97.3,103.0,-8.2,74,1141,0.12,1.83,0.00,0.000,4,0.248,0.054,2032,2579,3462,0,0,0,0,0,0,14.41,14.64,28.83
$GC,1361,-0.48,-97.3,117.6,-6.8,89,1365,0.00,1.88,0.00,0.000,6,0.000,0.064,2032,1510,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1661,-0.48,-97.3,139.2,-7.4,109,1665,0.00,1.83,0.00,0.000,4,0.000,0.054,2024,2578,3463,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1782,-0.50,-97.3,147.6,-7.2,117,1786,0.00,1.85,0.00,0.000,6,0.000,0.063,2024,1521,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2081,-0.50,-97.3,167.4,-6.0,137,2085,0.00,1.80,0.00,0.000,4,0.000,0.054,2017,2577,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2202,-0.51,-97.3,173.6,-5.0,145,2206,0.00,1.85,0.00,0.000,6,0.000,0.064,2017,1521,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2501,-0.51,-97.3,187.6,-4.9,165,2505,0.00,1.90,0.00,0.000,4,0.000,0.086,2016,463,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2562,-0.50,-97.3,191.2,-5.9,169,2566,0.00,1.77,0.00,0.000,6,0.000,0.044,2009,1522,3463,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2862,-0.50,-97.3,209.7,-6.8,189,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.50,-97.3,233.8,-8.5,209,3165,0.00,1.80,0.00,0.000,4,0.000,0.055,2001,2578,3463,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3297,-0.50,-97.3,245.7,-9.0,218,3301,0.00,1.85,0.00,0.000,6,0.000,0.064,2001,1521,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3613,-0.49,-97.3,275.7,-8.9,230,3615,0.12,0.00,0.00,0.000,6,0.241,0.000,2029,1521,3463,0,0,0,0,0,0,14.53,28.83,28.83
$GC,3914,-0.50,-97.3,288.5,-2.4,240,3917,0.00,1.80,0.00,0.000,4,0.000,0.055,2024,2579,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4017,-0.52,-97.3,290.1,-1.6,244,4020,0.00,1.85,0.00,0.000,6,0.000,0.065,2023,1520,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4333,-0.52,-97.3,297.4,-3.0,255,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.53,-97.3,314.3,-6.7,265,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.55,-97.3,336.2,-7.3,275,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.56,-97.3,358.9,-7.6,285,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.57,-97.3,381.0,-7.3,295,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,-0.58,-97.3,399.4,-5.6,305,5836,0.00,1.80,0.00,0.000,4,0.000,0.056,2016,2576,3457,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6058,-0.60,-97.3,409.8,-4.5,313,6062,0.00,1.88,0.00,0.000,6,0.000,0.067,2016,1513,3456,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6374,-0.60,-97.3,425.5,-5.3,324,6377,0.00,1.83,0.00,0.000,4,0.000,0.056,2009,2578,3455,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6477,-0.61,-97.3,431.6,-5.8,328,6481,0.00,1.88,0.00,0.000,6,0.000,0.067,2009,1513,3455,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6792,-0.61,-97.3,455.4,-8.1,339,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.61,-97.3,478.9,-7.5,349,7095,0.00,1.83,0.00,0.000,4,0.000,0.057,2001,2577,3453,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7196,-0.61,-97.3,486.4,-7.2,353,7200,0.00,1.88,0.00,0.000,6,0.000,0.067,2002,1516,3452,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7512,-0.61,-97.3,510.1,-7.6,364,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1516,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,-0.61,-97.3,532.3,-7.2,374,7815,0.00,1.83,0.00,0.000,4,0.000,0.057,1994,2576,3450,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7931,-0.61,-97.3,539.1,-6.5,378,7935,0.00,1.88,0.00,0.000,6,0.000,0.068,1993,1519,3449,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8232,-0.61,-97.3,558.6,-5.9,388,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8533,-0.61,-97.3,575.5,-5.6,398,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8832,-0.61,-97.3,592.8,-6.1,408,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9132,-0.61,-97.3,613.5,-7.3,418,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,-0.61,-97.3,636.6,-7.8,428,9435,0.00,1.83,0.00,0.000,4,0.000,0.058,1986,2574,3444,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9656,-0.61,-97.3,652.9,-7.0,436,9660,0.00,1.88,0.00,0.000,6,0.000,0.070,1986,1521,3443,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9974,-0.60,-97.3,671.9,-5.6,447,9978,0.00,1.83,0.00,0.000,4,0.000,0.058,1978,2576,3442,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10076,-0.60,-97.3,677.2,-5.0,451,10080,0.00,1.90,0.00,0.000,6,0.000,0.070,1978,1514,3441,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10394,-0.58,-97.3,693.8,-5.4,462,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1513,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10692,-0.57,-97.3,712.0,-6.4,472,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1513,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10992,-0.55,-97.3,734.7,-8.1,482,10997,0.12,1.85,0.00,0.000,4,0.259,0.060,2001,2575,3439,0,0,0,0,0,0,14.38,14.59,28.83
$GC,11081,-0.55,-97.3,740.3,-7.7,485,11085,0.00,1.90,0.00,0.000,6,0.000,0.071,2000,1516,3438,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11382,-0.55,-97.3,764.3,-7.6,495,11385,0.00,1.85,0.00,0.000,4,0.000,0.060,1992,2576,3438,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11561,-0.56,-97.3,776.9,-7.5,501,11564,0.00,1.90,0.00,0.000,6,0.000,0.072,1993,1520,3437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11862,-0.56,-97.3,800.8,-7.6,511,11865,0.00,1.85,0.00,0.000,4,0.000,0.060,1985,2579,3436,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11967,-0.56,-97.3,808.8,-7.7,515,11970,0.00,1.90,0.00,0.000,6,0.000,0.071,1985,1521,3436,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12281,-0.56,-97.3,833.9,-8.0,526,12285,0.00,1.85,0.00,0.000,4,0.000,0.060,1977,2578,3435,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12371,-0.56,-97.3,839.9,-8.1,529,12376,0.12,1.90,0.00,0.000,6,0.249,0.071,2003,1521,3435,0,0,0,0,0,0,14.28,14.55,28.83
$GC,12672,-0.56,-97.3,863.4,-7.4,539,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12973,-0.57,-97.3,884.9,-7.0,549,12976,0.00,1.85,0.00,0.000,4,0.000,0.061,1998,2577,3433,0,0,0,0,0,0,28.83,14.56,28.83
$GC,13061,-0.58,-97.3,889.9,-6.7,552,13064,0.00,1.90,0.00,0.000,6,0.000,0.073,1998,1521,3433,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13362,-0.58,-97.3,911.0,-6.6,562,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13662,-0.58,-97.3,930.0,-6.4,572,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13962,-0.58,-97.3,949.0,-6.2,582,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14262,-0.58,-97.3,967.0,-5.8,592,14266,0.00,1.85,0.00,0.000,4,0.000,0.062,1990,2570,3430,0,0,0,0,0,0,28.83,14.51,28.83
$GC,14427,-0.60,-97.3,976.2,-5.6,598,14431,0.00,1.92,0.00,0.000,6,0.000,0.075,1990,1514,3429,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,14500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14500,begin apogee
$GC,14506,-0.18,0.0,980.3,-5.6,601,14626,0.50,0.00,111.75,2.125,6,0.210,0.000,2125,1397,3062,0,0,0,0,1,0,14.28,28.83,13.11
$STATE,14628,end apogee,CONTROL_FINISHED_OK
$STATE,14628,begin climb
$GC,14630,0.60,97.3,982.8,0.0,605,14766,0.82,0.00,126.72,2.153,6,0.130,0.000,2378,1397,2664,0,0,0,0,1,0,14.09,28.83,13.02
$GC,15056,0.53,97.3,965.6,6.6,620,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1397,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15357,0.46,97.3,946.5,6.4,630,15359,0.15,0.00,0.00,0.000,6,0.274,0.000,2346,1397,2659,0,0,0,0,0,0,14.24,28.83,28.83
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$STATE,28797,end climb,SURFACE_DEPTH_REACHED
$STATE,28797,begin surface coast
$FINISH,0.4,1.025274
$STATE,28813,end surface coast,CONTROL_FINISHED_OK
$STATE,28813,begin surface
$SM_CCo,28892,0.00,0.000,0,0,1741,324.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,51.14
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$TCM_TEMP,26.10
$XPDR_PINGS,9
$SC_FREEKB,7691808
$TM_FREEKB,5876256
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$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
$DEVICE_SECS,19.100,112.375,627.900,0.000,0.000,0.000,0.000,353.650,2.250,0.000,15.521,3245.568,22565.863,871.233,2430.977,406.269,0.000,2212.218,0.000,1918.247,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28860.000,6618.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.233,13.079,0.000,0.000
$MEM,344784
$DATA_FILE_SIZE,43335,1188
$CAP_FILE_SIZE,243123,0
$CFSIZE,260034560,230178816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,0,0
$CURRENT,0.045,185.8,1
$GPS,201112,135106,2354.119,-3806.221,24,1.7,24,-14.1