version: 66.11
glider: 191
mission: 5
dive: 210
start: 11 22 112 6 0 47
data:
$ID,191
$MISSION,5
$DIVE,210
$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,-4078.1594
$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,21
$R_STBD_OVSHOOT,43
$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
$GPS1,221112,054304,2354.030,-3750.866,29,0.9,29,-14.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-52.2
$GPS2,221112,060018,2354.045,-3750.888,18,1.0,18,-14.1
$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,81.2,52411,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,100,0.00,0.00,-71.10,0.000,6,0.000,0.000,166,1522,3458,0,0,0,0,0,0,28.83,28.83,14.83
$GC,103,-0.60,-97.3,4.8,-7.8,5,117,9.70,1.80,0.00,0.000,4,0.425,0.053,1981,2578,3460,1,0,0,0,0,0,13.99,14.62,28.83
$GC,340,-0.56,-97.3,34.5,-9.3,21,344,0.00,1.88,0.00,0.000,6,0.000,0.065,1981,1516,3462,0,0,0,0,0,0,28.83,14.52,28.83
$GC,641,-0.51,-97.3,63.5,-9.8,41,645,0.17,1.80,0.00,0.000,4,0.243,0.054,2017,2569,3462,0,0,0,0,0,0,14.36,14.62,28.83
$GC,760,-0.51,-97.3,74.2,-9.0,49,764,0.00,1.88,0.00,0.000,6,0.000,0.067,2017,1509,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1060,-0.51,-97.3,106.8,-11.0,69,1064,0.00,1.83,0.00,0.000,4,0.000,0.054,2009,2576,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1150,-0.51,-97.3,116.0,-10.2,75,1154,0.00,1.88,0.00,0.000,6,0.000,0.064,2009,1513,3462,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1450,-0.50,-97.3,140.9,-7.3,95,1454,0.00,1.83,0.00,0.000,4,0.000,0.054,2001,2578,3462,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1585,-0.50,-97.3,149.8,-6.2,104,1589,0.00,1.88,0.00,0.000,6,0.000,0.064,2005,1512,3462,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1886,-0.48,-97.3,167.1,-5.2,124,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2186,-0.47,-97.3,181.2,-4.7,144,2188,0.15,0.00,0.00,0.000,6,0.232,0.000,2036,1512,3462,0,0,0,0,0,0,14.43,28.83,28.83
$GC,2486,-0.49,-97.3,193.5,-4.6,164,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.51,-97.3,210.9,-6.1,184,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,-0.53,-97.3,228.1,-5.3,204,3089,0.00,1.83,0.00,0.000,4,0.000,0.054,2030,2577,3461,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3176,-0.56,-97.3,232.8,-5.2,210,3180,0.00,1.88,0.00,0.000,6,0.000,0.064,2030,1513,3461,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3476,-0.58,-97.3,248.5,-5.3,230,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3778,-0.60,-97.3,265.1,-5.9,241,3781,0.00,1.80,0.00,0.000,4,0.000,0.054,2023,2574,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3895,-0.62,-97.3,271.9,-6.5,245,3898,0.00,1.85,0.00,0.000,6,0.000,0.066,2023,1521,3459,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4196,-0.63,-97.3,295.4,-7.6,255,4198,0.12,0.00,0.00,0.000,6,0.136,0.000,1974,1521,3457,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4496,-0.60,-97.3,324.3,-9.4,265,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4796,-0.57,-97.3,352.9,-9.6,275,4801,0.12,1.83,0.00,0.000,4,0.251,0.056,1995,2578,3457,0,0,0,0,0,0,14.45,14.71,28.83
$GC,4930,-0.57,-97.3,364.1,-8.2,280,4934,0.00,1.88,0.00,0.000,6,0.000,0.066,1995,1511,3457,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5247,-0.56,-97.3,390.2,-8.2,291,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1511,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5546,-0.56,-97.3,413.9,-7.7,301,5550,0.00,1.83,0.00,0.000,4,0.000,0.055,1987,2577,3455,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5634,-0.56,-97.3,419.4,-7.4,304,5638,0.00,1.88,0.00,0.000,6,0.000,0.066,1987,1511,3455,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5936,-0.54,-97.3,441.6,-6.9,314,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1511,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-0.53,-97.3,462.5,-7.1,324,6238,0.12,0.00,0.00,0.000,6,0.248,0.000,2014,1511,3453,0,0,0,0,0,0,14.49,28.83,28.83
$GC,6536,-0.54,-97.3,481.0,-6.4,334,6540,0.00,1.83,0.00,0.000,4,0.000,0.056,2009,2574,3451,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6685,-0.56,-97.3,489.5,-6.4,339,6688,0.00,1.88,0.00,0.000,6,0.000,0.067,2009,1515,3451,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6985,-0.56,-97.3,509.7,-6.4,349,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1514,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,-0.56,-97.3,527.9,-6.0,359,7290,0.00,1.83,0.00,0.000,4,0.000,0.056,2001,2574,3449,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7391,-0.57,-97.3,533.8,-5.6,363,7395,0.00,1.88,0.00,0.000,6,0.000,0.068,2001,1517,3448,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7706,-0.57,-97.3,552.4,-5.8,374,7710,0.00,1.83,0.00,0.000,4,0.000,0.057,1993,2576,3447,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7810,-0.57,-97.3,558.7,-5.9,378,7814,0.00,1.88,0.00,0.000,6,0.000,0.068,1993,1519,3447,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8126,-0.57,-97.3,579.1,-6.7,389,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8425,-0.57,-97.3,600.8,-7.4,399,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8725,-0.57,-97.3,623.9,-7.9,409,8729,0.00,1.83,0.00,0.000,4,0.000,0.057,1985,2576,3445,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8845,-0.57,-97.3,632.5,-8.2,413,8849,0.00,1.88,0.00,0.000,6,0.000,0.069,1986,1522,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9146,-0.56,-97.3,659.7,-8.5,423,9149,0.00,1.83,0.00,0.000,4,0.000,0.057,1977,2575,3443,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9281,-0.56,-97.3,670.1,-7.8,428,9286,0.12,1.90,0.00,0.000,6,0.246,0.069,2004,1510,3442,0,0,0,0,0,0,14.31,14.59,28.83
$GC,9597,-0.56,-97.3,688.5,-5.4,439,9601,0.00,1.92,0.00,0.000,4,0.000,0.093,2004,461,3441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9685,-0.56,-97.3,692.9,-5.7,442,9689,0.00,1.80,0.00,0.000,6,0.000,0.049,1999,1515,3441,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9986,-0.56,-97.3,710.3,-5.6,452,9989,0.00,1.83,0.00,0.000,4,0.000,0.059,1991,2576,3440,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10165,-0.56,-97.3,720.0,-5.9,458,10169,0.00,1.90,0.00,0.000,6,0.000,0.070,1991,1514,3439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10465,-0.56,-97.3,741.5,-7.1,468,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10765,-0.56,-97.3,764.4,-7.7,478,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11066,-0.56,-97.3,787.8,-7.7,488,11069,0.00,1.85,0.00,0.000,4,0.000,0.060,1983,2576,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11184,-0.56,-97.3,795.6,-7.5,492,11188,0.00,1.90,0.00,0.000,6,0.000,0.071,1983,1518,3436,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11486,-0.56,-97.3,819.3,-7.4,502,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11785,-0.56,-97.3,840.0,-6.7,512,11789,0.00,1.85,0.00,0.000,4,0.000,0.060,1976,2575,3434,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11891,-0.56,-97.3,846.6,-6.2,516,11895,0.12,1.90,0.00,0.000,6,0.246,0.072,2003,1521,3434,0,0,0,0,0,0,14.27,14.53,28.83
$GC,12208,-0.57,-97.3,863.2,-5.4,527,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,-0.58,-97.3,881.2,-6.2,537,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12806,-0.59,-97.3,902.7,-7.6,547,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13106,-0.60,-97.3,926.5,-8.0,557,13110,0.00,1.85,0.00,0.000,4,0.000,0.061,1998,2574,3431,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13272,-0.62,-97.3,939.2,-7.7,563,13275,0.00,1.92,0.00,0.000,6,0.000,0.073,1998,1513,3430,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13585,-0.62,-97.3,962.1,-6.9,574,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1513,3429,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13883,begin apogee
$GC,13890,-0.18,0.0,981.2,-6.2,584,14011,0.47,0.00,112.78,2.123,6,0.207,0.000,2126,1396,3062,0,0,0,0,1,0,14.26,28.83,13.12
$STATE,14012,end apogee,CONTROL_FINISHED_OK
$STATE,14013,begin climb
$GC,14015,0.60,97.3,984.8,0.0,588,14155,0.82,2.08,126.47,2.134,4,0.129,0.106,2387,344,2667,0,0,0,0,1,0,14.10,13.94,13.03
$GC,14275,0.49,121.7,980.8,5.0,597,14330,0.17,1.88,44.35,1.568,6,0.272,0.052,2351,1410,2565,0,0,0,0,1,0,14.15,14.40,13.26
$GC,14638,0.45,121.7,956.6,6.5,610,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1410,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14938,0.42,121.7,936.4,6.7,620,14942,0.00,2.00,0.00,0.000,4,0.000,0.102,2357,339,2560,0,0,0,0,0,0,28.83,14.51,28.83
$GC,15028,0.37,121.7,930.9,7.2,623,15033,0.17,1.83,0.00,0.000,6,0.249,0.053,2317,1402,2560,0,0,0,0,0,0,14.35,14.66,28.83
$GC,15329,0.39,133.7,912.3,5.5,633,15365,0.00,0.00,28.77,1.134,6,0.000,0.000,2318,1403,2515,0,0,0,0,1,0,28.83,28.83,13.63
$GC,15660,0.42,162.6,894.9,4.8,644,15718,0.00,1.88,49.10,1.642,4,0.000,0.063,2316,2450,2399,0,0,0,0,1,0,28.83,14.41,13.47
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$STATE,26893,end climb,SURFACE_DEPTH_REACHED
$STATE,26893,begin surface coast
$FINISH,0.6,1.025242
$STATE,26911,end surface coast,CONTROL_FINISHED_OK
$STATE,26911,begin surface
$SM_CCo,26990,0.00,0.000,0,0,1462,392.48
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$IRIDIUM_FIX,2345.05,-3753.95,221112,050534
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.92
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,26.50
$XPDR_PINGS,5
$SC_FREEKB,7689504
$TM_FREEKB,5814304
$24V_AH,13.0,99.854
$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,20.125,142.975,775.075,0.000,0.000,0.000,0.000,628.450,1.250,0.000,20.024,3110.072,20793.996,1064.763,2622.326,421.156,0.000,2667.641,0.000,1856.392,0.000,0.549,0.000
$DEVICE_MAMPS,425.340,117.810,2134.350,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26953.000,6557.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.263,13.029,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,39982,1125
$CAP_FILE_SIZE,246093,0
$CFSIZE,260034560,229380096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,15,0,0
$CURRENT,0.071,191.9,1
$GPS,221112,133157,2353.959,-3747.973,35,1.0,39,-14.1