version: 66.11
glider: 191
mission: 5
dive: 230
start: 11 28 112 20 54 29
data:
$ID,191
$MISSION,5
$DIVE,230
$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,-4104.5498
$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
$GPS1,281112,204034,2417.083,-3718.629,30,0.8,30,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-54.4
$GPS2,281112,205400,2417.062,-3718.687,15,1.3,15,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-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,6.4,101769,-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,-61.50,0.000,2,0.000,0.000,156,1538,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.3,-5.2,4,104,9.80,0.00,-0.52,0.000,6,0.425,0.000,1990,1539,3461,1,0,0,0,0,0,13.93,28.83,14.76
$GC,402,-0.57,-97.3,37.0,-9.9,25,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1541,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-0.53,-97.3,66.2,-10.4,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1540,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1002,-0.51,-97.3,99.3,-10.4,65,1006,0.12,1.75,0.00,0.000,4,0.253,0.054,2015,2566,3464,0,0,0,0,0,0,14.38,14.61,28.83
$GC,1077,-0.51,-97.3,105.7,-8.4,70,1081,0.00,1.85,0.00,0.000,6,0.000,0.066,2014,1517,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1377,-0.51,-97.3,129.2,-7.1,90,1380,0.00,1.80,0.00,0.000,4,0.000,0.054,2007,2572,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1467,-0.51,-97.3,134.9,-6.2,96,1470,0.00,1.85,0.00,0.000,6,0.000,0.066,2007,1521,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1766,-0.51,-97.3,153.4,-6.5,116,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2066,-0.51,-97.3,173.2,-7.1,136,2070,0.00,1.90,0.00,0.000,4,0.000,0.086,2007,465,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2142,-0.49,-97.3,179.6,-8.8,141,2146,0.12,1.75,0.00,0.000,6,0.243,0.044,2026,1510,3464,0,0,0,0,0,0,14.40,14.68,28.83
$GC,2442,-0.50,-97.3,202.2,-7.2,161,2445,0.00,1.83,0.00,0.000,4,0.000,0.055,2020,2580,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2667,-0.52,-97.3,216.1,-5.7,176,2671,0.00,1.88,0.00,0.000,6,0.000,0.064,2021,1511,3464,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2967,-0.53,-97.3,232.7,-5.4,196,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.55,-97.3,247.6,-5.2,216,3271,0.00,1.83,0.00,0.000,4,0.000,0.055,2013,2577,3463,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3357,-0.56,-97.3,251.3,-5.0,221,3361,0.00,1.85,0.00,0.000,6,0.000,0.065,2013,1522,3463,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3656,-0.56,-97.3,270.6,-6.6,231,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.56,-97.3,293.7,-8.0,241,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.56,-97.3,319.8,-8.8,251,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4557,-0.56,-97.3,344.9,-7.9,261,4561,0.00,1.80,0.00,0.000,4,0.000,0.054,2006,2578,3460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4646,-0.58,-97.3,350.5,-7.5,264,4650,0.00,1.88,0.00,0.000,6,0.000,0.066,2006,1513,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4947,-0.58,-97.3,371.3,-6.0,274,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1513,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-0.58,-97.3,387.6,-5.5,284,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1513,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5547,-0.58,-97.3,405.4,-6.4,294,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1513,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,-0.58,-97.3,426.8,-7.4,304,5850,0.00,1.83,0.00,0.000,4,0.000,0.057,1998,2576,3456,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5922,-0.58,-97.3,432.5,-7.6,307,5926,0.00,1.88,0.00,0.000,6,0.000,0.067,1998,1515,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6236,-0.58,-97.3,458.2,-8.0,318,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,-0.58,-97.3,480.8,-7.3,328,6541,0.00,1.83,0.00,0.000,4,0.000,0.056,1990,2577,3455,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6671,-0.58,-97.3,489.6,-6.5,333,6675,0.00,1.88,0.00,0.000,6,0.000,0.067,1990,1518,3454,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6987,-0.58,-97.3,508.3,-5.5,344,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1518,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7287,-0.58,-97.3,524.7,-5.5,354,7291,0.00,1.83,0.00,0.000,4,0.000,0.057,1983,2578,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7376,-0.58,-97.3,529.3,-6.1,357,7380,0.00,1.88,0.00,0.000,6,0.000,0.067,1983,1521,3452,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7677,-0.56,-97.3,551.9,-7.7,367,7681,0.00,1.92,0.00,0.000,4,0.000,0.090,1982,463,3451,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7736,-0.55,-97.3,555.8,-8.2,369,7740,0.15,1.80,0.00,0.000,6,0.249,0.046,2008,1521,3451,0,0,0,0,0,0,14.33,14.69,28.83
$GC,8039,-0.56,-97.3,579.6,-7.5,379,8042,0.00,1.83,0.00,0.000,4,0.000,0.058,2003,2582,3450,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8186,-0.57,-97.3,589.3,-7.2,384,8190,0.00,1.90,0.00,0.000,6,0.000,0.069,2003,1514,3449,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8487,-0.57,-97.3,608.9,-5.9,394,8491,0.00,1.85,0.00,0.000,4,0.000,0.058,1995,2583,3448,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8576,-0.57,-97.3,613.0,-5.4,397,8580,0.00,1.90,0.00,0.000,6,0.000,0.069,1995,1518,3448,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8877,-0.57,-97.3,628.5,-4.6,407,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,-0.57,-97.3,643.8,-5.4,417,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1518,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9477,-0.57,-97.3,662.7,-6.8,427,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9777,-0.57,-97.3,684.1,-7.2,437,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1518,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,-0.57,-97.3,705.0,-6.9,447,10081,0.00,1.92,0.00,0.000,4,0.000,0.093,1995,467,3443,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10165,-0.57,-97.3,710.5,-7.4,450,10169,0.00,1.83,0.00,0.000,6,0.000,0.049,1987,1531,3442,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10468,-0.57,-97.3,732.1,-6.6,460,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1533,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10766,-0.57,-97.3,753.5,-7.6,470,10770,0.00,1.83,0.00,0.000,4,0.000,0.061,1979,2581,3440,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10931,-0.57,-97.3,766.5,-8.0,476,10935,0.00,1.90,0.00,0.000,6,0.000,0.072,1980,1521,3440,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11247,-0.57,-97.3,793.6,-8.5,487,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11546,-0.57,-97.3,819.1,-8.7,497,11550,0.00,1.85,0.00,0.000,4,0.000,0.060,1971,2578,3438,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11636,-0.57,-97.3,825.2,-8.3,500,11641,0.12,1.90,0.00,0.000,6,0.249,0.071,1998,1520,3437,0,0,0,0,0,0,14.24,14.51,28.83
$GC,11938,-0.57,-97.3,847.2,-6.5,510,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12237,-0.57,-97.3,865.7,-6.1,520,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12537,-0.57,-97.3,883.7,-5.9,530,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12838,-0.58,-97.3,902.6,-6.4,540,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13136,-0.58,-97.3,923.9,-7.4,550,13140,0.00,1.85,0.00,0.000,4,0.000,0.061,1993,2574,3433,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13272,-0.60,-97.3,934.0,-7.6,555,13275,0.00,1.92,0.00,0.000,6,0.000,0.073,1993,1512,3433,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13587,-0.60,-97.3,957.9,-7.3,566,13591,0.00,1.88,0.00,0.000,4,0.000,0.063,1985,2576,3431,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13676,-0.60,-97.3,963.2,-7.1,569,13680,0.00,1.92,0.00,0.000,6,0.000,0.074,1990,1518,3433,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,13915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13915,begin apogee
$GC,13921,-0.18,0.0,980.7,-6.6,577,14044,0.52,0.00,114.38,2.134,6,0.206,0.000,2126,1398,3062,0,0,0,0,1,0,14.18,28.83,13.05
$STATE,14046,end apogee,CONTROL_FINISHED_OK
$STATE,14046,begin climb
$GC,14048,0.60,97.3,984.2,0.0,581,14184,0.80,0.00,127.35,2.157,6,0.122,0.000,2375,1398,2666,0,0,0,0,1,0,14.09,28.83,12.96
$GC,14472,0.53,97.3,969.6,6.2,596,14475,0.00,1.85,0.00,0.000,4,0.000,0.060,2375,2455,2659,0,0,0,0,0,0,28.83,14.53,28.83
$GC,14548,0.47,97.3,964.8,6.4,599,14552,0.17,1.92,0.00,0.000,6,0.281,0.078,2347,1399,2663,0,0,0,0,0,0,14.28,14.52,28.83
$GC,14864,0.45,111.0,947.4,5.5,610,14905,0.00,1.92,30.25,1.187,4,0.000,0.103,2352,342,2611,0,0,0,0,1,0,28.83,14.55,13.49
$GC,15026,0.40,111.0,938.1,6.3,615,15030,0.15,1.85,0.00,0.000,6,0.257,0.054,2320,1409,2614,0,0,0,0,0,0,14.35,14.60,28.83
$GC,15329,0.45,158.1,924.5,4.1,625,15408,0.00,1.88,68.78,1.873,4,0.000,0.063,2320,2451,2421,0,0,0,0,1,0,28.83,14.26,13.26
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$STATE,27973,end climb,SURFACE_DEPTH_REACHED
$STATE,27973,begin surface coast
$FINISH,-0.0,1.016274
$STATE,28007,end surface coast,CONTROL_FINISHED_OK
$STATE,28008,begin surface
$SM_CCo,28026,12.80,0.737,0,0,1756,320.12
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$IRIDIUM_FIX,2406.29,-3720.57,281112,202031
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.24
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.90
$XPDR_PINGS,3
$SC_FREEKB,7681824
$TM_FREEKB,5612224
$24V_AH,13.0,109.459
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,19.000,127.525,583.825,12.800,0.000,0.000,0.000,448.975,0.750,0.000,16.815,3178.524,21872.928,847.461,2478.638,458.737,0.000,2269.686,0.000,1883.255,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28055.000,6614.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.231,13.022,0.000,0.000
$MEM,344748
$DATA_FILE_SIZE,43292,1158
$CAP_FILE_SIZE,241501,0
$CFSIZE,260034560,226746368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.051,159.5,1
$GPS,291112,044304,2419.395,-3718.654,32,0.8,32,-13.8