version: 66.11
glider: 191
mission: 5
dive: 253
start: 12 6 112 14 35 43
data:
$ID,191
$MISSION,5
$DIVE,253
$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,-4135.3872
$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,45
$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
$GPS1,061212,142335,2510.525,-3719.586,28,1.2,28,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-45.1
$GPS2,061212,143511,2510.596,-3719.538,14,1.2,14,-13.7
$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,13.3,2713,-26.4,-6.049,-30.00
$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,-0.98,-29.8,0.0,0.0,0,94,0.00,0.00,-68.22,0.000,6,0.000,0.000,163,1520,3184,0,0,0,0,0,0,28.83,28.83,14.80
$GC,97,-1.01,-50.2,2.3,-3.3,4,118,8.88,1.77,-1.98,0.000,4,0.415,0.086,1854,2562,3266,0,0,0,0,0,0,14.16,14.52,14.79
$GC,132,-0.79,-50.2,8.7,-12.0,7,138,0.32,1.85,0.00,0.000,6,0.278,0.067,1926,1512,3269,0,0,0,0,0,0,14.14,14.47,28.83
$GC,432,-0.83,-50.2,46.0,-12.9,27,435,0.00,1.88,0.00,0.000,4,0.000,0.087,1930,467,3270,0,0,0,0,0,0,28.83,14.38,28.83
$GC,659,-0.86,-50.2,75.5,-13.6,42,663,0.00,1.77,0.00,0.000,6,0.000,0.044,1925,1521,3271,0,0,0,0,0,0,28.83,14.64,28.83
$GC,957,-0.91,-50.2,105.6,-8.7,62,961,0.00,1.90,0.00,0.000,4,0.000,0.085,1925,464,3270,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1184,-0.94,-50.2,124.5,-8.2,77,1187,0.00,1.77,0.00,0.000,6,0.000,0.043,1917,1522,3270,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1483,-0.98,-50.2,150.6,-9.3,97,1485,0.12,0.00,0.00,0.000,6,0.157,0.000,1873,1523,3270,0,0,0,0,0,0,14.62,28.83,28.83
$GC,1782,-0.99,-50.2,183.0,-10.6,117,1785,0.00,1.77,0.00,0.000,4,0.000,0.054,1865,2576,3270,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1902,-1.02,-50.2,195.5,-10.5,125,1906,0.00,1.85,0.00,0.000,6,0.000,0.065,1864,1519,3270,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2202,-1.03,-50.2,227.4,-10.5,145,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1518,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-1.04,-50.2,259.7,-10.2,163,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1519,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-1.05,-50.2,291.4,-10.7,173,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1518,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-1.06,-50.2,323.9,-10.8,183,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1519,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-1.08,-50.2,355.9,-10.5,193,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1519,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-1.09,-50.2,388.2,-10.9,203,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1519,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4017,-1.11,-50.2,422.6,-11.8,213,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,1518,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,-1.12,-50.2,458.4,-12.1,223,4320,0.12,0.00,0.00,0.000,6,0.154,0.000,1823,1519,3267,0,0,0,0,0,0,14.71,28.83,28.83
$GC,4617,-1.11,-50.2,495.1,-11.3,233,4621,0.00,1.88,0.00,0.000,4,0.000,0.087,1823,466,3265,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4753,-1.07,-50.2,510.6,-11.5,238,4756,0.00,1.77,0.00,0.000,6,0.000,0.044,1817,1525,3265,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5068,-1.06,-50.2,538.5,-8.1,249,5073,0.15,1.80,0.00,0.000,4,0.308,0.055,1840,2575,3267,0,0,0,0,0,0,14.28,14.69,28.83
$GC,5203,-1.07,-50.2,547.2,-6.4,254,5207,0.00,1.85,0.00,0.000,6,0.000,0.067,1840,1518,3263,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5516,-1.07,-50.2,570.8,-8.2,265,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1518,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-1.07,-50.2,599.7,-10.2,275,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1518,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-1.07,-50.2,635.6,-12.6,285,6120,0.00,1.80,0.00,0.000,4,0.000,0.056,1832,2576,3260,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6205,-1.07,-50.2,645.3,-13.0,288,6209,0.00,1.85,0.00,0.000,6,0.000,0.067,1832,1521,3259,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6507,-1.07,-50.2,690.3,-14.7,298,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1521,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,-1.07,-50.2,734.2,-15.0,308,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1525,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7107,-1.07,-50.2,776.5,-13.8,318,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1521,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-1.07,-50.2,812.8,-11.3,328,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1521,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-1.07,-50.2,842.1,-9.5,338,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1521,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8007,-1.07,-50.2,868.8,-8.7,348,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1521,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,-1.07,-50.2,895.0,-9.0,358,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1521,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,-1.07,-50.2,922.4,-9.4,368,8611,0.00,1.83,0.00,0.000,4,0.000,0.057,1824,2579,3248,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8712,-1.07,-50.2,932.0,-9.2,372,8715,0.00,1.88,0.00,0.000,6,0.000,0.070,1825,1519,3247,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9026,-1.07,-50.2,964.2,-10.5,383,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1521,3246,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9175,begin apogee
$GC,9182,-0.18,0.0,980.2,-10.5,388,9254,1.23,0.00,63.12,1.796,6,0.275,0.000,2121,1396,3062,0,0,0,0,1,0,13.96,28.83,13.24
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9258,1.01,50.2,982.6,0.0,390,9342,1.25,0.00,72.32,1.842,6,0.125,0.000,2509,1396,2861,0,0,0,0,1,0,14.33,28.83,13.13
$GC,9644,1.02,98.1,987.3,-0.5,403,9724,0.00,1.98,69.57,1.859,4,0.000,0.098,2517,352,2665,0,0,0,0,1,0,28.83,14.23,13.20
$GC,9942,0.96,98.1,972.1,7.7,412,9945,0.00,1.80,0.00,0.000,6,0.000,0.048,2517,1406,2661,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10242,0.92,98.1,951.7,6.2,422,10247,0.12,1.92,0.00,0.000,4,0.340,0.096,2499,352,2661,0,0,0,0,0,0,14.28,14.54,28.83
$GC,10377,0.88,98.1,942.5,7.0,427,10381,0.00,1.77,0.00,0.000,6,0.000,0.049,2495,1402,2659,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10695,0.85,98.1,920.8,7.3,438,10698,0.00,1.80,0.00,0.000,4,0.000,0.058,2495,2453,2658,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10903,0.84,98.1,905.7,7.9,445,10908,0.17,1.88,0.00,0.000,6,0.330,0.075,2467,1402,2657,0,0,0,0,0,0,14.17,14.60,28.83
$GC,11204,0.84,98.1,882.1,7.4,455,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1402,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11502,0.84,98.1,859.8,6.9,465,11505,0.00,1.95,0.00,0.000,4,0.000,0.099,2473,344,2655,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11592,0.82,98.1,854.5,7.1,468,11596,0.00,1.80,0.00,0.000,6,0.000,0.051,2473,1401,2654,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11892,0.83,106.3,836.6,4.9,478,11905,0.00,1.80,5.65,1.971,4,0.000,0.061,2472,2452,2631,0,0,0,0,0,0,28.83,14.76,13.54
$GC,11996,0.84,113.8,832.0,5.0,481,12033,0.00,1.88,27.30,1.028,6,0.000,0.076,2479,1401,2595,0,0,0,0,1,0,28.83,14.60,13.62
$GC,12328,0.85,123.1,814.1,4.8,492,12365,0.00,1.98,27.27,1.019,4,0.000,0.102,2488,338,2559,0,0,0,0,1,0,28.83,14.57,13.59
$GC,12556,0.83,123.1,799.9,6.6,500,12561,0.15,1.83,0.00,0.000,6,0.317,0.050,2460,1406,2559,0,0,0,0,0,0,14.19,14.62,28.83
$GC,12871,0.84,123.1,780.1,6.9,511,12874,0.00,1.80,0.00,0.000,4,0.000,0.059,2459,2448,2559,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12947,0.86,123.1,774.2,7.7,514,12951,0.00,1.90,0.00,0.000,6,0.000,0.076,2465,1389,2559,0,0,0,0,0,0,28.83,14.55,28.83
$GC,13259,0.86,123.1,745.2,9.7,525,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1389,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13559,0.86,123.1,714.6,10.3,535,13560,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1389,2559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13859,0.86,123.1,685.3,9.4,545,13862,0.00,1.83,0.00,0.000,4,0.000,0.058,2465,2447,2558,0,0,0,0,0,0,28.83,14.60,28.83
$GC,13934,0.87,123.1,678.3,9.4,548,13938,0.00,1.88,0.00,0.000,6,0.000,0.076,2472,1400,2558,0,0,0,0,0,0,28.83,14.54,28.83
$GC,14249,0.87,123.1,651.5,8.1,559,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1400,2556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14549,0.87,123.1,629.3,7.1,569,14552,0.00,1.95,0.00,0.000,4,0.000,0.099,2481,346,2558,0,0,0,0,0,0,28.83,14.41,28.83
$GC,14624,0.87,123.1,623.6,7.4,572,14628,0.00,1.80,0.00,0.000,6,0.000,0.050,2481,1401,2557,0,0,0,0,0,0,28.83,14.62,28.83
$GC,14939,0.87,123.1,602.5,6.4,583,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1401,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15239,0.87,123.1,582.1,6.6,593,15240,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1401,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15539,0.87,123.1,563.3,6.1,603,15542,0.00,1.95,0.00,0.000,4,0.000,0.098,2488,347,2557,0,0,0,0,0,0,28.83,14.38,28.83
$GC,15644,0.86,123.1,555.8,7.2,607,15648,0.00,1.80,0.00,0.000,6,0.000,0.049,2487,1402,2557,0,0,0,0,0,0,28.83,14.59,28.83
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$GC,16259,0.86,123.1,509.5,8.2,628,16260,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1403,2557,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23397,end climb,SURFACE_DEPTH_REACHED
$STATE,23397,begin surface coast
$FINISH,0.8,1.025302
$STATE,23416,end surface coast,CONTROL_FINISHED_OK
$STATE,23416,begin surface
$SM_CCo,23436,148.32,0.733,0,0,1754,320.12
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$IRIDIUM_FIX,2458.45,-3720.76,061212,060627
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.63
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.60
$XPDR_PINGS,6
$SC_FREEKB,7672992
$TM_FREEKB,5373472
$24V_AH,13.1,120.537
$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,20.200,100.400,291.825,148.325,0.000,0.000,0.000,389.125,1.500,0.000,15.729,2736.047,18288.422,673.207,2143.940,433.559,0.000,1881.876,0.000,1621.849,0.000,0.549,0.000
$DEVICE_MAMPS,414.630,111.690,1971.405,732.870,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23448.000,6120.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.411,13.035,0.000,0.000
$MEM,344796
$DATA_FILE_SIZE,36743,991
$CAP_FILE_SIZE,204849,0
$CFSIZE,260034560,223690752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.032,315.1,1
$GPS,061212,211004,2512.502,-3719.814,30,0.8,30,-13.7