version: 66.11
glider: 191
mission: 5
dive: 272
start: 12 13 112 0 11 55
data:
$ID,191
$MISSION,5
$DIVE,272
$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,-4160.4287
$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
$GPS1,131212,000004,2513.139,-3815.773,29,0.9,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-54.2
$GPS2,131212,001124,2513.062,-3815.795,16,1.8,16,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,290.2,47305,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-56.88,0.000,6,0.000,0.000,155,1518,3456,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.6,-9.4,4,104,9.85,1.80,0.00,0.000,4,0.419,0.052,1982,2577,3461,1,0,0,0,0,0,13.81,14.54,28.83
$GC,327,-0.57,-97.3,35.6,-10.1,20,331,0.00,1.88,0.00,0.000,6,0.000,0.063,1982,1515,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,627,-0.53,-97.3,62.7,-11.9,40,631,0.15,1.80,0.00,0.000,4,0.243,0.053,2011,2570,3463,0,0,0,0,0,0,14.35,14.57,28.83
$GC,732,-0.53,-97.3,71.9,-8.6,47,736,0.00,1.85,0.00,0.000,6,0.000,0.064,2011,1519,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1032,-0.52,-97.3,94.6,-8.9,67,1035,0.00,1.80,0.00,0.000,4,0.000,0.052,2003,2576,3463,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1107,-0.52,-97.3,100.5,-7.8,72,1111,0.00,1.85,0.00,0.000,6,0.000,0.064,2003,1521,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1407,-0.52,-97.3,122.7,-6.0,92,1410,0.00,1.80,0.00,0.000,4,0.000,0.052,1995,2578,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1482,-0.52,-97.3,127.0,-5.5,97,1486,0.00,1.85,0.00,0.000,6,0.000,0.063,1995,1522,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1782,-0.51,-97.3,145.0,-6.1,117,1784,0.12,0.00,0.00,0.000,6,0.245,0.000,2022,1521,3464,0,0,0,0,0,0,14.40,28.83,28.83
$GC,2082,-0.52,-97.3,163.3,-6.7,137,2086,0.00,1.90,0.00,0.000,4,0.000,0.085,2022,463,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2158,-0.52,-97.3,168.5,-7.0,142,2162,0.00,1.77,0.00,0.000,6,0.000,0.041,2017,1521,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2457,-0.52,-97.3,188.4,-6.7,162,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.53,-97.3,209.0,-6.8,182,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.55,-97.3,228.7,-6.6,202,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3358,-0.56,-97.3,248.1,-6.5,222,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3658,-0.57,-97.3,268.1,-6.7,233,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.59,-97.3,289.0,-7.0,243,3960,0.00,1.77,0.00,0.000,4,0.000,0.054,2009,2577,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4063,-0.61,-97.3,296.4,-7.0,247,4067,0.00,1.85,0.00,0.000,6,0.000,0.066,2010,1519,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4376,-0.61,-97.3,318.1,-6.6,258,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4678,-0.61,-97.3,335.2,-5.4,268,4681,0.00,1.90,0.00,0.000,4,0.000,0.086,2009,461,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4752,-0.61,-97.3,339.7,-5.8,271,4755,0.00,1.77,0.00,0.000,6,0.000,0.043,2002,1522,3460,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5067,-0.61,-97.3,357.5,-5.7,282,5071,0.00,1.77,0.00,0.000,4,0.000,0.055,1994,2577,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5157,-0.61,-97.3,361.7,-5.6,285,5161,0.00,1.85,0.00,0.000,6,0.000,0.066,1994,1520,3459,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5456,-0.61,-97.3,382.0,-6.8,295,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1519,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.61,-97.3,404.1,-7.7,305,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6057,-0.61,-97.3,429.1,-8.6,315,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6357,-0.61,-97.3,453.0,-7.5,325,6361,0.00,1.90,0.00,0.000,4,0.000,0.087,1994,463,3457,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6416,-0.61,-97.3,456.7,-7.7,327,6420,0.00,1.77,0.00,0.000,6,0.000,0.044,1986,1522,3456,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6717,-0.61,-97.3,477.7,-6.4,337,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1524,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,-0.61,-97.3,497.9,-6.8,347,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1524,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7316,-0.61,-97.3,519.5,-7.3,357,7320,0.00,1.80,0.00,0.000,4,0.000,0.056,1978,2579,3454,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7465,-0.61,-97.3,529.2,-7.3,362,7469,0.00,1.88,0.00,0.000,6,0.000,0.067,1978,1512,3453,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7767,-0.61,-97.3,551.7,-7.1,372,7771,0.00,1.90,0.00,0.000,4,0.000,0.090,1978,460,3452,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7842,-0.59,-97.3,557.5,-7.5,375,7846,0.00,1.80,0.00,0.000,6,0.000,0.045,1971,1525,3452,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8159,-0.57,-97.3,578.7,-6.5,386,8164,0.15,1.80,0.00,0.000,4,0.246,0.057,1998,2580,3451,0,0,0,0,0,0,14.31,14.64,28.83
$GC,8264,-0.57,-97.3,584.7,-5.6,390,8267,0.00,1.88,0.00,0.000,6,0.000,0.067,1998,1513,3451,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8578,-0.57,-97.3,603.8,-6.4,401,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1512,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,-0.57,-97.3,623.9,-6.8,411,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1512,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,-0.57,-97.3,642.5,-5.8,421,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1512,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9478,-0.57,-97.3,657.6,-4.7,431,9482,0.00,1.83,0.00,0.000,4,0.000,0.057,1991,2576,3447,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9584,-0.58,-97.3,662.3,-4.4,435,9587,0.00,1.88,0.00,0.000,6,0.000,0.069,1991,1518,3447,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9899,-0.58,-97.3,676.3,-4.6,446,9902,0.00,1.92,0.00,0.000,4,0.000,0.091,1991,464,3446,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9987,-0.58,-97.3,680.9,-5.7,449,9990,0.00,1.80,0.00,0.000,6,0.000,0.045,1983,1525,3445,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10288,-0.58,-97.3,702.3,-7.3,459,10292,0.00,1.80,0.00,0.000,4,0.000,0.058,1975,2575,3444,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10393,-0.58,-97.3,710.3,-7.7,463,10397,0.00,1.88,0.00,0.000,6,0.000,0.069,1975,1521,3443,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10709,-0.57,-97.3,737.6,-8.9,474,10711,0.12,0.00,0.00,0.000,6,0.259,0.000,2001,1520,3443,0,0,0,0,0,0,14.40,28.83,28.83
$GC,11009,-0.58,-97.3,761.6,-7.7,484,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11308,-0.60,-97.3,780.5,-5.8,494,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1519,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11609,-0.61,-97.3,794.2,-4.2,504,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11908,-0.63,-97.3,806.1,-4.0,514,11912,0.00,1.83,0.00,0.000,4,0.000,0.059,1996,2576,3438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12015,-0.65,-97.3,811.0,-4.6,518,12018,0.00,1.90,0.00,0.000,6,0.000,0.070,1996,1514,3438,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12327,-0.65,-97.3,830.5,-6.8,529,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1514,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12628,-0.65,-97.3,853.6,-8.0,539,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1514,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12927,-0.65,-97.3,877.5,-7.7,549,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1514,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13228,-0.66,-97.3,899.9,-7.2,559,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1513,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13528,-0.67,-97.3,920.1,-6.5,569,13531,0.00,1.85,0.00,0.000,4,0.000,0.060,1987,2575,3433,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13663,-0.69,-97.3,928.7,-6.2,574,13667,0.00,1.90,0.00,0.000,6,0.000,0.073,1988,1522,3432,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13978,-0.69,-97.3,948.5,-6.2,585,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14277,-0.69,-97.3,967.3,-6.5,595,14281,0.00,1.98,0.00,0.000,4,0.000,0.096,1988,463,3430,0,0,0,0,0,0,28.83,14.16,28.83
$GC,14337,-0.69,-97.3,970.8,-6.8,597,14341,0.00,1.83,0.00,0.000,6,0.000,0.049,1980,1518,3431,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,14455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14455,begin apogee
$GC,14461,-0.18,0.0,980.2,-7.0,601,14585,0.55,0.00,115.10,2.107,6,0.207,0.000,2126,1391,3062,0,0,0,0,1,0,14.07,28.83,12.95
$STATE,14587,end apogee,CONTROL_FINISHED_OK
$STATE,14587,begin climb
$GC,14590,0.60,97.3,985.0,0.0,605,14730,0.80,2.05,128.02,2.112,4,0.127,0.101,2381,343,2665,0,0,0,0,1,0,14.08,13.96,12.91
$GC,14952,0.55,120.7,979.3,5.1,617,15004,0.00,1.85,42.30,1.502,6,0.000,0.050,2381,1417,2570,0,0,0,0,1,0,28.83,14.54,13.22
$GC,15313,0.50,132.4,958.8,5.6,630,15356,0.00,2.00,30.02,1.160,4,0.000,0.102,2388,348,2523,0,0,0,0,1,0,28.83,14.47,13.36
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$STATE,29248,end climb,SURFACE_DEPTH_REACHED
$STATE,29249,begin surface coast
$FINISH,0.3,1.025273
$STATE,29264,end surface coast,CONTROL_FINISHED_OK
$STATE,29266,begin surface
$SM_CCo,29345,0.00,0.000,0,0,1519,378.50
$SM_GC,1.08,6.82,0.17,0.00,0.076,0.095,0.000,161,1521,1519,-6.29,-1.44,378.50,0,0,0,0,0,0,14.50,14.60,28.83
$IRIDIUM_FIX,2505.59,-3811.31,121212,161605
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.57
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,26.00
$XPDR_PINGS,9
$SC_FREEKB,7665664
$TM_FREEKB,5172928
$24V_AH,12.9,129.786
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,19.525,130.375,692.175,0.000,0.000,0.000,0.000,361.650,2.250,0.000,17.640,3348.330,22690.135,943.126,2493.729,539.121,0.000,2331.319,0.000,1975.749,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29317.000,7031.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.180,13.025,0.000,0.000
$MEM,344792
$DATA_FILE_SIZE,43359,1221
$CAP_FILE_SIZE,256018,0
$CFSIZE,260034560,221048832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.071,132.2,1
$GPS,131212,082222,2512.633,-3818.233,39,0.8,39,-14.0