version: 66.11
glider: 191
mission: 5
dive: 296
start: 12 21 112 10 34 17
data:
$ID,191
$MISSION,5
$DIVE,296
$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,-4931.9912
$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,44
$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,11
$MINV_10V,11
$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
$GPS1,211212,102429,2432.565,-3837.644,11,1.9,11,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-33.4
$GPS2,211212,103347,2432.531,-3837.585,16,1.2,16,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,317.5,8729,-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,-97.3,0.0,0.0,0,119,0.00,0.00,-92.57,0.000,2,0.000,0.000,156,1519,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.60,-97.3,3.6,-2.9,6,148,9.57,1.85,-7.93,0.000,4,0.412,0.108,1989,459,3465,1,0,0,0,0,0,14.08,14.62,14.92
$GC,373,-0.55,-97.3,30.4,-8.6,23,377,0.00,1.77,0.00,0.000,6,0.000,0.043,1985,1521,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,673,-0.52,-97.3,59.1,-9.1,43,675,0.15,0.00,0.00,0.000,6,0.246,0.000,2019,1523,3461,0,0,0,0,0,0,14.53,28.83,28.83
$GC,973,-0.52,-97.3,80.2,-6.7,63,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-0.52,-97.3,100.4,-6.7,83,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.52,-97.3,120.1,-7.1,103,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.53,-97.3,140.6,-6.1,123,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.55,-97.3,159.5,-6.5,143,2177,0.00,1.90,0.00,0.000,4,0.000,0.083,2019,457,3462,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2248,-0.55,-97.3,164.2,-6.4,148,2251,0.00,1.77,0.00,0.000,6,0.000,0.043,2014,1522,3462,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2548,-0.55,-97.3,179.9,-4.7,168,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2848,-0.55,-97.3,193.9,-5.1,188,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.56,-97.3,211.5,-6.2,208,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.57,-97.3,231.9,-6.9,228,3452,0.00,1.90,0.00,0.000,4,0.000,0.083,2013,458,3460,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3493,-0.57,-97.3,235.1,-7.1,231,3496,0.00,1.77,0.00,0.000,6,0.000,0.043,2006,1523,3459,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3793,-0.57,-97.3,256.7,-7.3,248,3796,0.00,1.77,0.00,0.000,4,0.000,0.055,1998,2578,3459,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3883,-0.58,-97.3,262.1,-7.3,251,3887,0.00,1.85,0.00,0.000,6,0.000,0.064,1998,1511,3459,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4183,-0.58,-97.3,282.6,-6.3,261,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1511,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.58,-97.3,299.5,-5.2,271,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1511,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.58,-97.3,314.9,-5.3,281,4787,0.00,1.85,0.00,0.000,4,0.000,0.086,1997,470,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4858,-0.58,-97.3,319.7,-6.1,284,4861,0.00,1.75,0.00,0.000,6,0.000,0.044,1990,1520,3456,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5173,-0.58,-97.3,340.2,-7.0,295,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5473,-0.58,-97.3,363.9,-8.0,305,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5773,-0.58,-97.3,386.3,-7.2,315,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6074,-0.58,-97.3,405.2,-6.0,325,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6373,-0.58,-97.3,422.4,-5.9,335,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,-0.58,-97.3,442.7,-7.2,345,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,-0.58,-97.3,466.4,-7.9,355,6977,0.00,1.90,0.00,0.000,4,0.000,0.088,1990,463,3449,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7092,-0.57,-97.3,475.2,-8.4,359,7096,0.00,1.77,0.00,0.000,6,0.000,0.046,1982,1520,3448,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7394,-0.57,-97.3,496.2,-6.1,369,7398,0.00,1.80,0.00,0.000,4,0.000,0.057,1974,2578,3447,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7528,-0.57,-97.3,503.3,-5.2,374,7532,0.12,1.85,0.00,0.000,6,0.239,0.067,2001,1522,3447,0,0,0,0,0,0,14.38,14.61,28.83
$GC,7846,-0.57,-97.3,516.6,-4.4,385,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8144,-0.58,-97.3,532.3,-5.7,395,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,-0.59,-97.3,552.0,-6.9,405,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,-0.60,-97.3,573.0,-6.9,415,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9044,-0.61,-97.3,592.2,-6.1,425,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9344,-0.62,-97.3,609.1,-5.5,435,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9645,-0.64,-97.3,625.7,-5.5,445,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9944,-0.65,-97.3,643.1,-5.9,455,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10244,-0.66,-97.3,661.4,-6.3,465,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1523,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10544,-0.67,-97.3,682.0,-7.2,475,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10844,-0.68,-97.3,703.5,-7.0,485,10847,0.00,1.92,0.00,0.000,4,0.000,0.092,2001,466,3435,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10932,-0.68,-97.3,708.9,-7.1,488,10936,0.00,1.80,0.00,0.000,6,0.000,0.048,1996,1523,3435,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11234,-0.68,-97.3,727.0,-5.2,498,11237,0.00,1.83,0.00,0.000,4,0.000,0.060,1988,2579,3434,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11461,-0.70,-97.3,737.8,-4.8,506,11465,0.00,1.90,0.00,0.000,6,0.000,0.070,1988,1513,3433,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11775,-0.70,-97.3,753.8,-5.2,517,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12074,-0.70,-97.3,771.1,-6.1,527,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12373,-0.70,-97.3,791.7,-7.1,537,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12674,-0.70,-97.3,814.5,-7.7,547,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12973,-0.70,-97.3,836.8,-7.3,557,12976,0.00,1.85,0.00,0.000,4,0.000,0.061,1980,2576,3429,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13138,-0.71,-97.3,848.1,-6.7,563,13142,0.00,1.90,0.00,0.000,6,0.000,0.072,1980,1520,3428,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13454,-0.71,-97.3,868.4,-6.4,574,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13753,-0.71,-97.3,886.1,-5.6,584,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14054,-0.71,-97.3,901.8,-5.1,594,14058,0.00,1.85,0.00,0.000,4,0.000,0.062,1973,2575,3426,0,0,0,0,0,0,28.83,14.52,28.83
$GC,14188,-0.71,-97.3,908.8,-5.2,599,14192,0.00,1.92,0.00,0.000,6,0.000,0.073,1973,1516,3426,0,0,0,0,0,0,28.83,14.34,28.83
$GC,14506,-0.71,-97.3,926.9,-5.8,610,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1515,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14803,-0.71,-97.3,947.3,-7.4,620,14807,0.00,1.95,0.00,0.000,4,0.000,0.096,1973,466,3422,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14878,-0.70,-97.3,954.0,-8.5,623,14882,0.00,1.83,0.00,0.000,6,0.000,0.051,1965,1517,3424,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,15192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15192,begin apogee
$GC,15199,-0.18,0.0,982.6,-9.3,634,15318,0.60,0.00,110.25,1.981,6,0.210,0.000,2123,1391,3062,0,0,0,0,1,0,14.05,28.83,12.97
$STATE,15319,end apogee,CONTROL_FINISHED_OK
$STATE,15319,begin climb
$GC,15323,0.60,97.3,990.0,0.0,638,15463,0.80,1.88,126.60,1.968,4,0.121,0.058,2373,2460,2668,0,0,0,0,1,0,14.14,14.10,13.01
$GC,15598,0.64,183.2,993.2,2.4,648,15720,0.00,1.92,111.85,1.961,6,0.000,0.076,2381,1404,2315,0,0,0,0,1,0,28.83,14.45,13.05
$GC,16034,0.60,183.2,963.4,8.4,663,16035,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1404,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16333,0.55,183.2,935.5,9.5,673,16337,0.00,1.98,0.00,0.000,4,0.000,0.103,2390,345,2311,0,0,0,0,0,0,28.83,14.54,28.83
$GC,16439,0.50,183.2,924.6,10.4,677,16443,0.17,1.83,0.00,0.000,6,0.256,0.052,2352,1408,2310,0,0,0,0,0,0,14.35,14.68,28.83
$GC,16756,0.49,183.2,898.6,8.1,688,16757,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1409,2308,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,30207,end climb,SURFACE_DEPTH_REACHED
$STATE,30207,begin surface coast
$FINISH,0.2,1.025309
$STATE,30223,end surface coast,CONTROL_FINISHED_OK
$STATE,30223,begin surface
$SM_CCo,30304,0.00,0.000,0,0,1633,350.29
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$IRIDIUM_FIX,2422.84,-3837.37,211212,101054
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.60
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,3
$SC_FREEKB,7656448
$TM_FREEKB,4915456
$24V_AH,13.0,141.326
$10V_AH,12.2,0.000
$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,19.100,115.925,617.850,0.000,0.000,0.000,0.000,0.000,0.750,0.000,17.863,3398.211,23600.521,892.653,2092.781,405.063,0.000,1924.535,0.000,2019.198,0.000,0.551,0.000
$DEVICE_MAMPS,411.570,110.925,1981.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,30204.000,7143.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.164,13.132,0.000,0.000
$MEM,345652
$DATA_FILE_SIZE,46626,1253
$CAP_FILE_SIZE,390221,1
$CFSIZE,260034560,217546752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.032,130.7,1
$GPS,211212,190034,2433.885,-3839.926,31,0.8,32,-14.2