version: 66.11
glider: 191
mission: 5
dive: 306
start: 12 24 112 21 4 36
data:
$ID,191
$MISSION,5
$DIVE,306
$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,-4944.8555
$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,25
$R_STBD_OVSHOOT,47
$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
$GPS1,241212,205152,2415.824,-3821.681,39,1.0,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.7
$GPS2,241212,210407,2415.824,-3821.723,14,0.9,15,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,134.1,50668,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-57.95,0.000,6,0.000,0.000,157,1520,3458,0,0,0,0,0,0,28.83,28.83,14.76
$GC,90,-0.60,-97.3,4.7,-10.3,4,105,9.98,1.92,0.00,0.000,4,0.422,0.074,1998,453,3460,1,0,0,0,0,0,13.78,14.47,28.83
$GC,193,-0.57,-97.3,23.9,-12.5,11,197,0.00,1.83,0.00,0.000,6,0.000,0.045,1993,1519,3462,0,0,0,0,0,0,28.83,14.41,28.83
$GC,493,-0.54,-97.3,51.7,-8.1,31,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-0.52,-97.3,79.6,-9.0,51,794,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1093,-0.50,-97.3,103.4,-7.3,71,1095,0.12,0.00,0.00,0.000,6,0.245,0.000,2021,1520,3463,0,0,0,0,0,0,14.40,28.83,28.83
$GC,1395,-0.51,-97.3,121.5,-5.2,91,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.53,-97.3,135.9,-5.5,111,1697,0.00,1.92,0.00,0.000,4,0.000,0.086,2018,461,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1768,-0.53,-97.3,140.9,-6.7,116,1771,0.00,1.80,0.00,0.000,6,0.000,0.043,2016,1527,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2068,-0.53,-97.3,162.5,-7.4,136,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1528,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2369,-0.54,-97.3,182.5,-5.6,156,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1529,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2668,-0.55,-97.3,196.1,-4.0,176,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1529,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,-0.57,-97.3,208.9,-5.0,196,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1529,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3268,-0.58,-97.3,228.5,-7.3,216,3272,0.00,1.92,0.00,0.000,4,0.000,0.086,2016,464,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3358,-0.58,-97.3,236.0,-8.5,222,3362,0.00,1.77,0.00,0.000,6,0.000,0.043,2008,1519,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3658,-0.58,-97.3,260.1,-7.8,238,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,-0.58,-97.3,280.6,-6.2,248,3962,0.00,1.80,0.00,0.000,4,0.000,0.056,2000,2578,3461,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4094,-0.60,-97.3,287.9,-5.4,253,4098,0.00,1.88,0.00,0.000,6,0.000,0.065,2000,1514,3461,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4410,-0.60,-97.3,305.6,-5.8,264,4414,0.00,1.88,0.00,0.000,4,0.000,0.086,2000,467,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4482,-0.60,-97.3,310.8,-6.8,267,4486,0.00,1.77,0.00,0.000,6,0.000,0.044,1994,1522,3460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4799,-0.60,-97.3,335.0,-7.9,278,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5099,-0.60,-97.3,357.4,-7.1,288,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,-0.60,-97.3,377.2,-6.4,298,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,-0.60,-97.3,395.4,-6.1,308,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,-0.60,-97.3,414.4,-6.6,318,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,-0.60,-97.3,438.1,-8.5,328,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6598,-0.60,-97.3,464.0,-8.2,338,6601,0.00,1.80,0.00,0.000,4,0.000,0.057,1985,2576,3455,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6763,-0.60,-97.3,475.5,-7.0,344,6767,0.00,1.88,0.00,0.000,6,0.000,0.067,1984,1514,3454,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7079,-0.60,-97.3,494.5,-5.9,355,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7379,-0.60,-97.3,513.0,-6.4,365,7383,0.00,1.90,0.00,0.000,4,0.000,0.089,1984,466,3452,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7453,-0.59,-97.3,518.7,-7.3,368,7457,0.00,1.80,0.00,0.000,6,0.000,0.046,1977,1521,3452,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7768,-0.59,-97.3,542.8,-7.7,379,7771,0.00,1.83,0.00,0.000,4,0.000,0.058,1969,2581,3451,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7947,-0.59,-97.3,555.0,-7.4,385,7952,0.12,1.88,0.00,0.000,6,0.238,0.067,1996,1521,3451,0,0,0,0,0,0,14.33,14.58,28.83
$GC,8250,-0.59,-97.3,573.9,-5.7,395,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8549,-0.59,-97.3,591.1,-5.7,405,8552,0.00,1.92,0.00,0.000,4,0.000,0.090,1996,464,3449,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8637,-0.59,-97.3,596.0,-6.3,408,8641,0.00,1.80,0.00,0.000,6,0.000,0.046,1990,1521,3449,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8939,-0.59,-97.3,614.7,-5.8,418,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9239,-0.59,-97.3,632.0,-5.6,428,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1523,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9538,-0.59,-97.3,647.1,-4.8,438,9542,0.00,1.83,0.00,0.000,4,0.000,0.059,1983,2578,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9658,-0.59,-97.3,652.4,-5.0,442,9662,0.00,1.90,0.00,0.000,6,0.000,0.069,1983,1514,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9958,-0.59,-97.3,670.7,-6.2,452,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10259,-0.59,-97.3,692.2,-7.3,462,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10558,-0.59,-97.3,712.3,-6.3,472,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10859,-0.59,-97.3,729.2,-5.5,482,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11158,-0.59,-97.3,748.2,-6.8,492,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11458,-0.59,-97.3,772.1,-8.3,502,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1513,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11759,-0.59,-97.3,797.1,-8.2,512,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12058,-0.59,-97.3,817.3,-6.3,522,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12360,-0.59,-97.3,833.1,-4.7,532,12361,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12658,-0.59,-97.3,847.0,-4.8,542,12662,0.00,1.88,0.00,0.000,4,0.000,0.062,1975,2577,3436,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12748,-0.59,-97.3,851.0,-5.4,545,12751,0.00,1.92,0.00,0.000,6,0.000,0.071,1975,1514,3436,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13048,-0.59,-97.3,870.7,-6.7,555,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1514,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13348,-0.59,-97.3,892.7,-7.6,565,13352,0.00,1.88,0.00,0.000,4,0.000,0.061,1968,2577,3434,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13437,-0.59,-97.3,898.3,-7.4,568,13442,0.12,1.92,0.00,0.000,6,0.242,0.072,1994,1515,3435,0,0,0,0,0,0,14.15,14.42,28.83
$GC,13740,-0.60,-97.3,920.5,-6.9,578,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1515,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14039,-0.62,-97.3,941.1,-6.9,588,14043,0.00,1.95,0.00,0.000,4,0.000,0.096,1994,467,3433,0,0,0,0,0,0,28.83,14.30,28.83
$GC,14113,-0.62,-97.3,946.7,-7.2,591,14116,0.00,1.83,0.00,0.000,6,0.000,0.051,1989,1518,3432,0,0,0,0,0,0,28.83,14.38,28.83
$GC,14431,-0.63,-97.3,969.1,-7.3,602,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1518,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14606,begin apogee
$GC,14613,-0.18,0.0,981.4,-6.9,608,14736,0.50,0.00,114.57,2.031,6,0.200,0.000,2124,1392,3063,0,0,0,0,1,0,14.05,28.83,12.95
$STATE,14738,end apogee,CONTROL_FINISHED_OK
$STATE,14738,begin climb
$GC,14740,0.60,97.3,987.0,0.0,612,14879,0.82,2.05,127.43,2.005,4,0.125,0.102,2387,346,2666,0,0,0,0,1,0,14.10,14.02,12.94
$GC,15102,0.55,133.1,983.0,4.5,624,15168,0.00,1.85,56.10,1.668,6,0.000,0.051,2387,1410,2520,0,0,0,0,1,0,28.83,14.54,13.14
$GC,15463,0.51,144.9,963.0,5.6,636,15506,0.15,2.00,29.25,1.118,4,0.278,0.103,2361,349,2474,0,0,0,0,1,0,14.29,14.47,13.33
$GC,15646,0.48,159.6,953.5,5.4,642,15690,0.00,1.83,34.00,1.268,6,0.000,0.050,2361,1403,2412,0,0,0,0,1,0,28.83,14.57,13.28
$GC,15989,0.49,195.0,937.4,4.6,653,16054,0.00,1.88,55.95,1.680,4,0.000,0.063,2362,2443,2268,0,0,0,0,1,0,28.83,14.33,13.21
$GC,16109,0.48,234.0,932.7,4.4,657,16183,0.00,1.92,60.35,1.699,6,0.000,0.077,2369,1397,2110,0,0,0,0,1,0,28.83,14.38,13.09
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$STATE,29129,end climb,SURFACE_DEPTH_REACHED
$STATE,29129,begin surface coast
$FINISH,0.1,1.011675
$STATE,29160,end surface coast,CONTROL_FINISHED_OK
$STATE,29161,begin surface
$SM_CCo,29240,0.00,0.000,0,0,1751,321.59
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$IRIDIUM_FIX,2408.65,-3822.98,241212,121213
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.81
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.90
$XPDR_PINGS,5
$SC_FREEKB,7652608
$TM_FREEKB,4809728
$24V_AH,12.9,146.007
$10V_AH,12.5,0.000
$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,19.350,116.900,618.225,0.000,0.000,0.000,0.000,402.300,1.250,0.000,16.805,3303.573,22725.031,855.466,2518.916,555.831,0.000,2276.392,0.000,1982.609,0.000,0.550,0.000
$DEVICE_MAMPS,421.515,110.160,2031.075,0.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29212.000,6869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,13.031,0.000,0.000
$MEM,345592
$DATA_FILE_SIZE,43381,1208
$CAP_FILE_SIZE,250293,0
$CFSIZE,260034560,216285184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.028,224.8,1
$GPS,251212,051334,2413.876,-3819.181,55,0.9,56,-14.2