version: 66.11
glider: 191
mission: 5
dive: 312
start: 12 26 112 22 57 54
data:
$ID,191
$MISSION,5
$DIVE,312
$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,-4952.5938
$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,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
$GPS1,261212,224534,2402.603,-3806.514,23,1.0,24,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-51.9
$GPS2,261212,225723,2402.608,-3806.428,18,0.9,19,-14.1
$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,130.2,15041,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-61.25,0.000,2,0.000,0.000,157,1524,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.2,-5.7,4,110,10.02,1.83,-2.92,0.000,4,0.423,0.082,1983,2574,3462,1,0,0,0,0,0,13.80,14.55,14.78
$GC,285,-0.58,-97.3,22.7,-7.3,17,289,0.00,1.90,0.00,0.000,6,0.000,0.065,1981,1511,3464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,584,-0.55,-97.3,50.0,-7.8,37,586,0.12,0.00,0.00,0.000,6,0.255,0.000,2008,1511,3463,0,0,0,0,0,0,14.23,28.83,28.83
$GC,884,-0.55,-97.3,71.7,-6.5,57,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1185,-0.55,-97.3,97.9,-9.4,77,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1484,-0.55,-97.3,127.1,-9.1,97,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1784,-0.55,-97.3,148.0,-5.8,117,1788,0.00,1.90,0.00,0.000,4,0.000,0.086,2008,464,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1904,-0.55,-97.3,155.1,-5.7,125,1908,0.00,1.77,0.00,0.000,6,0.000,0.043,2003,1512,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2204,-0.55,-97.3,169.3,-4.7,145,2208,0.00,1.83,0.00,0.000,4,0.000,0.054,1996,2576,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2309,-0.55,-97.3,175.1,-5.5,152,2313,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1516,3465,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2609,-0.55,-97.3,195.2,-7.1,172,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-0.55,-97.3,217.3,-7.5,192,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1516,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.55,-97.3,241.0,-8.0,212,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,-0.55,-97.3,262.6,-6.2,227,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-0.55,-97.3,277.0,-4.5,237,3828,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2578,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3944,-0.55,-97.3,281.6,-4.4,241,3948,0.00,1.88,0.00,0.000,6,0.000,0.063,1987,1513,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4244,-0.55,-97.3,300.8,-6.8,251,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.55,-97.3,325.0,-8.5,261,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.55,-97.3,348.3,-7.2,271,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.55,-97.3,365.2,-5.3,281,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5444,-0.55,-97.3,380.4,-5.1,291,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5744,-0.55,-97.3,398.8,-6.5,301,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6045,-0.55,-97.3,421.3,-7.8,311,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-0.55,-97.3,446.4,-8.6,321,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6645,-0.55,-97.3,472.2,-8.7,331,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,-0.55,-97.3,495.3,-7.1,341,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7245,-0.55,-97.3,511.4,-4.6,351,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7545,-0.55,-97.3,523.9,-4.5,361,7549,0.00,1.85,0.00,0.000,4,0.000,0.057,1979,2580,3455,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7633,-0.55,-97.3,528.0,-5.3,364,7638,0.12,1.88,0.00,0.000,6,0.233,0.066,2006,1520,3455,0,0,0,0,0,0,14.36,14.61,28.83
$GC,7937,-0.57,-97.3,548.6,-7.3,374,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,-0.58,-97.3,572.4,-7.7,384,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8536,-0.60,-97.3,590.6,-5.3,394,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8835,-0.62,-97.3,602.4,-3.4,404,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9136,-0.64,-97.3,613.6,-4.0,414,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1516,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9435,-0.65,-97.3,628.0,-5.2,424,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9734,-0.67,-97.3,646.7,-6.6,434,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10035,-0.69,-97.3,667.7,-7.0,444,10037,0.15,0.00,0.00,0.000,6,0.131,0.000,1954,1520,3447,0,0,0,0,0,0,14.66,28.83,28.83
$GC,10334,-0.67,-97.3,691.1,-7.3,454,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10635,-0.64,-97.3,711.3,-6.4,464,10639,0.00,1.95,0.00,0.000,4,0.000,0.093,1954,463,3445,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10723,-0.61,-97.3,716.2,-6.5,467,10728,0.17,1.83,0.00,0.000,6,0.254,0.047,1984,1520,3444,0,0,0,0,0,0,14.14,14.50,28.83
$GC,11027,-0.61,-97.3,730.6,-4.4,477,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11324,-0.61,-97.3,744.5,-4.8,487,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11625,-0.61,-97.3,761.9,-6.3,497,11628,0.00,1.85,0.00,0.000,4,0.000,0.060,1979,2579,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11729,-0.61,-97.3,769.2,-7.0,501,11733,0.00,1.90,0.00,0.000,6,0.000,0.069,1979,1522,3441,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12044,-0.61,-97.3,793.5,-7.9,512,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12345,-0.61,-97.3,817.9,-8.1,522,12348,0.00,1.98,0.00,0.000,4,0.000,0.093,1979,459,3440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12419,-0.61,-97.3,824.5,-8.7,525,12423,0.00,1.85,0.00,0.000,6,0.000,0.050,1972,1527,3439,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12735,-0.61,-97.3,849.2,-7.4,536,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1528,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13034,-0.61,-97.3,865.7,-4.9,546,13038,0.00,1.85,0.00,0.000,4,0.000,0.062,1964,2581,3437,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13124,-0.61,-97.3,869.1,-4.5,549,13128,0.00,1.92,0.00,0.000,6,0.000,0.071,1964,1521,3437,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13426,-0.60,-97.3,883.0,-4.6,559,13431,0.12,2.00,0.00,0.000,4,0.262,0.095,1989,461,3437,0,0,0,0,0,0,14.31,14.28,28.83
$GC,13560,-0.60,-97.3,890.3,-5.6,564,13564,0.00,1.85,0.00,0.000,6,0.000,0.050,1984,1527,3440,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13875,-0.60,-97.3,910.7,-7.0,575,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1529,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14174,-0.60,-97.3,933.7,-7.9,585,14178,0.00,2.00,0.00,0.000,4,0.000,0.096,1984,463,3434,0,0,0,0,0,0,28.83,14.27,28.83
$GC,14281,-0.60,-97.3,942.6,-8.5,589,14284,0.00,1.85,0.00,0.000,6,0.000,0.050,1976,1523,3433,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14594,-0.60,-97.3,965.7,-6.9,600,14598,0.00,1.85,0.00,0.000,4,0.000,0.061,1969,2575,3433,0,0,0,0,0,0,28.83,14.42,28.83
$GC,14670,-0.60,-97.3,970.7,-6.7,603,14674,0.00,1.92,0.00,0.000,6,0.000,0.073,1969,1521,3433,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,14831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14832,begin apogee
$GC,14838,-0.18,0.0,981.5,-6.4,609,14962,0.60,0.00,115.62,2.042,6,0.207,0.000,2127,1391,3062,0,0,0,0,1,0,13.99,28.83,12.93
$STATE,14964,end apogee,CONTROL_FINISHED_OK
$STATE,14964,begin climb
$GC,14967,0.60,97.3,985.2,0.0,613,15106,0.80,2.05,127.18,1.982,4,0.120,0.102,2384,347,2667,0,0,0,0,1,0,14.10,14.02,12.94
$GC,15329,0.53,112.0,977.2,5.4,625,15374,0.00,1.85,32.97,1.231,6,0.000,0.051,2384,1410,2605,0,0,0,0,1,0,28.83,14.54,13.23
$GC,15675,0.52,157.8,960.1,4.1,637,15753,0.00,1.88,68.68,1.787,4,0.000,0.060,2384,2451,2419,0,0,0,0,1,0,28.83,14.26,13.13
$GC,15872,0.43,184.1,950.7,4.9,643,15930,0.25,1.92,45.65,1.525,6,0.262,0.076,2335,1405,2311,0,0,0,0,1,0,14.20,14.35,13.14
$GC,16230,0.51,251.8,938.6,3.2,655,16334,0.00,1.83,92.10,1.932,4,0.000,0.059,2335,2445,2035,0,0,0,0,1,0,28.83,14.15,13.05
$GC,16560,0.57,285.1,924.9,4.6,666,16622,0.00,1.92,52.90,1.623,6,0.000,0.077,2341,1392,1899,0,0,0,0,1,0,28.83,14.48,13.16
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$STATE,28933,end climb,SURFACE_DEPTH_REACHED
$STATE,28933,begin surface coast
$FINISH,0.2,1.025471
$STATE,28951,end surface coast,CONTROL_FINISHED_OK
$STATE,28951,begin surface
$SM_CCo,29031,0.00,0.000,0,0,1683,338.02
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$IRIDIUM_FIX,2359.20,-3808.24,261212,141403
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.23
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.60
$XPDR_PINGS,5
$SC_FREEKB,7650304
$TM_FREEKB,4746848
$24V_AH,12.9,148.859
$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,19.675,106.025,604.950,0.000,0.000,0.000,0.000,371.500,1.250,0.000,20.128,3248.606,22626.836,828.813,2460.572,561.333,0.000,2198.566,0.000,1946.677,0.000,0.549,0.000
$DEVICE_MAMPS,423.045,110.160,2041.785,0.000,0.000,0.000,0.000,179.010,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29003.000,6691.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.135,13.024,0.000,0.000
$MEM,345608
$DATA_FILE_SIZE,43323,1192
$CAP_FILE_SIZE,242137,0
$CFSIZE,260034560,215461888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,2,0
$CURRENT,0.039,196.6,1
$GPS,271212,070304,2400.722,-3803.666,36,0.8,36,-14.1