version: 66.11
glider: 191
mission: 5
dive: 313
start: 12 27 112 7 15 34
data:
$ID,191
$MISSION,5
$DIVE,313
$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,-4953.8525
$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,22
$R_STBD_OVSHOOT,48
$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
$GPS1,271212,070304,2400.722,-3803.666,36,0.8,36,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-50.4
$GPS2,271212,071505,2400.646,-3803.608,16,1.4,17,-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,141.6,9105,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-60.70,0.000,6,0.000,0.000,160,1521,3457,0,0,0,0,0,0,28.83,28.83,14.76
$GC,92,-0.60,-97.3,3.9,-8.5,4,106,9.80,1.83,0.00,0.000,4,0.415,0.051,1981,2575,3461,1,0,0,0,0,0,13.85,14.54,28.83
$GC,241,-0.58,-97.3,22.5,-8.4,14,245,0.00,1.90,0.00,0.000,6,0.000,0.064,1981,1511,3463,0,0,0,0,0,0,28.83,14.41,28.83
$GC,540,-0.55,-97.3,49.3,-7.8,34,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,840,-0.53,-97.3,76.4,-9.4,54,844,0.15,1.90,0.00,0.000,4,0.233,0.086,2016,466,3463,0,0,0,0,0,0,14.29,14.42,28.83
$GC,900,-0.52,-97.3,81.8,-9.0,58,903,0.00,1.77,0.00,0.000,6,0.000,0.044,2011,1512,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1199,-0.52,-97.3,106.0,-7.0,78,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1500,-0.52,-97.3,122.2,-4.2,98,1504,0.00,1.83,0.00,0.000,4,0.000,0.054,2003,2582,3462,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1682,-0.53,-97.3,128.7,-3.7,110,1685,0.00,1.88,0.00,0.000,6,0.000,0.063,2002,1514,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1979,-0.53,-97.3,144.0,-5.8,130,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1514,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2280,-0.53,-97.3,163.8,-6.7,150,2284,0.00,1.90,0.00,0.000,4,0.000,0.085,2003,464,3464,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2354,-0.52,-97.3,169.8,-8.0,155,2358,0.00,1.80,0.00,0.000,6,0.000,0.044,1995,1524,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2654,-0.52,-97.3,191.6,-7.0,175,2658,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2583,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2789,-0.52,-97.3,200.0,-6.1,184,2793,0.15,1.88,0.00,0.000,6,0.217,0.063,2021,1519,3464,0,0,0,0,0,0,14.21,14.45,28.83
$GC,3089,-0.54,-97.3,212.2,-3.7,204,3093,0.00,1.92,0.00,0.000,4,0.000,0.085,2021,459,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3179,-0.54,-97.3,216.1,-4.5,210,3183,0.00,1.80,0.00,0.000,6,0.000,0.044,2016,1524,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3480,-0.56,-97.3,229.0,-5.0,230,3484,0.00,1.80,0.00,0.000,4,0.000,0.054,2009,2578,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3614,-0.58,-97.3,236.5,-5.8,239,3618,0.00,1.88,0.00,0.000,6,0.000,0.063,2009,1514,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3929,-0.59,-97.3,256.9,-6.7,257,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1514,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4230,-0.60,-97.3,278.2,-7.1,267,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1514,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4529,-0.62,-97.3,296.7,-5.6,277,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1514,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.63,-97.3,311.7,-4.9,287,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1514,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-0.64,-97.3,329.2,-6.2,297,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1514,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5429,-0.65,-97.3,350.6,-7.4,307,5433,0.00,1.83,0.00,0.000,4,0.000,0.055,2001,2577,3458,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5519,-0.67,-97.3,356.1,-7.3,310,5523,0.00,1.88,0.00,0.000,6,0.000,0.065,2001,1513,3458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5819,-0.67,-97.3,377.4,-6.5,320,5822,0.00,1.90,0.00,0.000,4,0.000,0.087,2001,463,3458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5878,-0.67,-97.3,380.4,-6.5,322,5881,0.00,1.77,0.00,0.000,6,0.000,0.044,1993,1522,3458,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6179,-0.67,-97.3,402.2,-7.0,332,6183,0.00,1.80,0.00,0.000,4,0.000,0.056,1986,2576,3457,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6268,-0.67,-97.3,407.6,-7.0,335,6271,0.00,1.88,0.00,0.000,6,0.000,0.066,1986,1515,3457,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6569,-0.67,-97.3,429.1,-6.5,345,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.67,-97.3,446.7,-5.7,355,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7169,-0.67,-97.3,465.3,-6.7,365,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1515,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7469,-0.67,-97.3,490.5,-9.0,375,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7769,-0.67,-97.3,518.1,-8.8,385,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,-0.67,-97.3,539.0,-6.1,395,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8369,-0.67,-97.3,552.8,-4.3,405,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8670,-0.67,-97.3,568.1,-5.7,415,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8969,-0.67,-97.3,589.0,-7.3,425,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1514,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,-0.67,-97.3,611.3,-7.5,435,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9569,-0.67,-97.3,633.4,-7.3,445,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9870,-0.67,-97.3,655.7,-7.6,455,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10169,-0.67,-97.3,679.2,-7.7,465,10173,0.00,1.85,0.00,0.000,4,0.000,0.058,1978,2576,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10244,-0.67,-97.3,684.9,-7.7,468,10248,0.00,1.90,0.00,0.000,6,0.000,0.069,1978,1514,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10559,-0.67,-97.3,708.5,-7.3,479,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1514,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10860,-0.67,-97.3,727.6,-6.2,489,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11159,-0.67,-97.3,747.6,-6.8,499,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11460,-0.67,-97.3,769.2,-7.2,509,11463,0.00,1.85,0.00,0.000,4,0.000,0.060,1971,2574,3441,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11534,-0.67,-97.3,774.8,-7.3,512,11537,0.00,1.90,0.00,0.000,6,0.000,0.070,1970,1521,3441,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11850,-0.67,-97.3,799.2,-7.9,523,11853,0.00,1.85,0.00,0.000,4,0.000,0.059,1963,2576,3440,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11924,-0.67,-97.3,805.4,-8.2,526,11927,0.00,1.90,0.00,0.000,6,0.000,0.070,1963,1521,3440,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12241,-0.66,-97.3,835.1,-9.8,537,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12540,-0.65,-97.3,864.7,-9.6,547,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12839,-0.63,-97.3,891.6,-8.7,557,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13140,-0.62,-97.3,915.8,-7.9,567,13144,0.00,1.85,0.00,0.000,4,0.000,0.060,1955,2573,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13214,-0.62,-97.3,921.4,-7.6,570,13219,0.12,1.92,0.00,0.000,6,0.251,0.072,1981,1516,3436,0,0,0,0,0,0,14.12,14.42,28.83
$GC,13531,-0.62,-97.3,942.3,-6.6,581,13535,0.00,1.98,0.00,0.000,4,0.000,0.096,1981,460,3434,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13604,-0.62,-97.3,947.6,-7.0,584,13608,0.00,1.83,0.00,0.000,6,0.000,0.050,1976,1515,3435,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13921,-0.62,-97.3,965.8,-5.4,595,13925,0.00,1.88,0.00,0.000,4,0.000,0.061,1970,2579,3434,0,0,0,0,0,0,28.83,14.44,28.83
$GC,14055,-0.62,-97.3,972.8,-5.1,600,14059,0.00,1.92,0.00,0.000,6,0.000,0.071,1969,1521,3433,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,14216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14216,begin apogee
$GC,14223,-0.18,0.0,980.4,-4.5,606,14347,0.57,0.00,115.45,2.001,6,0.202,0.000,2124,1391,3063,0,0,0,0,1,0,14.03,28.83,12.94
$STATE,14348,end apogee,CONTROL_FINISHED_OK
$STATE,14348,begin climb
$GC,14352,0.60,97.3,982.1,0.0,610,14491,0.82,2.05,127.32,1.974,4,0.122,0.100,2387,341,2669,0,0,0,0,1,0,14.11,14.04,12.96
$GC,14714,0.51,97.3,969.5,6.5,622,14718,0.15,1.85,0.00,0.000,6,0.276,0.050,2356,1410,2660,0,0,0,0,0,0,14.24,14.54,28.83
$GC,15018,0.48,113.5,952.2,5.4,632,15061,0.00,2.00,33.12,1.237,4,0.000,0.100,2362,348,2601,0,0,0,0,1,0,28.83,14.50,13.33
$GC,15212,0.43,113.5,940.4,6.3,638,15216,0.15,1.83,0.00,0.000,6,0.264,0.049,2331,1408,2600,0,0,0,0,0,0,14.28,14.59,28.83
$GC,15527,0.43,125.6,923.5,5.5,649,15568,0.00,1.83,30.85,1.167,4,0.000,0.060,2331,2442,2551,0,0,0,0,1,0,28.83,14.59,13.35
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$STATE,28170,end climb,SURFACE_DEPTH_REACHED
$STATE,28171,begin surface coast
$FINISH,0.1,1.013598
$STATE,28184,end surface coast,CONTROL_FINISHED_OK
$STATE,28184,begin surface
$SM_CCo,28264,0.00,0.000,0,0,1489,385.86
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$IRIDIUM_FIX,2352.12,-3805.33,261212,222257
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.66
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.70
$XPDR_PINGS,10
$SC_FREEKB,7649920
$TM_FREEKB,4735840
$24V_AH,12.9,149.358
$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,19.550,123.875,754.950,0.000,0.000,0.000,0.000,383.400,2.500,0.000,17.645,3202.020,21758.643,1016.710,2424.947,566.176,0.000,2387.199,0.000,1905.574,0.000,0.549,0.000
$DEVICE_MAMPS,414.630,110.160,2001.240,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28236.000,7035.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.207,13.004,0.000,0.000
$MEM,345576
$DATA_FILE_SIZE,43322,1180
$CAP_FILE_SIZE,247227,0
$CFSIZE,260034560,215322624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,14,1,0
$CURRENT,0.031,182.8,1
$GPS,271212,150758,2358.145,-3801.170,38,0.8,38,-14.1