version: 66.11
glider: 191
mission: 5
dive: 314
start: 12 27 112 15 27 55
data:
$ID,191
$MISSION,5
$DIVE,314
$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,-4955.2065
$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,51
$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
$GPS1,271212,150758,2358.145,-3801.170,38,0.8,38,-14.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-52.1
$GPS2,271212,152723,2358.074,-3801.096,16,1.2,16,-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,139.0,2720,-26.4,-6.049,-30.00
$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,25,-0.98,-29.8,0.0,0.0,0,87,0.00,0.00,-59.92,0.000,6,0.000,0.000,157,1519,3185,0,0,0,0,0,0,28.83,28.83,14.78
$GC,91,-0.98,-32.7,3.2,-5.7,4,107,10.27,1.83,-0.28,0.000,4,0.461,0.084,1859,2569,3198,6,0,0,0,0,0,13.80,14.56,14.67
$GC,208,-0.98,-32.7,18.9,-11.5,12,211,0.00,1.88,0.00,0.000,6,0.000,0.064,1860,1513,3199,0,0,0,0,0,0,28.83,14.42,28.83
$GC,508,-0.98,-32.7,55.1,-11.8,32,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1512,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,808,-0.98,-32.7,90.6,-11.8,52,809,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1513,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-0.98,-32.7,120.6,-8.8,72,1111,0.00,1.88,0.00,0.000,4,0.000,0.083,1861,466,3200,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1333,-0.96,-32.7,143.4,-9.0,87,1337,0.00,1.75,0.00,0.000,6,0.000,0.041,1855,1514,3200,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1634,-0.96,-32.7,169.4,-8.8,107,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,1514,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.96,-32.7,198.1,-9.6,127,1936,0.00,1.90,0.00,0.000,4,0.000,0.083,1857,461,3200,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2146,-0.94,-32.7,220.9,-10.6,141,2150,0.17,1.77,0.00,0.000,6,0.320,0.042,1881,1518,3200,0,0,0,0,0,0,14.12,14.66,28.83
$GC,2444,-0.97,-32.7,245.1,-7.5,161,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1519,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,-0.99,-32.7,269.0,-8.1,174,2765,0.00,1.90,0.00,0.000,4,0.000,0.083,1888,461,3200,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2849,-1.01,-32.7,276.1,-9.1,177,2852,0.00,1.77,0.00,0.000,6,0.000,0.043,1882,1522,3200,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3149,-1.04,-32.7,308.7,-10.7,187,3153,0.00,1.77,0.00,0.000,4,0.000,0.053,1874,2576,3198,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3268,-1.07,-32.7,320.2,-10.9,191,3272,0.00,1.85,0.00,0.000,6,0.000,0.063,1874,1519,3198,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3569,-1.09,-32.7,353.6,-10.3,201,3574,0.12,1.90,0.00,0.000,4,0.162,0.084,1841,459,3197,0,0,0,0,0,0,14.68,14.57,28.83
$GC,3704,-1.06,-32.7,368.9,-11.5,206,3707,0.00,1.80,0.00,0.000,6,0.000,0.044,1835,1526,3197,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4019,-1.06,-32.7,399.4,-9.3,217,4023,0.00,1.77,0.00,0.000,4,0.000,0.054,1827,2578,3196,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4093,-1.06,-32.7,406.2,-9.1,220,4097,0.00,1.85,0.00,0.000,6,0.000,0.063,1828,1521,3196,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4409,-1.06,-32.7,434.7,-9.6,231,4413,0.00,1.90,0.00,0.000,4,0.000,0.083,1834,461,3195,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4514,-1.04,-32.7,445.9,-10.7,235,4517,0.00,1.77,0.00,0.000,6,0.000,0.044,1829,1523,3195,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4830,-1.04,-32.7,477.3,-10.2,246,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1524,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5128,-1.04,-32.7,509.3,-10.6,256,5132,0.00,1.90,0.00,0.000,4,0.000,0.084,1829,467,3192,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5308,-1.01,-32.7,529.0,-12.0,262,5312,0.20,1.77,0.00,0.000,6,0.326,0.045,1859,1517,3192,0,0,0,0,0,0,14.11,14.71,28.83
$GC,5612,-1.02,-32.7,563.2,-10.9,272,5615,0.00,1.80,0.00,0.000,4,0.000,0.054,1854,2578,3191,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5788,-1.05,-32.7,581.3,-10.8,278,5792,0.00,1.88,0.00,0.000,6,0.000,0.064,1854,1514,3190,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6089,-1.06,-32.7,614.0,-10.1,288,6093,0.00,1.90,0.00,0.000,4,0.000,0.086,1854,464,3189,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6193,-1.06,-32.7,624.9,-10.5,292,6197,0.00,1.80,0.00,0.000,6,0.000,0.045,1848,1526,3189,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6509,-1.06,-32.7,653.9,-8.8,303,6513,0.00,1.92,0.00,0.000,4,0.000,0.086,1848,467,3188,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6583,-1.06,-32.7,661.4,-9.8,306,6587,0.00,1.80,0.00,0.000,6,0.000,0.046,1842,1526,3187,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6900,-1.06,-32.7,689.0,-8.9,317,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1527,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7198,-1.06,-32.7,717.5,-10.0,327,7202,0.00,1.80,0.00,0.000,4,0.000,0.057,1834,2577,3185,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7318,-1.07,-32.7,727.8,-9.8,331,7321,0.00,1.88,0.00,0.000,6,0.000,0.067,1834,1519,3183,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7620,-1.07,-32.7,758.5,-9.7,341,7624,0.00,1.92,0.00,0.000,4,0.000,0.088,1836,463,3183,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7724,-1.06,-32.7,769.5,-10.5,345,7728,0.00,1.80,0.00,0.000,6,0.000,0.046,1834,1520,3183,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8039,-1.06,-32.7,800.5,-10.0,356,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1521,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,-1.06,-32.7,831.9,-10.5,366,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1521,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8638,-1.06,-32.7,864.3,-10.8,376,8642,0.00,1.92,0.00,0.000,4,0.000,0.088,1828,468,3179,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8699,-1.05,-32.7,869.7,-11.2,378,8703,0.15,1.80,0.00,0.000,6,0.332,0.047,1847,1518,3179,0,0,0,0,0,0,14.04,14.62,28.83
$GC,9002,-1.06,-32.7,901.0,-9.4,388,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1521,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9300,-1.08,-32.7,928.3,-9.0,398,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1521,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9599,-1.10,-32.7,954.6,-8.8,408,9603,0.00,1.95,0.00,0.000,4,0.000,0.090,1848,463,3174,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9704,-1.10,-32.7,965.2,-10.1,412,9708,0.00,1.83,0.00,0.000,6,0.000,0.047,1842,1520,3174,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,9866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9866,begin apogee
$GC,9873,-0.18,0.0,980.7,-9.2,418,9928,1.20,0.00,46.42,1.521,6,0.280,0.000,2125,1390,3062,0,0,0,0,1,0,13.85,28.83,13.22
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin climb
$GC,9933,0.98,32.7,982.6,0.0,420,9997,1.20,1.90,52.58,1.580,4,0.122,0.057,2501,2457,2932,0,0,0,0,1,0,14.43,14.31,13.12
$GC,10052,0.96,111.3,985.7,-4.7,424,10169,0.00,1.92,106.30,1.890,6,0.000,0.072,2508,1403,2608,0,0,0,0,1,0,28.83,14.38,13.06
$GC,10486,0.93,111.3,965.5,8.0,439,10490,0.00,1.98,0.00,0.000,4,0.000,0.096,2516,338,2603,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10712,0.88,111.3,945.5,9.0,447,10717,0.20,1.85,0.00,0.000,6,0.327,0.048,2476,1421,2602,0,0,0,0,0,0,14.16,14.65,28.83
$GC,11028,0.88,111.3,923.7,6.6,458,11032,0.00,2.00,0.00,0.000,4,0.000,0.097,2482,348,2600,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11252,0.85,111.3,908.1,6.8,466,11256,0.00,1.80,0.00,0.000,6,0.000,0.050,2482,1398,2599,0,0,0,0,0,0,28.83,14.68,28.83
$GC,11568,0.86,116.1,890.3,5.4,477,11578,0.00,1.95,2.67,1.974,4,0.000,0.098,2487,346,2588,0,0,0,0,0,0,28.83,14.54,13.36
$GC,11716,0.83,116.8,881.5,6.0,482,11720,0.00,1.83,0.00,0.000,6,0.000,0.050,2487,1408,2588,0,0,0,0,0,0,28.83,14.66,28.83
$GC,12031,0.84,125.1,865.4,4.9,493,12065,0.00,0.00,27.40,1.034,6,0.000,0.000,2488,1409,2550,0,0,0,0,1,0,28.83,28.83,13.40
$GC,12362,0.85,128.2,847.1,5.6,504,12367,0.00,0.00,2.90,1.936,6,0.000,0.000,2488,1408,2538,0,0,0,0,0,0,28.83,28.83,13.40
$GC,12661,0.85,131.3,830.9,5.6,514,12666,0.00,0.00,3.08,1.919,6,0.000,0.000,2487,1409,2526,0,0,0,0,0,0,28.83,28.83,13.42
$GC,12960,0.85,131.3,810.1,7.4,524,12963,0.00,1.80,0.00,0.000,4,0.000,0.058,2488,2447,2527,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13035,0.85,131.3,804.2,7.7,527,13039,0.00,1.90,0.00,0.000,6,0.000,0.075,2493,1397,2526,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13351,0.85,131.3,775.8,9.5,538,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1396,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13650,0.85,131.3,746.8,9.5,548,13654,0.00,1.98,0.00,0.000,4,0.000,0.099,2501,339,2525,0,0,0,0,0,0,28.83,14.41,28.83
$GC,13756,0.83,131.3,736.1,10.2,552,13761,0.20,1.83,0.00,0.000,6,0.308,0.050,2462,1402,2525,0,0,0,0,0,0,14.01,14.61,28.83
$GC,14072,0.84,131.3,712.2,7.2,563,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1402,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14371,0.86,131.3,691.3,7.0,573,14375,0.00,1.83,0.00,0.000,4,0.000,0.060,2459,2442,2525,0,0,0,0,0,0,28.83,14.52,28.83
$GC,14505,0.88,131.3,682.6,6.4,578,14509,0.00,1.90,0.00,0.000,6,0.000,0.075,2465,1397,2525,0,0,0,0,0,0,28.83,14.46,28.83
$GC,14823,0.90,131.3,661.5,6.7,589,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1397,2525,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23503,end climb,SURFACE_DEPTH_REACHED
$STATE,23503,begin surface coast
$FINISH,0.7,1.025517
$STATE,23518,end surface coast,CONTROL_FINISHED_OK
$STATE,23518,begin surface
$SM_CCo,23540,148.65,0.696,0,0,1756,320.12
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$IRIDIUM_FIX,2352.12,-3802.02,271212,151538
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.91
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.20
$XPDR_PINGS,2
$SC_FREEKB,7649536
$TM_FREEKB,4726752
$24V_AH,13.1,149.677
$10V_AH,13.1,0.000
$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,21.100,134.750,281.800,148.650,0.000,0.000,0.000,647.525,0.500,0.000,17.627,2823.141,18356.883,688.611,2440.146,536.409,0.000,2181.257,0.000,1663.886,0.000,0.549,0.000
$DEVICE_MAMPS,460.530,105.570,1974.465,696.150,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.253,12.997,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,36690,993
$CAP_FILE_SIZE,218756,0
$CFSIZE,260034560,215220224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,5,2,0
$CURRENT,0.076,197.9,1
$GPS,271212,220404,2356.260,-3759.984,34,0.8,34,-14.1