version: 66.11
glider: 191
mission: 5
dive: 325
start: 12 31 112 8 59 22
data:
$ID,191
$MISSION,5
$DIVE,325
$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,-5007.1616
$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,10
$MINV_10V,10
$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
$GPS1,311212,084629,2415.877,-3738.863,36,0.8,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-51.8
$GPS2,311212,085853,2415.896,-3738.876,19,1.0,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,54.6,49879,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-57.40,0.000,6,0.000,0.000,153,1518,3460,0,0,0,0,0,0,28.83,28.83,14.74
$GC,90,-0.60,-97.3,4.8,-10.4,4,106,10.20,1.80,0.00,0.000,4,0.426,0.050,1984,2573,3462,1,0,0,0,0,0,13.75,14.51,28.83
$GC,313,-0.60,-97.3,32.3,-9.0,19,317,0.00,1.90,0.00,0.000,6,0.000,0.063,1984,1510,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,613,-0.57,-97.3,64.9,-9.9,39,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1509,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,913,-0.55,-97.3,90.9,-8.7,59,917,0.00,1.83,0.00,0.000,4,0.000,0.052,1981,2567,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1063,-0.54,-97.3,104.8,-9.4,69,1068,0.15,1.88,0.00,0.000,6,0.230,0.063,2010,1511,3464,0,0,0,0,0,0,14.16,14.42,28.83
$GC,1363,-0.54,-97.3,130.9,-8.4,89,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1511,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.54,-97.3,152.7,-6.9,109,1666,0.00,1.90,0.00,0.000,4,0.000,0.085,2010,464,3464,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1753,-0.54,-97.3,159.2,-7.2,115,1756,0.00,1.77,0.00,0.000,6,0.000,0.042,2004,1515,3468,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2053,-0.54,-97.3,178.3,-6.2,135,2056,0.00,1.83,0.00,0.000,4,0.000,0.053,1997,2580,3466,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2221,-0.55,-97.3,187.9,-5.8,146,2224,0.00,1.88,0.00,0.000,6,0.000,0.062,1997,1513,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2518,-0.55,-97.3,205.2,-5.6,166,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1509,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.55,-97.3,221.5,-5.3,186,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-0.55,-97.3,239.0,-6.4,206,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-0.55,-97.3,261.3,-7.3,222,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3733,-0.55,-97.3,284.3,-7.7,232,3736,0.00,1.80,0.00,0.000,4,0.000,0.054,1989,2576,3464,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3943,-0.55,-97.3,299.5,-7.8,239,3947,0.00,1.85,0.00,0.000,6,0.000,0.064,1989,1521,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4243,-0.55,-97.3,323.3,-7.5,249,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4544,-0.55,-97.3,344.4,-6.8,259,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4843,-0.55,-97.3,364.0,-6.4,269,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5143,-0.55,-97.3,382.8,-6.1,279,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5444,-0.55,-97.3,401.2,-6.3,289,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5743,-0.55,-97.3,421.2,-6.6,299,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6044,-0.55,-97.3,439.0,-5.8,309,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-0.55,-97.3,456.0,-6.0,319,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,-0.55,-97.3,474.6,-6.3,329,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6943,-0.55,-97.3,495.1,-7.2,339,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7243,-0.55,-97.3,518.6,-7.9,349,7246,0.00,1.80,0.00,0.000,4,0.000,0.055,1981,2576,3454,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7348,-0.55,-97.3,527.1,-8.1,353,7353,0.12,1.88,0.00,0.000,6,0.233,0.067,2007,1522,3454,0,0,0,0,0,0,14.29,14.49,28.83
$GC,7666,-0.57,-97.3,549.8,-7.1,364,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.59,-97.3,571.3,-7.2,374,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1522,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-0.61,-97.3,594.6,-8.0,384,8267,0.00,1.92,0.00,0.000,4,0.000,0.090,2008,464,3451,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8368,-0.62,-97.3,603.9,-8.9,388,8372,0.00,1.80,0.00,0.000,6,0.000,0.046,2002,1520,3450,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8686,-0.64,-97.3,626.9,-6.7,399,8690,0.00,1.83,0.00,0.000,4,0.000,0.057,1995,2579,3450,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8774,-0.66,-97.3,631.4,-6.2,402,8778,0.00,1.88,0.00,0.000,6,0.000,0.067,1995,1522,3450,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9074,-0.66,-97.3,647.3,-4.5,412,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9374,-0.67,-97.3,660.1,-4.3,422,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,-0.67,-97.3,675.9,-5.8,432,9678,0.00,1.83,0.00,0.000,4,0.000,0.057,1987,2577,3447,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9778,-0.68,-97.3,682.8,-6.5,436,9782,0.00,1.90,0.00,0.000,6,0.000,0.068,1987,1515,3446,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10094,-0.68,-97.3,704.5,-6.7,447,10098,0.00,1.85,0.00,0.000,4,0.000,0.057,1980,2577,3445,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10168,-0.68,-97.3,709.2,-6.3,450,10171,0.00,1.90,0.00,0.000,6,0.000,0.069,1979,1520,3445,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10484,-0.68,-97.3,729.0,-6.5,461,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10784,-0.68,-97.3,749.2,-7.0,471,10787,0.00,1.85,0.00,0.000,4,0.000,0.057,1972,2581,3442,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10902,-0.68,-97.3,756.8,-7.3,475,10905,0.00,1.90,0.00,0.000,6,0.000,0.068,1972,1520,3442,0,0,0,0,0,0,28.83,14.46,28.83
$GC,11204,-0.68,-97.3,778.3,-6.7,485,11208,0.00,1.85,0.00,0.000,4,0.000,0.057,1965,2579,3441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11308,-0.68,-97.3,785.4,-6.8,489,11311,0.00,1.90,0.00,0.000,6,0.000,0.068,1965,1521,3441,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11626,-0.67,-97.3,806.1,-6.2,500,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11924,-0.66,-97.3,825.0,-6.2,510,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,-0.65,-97.3,846.1,-7.6,520,12227,0.00,1.85,0.00,0.000,4,0.000,0.059,1957,2576,3438,0,0,0,0,0,0,28.83,14.48,28.83
$GC,12342,-0.65,-97.3,854.9,-8.3,524,12346,0.00,1.92,0.00,0.000,6,0.000,0.070,1956,1514,3438,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12644,-0.63,-97.3,881.1,-8.3,534,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12944,-0.61,-97.3,904.2,-7.6,544,12946,0.15,0.00,0.00,0.000,6,0.255,0.000,1989,1514,3436,0,0,0,0,0,0,14.21,28.83,28.83
$GC,13244,-0.63,-97.3,924.4,-6.6,554,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13544,-0.64,-97.3,943.6,-6.2,564,13548,0.00,1.88,0.00,0.000,4,0.000,0.060,1983,2576,3435,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13648,-0.66,-97.3,950.1,-6.2,568,13652,0.00,1.92,0.00,0.000,6,0.000,0.072,1984,1522,3434,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13966,-0.66,-97.3,969.4,-5.9,579,13970,0.00,1.98,0.00,0.000,4,0.000,0.096,1984,464,3433,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14023,-0.66,-97.3,972.3,-6.1,581,14027,0.00,1.83,0.00,0.000,6,0.000,0.049,1976,1517,3432,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,14142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14142,begin apogee
$GC,14149,-0.18,0.0,980.7,-6.2,585,14276,0.57,0.00,115.12,2.014,6,0.205,0.000,2128,1392,3066,0,0,0,0,1,0,13.97,28.83,12.93
$STATE,14278,end apogee,CONTROL_FINISHED_OK
$STATE,14278,begin climb
$GC,14281,0.60,97.3,984.9,0.0,589,14420,0.82,2.05,127.22,1.973,4,0.115,0.101,2391,342,2665,0,0,0,0,1,0,14.14,14.03,12.94
$GC,14640,0.53,118.7,978.8,5.1,602,14690,0.00,1.85,39.65,1.397,6,0.000,0.050,2391,1415,2579,0,0,0,0,1,0,28.83,14.54,13.21
$GC,14984,0.48,136.2,960.5,5.3,613,15031,0.17,2.03,36.88,1.345,4,0.269,0.103,2358,349,2507,0,0,0,0,1,0,14.26,14.41,13.27
$GC,15193,0.44,141.4,949.8,5.8,619,15208,0.00,1.83,4.97,2.019,6,0.000,0.050,2358,1408,2486,0,0,0,0,0,0,28.83,14.57,13.29
$GC,15511,0.41,141.6,930.3,6.0,630,15513,0.15,0.00,0.00,0.000,6,0.265,0.000,2327,1409,2484,0,0,0,0,0,0,14.32,28.83,28.83
$GC,15810,0.45,171.5,915.6,4.8,640,15868,0.00,0.00,50.92,1.607,6,0.000,0.000,2327,1409,2362,0,0,0,0,1,0,28.83,28.83,13.25
$GC,16171,0.48,200.7,897.7,4.8,652,16228,0.00,0.00,48.33,1.563,6,0.000,0.000,2327,1409,2245,0,0,0,0,1,0,28.83,28.83,13.21
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$STATE,27942,end climb,SURFACE_DEPTH_REACHED
$STATE,27942,begin surface coast
$FINISH,0.2,1.025534
$STATE,27958,end surface coast,CONTROL_FINISHED_OK
$STATE,27958,begin surface
$SM_CCo,28040,0.00,0.000,0,0,1610,356.18
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$IRIDIUM_FIX,2403.92,-3741.31,311212,000058
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.85
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,11
$SC_FREEKB,7645312
$TM_FREEKB,4612832
$24V_AH,12.9,154.981
$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,20.125,109.525,656.750,0.000,0.000,0.000,0.000,401.100,2.750,0.000,20.827,3151.670,21731.164,888.538,2427.279,568.981,0.000,2257.460,0.000,1885.826,0.000,0.549,0.000
$DEVICE_MAMPS,426.105,109.395,2018.835,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28008.000,6480.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.062,13.009,0.000,0.000
$MEM,345624
$DATA_FILE_SIZE,40000,1155
$CAP_FILE_SIZE,238054,0
$CFSIZE,260034560,213671936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.015, 61.5,1
$GPS,311212,164804,2418.155,-3736.181,39,0.9,39,-13.9