version: 66.11
glider: 191
mission: 5
dive: 127
start: 10 25 112 13 58 57
data:
$ID,191
$MISSION,5
$DIVE,127
$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,350
$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,-3966.9666
$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,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
$GPS1,251012,134606,2433.704,-3719.081,28,0.8,28,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.8
$GPS2,251012,135829,2433.712,-3718.974,18,0.8,18,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,12.6,70931,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.58,0.000,6,0.000,0.000,157,1535,3460,0,0,0,0,0,0,28.83,28.83,14.90
$GC,89,-0.60,-97.3,3.9,-7.5,4,103,9.48,1.90,0.00,0.000,4,0.422,0.077,1998,460,3463,0,0,0,0,0,0,14.35,14.66,28.83
$GC,326,-0.52,-97.3,40.2,-13.7,20,330,0.00,1.77,0.00,0.000,6,0.000,0.047,1992,1514,3465,0,0,0,0,0,0,28.83,14.71,28.83
$GC,626,-0.46,-97.3,77.5,-11.8,40,631,0.17,1.88,0.00,0.000,4,0.253,0.089,2035,464,3465,0,0,0,0,0,0,14.52,14.66,28.83
$GC,731,-0.44,-97.3,87.3,-9.2,47,735,0.00,1.77,0.00,0.000,6,0.000,0.047,2030,1517,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1031,-0.42,-97.3,108.8,-6.7,67,1035,0.00,1.80,0.00,0.000,4,0.000,0.057,2019,2579,3466,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1166,-0.42,-97.3,117.5,-6.3,76,1170,0.12,1.85,0.00,0.000,6,0.237,0.065,2050,1515,3467,0,0,0,0,0,0,14.57,14.71,28.83
$GC,1466,-0.42,-97.3,138.0,-7.4,96,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1512,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1766,-0.42,-97.3,160.7,-7.2,116,1769,0.00,1.88,0.00,0.000,4,0.000,0.090,2050,466,3469,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1886,-0.42,-97.3,169.5,-7.0,124,1890,0.00,1.77,0.00,0.000,6,0.000,0.046,2045,1526,3464,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2186,-0.42,-97.3,184.3,-4.5,144,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1523,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2487,-0.43,-97.3,199.9,-5.6,164,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1523,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.43,-97.3,218.1,-6.5,184,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,-0.43,-97.3,237.5,-6.3,204,3090,0.00,1.77,0.00,0.000,4,0.000,0.057,2037,2573,3466,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3238,-0.45,-97.3,246.4,-5.9,214,3242,0.00,1.85,0.00,0.000,6,0.000,0.069,2037,1515,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3538,-0.45,-97.3,265.8,-6.7,226,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-0.45,-97.3,284.6,-6.1,236,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4136,-0.45,-97.3,302.6,-6.1,246,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4436,-0.45,-97.3,322.1,-6.7,256,4440,0.00,1.80,0.00,0.000,4,0.000,0.058,2029,2575,3461,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4526,-0.46,-97.3,327.0,-6.6,259,4530,0.00,1.85,0.00,0.000,6,0.000,0.070,2029,1516,3460,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4826,-0.46,-97.3,349.0,-6.8,269,4830,0.00,1.80,0.00,0.000,4,0.000,0.058,2021,2577,3460,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4901,-0.47,-97.3,353.7,-6.4,272,4905,0.00,1.85,0.00,0.000,6,0.000,0.070,2021,1517,3459,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5216,-0.47,-97.3,374.3,-6.7,283,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.47,-97.3,393.7,-6.4,293,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1517,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.47,-97.3,413.3,-6.6,303,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1517,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6117,-0.47,-97.3,434.5,-7.0,313,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1517,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-0.47,-97.3,455.2,-6.6,323,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1517,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6716,-0.47,-97.3,474.6,-6.5,333,6720,0.00,1.80,0.00,0.000,4,0.000,0.060,2014,2574,3453,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6791,-0.47,-97.3,479.2,-6.3,336,6795,0.00,1.85,0.00,0.000,6,0.000,0.072,2014,1521,3456,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7106,-0.47,-97.3,500.3,-6.7,347,7110,0.00,1.80,0.00,0.000,4,0.000,0.060,2006,2576,3452,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7195,-0.47,-97.3,505.0,-6.4,350,7200,0.12,1.85,0.00,0.000,6,0.236,0.071,2034,1520,3452,0,0,0,0,0,0,14.61,14.79,28.83
$GC,7498,-0.49,-97.3,522.3,-5.6,360,7502,0.00,1.90,0.00,0.000,4,0.000,0.094,2033,464,3451,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7571,-0.49,-97.3,527.4,-6.6,363,7575,0.00,1.77,0.00,0.000,6,0.000,0.049,2033,1517,3450,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7888,-0.50,-97.3,551.1,-8.0,374,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1517,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8186,-0.51,-97.3,577.6,-9.0,384,8190,0.00,1.80,0.00,0.000,4,0.000,0.061,2021,2576,3448,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8321,-0.53,-97.3,589.1,-8.5,389,8325,0.00,1.85,0.00,0.000,6,0.000,0.072,2018,1522,3448,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8636,-0.53,-97.3,613.8,-7.3,400,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8937,-0.53,-97.3,633.5,-6.1,410,8940,0.00,1.92,0.00,0.000,4,0.000,0.093,2021,456,3446,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9011,-0.53,-97.3,638.5,-6.6,413,9014,0.00,1.80,0.00,0.000,6,0.000,0.051,2013,1517,3446,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9328,-0.53,-97.3,657.5,-6.0,424,9331,0.00,1.83,0.00,0.000,4,0.000,0.062,2006,2585,3444,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9416,-0.53,-97.3,662.0,-5.9,427,9420,0.00,1.88,0.00,0.000,6,0.000,0.073,2006,1518,3444,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9716,-0.53,-97.3,682.0,-6.1,437,9720,0.00,1.90,0.00,0.000,4,0.000,0.096,2006,466,3444,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9792,-0.52,-97.3,687.4,-7.0,440,9795,0.00,1.80,0.00,0.000,6,0.000,0.052,1998,1522,3442,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10108,-0.51,-97.3,708.3,-6.7,451,10111,0.00,1.83,0.00,0.000,4,0.000,0.063,1990,2583,3441,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10241,-0.51,-97.3,716.9,-6.4,456,10245,0.15,1.88,0.00,0.000,6,0.239,0.074,2024,1520,3442,0,0,0,0,0,0,14.54,14.75,28.83
$GC,10559,-0.52,-97.3,733.4,-5.3,467,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10857,-0.53,-97.3,751.0,-6.1,477,10860,0.00,1.83,0.00,0.000,4,0.000,0.062,2019,2580,3439,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10975,-0.55,-97.3,758.0,-6.7,481,10979,0.00,1.88,0.00,0.000,6,0.000,0.073,2019,1519,3439,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11277,-0.57,-97.3,782.5,-8.3,491,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11577,-0.58,-97.3,807.7,-8.3,501,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11877,-0.59,-97.3,830.8,-7.4,511,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12177,-0.60,-97.3,848.7,-5.4,521,12181,0.00,1.92,0.00,0.000,4,0.000,0.098,2019,465,3436,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12281,-0.60,-97.3,854.4,-5.5,525,12285,0.00,1.83,0.00,0.000,6,0.000,0.054,2014,1529,3435,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12598,-0.60,-97.3,868.4,-4.3,536,12602,0.00,1.83,0.00,0.000,4,0.000,0.065,2003,2583,3434,0,0,0,0,0,0,28.83,14.72,28.83
$GC,12731,-0.61,-97.3,874.4,-4.5,541,12735,0.00,1.90,0.00,0.000,6,0.000,0.076,2003,1518,3433,0,0,0,0,0,0,28.83,14.71,28.83
$GC,13047,-0.61,-97.3,894.9,-7.2,552,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13346,-0.61,-97.3,919.9,-8.8,562,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13647,-0.61,-97.3,947.2,-8.9,572,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13946,-0.61,-97.3,973.0,-8.3,582,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14034,begin apogee
$GC,14039,-0.18,0.0,980.2,-8.1,585,14159,0.45,0.00,110.95,2.163,6,0.210,0.000,2126,1398,3063,0,0,0,0,1,0,14.55,28.83,13.26
$STATE,14160,end apogee,CONTROL_FINISHED_OK
$STATE,14160,begin climb
$GC,14162,0.60,97.3,984.9,0.0,589,14301,0.85,2.08,127.12,2.231,4,0.139,0.106,2388,343,2665,0,0,0,0,1,0,14.14,13.99,13.15
$GC,14383,0.50,141.6,981.3,4.2,597,14461,0.15,1.88,67.82,2.053,6,0.270,0.054,2358,1406,2483,0,0,0,0,1,0,14.16,14.35,13.24
$GC,14774,0.47,141.6,951.1,8.3,611,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1406,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15074,0.44,141.6,925.5,8.6,621,15078,0.00,1.98,0.00,0.000,4,0.000,0.106,2364,342,2478,0,0,0,0,0,0,28.83,14.62,28.83
$GC,15150,0.40,141.6,918.6,9.1,624,15154,0.17,1.83,0.00,0.000,6,0.251,0.055,2323,1402,2477,0,0,0,0,0,0,14.50,14.71,28.83
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$STATE,28167,end climb,SURFACE_DEPTH_REACHED
$STATE,28168,begin surface coast
$FINISH,0.3,1.024819
$STATE,28184,end surface coast,CONTROL_FINISHED_OK
$STATE,28184,begin surface
$SM_CCo,28202,78.80,0.759,0,0,1633,350.04
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$IRIDIUM_FIX,2425.21,-3719.67,251012,131320
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.18
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,26.60
$XPDR_PINGS,4
$SC_FREEKB,7721376
$TM_FREEKB,6667744
$24V_AH,13.2,61.799
$10V_AH,13.4,0.000
$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
$DEVICE_SECS,18.775,152.425,512.625,78.800,0.000,0.000,0.000,423.200,1.000,0.000,19.740,3246.231,22090.322,873.817,2480.574,326.494,0.000,2277.712,0.000,1890.100,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28225.000,6680.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.086,13.090,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,43331,1174
$CAP_FILE_SIZE,251397,0
$CFSIZE,260034560,240603136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.048,158.3,1
$GPS,251012,215135,2436.094,-3718.594,34,1.0,34,-13.8