version: 66.11
glider: 191
mission: 5
dive: 128
start: 10 25 112 22 2 28
data:
$ID,191
$MISSION,5
$DIVE,128
$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,-3968.3159
$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,46
$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
$GPS1,251012,215135,2436.094,-3718.594,34,1.0,34,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-59.6
$GPS2,251012,220159,2436.087,-3718.535,20,1.0,20,-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,6.6,66555,-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,-61.70,0.000,2,0.000,0.000,156,1523,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.8,-7.5,4,103,9.43,1.88,0.00,0.000,4,0.421,0.076,1995,459,3458,1,0,0,0,0,0,14.20,14.63,28.83
$GC,325,-0.52,-97.3,40.4,-13.6,20,330,0.12,1.77,0.00,0.000,6,0.277,0.048,2015,1509,3460,0,0,0,0,0,0,14.48,14.71,28.83
$GC,626,-0.48,-97.3,73.8,-11.0,40,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1511,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.45,-97.3,99.7,-7.1,60,929,0.00,1.88,0.00,0.000,4,0.000,0.088,2015,463,3460,0,0,0,0,0,0,28.83,14.68,28.83
$GC,985,-0.41,-97.3,104.5,-8.0,64,989,0.17,1.77,0.00,0.000,6,0.243,0.047,2051,1520,3460,0,0,0,0,0,0,14.54,14.75,28.83
$GC,1285,-0.41,-97.3,123.7,-6.8,84,1288,0.00,1.80,0.00,0.000,4,0.000,0.057,2046,2585,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1390,-0.42,-97.3,130.9,-6.9,91,1394,0.00,1.85,0.00,0.000,6,0.000,0.067,2046,1520,3461,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1690,-0.42,-97.3,153.0,-7.4,111,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.42,-97.3,172.7,-5.8,131,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.42,-97.3,190.4,-5.9,151,2294,0.00,1.80,0.00,0.000,4,0.000,0.056,2038,2582,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2472,-0.44,-97.3,201.5,-6.3,163,2475,0.00,1.85,0.00,0.000,6,0.000,0.067,2038,1520,3461,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2770,-0.44,-97.3,221.0,-5.9,183,2774,0.00,1.88,0.00,0.000,4,0.000,0.089,2038,464,3461,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2846,-0.44,-97.3,225.8,-6.6,188,2850,0.00,1.77,0.00,0.000,6,0.000,0.046,2030,1521,3461,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3145,-0.44,-97.3,243.3,-5.9,208,3149,0.00,1.80,0.00,0.000,4,0.000,0.058,2023,2586,3460,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3268,-0.45,-97.3,250.3,-5.8,216,3272,0.00,1.88,0.00,0.000,6,0.000,0.070,2023,1512,3459,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3566,-0.45,-97.3,271.9,-7.7,226,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3865,-0.45,-97.3,295.7,-7.8,236,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1510,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4165,-0.45,-97.3,316.3,-6.5,246,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1511,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-0.45,-97.3,334.2,-6.0,256,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,-0.45,-97.3,352.6,-6.2,266,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,-0.45,-97.3,371.7,-6.1,276,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5365,-0.45,-97.3,390.6,-6.4,286,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1511,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,-0.45,-97.3,412.3,-7.4,296,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1511,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5966,-0.45,-97.3,434.3,-7.4,306,5969,0.00,1.83,0.00,0.000,4,0.000,0.060,2015,2582,3451,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6144,-0.45,-97.3,446.9,-7.7,312,6148,0.00,1.88,0.00,0.000,6,0.000,0.071,2015,1511,3450,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6446,-0.45,-97.3,470.8,-7.1,322,6449,0.00,1.83,0.00,0.000,4,0.000,0.060,2007,2579,3449,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6534,-0.45,-97.3,476.0,-6.9,325,6539,0.15,1.85,0.00,0.000,6,0.228,0.070,2042,1520,3449,0,0,0,0,0,0,14.61,14.81,28.83
$GC,6837,-0.48,-97.3,494.5,-5.9,335,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7136,-0.50,-97.3,512.4,-6.0,345,7140,0.00,1.90,0.00,0.000,4,0.000,0.093,2043,460,3446,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7224,-0.51,-97.3,517.2,-6.4,348,7228,0.00,1.80,0.00,0.000,6,0.000,0.050,2038,1527,3446,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7526,-0.53,-97.3,538.0,-6.8,358,7530,0.00,1.80,0.00,0.000,4,0.000,0.061,2030,2582,3446,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7631,-0.56,-97.3,545.3,-7.0,362,7634,0.00,1.88,0.00,0.000,6,0.000,0.072,2029,1514,3445,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7946,-0.57,-97.3,568.2,-7.1,373,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1514,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,-0.58,-97.3,587.0,-5.7,383,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8546,-0.60,-97.3,603.9,-5.5,393,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-0.61,-97.3,619.3,-5.1,403,8850,0.12,1.83,0.00,0.000,4,0.142,0.062,1975,2579,3441,0,0,0,0,0,0,14.82,14.79,28.83
$GC,8981,-0.59,-97.3,628.5,-7.1,408,8984,0.00,1.88,0.00,0.000,6,0.000,0.072,1975,1515,3441,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9296,-0.56,-97.3,653.9,-8.3,419,9298,0.15,0.00,0.00,0.000,6,0.259,0.000,2009,1515,3439,0,0,0,0,0,0,14.53,28.83,28.83
$GC,9595,-0.56,-97.3,676.2,-7.6,429,9599,0.00,1.83,0.00,0.000,4,0.000,0.062,2003,2576,3438,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9670,-0.56,-97.3,681.9,-7.7,432,9673,0.00,1.88,0.00,0.000,6,0.000,0.072,2003,1514,3439,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9985,-0.56,-97.3,707.4,-7.8,443,9988,0.00,1.83,0.00,0.000,4,0.000,0.062,1996,2575,3439,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10060,-0.56,-97.3,712.8,-7.4,446,10064,0.00,1.88,0.00,0.000,6,0.000,0.073,1996,1515,3436,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10376,-0.55,-97.3,734.0,-6.5,457,10380,0.00,1.92,0.00,0.000,4,0.000,0.096,1996,454,3436,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10451,-0.53,-97.3,739.4,-7.0,460,10455,0.12,1.83,0.00,0.000,6,0.262,0.053,2014,1524,3435,0,0,0,0,0,0,14.53,14.81,28.83
$GC,10766,-0.53,-97.3,755.4,-4.8,471,10770,0.00,1.83,0.00,0.000,4,0.000,0.064,2008,2584,3435,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10885,-0.53,-97.3,760.4,-4.7,475,10888,0.00,1.90,0.00,0.000,6,0.000,0.074,2008,1512,3434,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11186,-0.53,-97.3,776.8,-5.4,485,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1512,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11485,-0.53,-97.3,796.5,-7.1,495,11488,0.00,1.85,0.00,0.000,4,0.000,0.065,2001,2579,3432,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11604,-0.53,-97.3,804.7,-7.6,499,11608,0.00,1.88,0.00,0.000,6,0.000,0.074,2000,1520,3431,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11905,-0.53,-97.3,831.5,-8.6,509,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1520,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12205,-0.53,-97.3,857.3,-8.3,519,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12505,-0.53,-97.3,880.2,-7.2,529,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12806,-0.53,-97.3,899.2,-5.9,539,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13106,-0.53,-97.3,916.2,-5.7,549,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1521,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13406,-0.53,-97.3,932.6,-5.4,559,13409,0.00,1.85,0.00,0.000,4,0.000,0.065,1992,2583,3427,0,0,0,0,0,0,28.83,14.72,28.83
$GC,13585,-0.53,-97.3,941.1,-5.2,565,13588,0.00,1.90,0.00,0.000,6,0.000,0.076,1992,1520,3427,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13886,-0.53,-97.3,959.7,-6.0,575,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14185,-0.53,-97.3,979.0,-6.6,585,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3425,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14213,begin apogee
$GC,14218,-0.18,0.0,981.1,-6.7,586,14337,0.50,0.00,110.45,2.197,6,0.216,0.000,2129,1398,3063,0,0,0,0,1,0,14.55,28.83,13.22
$STATE,14339,end apogee,CONTROL_FINISHED_OK
$STATE,14339,begin climb
$GC,14341,0.60,97.3,983.9,0.0,590,14477,0.82,0.00,127.55,2.274,6,0.137,0.000,2376,1398,2665,0,0,0,0,1,0,14.14,28.83,13.13
$GC,14770,0.55,106.5,967.4,5.7,605,14804,0.00,0.00,26.67,1.064,6,0.000,0.000,2376,1398,2625,0,0,0,0,1,0,28.83,28.83,13.75
$GC,15102,0.49,106.5,947.6,6.1,616,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1397,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15400,0.43,106.5,928.9,6.3,626,15402,0.20,0.00,0.00,0.000,6,0.269,0.000,2331,1397,2623,0,0,0,0,0,0,14.44,28.83,28.83
$GC,15702,0.44,131.1,914.1,5.0,636,15754,0.00,1.88,42.38,1.590,4,0.000,0.067,2331,2456,2528,0,0,0,0,1,0,28.83,14.54,13.69
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$STATE,28660,end climb,SURFACE_DEPTH_REACHED
$STATE,28660,begin surface coast
$FINISH,0.2,1.024843
$STATE,28676,end surface coast,CONTROL_FINISHED_OK
$STATE,28676,begin surface
$SM_CCo,28694,33.15,0.767,0,0,1634,350.04
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$IRIDIUM_FIX,2422.84,-3719.67,251012,131335
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.79
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$TCM_TEMP,26.60
$XPDR_PINGS,2
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$TM_FREEKB,6657088
$24V_AH,13.1,62.263
$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
$DEVICE_SECS,19.250,108.200,661.425,33.150,0.000,0.000,0.000,360.150,0.500,0.000,21.277,3234.184,22406.291,947.000,2443.362,314.362,0.000,2296.296,0.000,1919.023,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28717.000,6814.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,13.090,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,43332,1187
$CAP_FILE_SIZE,244816,0
$CFSIZE,260034560,240472064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,14,1,0
$CURRENT,0.025,122.0,1
$GPS,261012,060234,2438.898,-3718.490,36,1.0,36,-13.8