version: 66.11
glider: 191
mission: 5
dive: 261
start: 12 9 112 6 18 47
data:
$ID,191
$MISSION,5
$DIVE,261
$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,-4145.8315
$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,21
$R_STBD_OVSHOOT,53
$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
$GPS1,091212,060304,2511.310,-3744.103,28,1.3,28,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.4
$GPS2,091212,061818,2511.143,-3743.993,16,1.3,16,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,305.3,100568,-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,-61.65,0.000,6,0.000,0.000,155,1537,3460,0,0,0,0,0,0,28.83,28.83,14.79
$GC,90,-0.60,-97.3,4.0,-7.9,4,105,9.85,1.75,0.00,0.000,4,0.419,0.052,1985,2571,3463,1,0,0,0,0,0,13.88,14.58,28.83
$GC,328,-0.58,-97.3,31.0,-8.3,20,331,0.00,1.88,0.00,0.000,6,0.000,0.066,1985,1511,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,628,-0.56,-97.3,60.6,-9.6,40,631,0.00,1.80,0.00,0.000,4,0.000,0.054,1977,2563,3464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,748,-0.54,-97.3,70.3,-8.6,48,752,0.15,1.85,0.00,0.000,6,0.236,0.066,2011,1512,3465,0,0,0,0,0,0,14.30,14.52,28.83
$GC,1047,-0.54,-97.3,90.9,-6.6,68,1051,0.00,1.80,0.00,0.000,4,0.000,0.054,2006,2566,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1168,-0.54,-97.3,96.7,-4.2,76,1171,0.00,1.85,0.00,0.000,6,0.000,0.066,2005,1515,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1468,-0.54,-97.3,113.3,-6.0,96,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1767,-0.54,-97.3,135.6,-7.9,116,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.54,-97.3,160.4,-8.3,136,2071,0.00,1.80,0.00,0.000,4,0.000,0.054,1998,2573,3466,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2159,-0.54,-97.3,167.7,-7.9,142,2162,0.00,1.85,0.00,0.000,6,0.000,0.066,1997,1521,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2458,-0.54,-97.3,190.3,-7.6,162,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2758,-0.54,-97.3,215.3,-8.5,182,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.54,-97.3,238.7,-7.4,202,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.54,-97.3,260.7,-6.9,218,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.54,-97.3,281.6,-7.3,228,3676,0.00,1.77,0.00,0.000,4,0.000,0.054,1990,2570,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3791,-0.54,-97.3,289.6,-7.5,232,3795,0.00,1.85,0.00,0.000,6,0.000,0.067,1990,1511,3465,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4094,-0.54,-97.3,318.4,-9.9,242,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.54,-97.3,347.7,-9.4,252,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,-0.54,-97.3,371.4,-7.2,262,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4993,-0.54,-97.3,389.5,-5.8,272,4997,0.00,1.80,0.00,0.000,4,0.000,0.056,1982,2571,3463,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5142,-0.54,-97.3,396.9,-5.6,277,5147,0.12,1.85,0.00,0.000,6,0.239,0.067,2010,1515,3461,0,0,0,0,0,0,14.43,14.66,28.83
$GC,5446,-0.55,-97.3,413.0,-5.4,287,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1515,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5743,-0.56,-97.3,430.9,-6.4,297,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1514,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6044,-0.58,-97.3,452.7,-7.5,307,6047,0.00,1.77,0.00,0.000,4,0.000,0.056,2005,2563,3458,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6162,-0.60,-97.3,460.9,-7.8,311,6166,0.00,1.83,0.00,0.000,6,0.000,0.068,2005,1523,3459,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6463,-0.60,-97.3,485.2,-7.4,321,6466,0.00,1.77,0.00,0.000,4,0.000,0.055,1997,2569,3457,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6568,-0.61,-97.3,492.4,-6.9,325,6572,0.00,1.85,0.00,0.000,6,0.000,0.068,1997,1516,3457,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6884,-0.61,-97.3,510.7,-5.5,336,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1517,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,-0.61,-97.3,526.7,-5.5,346,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7482,-0.61,-97.3,544.6,-6.2,356,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,-0.61,-97.3,565.4,-7.2,366,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1516,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,-0.61,-97.3,590.0,-8.4,376,8086,0.00,1.80,0.00,0.000,4,0.000,0.058,1989,2569,3452,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8188,-0.62,-97.3,599.0,-8.6,380,8192,0.00,1.85,0.00,0.000,6,0.000,0.070,1989,1522,3452,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8504,-0.62,-97.3,626.2,-8.3,391,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,-0.62,-97.3,647.4,-6.5,401,8806,0.00,1.77,0.00,0.000,4,0.000,0.057,1981,2562,3450,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8938,-0.62,-97.3,655.7,-6.0,406,8942,0.00,1.85,0.00,0.000,6,0.000,0.070,1981,1521,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9253,-0.62,-97.3,674.4,-6.0,417,9257,0.00,1.92,0.00,0.000,4,0.000,0.091,1982,458,3448,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9343,-0.61,-97.3,679.8,-6.8,420,9347,0.00,1.77,0.00,0.000,6,0.000,0.047,1974,1506,3448,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9643,-0.60,-97.3,703.8,-8.3,430,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1507,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9944,-0.59,-97.3,731.0,-9.3,440,9948,0.00,1.85,0.00,0.000,4,0.000,0.059,1966,2582,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10062,-0.59,-97.3,740.7,-9.2,444,10067,0.15,1.90,0.00,0.000,6,0.239,0.070,2000,1511,3445,0,0,0,0,0,0,14.28,14.57,28.83
$GC,10365,-0.60,-97.3,765.7,-7.5,454,10368,0.00,1.83,0.00,0.000,4,0.000,0.058,1994,2576,3444,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10499,-0.62,-97.3,775.1,-6.9,459,10502,0.00,1.90,0.00,0.000,6,0.000,0.070,1994,1513,3444,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10815,-0.62,-97.3,793.3,-5.3,470,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11114,-0.62,-97.3,807.1,-4.5,480,11118,0.00,1.85,0.00,0.000,4,0.000,0.059,1986,2580,3442,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11218,-0.63,-97.3,812.2,-4.8,484,11222,0.00,1.90,0.00,0.000,6,0.000,0.071,1986,1518,3441,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11533,-0.63,-97.3,831.6,-6.7,495,11537,0.00,1.85,0.00,0.000,4,0.000,0.059,1978,2581,3440,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11651,-0.63,-97.3,839.1,-7.1,499,11655,0.00,1.90,0.00,0.000,6,0.000,0.072,1978,1521,3440,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11954,-0.63,-97.3,865.1,-8.5,509,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12252,-0.63,-97.3,892.1,-9.1,519,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12553,-0.63,-97.3,918.2,-8.2,529,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12853,-0.63,-97.3,939.2,-6.3,539,12857,0.00,1.85,0.00,0.000,4,0.000,0.060,1970,2580,3436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,13032,-0.63,-97.3,948.3,-5.5,545,13036,0.00,1.90,0.00,0.000,6,0.000,0.073,1971,1521,3436,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13334,-0.63,-97.3,963.1,-4.4,555,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13633,-0.63,-97.3,976.4,-4.6,565,13636,0.00,1.85,0.00,0.000,4,0.000,0.060,1963,2579,3433,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,13706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13706,begin apogee
$GC,13714,-0.18,0.0,980.1,-4.9,568,13842,0.62,0.00,116.00,2.116,6,0.215,0.000,2128,1402,3063,0,0,0,0,1,0,14.07,28.83,13.00
$STATE,13843,end apogee,CONTROL_FINISHED_OK
$STATE,13844,begin climb
$GC,13846,0.60,97.3,982.3,0.0,572,13985,0.82,2.08,127.28,2.124,4,0.119,0.103,2389,341,2666,0,0,0,0,1,0,14.12,13.96,12.95
$GC,14113,0.54,121.0,977.6,5.1,582,14166,0.00,1.85,43.33,1.530,6,0.000,0.051,2389,1407,2568,0,0,0,0,1,0,28.83,14.45,13.17
$GC,14458,0.48,132.4,958.0,5.6,593,14495,0.17,0.00,29.15,1.131,6,0.269,0.000,2351,1408,2522,0,0,0,0,1,0,14.31,28.83,13.38
$GC,14791,0.48,156.6,942.0,5.0,604,14848,0.00,1.83,44.20,1.563,4,0.000,0.060,2351,2444,2424,0,0,0,0,1,0,28.83,14.42,13.33
$GC,14923,0.47,169.6,935.4,5.5,608,14968,0.00,1.90,31.25,1.202,6,0.000,0.077,2357,1398,2372,0,0,0,0,1,0,28.83,14.45,13.29
$GC,15270,0.44,169.6,911.7,6.9,620,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1397,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15569,0.42,169.6,890.7,6.9,630,15571,0.12,0.00,0.00,0.000,6,0.279,0.000,2331,1397,2368,0,0,0,0,0,0,14.39,28.83,28.83
$GC,15868,0.44,185.7,873.8,5.4,640,15909,0.00,0.00,33.78,1.290,6,0.000,0.000,2331,1397,2305,0,0,0,0,1,0,28.83,28.83,13.44
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$STATE,27418,end climb,SURFACE_DEPTH_REACHED
$STATE,27418,begin surface coast
$FINISH,0.8,1.025364
$STATE,27433,end surface coast,CONTROL_FINISHED_OK
$STATE,27433,begin surface
$SM_CCo,27512,0.00,0.000,0,0,1627,352.01
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$IRIDIUM_FIX,2503.20,-3746.02,091212,060606
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.73
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,26.00
$XPDR_PINGS,8
$SC_FREEKB,7669888
$TM_FREEKB,5290400
$24V_AH,12.9,124.429
$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,19.325,111.725,668.875,0.000,0.000,0.000,0.000,538.325,2.000,0.000,17.905,3110.549,21375.180,908.816,2531.955,485.906,0.000,2408.073,0.000,1862.691,0.000,0.549,0.000
$DEVICE_MAMPS,419.220,103.275,2123.640,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27478.000,6444.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.279,13.031,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,39963,1135
$CAP_FILE_SIZE,237159,0
$CFSIZE,260034560,222584832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.077,155.5,1
$GPS,091212,135834,2511.391,-3746.515,33,0.8,34,-13.8