version: 66.11
glider: 191
mission: 5
dive: 319
start: 12 29 112 7 37 12
data:
$ID,191
$MISSION,5
$DIVE,319
$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,-4999.6108
$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,36
$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
$GPS1,291212,073228,2403.710,-3752.412,16,1.0,17,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-49.2
$GPS2,291212,073642,2403.710,-3752.428,14,1.0,14,-14.1
$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,62.1,81976,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,103,0.00,0.00,-72.47,0.000,6,0.000,0.000,159,1505,3460,0,0,0,0,0,0,28.83,28.83,14.81
$GC,106,-0.60,-97.3,5.0,-8.2,5,120,10.12,1.83,0.00,0.000,4,0.425,0.052,1984,2580,3462,1,0,0,0,0,0,13.76,14.56,28.83
$GC,255,-0.58,-97.3,24.7,-8.8,15,259,0.00,1.90,0.00,0.000,6,0.000,0.063,1984,1509,3464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,554,-0.55,-97.3,51.7,-8.3,35,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.52,-97.3,76.6,-8.8,55,858,0.12,1.85,0.00,0.000,4,0.252,0.051,2008,2582,3464,0,0,0,0,0,0,14.23,14.56,28.83
$GC,929,-0.54,-97.3,82.6,-7.9,60,933,0.00,1.90,0.00,0.000,6,0.000,0.063,2005,1512,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1229,-0.54,-97.3,106.4,-7.9,80,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-0.54,-97.3,123.4,-4.7,100,1533,0.00,1.90,0.00,0.000,4,0.000,0.085,2008,466,3463,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1605,-0.52,-97.3,127.3,-5.3,105,1609,0.00,1.80,0.00,0.000,6,0.000,0.042,2000,1533,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1904,-0.52,-97.3,141.5,-5.5,125,1908,0.00,1.77,0.00,0.000,4,0.000,0.053,1992,2576,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2009,-0.52,-97.3,148.1,-6.6,132,2012,0.00,1.88,0.00,0.000,6,0.000,0.063,1993,1518,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2309,-0.52,-97.3,172.4,-8.1,152,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2609,-0.52,-97.3,196.9,-7.9,172,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-0.52,-97.3,220.2,-7.6,192,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.52,-97.3,243.4,-7.4,212,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3526,-0.52,-97.3,264.4,-6.2,226,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3825,-0.52,-97.3,281.9,-5.5,236,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4125,-0.52,-97.3,298.9,-5.8,246,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4425,-0.52,-97.3,318.1,-6.6,256,4428,0.00,1.80,0.00,0.000,4,0.000,0.054,1985,2576,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4499,-0.52,-97.3,323.2,-6.9,259,4504,0.15,1.85,0.00,0.000,6,0.226,0.065,2019,1522,3460,0,0,0,0,0,0,14.37,14.62,28.83
$GC,4817,-0.55,-97.3,342.4,-6.1,270,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5115,-0.57,-97.3,360.3,-6.0,280,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5415,-0.59,-97.3,378.2,-6.0,290,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.62,-97.3,396.9,-6.3,300,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6015,-0.64,-97.3,415.5,-6.0,310,6019,0.12,1.92,0.00,0.000,4,0.138,0.088,1973,460,3456,0,0,0,0,0,0,14.65,14.50,28.83
$GC,6073,-0.64,-97.3,419.1,-6.8,312,6077,0.00,1.80,0.00,0.000,6,0.000,0.044,1965,1521,3454,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6375,-0.62,-97.3,444.9,-8.3,322,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6675,-0.60,-97.3,469.9,-8.5,332,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,-0.59,-97.3,494.1,-7.8,342,6977,0.15,0.00,0.00,0.000,6,0.248,0.000,1998,1527,3453,0,0,0,0,0,0,14.39,28.83,28.83
$GC,7277,-0.60,-97.3,512.2,-5.7,352,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7575,-0.61,-97.3,528.2,-5.3,362,7579,0.00,1.80,0.00,0.000,4,0.000,0.056,1993,2574,3452,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7709,-0.63,-97.3,535.7,-5.7,367,7713,0.00,1.88,0.00,0.000,6,0.000,0.067,1993,1518,3451,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8025,-0.63,-97.3,555.3,-6.4,378,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,-0.63,-97.3,575.1,-6.6,388,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8625,-0.63,-97.3,594.2,-6.3,398,8629,0.00,1.92,0.00,0.000,4,0.000,0.090,1993,464,3448,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8683,-0.63,-97.3,597.1,-6.3,400,8687,0.00,1.80,0.00,0.000,6,0.000,0.046,1985,1521,3448,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8984,-0.63,-97.3,617.5,-6.5,410,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9285,-0.63,-97.3,637.8,-6.9,420,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9584,-0.63,-97.3,659.5,-7.4,430,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9885,-0.63,-97.3,681.0,-7.1,440,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10184,-0.63,-97.3,703.5,-7.7,450,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10484,-0.63,-97.3,727.6,-8.0,460,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10785,-0.63,-97.3,750.3,-7.4,470,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11084,-0.63,-97.3,771.6,-6.8,480,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11385,-0.63,-97.3,790.0,-5.9,490,11388,0.00,1.85,0.00,0.000,4,0.000,0.059,1977,2581,3439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11549,-0.63,-97.3,799.3,-5.6,496,11553,0.00,1.90,0.00,0.000,6,0.000,0.070,1977,1523,3439,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11867,-0.63,-97.3,816.3,-5.4,507,11871,0.00,1.95,0.00,0.000,4,0.000,0.092,1977,466,3437,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11953,-0.63,-97.3,820.9,-6.0,510,11957,0.00,1.83,0.00,0.000,6,0.000,0.048,1970,1518,3437,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12256,-0.63,-97.3,839.6,-6.0,520,12260,0.00,1.85,0.00,0.000,4,0.000,0.060,1962,2578,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12403,-0.63,-97.3,848.0,-6.3,525,12407,0.00,1.92,0.00,0.000,6,0.000,0.070,1962,1514,3436,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12706,-0.61,-97.3,870.1,-7.2,535,12709,0.00,1.88,0.00,0.000,4,0.000,0.060,1954,2580,3435,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12794,-0.61,-97.3,875.7,-7.4,538,12798,0.15,1.92,0.00,0.000,6,0.248,0.070,1986,1519,3435,0,0,0,0,0,0,14.10,14.43,28.83
$GC,13096,-0.61,-97.3,896.6,-6.5,548,13100,0.00,1.85,0.00,0.000,4,0.000,0.059,1980,2577,3434,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13200,-0.63,-97.3,903.2,-6.2,552,13204,0.00,1.92,0.00,0.000,6,0.000,0.072,1980,1519,3433,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13516,-0.63,-97.3,921.6,-5.6,563,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1519,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13816,-0.63,-97.3,937.6,-5.5,573,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14114,-0.63,-97.3,954.5,-5.9,583,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14415,-0.63,-97.3,972.9,-6.3,593,14419,0.00,1.98,0.00,0.000,4,0.000,0.097,1981,466,3430,0,0,0,0,0,0,28.83,14.24,28.83
$GC,14489,-0.63,-97.3,978.3,-7.0,596,14493,0.00,1.85,0.00,0.000,6,0.000,0.050,1973,1526,3430,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,14531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14532,begin apogee
$GC,14538,-0.18,0.0,981.3,-7.2,598,14663,0.57,0.00,115.72,2.013,6,0.206,0.000,2124,1399,3063,0,0,0,0,1,0,13.98,28.83,12.92
$STATE,14664,end apogee,CONTROL_FINISHED_OK
$STATE,14664,begin climb
$GC,14668,0.60,97.3,986.6,0.0,602,14807,0.80,1.95,127.57,1.980,4,0.121,0.059,2372,2463,2667,0,0,0,0,1,0,14.09,14.07,12.93
$GC,14865,0.61,246.2,989.8,-0.2,609,15058,0.00,1.98,182.50,2.035,6,0.000,0.076,2381,1395,2060,0,0,0,0,1,0,28.83,14.30,12.97
$GC,15374,0.58,246.2,957.7,7.4,626,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15675,0.55,246.2,936.2,7.2,636,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1395,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15974,0.52,246.2,913.3,7.8,646,15978,0.00,1.85,0.00,0.000,4,0.000,0.059,2381,2456,2050,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,28557,end climb,SURFACE_DEPTH_REACHED
$STATE,28557,begin surface coast
$FINISH,0.1,1.025371
$STATE,28573,end surface coast,CONTROL_FINISHED_OK
$STATE,28573,begin surface
$SM_CCo,28655,0.00,0.000,0,0,1514,379.72
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.72
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.50
$XPDR_PINGS,9
$SC_FREEKB,7647616
$TM_FREEKB,4674848
$24V_AH,12.9,152.076
$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
$DEVICE_SECS,19.850,120.700,610.850,0.000,0.000,0.000,0.000,0.000,2.250,0.000,15.386,3174.631,22358.514,847.240,1949.094,410.483,0.000,1817.769,0.000,1877.846,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28556.000,6392.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.070,13.084,0.000,0.000
$MEM,345636
$DATA_FILE_SIZE,43364,1175
$CAP_FILE_SIZE,247931,1
$CFSIZE,260034560,214499328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,6,2,0
$CURRENT,0.023,204.2,1
$GPS,291212,153604,2405.433,-3750.090,34,1.1,35,-14.0