version: 66.11
glider: 191
mission: 5
dive: 56
start: 10 1 112 21 30 3
data:
$ID,191
$MISSION,5
$DIVE,56
$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,-3871.2192
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,35
$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
$GPS1,011012,212005,2436.178,-3801.799,35,0.9,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.8
$GPS2,011012,212935,2436.217,-3801.856,20,0.9,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-3802.000
$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,9.9,66271,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.92,0.000,6,0.000,0.000,159,1508,3461,0,0,0,0,0,0,28.83,28.83,14.93
$GC,87,-0.60,-97.3,4.4,-9.4,4,101,9.27,1.80,0.00,0.000,4,0.424,0.057,1983,2556,3463,1,0,0,0,0,0,14.45,14.73,28.83
$GC,325,-0.52,-97.3,41.2,-12.8,20,330,0.15,1.85,0.00,0.000,6,0.263,0.070,2016,1497,3465,0,0,0,0,0,0,14.64,14.77,28.83
$GC,625,-0.47,-97.3,75.4,-10.8,40,629,0.00,1.80,0.00,0.000,4,0.000,0.059,2007,2560,3466,0,0,0,0,0,0,28.83,14.84,28.83
$GC,851,-0.44,-97.3,94.0,-7.0,55,855,0.15,1.85,0.00,0.000,6,0.243,0.071,2045,1495,3467,0,0,0,0,0,0,14.74,14.85,28.83
$GC,1150,-0.44,-97.3,117.7,-9.5,75,1153,0.00,1.80,0.00,0.000,4,0.000,0.059,2040,2557,3466,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1240,-0.44,-97.3,126.8,-10.1,81,1243,0.00,1.83,0.00,0.000,6,0.000,0.070,2040,1500,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1540,-0.44,-97.3,156.7,-9.0,101,1543,0.00,1.88,0.00,0.000,4,0.000,0.093,2039,444,3468,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1600,-0.42,-97.3,162.2,-9.2,105,1603,0.00,1.77,0.00,0.000,6,0.000,0.050,2032,1505,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1900,-0.41,-97.3,182.7,-6.5,125,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1506,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2199,-0.41,-97.3,203.0,-7.1,145,2203,0.00,1.77,0.00,0.000,4,0.000,0.061,2024,2562,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2350,-0.41,-97.3,215.1,-8.5,155,2354,0.12,1.85,0.00,0.000,6,0.239,0.072,2058,1496,3467,0,0,0,0,0,0,14.80,14.90,28.83
$GC,2650,-0.42,-97.3,237.0,-6.8,175,2654,0.00,1.88,0.00,0.000,4,0.000,0.093,2053,437,3466,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2755,-0.42,-97.3,244.7,-7.3,182,2759,0.00,1.77,0.00,0.000,6,0.000,0.050,2047,1498,3466,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3055,-0.42,-97.3,265.1,-6.7,195,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1499,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.43,-97.3,284.9,-6.4,205,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1499,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.43,-97.3,303.8,-6.3,215,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1499,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-0.44,-97.3,323.7,-6.7,225,3959,0.00,1.88,0.00,0.000,4,0.000,0.096,2047,443,3462,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4044,-0.44,-97.3,329.0,-7.0,228,4047,0.00,1.77,0.00,0.000,6,0.000,0.054,2040,1499,3462,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4345,-0.44,-97.3,350.7,-6.7,238,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1500,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.44,-97.3,369.6,-6.3,248,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1500,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4944,-0.44,-97.3,388.7,-6.3,258,4948,0.00,1.88,0.00,0.000,4,0.000,0.096,2040,446,3458,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5034,-0.44,-97.3,394.0,-6.9,261,5037,0.00,1.77,0.00,0.000,6,0.000,0.054,2032,1500,3456,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5334,-0.44,-97.3,415.0,-6.8,271,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1502,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,-0.44,-97.3,436.1,-7.1,281,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1502,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,-0.44,-97.3,457.4,-7.2,291,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1502,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,-0.44,-97.3,479.5,-7.3,301,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1502,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6535,-0.44,-97.3,500.2,-6.8,311,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1502,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6835,-0.44,-97.3,519.0,-6.1,321,6839,0.00,1.90,0.00,0.000,4,0.000,0.098,2031,439,3452,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6940,-0.44,-97.3,526.1,-6.7,325,6944,0.00,1.80,0.00,0.000,6,0.000,0.054,2023,1508,3452,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7255,-0.44,-97.3,545.8,-6.2,336,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1509,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7554,-0.44,-97.3,565.2,-6.6,346,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1509,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7855,-0.44,-97.3,585.2,-6.7,356,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1509,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-0.44,-97.3,602.9,-5.7,366,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1509,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,-0.44,-97.3,619.0,-5.2,376,8459,0.00,1.90,0.00,0.000,4,0.000,0.099,2024,446,3447,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8544,-0.44,-97.3,623.5,-5.8,379,8547,0.00,1.80,0.00,0.000,6,0.000,0.057,2016,1508,3446,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8844,-0.44,-97.3,643.9,-6.8,389,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1509,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9145,-0.44,-97.3,666.3,-7.6,399,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1509,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,-0.44,-97.3,690.7,-8.2,409,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1509,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9745,-0.44,-97.3,715.0,-8.1,419,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1509,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10044,-0.44,-97.3,737.0,-6.8,429,10048,0.00,1.92,0.00,0.000,4,0.000,0.101,2016,440,3441,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10134,-0.43,-97.3,742.2,-6.8,432,10138,0.15,1.80,0.00,0.000,6,0.257,0.059,2041,1497,3440,0,0,0,0,0,0,14.73,14.93,28.83
$GC,10436,-0.46,-97.3,753.8,-3.1,442,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1498,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10735,-0.48,-97.3,763.0,-3.2,452,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1498,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11036,-0.51,-97.3,774.7,-4.2,462,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1495,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11335,-0.54,-97.3,791.2,-5.9,472,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1498,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11635,-0.56,-97.3,810.6,-6.5,482,11637,0.12,0.00,0.00,0.000,6,0.145,0.000,1998,1499,3437,0,0,0,0,0,0,14.91,28.83,28.83
$GC,11935,-0.55,-97.3,834.3,-7.9,492,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1499,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12235,-0.55,-97.3,856.2,-7.0,502,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1499,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12534,-0.55,-97.3,875.2,-6.4,512,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1499,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12835,-0.54,-97.3,896.0,-7.3,522,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1499,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13135,-0.54,-97.3,920.5,-8.4,532,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1498,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13435,-0.54,-97.3,946.4,-8.7,542,13438,0.00,1.92,0.00,0.000,4,0.000,0.106,1998,443,3432,0,0,0,0,0,0,28.83,14.79,28.83
$GC,13554,-0.52,-97.3,956.3,-9.3,546,13559,0.12,1.83,0.00,0.000,6,0.271,0.062,2016,1500,3432,0,0,0,0,0,0,14.65,14.87,28.83
$GC,13855,-0.52,-97.3,977.1,-6.1,556,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1502,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13913,begin apogee
$GC,13917,-0.18,0.0,980.6,-5.9,558,14039,0.40,0.00,114.10,2.398,6,0.213,0.000,2128,1502,3062,0,0,0,0,1,0,14.67,28.83,13.24
$STATE,14041,end apogee,CONTROL_FINISHED_OK
$STATE,14041,begin climb
$GC,14043,0.60,97.3,982.7,0.0,562,14180,0.82,0.00,129.18,2.447,6,0.143,0.000,2377,1503,2665,0,0,0,0,1,0,14.12,28.83,13.19
$GC,14470,0.54,97.3,955.6,8.4,577,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1502,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14770,0.48,97.3,932.5,7.4,587,14772,0.12,0.00,0.00,0.000,6,0.291,0.000,2352,1503,2659,0,0,0,0,0,0,14.59,28.83,28.83
$GC,15071,0.46,103.6,914.7,5.8,597,15083,0.00,1.95,3.97,2.108,4,0.000,0.110,2358,448,2640,0,0,0,0,0,0,28.83,14.76,13.95
$GC,15190,0.41,103.6,907.4,6.1,601,15194,0.15,1.83,0.00,0.000,6,0.263,0.062,2325,1504,2640,0,0,0,0,0,0,14.68,14.81,28.83
$GC,15506,0.48,154.0,893.8,3.9,612,15587,0.00,0.00,74.10,2.140,6,0.000,0.000,2325,1504,2434,0,0,0,0,1,0,28.83,28.83,13.42
$GC,15866,0.52,187.6,877.8,4.6,624,15926,0.00,0.00,53.28,1.875,6,0.000,0.000,2325,1504,2297,0,0,0,0,1,0,28.83,28.83,13.46
$GC,16227,0.54,194.3,858.0,5.8,636,16235,0.12,0.00,5.40,2.221,6,0.151,0.000,2363,1504,2269,0,0,0,0,0,0,14.66,28.83,13.78
$GC,16526,0.51,194.3,831.0,9.7,646,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1504,2270,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27714,end climb,SURFACE_DEPTH_REACHED
$STATE,27715,begin surface coast
$FINISH,0.0,1.024452
$STATE,27730,end surface coast,CONTROL_FINISHED_OK
$STATE,27730,begin surface
$SM_CCo,27809,0.00,0.000,0,0,1632,350.53
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$TT8_MAMPS,0.023219,0.023219
$HUMID,45.66
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,27.00
$XPDR_PINGS,3
$SC_FREEKB,7748640
$TM_FREEKB,7395904
$24V_AH,13.2,28.903
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,19.450,118.800,579.675,0.000,0.000,0.000,0.000,338.950,0.750,0.000,21.168,3082.442,21952.635,815.037,2308.776,212.502,0.000,2085.206,0.000,1795.168,0.000,0.551,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.136,13.115,0.000,0.000
$MEM,344988
$DATA_FILE_SIZE,40011,1131
$CAP_FILE_SIZE,236234,0
$CFSIZE,260034560,250253312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.055,359.4,1
$GPS,021012,051435,2440.070,-3801.820,25,1.2,25,-14.0