version: 66.11
glider: 191
mission: 5
dive: 327
start: 1 1 113 1 9 58
data:
$ID,191
$MISSION,5
$DIVE,327
$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,-5009.7734
$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,51
$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
$GPS1,010113,005728,2420.127,-3733.382,38,1.1,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-57.9
$GPS2,010113,010929,2420.109,-3733.319,14,1.4,14,-13.9
$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,47.8,37764,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-56.97,0.000,6,0.000,0.000,161,1523,3461,0,0,0,0,0,0,28.83,28.83,14.73
$GC,89,-0.60,-97.3,4.8,-10.7,4,103,9.98,1.77,0.00,0.000,4,0.416,0.052,1984,2567,3463,1,0,0,0,0,0,13.74,14.54,28.83
$GC,313,-0.58,-97.3,32.7,-9.6,19,317,0.00,1.88,0.00,0.000,6,0.000,0.064,1984,1517,3465,0,0,0,0,0,0,28.83,14.36,28.83
$GC,612,-0.56,-97.3,60.3,-9.4,39,616,0.00,1.92,0.00,0.000,4,0.000,0.085,1984,461,3465,0,0,0,0,0,0,28.83,14.27,28.83
$GC,704,-0.52,-97.3,70.2,-11.1,45,709,0.17,1.77,0.00,0.000,6,0.236,0.042,2016,1510,3468,0,0,0,0,0,0,14.16,14.50,28.83
$GC,1002,-0.52,-97.3,94.3,-7.4,65,1005,0.00,1.83,0.00,0.000,4,0.000,0.054,2011,2576,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1093,-0.53,-97.3,101.0,-7.5,71,1097,0.00,1.88,0.00,0.000,6,0.000,0.063,2011,1520,3465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1392,-0.53,-97.3,122.7,-6.7,91,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.54,-97.3,140.6,-6.2,111,1696,0.00,1.80,0.00,0.000,4,0.000,0.052,2003,2574,3466,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1813,-0.56,-97.3,147.9,-6.2,119,1817,0.00,1.88,0.00,0.000,6,0.000,0.063,2003,1519,3467,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2112,-0.56,-97.3,166.4,-6.4,139,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.56,-97.3,186.5,-6.6,159,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,-0.56,-97.3,205.1,-5.9,179,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3012,-0.56,-97.3,221.5,-5.4,199,3016,0.00,1.83,0.00,0.000,4,0.000,0.052,1995,2580,3466,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3148,-0.58,-97.3,229.2,-6.0,208,3152,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1514,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3447,-0.58,-97.3,249.9,-6.8,228,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1513,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,-0.58,-97.3,269.2,-5.8,239,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4062,-0.58,-97.3,287.5,-6.3,249,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.58,-97.3,309.6,-7.9,259,4366,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2579,3464,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4511,-0.59,-97.3,321.1,-8.7,264,4515,0.00,1.88,0.00,0.000,6,0.000,0.063,1987,1518,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4813,-0.59,-97.3,350.2,-9.3,274,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-0.59,-97.3,376.0,-8.3,284,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5412,-0.59,-97.3,396.5,-6.3,294,5416,0.00,1.83,0.00,0.000,4,0.000,0.054,1979,2577,3461,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5518,-0.59,-97.3,403.2,-6.5,298,5522,0.00,1.88,0.00,0.000,6,0.000,0.064,1980,1517,3460,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5832,-0.59,-97.3,424.7,-7.0,309,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1517,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6133,-0.59,-97.3,445.5,-6.9,319,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,-0.59,-97.3,466.1,-6.6,329,6436,0.00,1.83,0.00,0.000,4,0.000,0.054,1969,2579,3459,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6597,-0.59,-97.3,477.0,-6.5,335,6601,0.00,1.88,0.00,0.000,6,0.000,0.065,1972,1520,3459,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6915,-0.58,-97.3,496.9,-6.1,346,6919,0.12,1.80,0.00,0.000,4,0.250,0.054,1993,2576,3458,0,0,0,0,0,0,14.45,14.66,28.83
$GC,7002,-0.58,-97.3,500.7,-5.3,349,7005,0.00,1.88,0.00,0.000,6,0.000,0.066,1993,1518,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7304,-0.58,-97.3,517.6,-5.6,359,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1517,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,-0.58,-97.3,535.0,-6.0,369,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7903,-0.58,-97.3,554.5,-6.8,379,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8202,-0.58,-97.3,575.7,-7.3,389,8206,0.00,1.83,0.00,0.000,4,0.000,0.055,1985,2576,3453,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8278,-0.59,-97.3,581.4,-7.5,392,8282,0.00,1.90,0.00,0.000,6,0.000,0.067,1985,1515,3454,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8593,-0.59,-97.3,607.8,-8.6,403,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1515,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,-0.59,-97.3,632.7,-8.0,413,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9194,-0.59,-97.3,653.1,-6.0,423,9197,0.00,1.85,0.00,0.000,4,0.000,0.057,1977,2579,3450,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9328,-0.59,-97.3,659.6,-4.7,428,9332,0.00,1.90,0.00,0.000,6,0.000,0.067,1977,1516,3450,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9644,-0.59,-97.3,674.4,-4.9,439,9647,0.00,1.92,0.00,0.000,4,0.000,0.090,1977,467,3448,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9702,-0.59,-97.3,676.9,-5.2,441,9706,0.00,1.80,0.00,0.000,6,0.000,0.047,1970,1521,3449,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10004,-0.59,-97.3,694.8,-6.0,451,10008,0.00,1.83,0.00,0.000,4,0.000,0.057,1962,2577,3447,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10229,-0.59,-97.3,711.0,-7.6,459,10234,0.15,1.90,0.00,0.000,6,0.237,0.068,1997,1515,3447,0,0,0,0,0,0,14.20,14.50,28.83
$GC,10545,-0.60,-97.3,734.7,-7.8,470,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10844,-0.62,-97.3,759.9,-8.5,480,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1515,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11143,-0.63,-97.3,783.8,-7.6,490,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1515,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11444,-0.65,-97.3,803.8,-6.1,500,11447,0.00,1.85,0.00,0.000,4,0.000,0.057,1989,2576,3442,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11532,-0.67,-97.3,808.2,-5.8,503,11536,0.00,1.90,0.00,0.000,6,0.000,0.070,1989,1522,3442,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11834,-0.67,-97.3,824.6,-5.0,513,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12133,-0.68,-97.3,837.4,-3.8,523,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12434,-0.69,-97.3,848.8,-3.8,533,12438,0.00,1.98,0.00,0.000,4,0.000,0.094,1990,461,3440,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12552,-0.69,-97.3,853.7,-4.7,537,12555,0.00,1.83,0.00,0.000,6,0.000,0.047,1981,1519,3439,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12853,-0.69,-97.3,870.0,-5.5,547,12857,0.00,1.85,0.00,0.000,4,0.000,0.059,1973,2578,3438,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13033,-0.70,-97.3,880.7,-6.7,553,13036,0.00,1.92,0.00,0.000,6,0.000,0.070,1974,1516,3437,0,0,0,0,0,0,28.83,14.41,28.83
$GC,13332,-0.70,-97.3,905.3,-8.2,563,13336,0.00,1.88,0.00,0.000,4,0.000,0.059,1966,2579,3437,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13439,-0.70,-97.3,914.2,-8.4,567,13443,0.00,1.92,0.00,0.000,6,0.000,0.070,1966,1522,3434,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13753,-0.70,-97.3,941.7,-8.7,578,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14053,-0.70,-97.3,966.1,-8.0,588,14057,0.00,1.98,0.00,0.000,4,0.000,0.095,1966,465,3435,0,0,0,0,0,0,28.83,14.22,28.83
$GC,14112,-0.69,-97.3,969.7,-7.9,590,14116,0.00,1.83,0.00,0.000,6,0.000,0.050,1955,1518,3434,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,14230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14230,begin apogee
$GC,14237,-0.18,0.0,980.1,-7.7,594,14365,0.65,0.00,116.53,1.994,6,0.213,0.000,2128,1392,3062,0,0,0,0,1,0,13.93,28.83,12.93
$STATE,14367,end apogee,CONTROL_FINISHED_OK
$STATE,14367,begin climb
$GC,14370,0.60,97.3,984.6,0.0,598,14508,0.82,2.05,126.68,1.948,4,0.117,0.100,2389,344,2666,0,0,0,0,1,0,14.14,14.04,12.93
$GC,14729,0.52,104.2,977.0,5.8,611,14742,0.12,1.85,5.57,2.031,6,0.284,0.049,2362,1413,2638,0,0,0,0,0,0,14.23,14.54,13.24
$GC,15059,0.51,142.0,961.1,4.5,622,15131,0.00,2.03,59.62,1.688,4,0.000,0.103,2368,350,2483,0,0,0,0,1,0,28.83,14.26,13.16
$GC,15358,0.46,142.0,944.0,6.2,632,15362,0.00,1.83,0.00,0.000,6,0.000,0.049,2368,1407,2479,0,0,0,0,0,0,28.83,14.57,28.83
$GC,15676,0.43,157.0,927.2,5.4,643,15717,0.15,0.00,33.15,1.253,6,0.266,0.000,2337,1408,2421,0,0,0,0,1,0,14.30,28.83,13.31
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$STATE,28047,end climb,SURFACE_DEPTH_REACHED
$STATE,28047,begin surface coast
$FINISH,-0.1,1.025479
$STATE,28063,end surface coast,CONTROL_FINISHED_OK
$STATE,28063,begin surface
$SM_CCo,28146,0.00,0.000,0,0,1578,364.03
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$IRIDIUM_FIX,2406.29,-3734.26,311212,161626
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.80
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.40
$XPDR_PINGS,7
$SC_FREEKB,7644544
$TM_FREEKB,4592448
$24V_AH,12.9,155.919
$10V_AH,13.0,0.000
$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,19.300,116.925,645.250,0.000,0.000,0.000,0.000,384.725,1.750,0.000,16.243,3176.264,21809.541,873.769,2430.680,559.703,0.000,2246.488,0.000,1910.451,0.000,0.549,0.000
$DEVICE_MAMPS,416.160,109.395,2031.075,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28112.000,6553.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.089,13.027,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,43350,1159
$CAP_FILE_SIZE,238454,0
$CFSIZE,260034560,213397504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.046,151.1,1
$GPS,010113,090023,2421.980,-3730.945,37,0.8,37,-13.9