version: 66.11
glider: 191
mission: 5
dive: 337
start: 1 4 113 9 44 59
data:
$ID,191
$MISSION,5
$DIVE,337
$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,-5022.6328
$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,25
$R_STBD_OVSHOOT,49
$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
$GPS1,040113,092958,2442.011,-3725.143,35,0.8,36,-13.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.7
$GPS2,040113,094429,2442.003,-3725.226,16,1.2,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,327.8,81794,-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,-60.42,0.000,6,0.000,0.000,161,1519,3459,0,0,0,0,0,0,28.83,28.83,14.76
$GC,91,-0.60,-97.3,4.1,-8.1,4,105,9.98,1.92,0.00,0.000,4,0.418,0.073,1995,457,3462,1,0,0,0,0,0,13.81,14.44,28.83
$GC,328,-0.56,-97.3,32.1,-8.4,20,332,0.00,1.80,0.00,0.000,6,0.000,0.044,1990,1510,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,628,-0.54,-97.3,59.1,-8.9,40,632,0.00,1.95,0.00,0.000,4,0.000,0.087,1990,458,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,734,-0.51,-97.3,69.0,-9.5,47,738,0.17,1.83,0.00,0.000,6,0.236,0.043,2022,1524,3464,0,0,0,0,0,0,14.21,14.55,28.83
$GC,1034,-0.51,-97.3,88.0,-6.0,67,1037,0.00,1.83,0.00,0.000,4,0.000,0.054,2017,2580,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1123,-0.53,-97.3,93.6,-6.2,73,1127,0.00,1.88,0.00,0.000,6,0.000,0.063,2017,1518,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1423,-0.53,-97.3,114.1,-7.3,93,1427,0.00,1.83,0.00,0.000,4,0.000,0.052,2009,2577,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1559,-0.54,-97.3,124.3,-7.5,102,1562,0.00,1.88,0.00,0.000,6,0.000,0.063,2009,1521,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1858,-0.54,-97.3,144.0,-6.2,122,1862,0.00,1.92,0.00,0.000,4,0.000,0.084,2009,463,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2070,-0.54,-97.3,158.1,-6.5,136,2073,0.00,1.80,0.00,0.000,6,0.000,0.041,2001,1526,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2369,-0.54,-97.3,175.8,-6.3,156,2373,0.00,1.80,0.00,0.000,4,0.000,0.053,1993,2576,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2488,-0.54,-97.3,184.3,-7.3,164,2492,0.00,1.88,0.00,0.000,6,0.000,0.062,1993,1520,3464,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2788,-0.54,-97.3,208.8,-8.3,184,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,-0.54,-97.3,233.5,-8.0,204,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3404,-0.54,-97.3,256.4,-7.0,222,3408,0.00,1.90,0.00,0.000,4,0.000,0.085,1993,466,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3463,-0.54,-97.3,259.7,-7.2,224,3466,0.00,1.77,0.00,0.000,6,0.000,0.043,1985,1521,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3763,-0.54,-97.3,281.2,-6.7,234,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-0.54,-97.3,301.5,-6.8,244,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.54,-97.3,323.3,-7.5,254,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4664,-0.54,-97.3,345.5,-7.3,264,4667,0.00,1.80,0.00,0.000,4,0.000,0.054,1978,2579,3461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4783,-0.54,-97.3,353.0,-7.2,268,4788,0.12,1.88,0.00,0.000,6,0.236,0.063,2007,1514,3460,0,0,0,0,0,0,14.33,14.59,28.83
$GC,5086,-0.56,-97.3,372.0,-5.7,278,5089,0.00,1.90,0.00,0.000,4,0.000,0.087,2007,463,3459,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5159,-0.56,-97.3,376.6,-6.0,281,5162,0.00,1.80,0.00,0.000,6,0.000,0.042,2002,1526,3459,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5473,-0.56,-97.3,394.1,-5.7,292,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1527,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5774,-0.57,-97.3,412.6,-6.2,302,5778,0.00,1.80,0.00,0.000,4,0.000,0.054,1994,2575,3458,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5848,-0.59,-97.3,417.3,-6.3,305,5852,0.00,1.88,0.00,0.000,6,0.000,0.065,1994,1518,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6163,-0.59,-97.3,438.5,-6.8,316,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6464,-0.59,-97.3,460.0,-7.3,326,6467,0.00,1.90,0.00,0.000,4,0.000,0.087,1994,467,3456,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6552,-0.59,-97.3,466.3,-8.2,329,6556,0.00,1.80,0.00,0.000,6,0.000,0.044,1987,1526,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6854,-0.59,-97.3,491.6,-8.0,339,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1527,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7153,-0.59,-97.3,516.0,-8.1,349,7157,0.00,1.80,0.00,0.000,4,0.000,0.055,1979,2577,3454,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7228,-0.59,-97.3,521.7,-7.8,352,7232,0.00,1.88,0.00,0.000,6,0.000,0.067,1979,1521,3454,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7544,-0.59,-97.3,544.3,-6.8,363,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7843,-0.59,-97.3,563.7,-6.4,373,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8144,-0.59,-97.3,582.8,-6.4,383,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,-0.59,-97.3,602.0,-6.5,393,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,-0.59,-97.3,621.4,-6.4,403,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9044,-0.59,-97.3,639.8,-6.1,413,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9343,-0.59,-97.3,658.8,-6.5,423,9347,0.00,1.95,0.00,0.000,4,0.000,0.090,1979,460,3448,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9479,-0.57,-97.3,668.7,-7.4,428,9484,0.15,1.83,0.00,0.000,6,0.242,0.045,2004,1520,3447,0,0,0,0,0,0,14.21,14.58,28.83
$GC,9796,-0.59,-97.3,688.0,-6.3,439,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10094,-0.61,-97.3,706.2,-6.0,449,10098,0.00,1.83,0.00,0.000,4,0.000,0.057,1998,2575,3445,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10183,-0.64,-97.3,710.3,-5.6,452,10187,0.00,1.90,0.00,0.000,6,0.000,0.069,1998,1521,3444,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10486,-0.65,-97.3,727.0,-5.1,462,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10784,-0.67,-97.3,742.4,-5.2,472,10788,0.00,1.95,0.00,0.000,4,0.000,0.092,1998,464,3443,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10872,-0.67,-97.3,747.3,-6.2,475,10876,0.00,1.83,0.00,0.000,6,0.000,0.046,1990,1520,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11174,-0.67,-97.3,767.3,-6.5,485,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,-0.67,-97.3,789.4,-7.7,495,11476,0.00,1.85,0.00,0.000,4,0.000,0.058,1983,2578,3440,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11533,-0.68,-97.3,793.0,-7.8,497,11537,0.00,1.92,0.00,0.000,6,0.000,0.070,1983,1515,3440,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11834,-0.68,-97.3,819.2,-8.4,507,11837,0.00,1.95,0.00,0.000,4,0.000,0.092,1983,463,3439,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11923,-0.68,-97.3,826.1,-9.0,510,11927,0.00,1.83,0.00,0.000,6,0.000,0.046,1975,1521,3439,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12224,-0.68,-97.3,850.9,-7.3,520,12228,0.00,1.85,0.00,0.000,4,0.000,0.058,1967,2578,3438,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12358,-0.68,-97.3,859.7,-6.6,525,12362,0.00,1.92,0.00,0.000,6,0.000,0.070,1967,1519,3438,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12677,-0.68,-97.3,877.9,-5.3,536,12680,0.00,1.88,0.00,0.000,4,0.000,0.060,1959,2580,3437,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12809,-0.68,-97.3,885.1,-5.4,541,12812,0.00,1.92,0.00,0.000,6,0.000,0.070,1960,1520,3436,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13127,-0.66,-97.3,903.5,-6.1,552,13131,0.00,1.88,0.00,0.000,4,0.000,0.059,1952,2579,3435,0,0,0,0,0,0,28.83,14.41,28.83
$GC,13200,-0.65,-97.3,908.4,-6.4,555,13203,0.00,1.95,0.00,0.000,6,0.000,0.070,1951,1512,3435,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13519,-0.64,-97.3,932.7,-8.4,566,13520,0.12,0.00,0.00,0.000,6,0.267,0.000,1976,1511,3435,0,0,0,0,0,0,14.23,28.83,28.83
$GC,13814,-0.64,-97.3,958.6,-9.0,576,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1511,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14082,begin apogee
$GC,14090,-0.18,0.0,981.8,-8.4,585,14216,0.55,0.00,115.07,1.990,6,0.203,0.000,2125,1395,3062,0,0,0,0,1,0,13.96,28.83,12.92
$STATE,14218,end apogee,CONTROL_FINISHED_OK
$STATE,14218,begin climb
$GC,14221,0.60,97.3,988.4,0.0,589,14359,0.82,2.05,126.95,1.952,4,0.113,0.100,2387,347,2666,0,0,0,0,1,0,14.14,14.05,12.95
$GC,14580,0.53,113.4,983.8,5.4,602,14624,0.00,1.85,33.80,1.248,6,0.000,0.049,2387,1414,2601,0,0,0,0,1,0,28.83,14.54,13.23
$GC,14940,0.46,113.4,959.0,7.4,614,14945,0.20,2.00,0.00,0.000,4,0.264,0.099,2349,346,2599,0,0,0,0,0,0,14.24,14.45,28.83
$GC,15045,0.41,113.4,951.5,7.1,618,15048,0.00,1.83,0.00,0.000,6,0.000,0.049,2350,1404,2598,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,28019,end climb,SURFACE_DEPTH_REACHED
$STATE,28019,begin surface coast
$FINISH,0.6,1.025377
$STATE,28035,end surface coast,CONTROL_FINISHED_OK
$STATE,28035,begin surface
$SM_CCo,28116,0.00,0.000,0,0,1613,355.44
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$IRIDIUM_FIX,2434.69,-3723.99,040113,090936
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.13
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,9
$SC_FREEKB,7640704
$TM_FREEKB,4488128
$24V_AH,12.9,160.549
$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
$DEVICE_SECS,19.850,143.550,658.950,0.000,0.000,0.000,0.000,462.850,2.250,0.000,17.750,3211.117,21707.992,932.021,2498.210,619.798,0.000,2379.696,0.000,1902.454,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28082.000,6541.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.305,12.995,0.000,0.000
$MEM,345600
$DATA_FILE_SIZE,43333,1163
$CAP_FILE_SIZE,248312,0
$CFSIZE,260034560,212033536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,2,0
$CURRENT,0.017,315.6,1
$GPS,040113,173458,2444.406,-3727.745,40,0.8,40,-13.8