version: 66.11
glider: 191
mission: 5
dive: 338
start: 1 4 113 17 47 37
data:
$ID,191
$MISSION,5
$DIVE,338
$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,-5023.8921
$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,48
$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
$GPS1,040113,173458,2444.406,-3727.745,40,0.8,40,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.6
$GPS2,040113,174706,2444.472,-3727.760,17,1.4,18,-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,328.0,75561,-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,25,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-60.95,0.000,2,0.000,0.000,154,1519,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.9,-7.5,4,107,10.18,1.92,-0.70,0.000,4,0.426,0.104,1995,461,3461,1,0,0,0,0,0,13.76,14.47,14.72
$GC,329,-0.57,-97.3,29.9,-8.8,20,332,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1516,3462,0,0,0,0,0,0,28.83,14.40,28.83
$GC,628,-0.55,-97.3,52.9,-7.3,40,630,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1517,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.53,-97.3,75.0,-7.1,60,929,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1517,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.51,-97.3,97.1,-7.6,80,1231,0.12,0.00,0.00,0.000,6,0.252,0.000,2016,1518,3463,0,0,0,0,0,0,14.35,28.83,28.83
$GC,1528,-0.53,-97.3,115.3,-6.2,100,1532,0.00,1.92,0.00,0.000,4,0.000,0.086,2017,464,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1621,-0.53,-97.3,121.6,-7.2,106,1624,0.00,1.80,0.00,0.000,6,0.000,0.041,2011,1528,3462,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1919,-0.54,-97.3,141.1,-6.3,126,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1530,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-0.55,-97.3,161.1,-7.6,146,2222,0.00,1.80,0.00,0.000,4,0.000,0.053,2003,2578,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2339,-0.57,-97.3,170.4,-8.0,154,2343,0.00,1.88,0.00,0.000,6,0.000,0.062,2003,1518,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2638,-0.57,-97.3,192.6,-6.8,174,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,-0.57,-97.3,209.7,-5.5,194,2942,0.00,1.90,0.00,0.000,4,0.000,0.085,2003,466,3462,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2999,-0.57,-97.3,213.3,-6.0,198,3002,0.00,1.77,0.00,0.000,6,0.000,0.042,1996,1520,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3299,-0.57,-97.3,230.2,-5.5,218,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3599,-0.57,-97.3,248.7,-6.7,238,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.57,-97.3,271.2,-7.6,249,3901,0.00,1.80,0.00,0.000,4,0.000,0.054,1987,2578,3462,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4033,-0.57,-97.3,281.3,-7.5,254,4037,0.00,1.88,0.00,0.000,6,0.000,0.064,1987,1516,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4349,-0.57,-97.3,305.0,-7.5,265,4352,0.00,1.90,0.00,0.000,4,0.000,0.086,1988,464,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4424,-0.55,-97.3,310.9,-7.9,268,4429,0.12,1.77,0.00,0.000,6,0.241,0.043,2006,1520,3460,0,0,0,0,0,0,14.35,14.67,28.83
$GC,4741,-0.57,-97.3,329.9,-5.8,279,4744,0.00,1.80,0.00,0.000,4,0.000,0.054,2001,2579,3459,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4843,-0.59,-97.3,336.2,-6.0,283,4847,0.00,1.88,0.00,0.000,6,0.000,0.064,2001,1516,3459,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5161,-0.60,-97.3,357.0,-7.0,294,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1515,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.60,-97.3,379.8,-7.8,304,5462,0.00,1.83,0.00,0.000,4,0.000,0.054,1993,2579,3458,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5564,-0.61,-97.3,388.4,-8.2,308,5568,0.00,1.88,0.00,0.000,6,0.000,0.064,1993,1519,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5878,-0.61,-97.3,414.7,-8.2,319,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,-0.61,-97.3,436.0,-6.6,329,6182,0.00,1.92,0.00,0.000,4,0.000,0.087,1994,460,3456,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6238,-0.61,-97.3,439.1,-6.5,331,6242,0.00,1.80,0.00,0.000,6,0.000,0.044,1985,1523,3456,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6538,-0.61,-97.3,457.9,-5.8,341,6542,0.00,1.80,0.00,0.000,4,0.000,0.056,1978,2576,3455,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6645,-0.61,-97.3,464.2,-6.0,345,6648,0.00,1.88,0.00,0.000,6,0.000,0.066,1977,1518,3455,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6958,-0.61,-97.3,485.3,-7.1,356,6961,0.00,1.92,0.00,0.000,4,0.000,0.087,1978,458,3454,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7034,-0.60,-97.3,491.6,-8.1,359,7037,0.00,1.83,0.00,0.000,6,0.000,0.044,1970,1528,3454,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7351,-0.58,-97.3,517.2,-8.3,370,7355,0.12,1.80,0.00,0.000,4,0.250,0.056,1991,2577,3453,0,0,0,0,0,0,14.43,14.59,28.83
$GC,7528,-0.60,-97.3,529.8,-7.6,376,7532,0.00,1.88,0.00,0.000,6,0.000,0.067,1991,1520,3452,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7829,-0.60,-97.3,553.1,-7.3,386,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,-0.60,-97.3,575.5,-7.6,396,8132,0.00,1.92,0.00,0.000,4,0.000,0.088,1991,464,3451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8189,-0.60,-97.3,579.3,-8.0,398,8192,0.00,1.80,0.00,0.000,6,0.000,0.044,1983,1523,3450,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8488,-0.60,-97.3,603.2,-7.5,408,8492,0.00,1.83,0.00,0.000,4,0.000,0.057,1975,2580,3450,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8623,-0.60,-97.3,613.7,-7.7,413,8627,0.00,1.90,0.00,0.000,6,0.000,0.067,1975,1513,3449,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8939,-0.60,-97.3,638.1,-7.6,424,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1513,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9239,-0.60,-97.3,660.6,-7.5,434,9242,0.00,1.92,0.00,0.000,4,0.000,0.089,1976,463,3447,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9299,-0.59,-97.3,664.3,-7.9,436,9303,0.12,1.80,0.00,0.000,6,0.249,0.044,1993,1520,3446,0,0,0,0,0,0,14.24,14.59,28.83
$GC,9601,-0.60,-97.3,685.6,-6.6,446,9604,0.00,1.83,0.00,0.000,4,0.000,0.057,1988,2576,3446,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9675,-0.61,-97.3,690.4,-6.4,449,9678,0.00,1.90,0.00,0.000,6,0.000,0.068,1988,1516,3445,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9989,-0.61,-97.3,710.2,-6.2,460,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1516,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10289,-0.61,-97.3,728.3,-6.0,470,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1516,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10589,-0.61,-97.3,747.5,-6.5,480,10593,0.00,1.85,0.00,0.000,4,0.000,0.057,1980,2578,3443,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10708,-0.62,-97.3,754.8,-7.0,484,10712,0.00,1.90,0.00,0.000,6,0.000,0.070,1980,1521,3442,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11009,-0.62,-97.3,778.1,-7.3,494,11013,0.00,1.95,0.00,0.000,4,0.000,0.092,1981,465,3442,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11068,-0.62,-97.3,781.7,-7.5,496,11072,0.00,1.83,0.00,0.000,6,0.000,0.047,1973,1526,3441,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11368,-0.62,-97.3,803.7,-6.8,506,11372,0.00,1.83,0.00,0.000,4,0.000,0.059,1971,2577,3439,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11458,-0.62,-97.3,808.9,-6.9,509,11462,0.00,1.90,0.00,0.000,6,0.000,0.070,1965,1522,3439,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11759,-0.62,-97.3,830.4,-6.7,519,11762,0.00,1.95,0.00,0.000,4,0.000,0.093,1965,466,3439,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11879,-0.60,-97.3,838.2,-7.5,523,11883,0.15,1.83,0.00,0.000,6,0.252,0.047,1989,1521,3438,0,0,0,0,0,0,14.10,14.52,28.83
$GC,12181,-0.61,-97.3,858.7,-6.6,533,12185,0.00,1.85,0.00,0.000,4,0.000,0.059,1983,2579,3435,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12299,-0.63,-97.3,865.9,-6.9,537,12303,0.00,1.92,0.00,0.000,6,0.000,0.070,1982,1515,3437,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12598,-0.63,-97.3,890.0,-7.8,547,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1515,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12899,-0.63,-97.3,912.8,-7.4,557,12903,0.00,1.88,0.00,0.000,4,0.000,0.058,1975,2579,3435,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13003,-0.63,-97.3,920.4,-7.3,561,13007,0.00,1.92,0.00,0.000,6,0.000,0.068,1975,1515,3435,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13319,-0.63,-97.3,941.3,-6.4,572,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1514,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13620,-0.63,-97.3,959.1,-5.6,582,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1514,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13919,-0.63,-97.3,975.4,-5.4,592,13923,0.00,1.88,0.00,0.000,4,0.000,0.061,1968,2577,3432,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,14022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14022,begin apogee
$GC,14031,-0.18,0.0,981.3,-5.7,596,14157,0.57,0.00,115.53,1.956,6,0.210,0.000,2122,1401,3062,0,0,0,0,1,0,13.86,28.83,12.92
$STATE,14159,end apogee,CONTROL_FINISHED_OK
$STATE,14159,begin climb
$GC,14161,0.60,97.3,984.9,0.0,600,14300,0.85,2.05,127.18,1.934,4,0.118,0.099,2390,346,2665,0,0,0,0,1,0,14.14,14.05,12.96
$GC,14519,0.56,144.3,979.6,4.1,613,14598,0.00,1.85,69.03,1.732,6,0.000,0.047,2391,1420,2473,0,0,0,0,1,0,28.83,14.54,13.08
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$STATE,28557,end climb,SURFACE_DEPTH_REACHED
$STATE,28557,begin surface coast
$FINISH,0.1,1.016656
$STATE,28577,end surface coast,CONTROL_FINISHED_OK
$STATE,28577,begin surface
$SM_CCo,28657,0.00,0.000,0,0,1721,328.95
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$IRIDIUM_FIX,2434.69,-3725.87,040113,090946
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.78
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.60
$XPDR_PINGS,7
$SC_FREEKB,7640320
$TM_FREEKB,4477472
$24V_AH,12.9,161.017
$10V_AH,10.6,0.000
$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,19.925,128.025,627.400,0.000,0.000,0.000,0.000,385.100,1.750,0.000,19.087,3291.565,22113.217,879.939,2490.586,593.385,0.000,2278.492,0.000,1976.284,0.000,0.547,0.000
$DEVICE_MAMPS,426.105,116.280,1956.105,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28624.000,6840.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.252,13.011,0.000,0.000
$MEM,345568
$DATA_FILE_SIZE,43333,1188
$CAP_FILE_SIZE,247774,0
$CFSIZE,260034560,211898368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.021,325.7,1
$GPS,050113,014634,2446.991,-3730.225,38,0.8,38,-13.8