version: 66.11
glider: 191
mission: 5
dive: 339
start: 1 5 113 1 59 12
data:
$ID,191
$MISSION,5
$DIVE,339
$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,-5025.2451
$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,22
$R_STBD_OVSHOOT,46
$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
$GPS1,050113,014634,2446.991,-3730.225,38,0.8,38,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-59.7
$GPS2,050113,015841,2446.993,-3730.267,16,0.9,17,-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,326.4,69293,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-58.22,0.000,6,0.000,0.000,161,1514,3461,0,0,0,0,0,0,28.83,28.83,14.76
$GC,91,-0.60,-97.3,4.4,-8.8,4,107,10.23,1.80,0.00,0.000,4,0.428,0.050,1982,2572,3466,1,0,0,0,0,0,13.75,14.56,28.83
$GC,330,-0.58,-97.3,30.6,-8.4,20,334,0.00,1.90,0.00,0.000,6,0.000,0.064,1981,1512,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,629,-0.56,-97.3,56.9,-8.9,40,633,0.00,1.85,0.00,0.000,4,0.000,0.052,1974,2577,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,795,-0.54,-97.3,71.8,-9.0,51,799,0.15,1.90,0.00,0.000,6,0.229,0.063,2007,1511,3465,0,0,0,0,0,0,14.16,14.41,28.83
$GC,1094,-0.54,-97.3,93.3,-6.2,71,1097,0.00,1.92,0.00,0.000,4,0.000,0.086,2008,462,3466,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1155,-0.53,-97.3,97.4,-6.9,75,1159,0.00,1.77,0.00,0.000,6,0.000,0.041,2004,1515,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1455,-0.53,-97.3,114.6,-5.5,95,1458,0.00,1.83,0.00,0.000,4,0.000,0.053,1994,2579,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1560,-0.53,-97.3,120.6,-5.6,102,1563,0.00,1.88,0.00,0.000,6,0.000,0.063,1994,1521,3467,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1860,-0.53,-97.3,141.6,-7.7,122,1864,0.00,1.83,0.00,0.000,4,0.000,0.052,1986,2580,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2009,-0.53,-97.3,153.0,-7.6,132,2013,0.12,1.90,0.00,0.000,6,0.231,0.063,2013,1510,3465,0,0,0,0,0,0,14.26,14.48,28.83
$GC,2309,-0.55,-97.3,173.3,-6.5,152,2313,0.00,1.90,0.00,0.000,4,0.000,0.086,2013,468,3466,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2414,-0.55,-97.3,180.5,-6.8,159,2417,0.00,1.77,0.00,0.000,6,0.000,0.041,2008,1519,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2714,-0.56,-97.3,198.9,-6.2,179,2718,0.00,1.80,0.00,0.000,4,0.000,0.052,2000,2575,3470,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2820,-0.57,-97.3,206.0,-6.9,186,2824,0.00,1.88,0.00,0.000,6,0.000,0.063,2000,1514,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3119,-0.57,-97.3,228.1,-7.4,206,3123,0.00,1.83,0.00,0.000,4,0.000,0.052,1992,2577,3466,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3225,-0.59,-97.3,236.0,-7.8,213,3229,0.00,1.88,0.00,0.000,6,0.000,0.063,1992,1519,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3539,-0.59,-97.3,260.0,-7.6,230,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-0.59,-97.3,280.7,-6.7,240,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.59,-97.3,300.2,-6.5,250,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4439,-0.59,-97.3,319.0,-6.2,260,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-0.59,-97.3,338.3,-6.7,270,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-0.59,-97.3,360.3,-7.5,280,5042,0.00,1.83,0.00,0.000,4,0.000,0.054,1985,2578,3462,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5144,-0.59,-97.3,368.6,-7.9,284,5148,0.00,1.88,0.00,0.000,6,0.000,0.064,1985,1521,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5459,-0.59,-97.3,392.7,-7.5,295,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5759,-0.59,-97.3,413.4,-6.6,305,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6060,-0.59,-97.3,433.1,-6.5,315,6064,0.00,1.83,0.00,0.000,4,0.000,0.054,1977,2579,3460,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6148,-0.59,-97.3,437.7,-6.3,318,6151,0.00,1.88,0.00,0.000,6,0.000,0.065,1977,1520,3459,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6450,-0.59,-97.3,458.8,-6.8,328,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6749,-0.59,-97.3,480.3,-7.3,338,6752,0.00,1.83,0.00,0.000,4,0.000,0.054,1969,2579,3458,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6824,-0.59,-97.3,486.2,-7.8,341,6829,0.12,1.90,0.00,0.000,6,0.234,0.066,1996,1515,3458,0,0,0,0,0,0,14.28,14.53,28.83
$GC,7144,-0.60,-97.3,508.9,-7.1,352,7151,0.00,1.92,0.00,0.000,4,0.000,0.089,1996,461,3457,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7230,-0.60,-97.3,515.8,-7.7,355,7234,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1522,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7545,-0.60,-97.3,537.7,-6.9,366,7548,0.00,1.83,0.00,0.000,4,0.000,0.056,1983,2578,3455,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7663,-0.60,-97.3,545.0,-7.0,370,7667,0.00,1.88,0.00,0.000,6,0.000,0.066,1983,1522,3455,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7965,-0.60,-97.3,568.1,-7.4,380,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-0.60,-97.3,591.7,-8.0,390,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8564,-0.60,-97.3,613.9,-7.1,400,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8865,-0.60,-97.3,632.2,-5.8,410,8869,0.00,1.95,0.00,0.000,4,0.000,0.090,1984,461,3451,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8939,-0.60,-97.3,637.0,-6.3,413,8943,0.00,1.83,0.00,0.000,6,0.000,0.045,1975,1529,3451,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9255,-0.60,-97.3,655.6,-5.6,424,9259,0.00,1.83,0.00,0.000,4,0.000,0.057,1967,2581,3450,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9403,-0.60,-97.3,662.6,-5.2,429,9408,0.12,1.90,0.00,0.000,6,0.239,0.067,1993,1521,3449,0,0,0,0,0,0,14.14,14.34,28.83
$GC,9708,-0.61,-97.3,677.7,-4.9,439,9711,0.00,1.95,0.00,0.000,4,0.000,0.092,1993,464,3448,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9765,-0.61,-97.3,680.3,-5.3,441,9769,0.00,1.83,0.00,0.000,6,0.000,0.046,1988,1526,3448,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10064,-0.61,-97.3,699.1,-6.1,451,10068,0.00,1.83,0.00,0.000,4,0.000,0.057,1980,2577,3447,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10275,-0.62,-97.3,711.9,-6.6,458,10279,0.00,1.90,0.00,0.000,6,0.000,0.069,1980,1521,3446,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10575,-0.62,-97.3,733.9,-7.0,468,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1518,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10875,-0.62,-97.3,754.8,-6.8,478,10879,0.00,1.95,0.00,0.000,4,0.000,0.093,1979,469,3444,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10919,-0.62,-97.3,758.2,-7.0,480,10923,0.00,1.83,0.00,0.000,6,0.000,0.047,1973,1524,3444,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11234,-0.62,-97.3,779.0,-6.3,491,11238,0.00,1.85,0.00,0.000,4,0.000,0.059,1965,2584,3443,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11370,-0.62,-97.3,787.6,-6.4,496,11374,0.00,1.92,0.00,0.000,6,0.000,0.070,1965,1521,3443,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11687,-0.61,-97.3,809.2,-6.9,507,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11986,-0.60,-97.3,830.4,-7.2,517,11988,0.12,0.00,0.00,0.000,6,0.259,0.000,1990,1520,3443,0,0,0,0,0,0,14.29,28.83,28.83
$GC,12285,-0.61,-97.3,851.1,-7.1,527,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12586,-0.62,-97.3,872.5,-7.1,537,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12885,-0.63,-97.3,892.3,-6.4,547,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13187,-0.65,-97.3,909.5,-5.5,557,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13485,-0.66,-97.3,925.7,-5.4,567,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13786,-0.67,-97.3,943.5,-6.0,577,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14085,-0.69,-97.3,962.5,-6.4,587,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14382,begin apogee
$GC,14390,-0.18,0.0,980.6,-5.8,597,14518,0.50,0.00,116.72,1.981,6,0.197,0.000,2127,1391,3062,0,0,0,0,1,0,13.98,28.83,12.90
$STATE,14520,end apogee,CONTROL_FINISHED_OK
$STATE,14520,begin climb
$GC,14523,0.60,97.3,984.1,0.0,601,14662,0.82,2.05,127.72,1.958,4,0.115,0.102,2388,345,2665,0,0,0,0,1,0,14.14,14.04,12.93
$GC,14881,0.51,97.3,972.4,6.8,614,14885,0.15,1.85,0.00,0.000,6,0.273,0.050,2359,1411,2660,0,0,0,0,0,0,14.21,14.52,28.83
$GC,15199,0.49,118.8,954.8,5.1,625,15246,0.00,0.00,39.85,1.395,6,0.000,0.000,2359,1411,2577,0,0,0,0,1,0,28.83,28.83,13.23
$GC,15529,0.50,166.2,939.7,4.0,636,15607,0.00,0.00,70.85,1.775,6,0.000,0.000,2359,1411,2384,0,0,0,0,1,0,28.83,28.83,13.08
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$STATE,28348,end climb,SURFACE_DEPTH_REACHED
$STATE,28348,begin surface coast
$FINISH,0.5,1.025566
$STATE,28367,end surface coast,CONTROL_FINISHED_OK
$STATE,28367,begin surface
$SM_CCo,28447,0.00,0.000,0,0,1599,358.87
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$IRIDIUM_FIX,2437.06,-3727.32,040113,171726
$TT8_MAMPS,0.02247,0.02247
$HUMID,53.58
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,26.40
$XPDR_PINGS,8
$SC_FREEKB,7639936
$TM_FREEKB,4467168
$24V_AH,12.9,161.511
$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,19.700,131.950,687.850,0.000,0.000,0.000,0.000,380.675,2.000,0.000,18.259,3216.055,21968.041,954.641,2421.174,599.572,0.000,2318.585,0.000,1897.512,0.000,0.549,0.000
$DEVICE_MAMPS,428.400,111.690,1980.585,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.327,13.005,0.000,0.000
$MEM,345620
$DATA_FILE_SIZE,43331,1172
$CAP_FILE_SIZE,245504,0
$CFSIZE,260034560,211767296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,2,0
$CURRENT,0.024,296.9,1
$GPS,050113,095434,2449.434,-3732.914,33,0.8,33,-13.8