version: 66.11
glider: 191
mission: 5
dive: 351
start: 1 9 113 2 24 16
data:
$ID,191
$MISSION,5
$DIVE,351
$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,-5040.6357
$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,47
$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
$GPS1,090113,021134,2510.582,-3802.884,32,0.9,32,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-58.8
$GPS2,090113,022347,2510.556,-3802.873,15,0.8,16,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,219.2,93157,-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,-60.95,0.000,2,0.000,0.000,162,1521,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.9,-8.1,4,107,10.07,1.83,-0.93,0.000,4,0.415,0.083,1984,2569,3462,1,0,0,0,0,0,13.78,14.52,14.72
$GC,328,-0.60,-97.3,26.5,-7.8,20,332,0.00,1.90,0.00,0.000,6,0.000,0.066,1984,1515,3464,0,0,0,0,0,0,28.83,14.27,28.83
$GC,629,-0.58,-97.3,52.8,-8.9,40,632,0.00,1.83,0.00,0.000,4,0.000,0.052,1976,2567,3464,0,0,0,0,0,0,28.83,14.36,28.83
$GC,749,-0.56,-97.3,63.5,-9.0,48,753,0.12,1.88,0.00,0.000,6,0.244,0.064,2001,1520,3464,0,0,0,0,0,0,14.14,14.38,28.83
$GC,1048,-0.56,-97.3,86.7,-7.6,68,1051,0.00,1.92,0.00,0.000,4,0.000,0.088,2002,467,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1140,-0.55,-97.3,94.5,-8.8,74,1143,0.00,1.80,0.00,0.000,6,0.000,0.044,1996,1520,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1439,-0.55,-97.3,119.8,-8.7,94,1442,0.00,1.83,0.00,0.000,4,0.000,0.053,1988,2579,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1514,-0.55,-97.3,125.7,-7.9,99,1517,0.00,1.90,0.00,0.000,6,0.000,0.064,1988,1514,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1814,-0.54,-97.3,147.0,-6.2,119,1818,0.00,1.85,0.00,0.000,4,0.000,0.052,1981,2579,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1903,-0.54,-97.3,152.6,-6.4,125,1908,0.15,1.90,0.00,0.000,6,0.228,0.063,2013,1514,3465,0,0,0,0,0,0,14.12,14.38,28.83
$GC,2205,-0.55,-97.3,166.4,-4.1,145,2208,0.00,1.92,0.00,0.000,4,0.000,0.086,2013,461,3465,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2293,-0.55,-97.3,171.1,-5.6,151,2297,0.00,1.80,0.00,0.000,6,0.000,0.041,2008,1527,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2593,-0.55,-97.3,188.6,-6.2,171,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1528,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.56,-97.3,205.5,-5.2,191,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1528,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.57,-97.3,222.4,-6.0,211,3197,0.00,1.80,0.00,0.000,4,0.000,0.053,2000,2578,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3300,-0.59,-97.3,229.7,-7.2,218,3303,0.00,1.88,0.00,0.000,6,0.000,0.064,2000,1520,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3598,-0.59,-97.3,252.7,-7.7,237,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3899,-0.59,-97.3,274.6,-7.0,247,3902,0.00,1.92,0.00,0.000,4,0.000,0.086,2000,460,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3987,-0.59,-97.3,279.9,-7.0,250,3990,0.00,1.80,0.00,0.000,6,0.000,0.043,1992,1529,3464,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4289,-0.59,-97.3,299.2,-5.7,260,4293,0.00,1.77,0.00,0.000,4,0.000,0.054,1985,2578,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4377,-0.59,-97.3,303.6,-6.0,263,4381,0.00,1.88,0.00,0.000,6,0.000,0.064,1985,1516,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4678,-0.59,-97.3,323.5,-6.4,273,4682,0.00,1.92,0.00,0.000,4,0.000,0.087,1985,458,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4738,-0.58,-97.3,326.7,-6.8,275,4742,0.00,1.80,0.00,0.000,6,0.000,0.044,1977,1518,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5038,-0.57,-97.3,349.7,-7.2,285,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5339,-0.56,-97.3,370.7,-7.0,295,5344,0.12,1.95,0.00,0.000,4,0.250,0.088,2003,463,3461,0,0,0,0,0,0,14.38,14.45,28.83
$GC,5397,-0.56,-97.3,373.8,-7.0,297,5401,0.00,1.80,0.00,0.000,6,0.000,0.044,1998,1526,3461,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5699,-0.56,-97.3,392.6,-5.8,307,5702,0.00,1.80,0.00,0.000,4,0.000,0.055,1990,2576,3460,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5805,-0.57,-97.3,398.6,-5.8,311,5809,0.00,1.88,0.00,0.000,6,0.000,0.066,1990,1520,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6118,-0.57,-97.3,418.0,-6.3,322,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-0.57,-97.3,440.7,-8.1,332,6422,0.00,1.83,0.00,0.000,4,0.000,0.055,1983,2577,3458,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6507,-0.57,-97.3,447.2,-8.5,335,6511,0.00,1.88,0.00,0.000,6,0.000,0.067,1988,1521,3458,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6808,-0.57,-97.3,470.8,-6.7,345,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,-0.57,-97.3,486.9,-5.0,355,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,-0.57,-97.3,503.7,-6.1,365,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.57,-97.3,525.2,-7.6,375,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8008,-0.57,-97.3,548.6,-7.6,385,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.57,-97.3,570.5,-7.2,395,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8608,-0.57,-97.3,590.4,-6.5,405,8611,0.00,1.85,0.00,0.000,4,0.000,0.057,1975,2580,3452,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8667,-0.57,-97.3,593.7,-7.0,407,8671,0.12,1.90,0.00,0.000,6,0.235,0.067,2001,1518,3452,0,0,0,0,0,0,14.19,14.50,28.83
$GC,8972,-0.59,-97.3,613.7,-6.2,417,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1518,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,-0.61,-97.3,631.0,-5.6,427,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,-0.62,-97.3,647.5,-5.7,437,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9868,-0.64,-97.3,669.6,-8.3,447,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10169,-0.66,-97.3,696.8,-8.9,457,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10469,-0.67,-97.3,717.2,-5.7,467,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10770,-0.69,-97.3,729.7,-4.0,477,10772,0.12,0.00,0.00,0.000,6,0.146,0.000,1960,1518,3446,0,0,0,0,0,0,14.61,28.83,28.83
$GC,11068,-0.67,-97.3,749.5,-7.4,487,11072,0.00,1.95,0.00,0.000,4,0.000,0.093,1960,467,3445,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11127,-0.65,-97.3,753.4,-8.1,489,11131,0.00,1.83,0.00,0.000,6,0.000,0.048,1952,1521,3444,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11432,-0.63,-97.3,782.3,-9.0,499,11436,0.15,1.85,0.00,0.000,4,0.255,0.058,1979,2579,3443,0,0,0,0,0,0,14.21,14.45,28.83
$GC,11504,-0.63,-97.3,788.4,-8.1,502,11508,0.00,1.92,0.00,0.000,6,0.000,0.070,1978,1520,3443,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11821,-0.63,-97.3,809.3,-6.2,513,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12120,-0.63,-97.3,827.0,-6.0,523,12124,0.00,1.88,0.00,0.000,4,0.000,0.060,1971,2581,3442,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12195,-0.63,-97.3,831.8,-6.4,526,12199,0.00,1.92,0.00,0.000,6,0.000,0.070,1971,1520,3441,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12510,-0.63,-97.3,856.9,-8.5,537,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12810,-0.63,-97.3,882.8,-8.4,547,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13111,-0.63,-97.3,903.3,-6.0,557,13114,0.00,1.88,0.00,0.000,4,0.000,0.060,1963,2579,3438,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13229,-0.63,-97.3,908.6,-5.1,561,13233,0.00,1.95,0.00,0.000,6,0.000,0.071,1963,1514,3438,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13533,-0.62,-97.3,924.1,-5.3,571,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1513,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13830,-0.61,-97.3,943.8,-7.3,581,13832,0.12,0.00,0.00,0.000,6,0.265,0.000,1988,1514,3436,0,0,0,0,0,0,14.22,28.83,28.83
$GC,14131,-0.62,-97.3,965.3,-7.1,591,14132,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1514,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14367,begin apogee
$GC,14374,-0.18,0.0,981.7,-6.6,599,14502,0.50,0.00,116.88,1.935,6,0.198,0.000,2124,1398,3062,0,0,0,0,1,0,13.97,28.83,12.92
$STATE,14504,end apogee,CONTROL_FINISHED_OK
$STATE,14504,begin climb
$GC,14508,0.60,97.3,986.6,0.0,603,14647,0.82,2.05,127.75,1.906,4,0.117,0.103,2386,348,2666,0,0,0,0,1,0,14.16,14.07,12.95
$GC,14866,0.53,116.0,980.1,5.3,616,14913,0.00,1.85,37.10,1.308,6,0.000,0.050,2385,1411,2589,0,0,0,0,1,0,28.83,14.54,13.19
$GC,15212,0.48,128.6,960.6,5.5,627,15254,0.17,1.95,31.15,1.154,4,0.271,0.099,2354,346,2537,0,0,0,0,1,0,14.24,14.46,13.27
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$STATE,27030,end climb,SURFACE_DEPTH_REACHED
$STATE,27030,begin surface coast
$FINISH,0.1,1.025623
$STATE,27047,end surface coast,CONTROL_FINISHED_OK
$STATE,27047,begin surface
$SM_CCo,27128,0.00,0.000,0,0,1366,416.27
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$IRIDIUM_FIX,2505.59,-3801.27,080113,181846
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.44
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.70
$XPDR_PINGS,12
$SC_FREEKB,7635328
$TM_FREEKB,4342912
$24V_AH,12.9,167.197
$10V_AH,13.1,0.000
$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,20.125,128.550,762.825,0.000,0.000,0.000,0.000,387.325,3.000,0.000,16.554,3065.291,20826.146,1009.320,2342.403,600.677,0.000,2352.961,0.000,1825.410,0.000,0.548,0.000
$DEVICE_MAMPS,415.395,117.810,1935.450,0.000,0.000,0.000,0.000,175.950,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27094.000,6329.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.269,13.035,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,40084,1112
$CAP_FILE_SIZE,238651,0
$CFSIZE,260034560,210161664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.053,296.9,1
$GPS,090113,095734,2508.239,-3805.270,27,0.8,27,-13.9