version: 66.11
glider: 191
mission: 5
dive: 370
start: 1 15 113 12 35 48
data:
$ID,191
$MISSION,5
$DIVE,370
$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,-5065.5781
$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,50
$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
$GPS1,150113,122254,2430.842,-3837.186,37,1.8,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-50.8
$GPS2,150113,123517,2430.891,-3837.096,14,1.1,15,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,143.4,88779,-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,-60.72,0.000,2,0.000,0.000,162,1524,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-97.3,3.3,-6.0,4,109,9.88,1.83,-2.70,0.000,4,0.408,0.084,1981,2564,3461,0,0,0,0,0,0,14.00,14.50,14.76
$GC,329,-0.58,-97.3,28.1,-8.5,20,333,0.00,1.88,0.00,0.000,6,0.000,0.064,1982,1517,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,629,-0.56,-97.3,56.7,-8.8,40,630,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,929,-0.53,-97.3,82.8,-8.7,60,930,0.15,0.00,0.00,0.000,6,0.237,0.000,2015,1516,3463,0,0,0,0,0,0,14.21,28.83,28.83
$GC,1230,-0.53,-97.3,106.0,-7.6,80,1233,0.00,1.83,0.00,0.000,4,0.000,0.052,2010,2573,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1304,-0.55,-97.3,111.4,-7.2,85,1307,0.00,1.88,0.00,0.000,6,0.000,0.062,2010,1520,3463,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1604,-0.55,-97.3,128.7,-5.0,105,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-0.55,-97.3,146.7,-6.6,125,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,-0.55,-97.3,164.5,-6.0,145,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2504,-0.56,-97.3,183.8,-6.8,165,2507,0.00,1.92,0.00,0.000,4,0.000,0.086,2010,466,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2623,-0.56,-97.3,193.1,-7.7,173,2627,0.00,1.77,0.00,0.000,6,0.000,0.042,2003,1511,3464,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2923,-0.56,-97.3,215.4,-7.3,193,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-0.56,-97.3,235.4,-6.3,213,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3523,-0.56,-97.3,254.6,-6.4,231,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-0.56,-97.3,273.1,-6.2,241,3828,0.00,1.83,0.00,0.000,4,0.000,0.053,1995,2580,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3913,-0.57,-97.3,278.1,-6.6,244,3916,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1519,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4214,-0.57,-97.3,301.1,-7.4,254,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-0.57,-97.3,321.3,-6.4,264,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.57,-97.3,339.5,-6.0,274,4818,0.00,1.92,0.00,0.000,4,0.000,0.087,1995,461,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4890,-0.57,-97.3,344.5,-6.5,277,4893,0.00,1.80,0.00,0.000,6,0.000,0.043,1987,1520,3461,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5203,-0.57,-97.3,364.7,-6.5,288,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5503,-0.57,-97.3,385.8,-7.3,298,5507,0.00,1.83,0.00,0.000,4,0.000,0.054,1979,2581,3460,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5579,-0.57,-97.3,391.3,-7.4,301,5583,0.00,1.88,0.00,0.000,6,0.000,0.065,1979,1520,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5893,-0.57,-97.3,417.5,-8.5,312,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,-0.57,-97.3,441.8,-7.9,322,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,-0.57,-97.3,461.5,-6.1,332,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6794,-0.57,-97.3,479.2,-5.9,342,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7094,-0.57,-97.3,498.8,-7.0,352,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7393,-0.57,-97.3,520.8,-7.5,362,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7694,-0.57,-97.3,541.9,-6.9,372,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,-0.57,-97.3,562.7,-6.9,382,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8293,-0.57,-97.3,582.5,-6.5,392,8297,0.00,1.95,0.00,0.000,4,0.000,0.091,1979,463,3452,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8353,-0.57,-97.3,585.7,-6.8,394,8358,0.15,1.83,0.00,0.000,6,0.236,0.044,2004,1525,3451,0,0,0,0,0,0,14.20,14.57,28.83
$GC,8656,-0.59,-97.3,603.1,-5.3,404,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8955,-0.61,-97.3,620.7,-6.1,414,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1525,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9254,-0.63,-97.3,639.4,-6.1,424,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1526,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9555,-0.65,-97.3,656.6,-5.6,434,9559,0.00,1.98,0.00,0.000,4,0.000,0.092,2005,463,3447,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9643,-0.66,-97.3,661.4,-6.3,437,9646,0.00,1.83,0.00,0.000,6,0.000,0.046,2000,1518,3447,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9945,-0.68,-97.3,682.0,-6.7,447,9948,0.00,1.85,0.00,0.000,4,0.000,0.057,1992,2580,3446,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10033,-0.70,-97.3,687.2,-7.0,450,10037,0.00,1.90,0.00,0.000,6,0.000,0.067,1992,1521,3446,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10333,-0.70,-97.3,710.4,-7.4,460,10337,0.00,1.98,0.00,0.000,4,0.000,0.093,1992,459,3445,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10409,-0.70,-97.3,716.4,-7.8,463,10413,0.00,1.85,0.00,0.000,6,0.000,0.047,1984,1524,3444,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10723,-0.70,-97.3,737.5,-6.1,474,10727,0.00,1.85,0.00,0.000,4,0.000,0.058,1976,2580,3443,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10830,-0.70,-97.3,743.3,-5.5,478,10834,0.00,1.92,0.00,0.000,6,0.000,0.068,1976,1514,3443,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11146,-0.70,-97.3,758.1,-4.5,489,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11444,-0.70,-97.3,774.6,-5.8,499,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1514,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11744,-0.70,-97.3,793.7,-6.6,509,11748,0.00,1.95,0.00,0.000,4,0.000,0.094,1976,467,3440,0,0,0,0,0,0,28.83,14.22,28.83
$GC,11832,-0.70,-97.3,799.5,-7.3,512,11836,0.00,1.85,0.00,0.000,6,0.000,0.048,1968,1527,3440,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12134,-0.70,-97.3,823.3,-7.8,522,12138,0.00,1.85,0.00,0.000,4,0.000,0.058,1961,2580,3439,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12223,-0.70,-97.3,829.5,-8.0,525,12226,0.00,1.92,0.00,0.000,6,0.000,0.067,1961,1521,3438,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12525,-0.69,-97.3,855.2,-7.9,535,12528,0.00,1.98,0.00,0.000,4,0.000,0.094,1961,464,3437,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12583,-0.67,-97.3,858.9,-8.0,537,12586,0.00,1.85,0.00,0.000,6,0.000,0.048,1953,1520,3438,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12886,-0.65,-97.3,882.0,-6.9,547,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1523,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13185,-0.64,-97.3,900.3,-5.9,557,13187,0.12,0.00,0.00,0.000,6,0.262,0.000,1978,1523,3436,0,0,0,0,0,0,14.21,28.83,28.83
$GC,13484,-0.64,-97.3,917.0,-5.9,567,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13784,-0.64,-97.3,937.9,-7.6,577,13785,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14083,-0.64,-97.3,962.6,-8.5,587,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14291,begin apogee
$GC,14299,-0.18,0.0,980.4,-8.4,594,14427,0.55,0.00,116.00,1.950,6,0.199,0.000,2126,1398,3063,0,0,0,0,1,0,13.90,28.83,12.92
$STATE,14428,end apogee,CONTROL_FINISHED_OK
$STATE,14428,begin climb
$GC,14431,0.60,97.3,987.8,0.0,598,14570,0.82,2.05,127.00,1.914,4,0.112,0.102,2389,349,2667,0,0,0,0,1,0,14.16,14.07,12.97
$GC,14789,0.59,168.3,989.3,3.1,611,14895,0.00,1.85,96.47,1.850,6,0.000,0.049,2389,1415,2375,0,0,0,0,1,0,28.83,14.52,13.04
$GC,15194,0.54,168.3,964.6,7.3,624,15198,0.00,2.00,0.00,0.000,4,0.000,0.101,2397,349,2369,0,0,0,0,0,0,28.83,14.42,28.83
$GC,15343,0.46,168.3,952.7,8.8,629,15348,0.22,1.83,0.00,0.000,6,0.254,0.050,2346,1406,2368,0,0,0,0,0,0,14.22,14.59,28.83
$GC,15647,0.44,168.3,929.5,7.2,639,15648,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1407,2366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15944,0.43,168.3,908.3,6.8,649,15948,0.00,1.83,0.00,0.000,4,0.000,0.059,2346,2448,2365,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,28621,end climb,SURFACE_DEPTH_REACHED
$STATE,28621,begin surface coast
$FINISH,0.1,1.025409
$STATE,28637,end surface coast,CONTROL_FINISHED_OK
$STATE,28637,begin surface
$SM_CCo,28717,0.00,0.000,0,0,1602,358.14
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$IRIDIUM_FIX,2422.84,-3840.70,150113,040407
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.52
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,2
$SC_FREEKB,7628032
$TM_FREEKB,4142048
$24V_AH,12.9,176.188
$10V_AH,12.6,0.000
$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,19.550,128.975,695.175,0.000,0.000,0.000,0.000,383.025,0.500,0.000,16.122,3273.009,22097.611,944.601,2478.541,649.022,0.000,2345.351,0.000,1961.936,0.000,0.549,0.000
$DEVICE_MAMPS,407.745,110.925,1949.985,0.000,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28686.000,6965.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.279,13.014,0.000,0.000
$MEM,345608
$DATA_FILE_SIZE,43320,1192
$CAP_FILE_SIZE,249820,0
$CFSIZE,260034560,207536128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$CURRENT,0.007,301.7,1
$GPS,150113,203535,2428.875,-3834.756,27,1.0,27,-14.2