version: 66.11
glider: 191
mission: 5
dive: 371
start: 1 15 113 20 48 43
data:
$ID,191
$MISSION,5
$DIVE,371
$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,-5066.9287
$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,43
$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
$GPS1,150113,203535,2428.875,-3834.756,27,1.0,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.4
$GPS2,150113,204812,2428.908,-3834.725,20,1.0,21,-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,148.8,83345,-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,26,-0.60,-97.3,0.0,0.0,0,89,0.00,0.00,-60.75,0.000,2,0.000,0.000,158,1513,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-97.3,3.5,-7.7,4,110,10.00,1.85,-2.25,0.000,4,0.415,0.083,1980,2572,3461,1,0,0,0,0,0,13.69,14.50,14.75
$GC,258,-0.58,-97.3,22.3,-8.5,15,262,0.00,1.90,0.00,0.000,6,0.000,0.063,1983,1511,3463,0,0,0,0,0,0,28.83,14.41,28.83
$GC,555,-0.55,-97.3,48.2,-8.3,35,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-0.53,-97.3,75.7,-9.0,55,860,0.15,1.85,0.00,0.000,4,0.238,0.051,2011,2578,3463,0,0,0,0,0,0,14.17,14.48,28.83
$GC,930,-0.54,-97.3,82.0,-8.0,60,934,0.00,1.90,0.00,0.000,6,0.000,0.061,2011,1512,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1230,-0.54,-97.3,105.4,-7.5,80,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.54,-97.3,126.7,-7.0,100,1534,0.00,1.90,0.00,0.000,4,0.000,0.084,2016,467,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1695,-0.54,-97.3,139.4,-7.5,111,1698,0.00,1.80,0.00,0.000,6,0.000,0.041,2003,1524,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1995,-0.54,-97.3,160.5,-6.5,131,1998,0.00,1.80,0.00,0.000,4,0.000,0.052,1995,2578,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2115,-0.54,-97.3,167.7,-5.7,139,2119,0.00,1.88,0.00,0.000,6,0.000,0.062,1996,1521,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2415,-0.54,-97.3,186.5,-6.3,159,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.54,-97.3,207.6,-7.3,179,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-0.54,-97.3,229.3,-7.1,199,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3315,-0.54,-97.3,248.3,-5.9,219,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.54,-97.3,266.9,-6.3,231,3633,0.00,1.92,0.00,0.000,4,0.000,0.085,1996,459,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3706,-0.54,-97.3,272.7,-7.3,234,3710,0.00,1.80,0.00,0.000,6,0.000,0.042,1987,1524,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4020,-0.54,-97.3,296.4,-7.5,245,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-0.54,-97.3,317.0,-6.6,255,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.54,-97.3,336.6,-6.7,265,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4920,-0.54,-97.3,357.6,-7.2,275,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-0.54,-97.3,377.6,-6.3,285,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-0.54,-97.3,395.0,-5.7,295,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5821,-0.54,-97.3,411.9,-5.5,305,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1526,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,-0.54,-97.3,428.2,-5.7,315,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1526,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6421,-0.54,-97.3,447.0,-6.6,325,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1526,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-0.54,-97.3,470.0,-8.1,335,6723,0.00,1.80,0.00,0.000,4,0.000,0.054,1980,2576,3457,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6809,-0.54,-97.3,476.4,-8.5,338,6814,0.15,1.88,0.00,0.000,6,0.223,0.065,2013,1521,3456,0,0,0,0,0,0,14.23,14.51,28.83
$GC,7113,-0.56,-97.3,502.7,-8.5,348,7117,0.00,1.92,0.00,0.000,4,0.000,0.089,2014,465,3455,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7186,-0.58,-97.3,509.8,-9.2,351,7190,0.00,1.80,0.00,0.000,6,0.000,0.044,2009,1524,3455,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7503,-0.60,-97.3,536.2,-8.0,362,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7801,-0.62,-97.3,556.3,-6.1,372,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1525,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,-0.64,-97.3,572.1,-5.2,382,8106,0.00,1.95,0.00,0.000,4,0.000,0.089,2009,465,3452,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8206,-0.65,-97.3,578.4,-6.0,386,8210,0.00,1.80,0.00,0.000,6,0.000,0.045,2001,1518,3452,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8523,-0.67,-97.3,597.5,-6.3,397,8527,0.00,1.83,0.00,0.000,4,0.000,0.055,1994,2577,3451,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8581,-0.69,-97.3,600.5,-6.6,399,8584,0.00,1.90,0.00,0.000,6,0.000,0.067,1994,1517,3450,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8881,-0.70,-97.3,622.9,-7.1,409,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1517,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,-0.70,-97.3,642.3,-6.2,419,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1517,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,-0.70,-97.3,660.2,-6.1,429,9484,0.00,1.95,0.00,0.000,4,0.000,0.090,1993,463,3447,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9556,-0.70,-97.3,665.5,-6.8,432,9559,0.00,1.83,0.00,0.000,6,0.000,0.044,1986,1526,3447,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9871,-0.70,-97.3,688.2,-7.7,443,9875,0.00,1.83,0.00,0.000,4,0.000,0.057,1978,2578,3446,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9990,-0.71,-97.3,696.5,-7.9,447,9993,0.00,1.90,0.00,0.000,6,0.000,0.067,1978,1523,3446,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10292,-0.71,-97.3,717.9,-6.0,457,10295,0.00,1.95,0.00,0.000,4,0.000,0.090,1978,464,3445,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10380,-0.70,-97.3,722.6,-6.1,460,10383,0.00,1.83,0.00,0.000,6,0.000,0.045,1971,1522,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10682,-0.70,-97.3,740.7,-5.9,470,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1523,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10980,-0.70,-97.3,760.0,-6.7,480,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1523,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11281,-0.70,-97.3,782.7,-7.8,490,11284,0.00,1.85,0.00,0.000,4,0.000,0.058,1963,2579,3442,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11416,-0.70,-97.3,793.4,-8.0,495,11420,0.00,1.92,0.00,0.000,6,0.000,0.068,1963,1517,3441,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11733,-0.68,-97.3,817.9,-7.6,506,11737,0.00,1.98,0.00,0.000,4,0.000,0.092,1963,458,3440,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11807,-0.66,-97.3,824.0,-7.9,509,11810,0.00,1.85,0.00,0.000,6,0.000,0.046,1955,1523,3439,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12123,-0.65,-97.3,845.0,-6.3,520,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1525,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12422,-0.63,-97.3,863.9,-6.4,530,12426,0.12,1.85,0.00,0.000,4,0.262,0.058,1975,2578,3438,0,0,0,0,0,0,14.26,14.40,28.83
$GC,12526,-0.63,-97.3,870.2,-6.0,534,12530,0.00,1.92,0.00,0.000,6,0.000,0.070,1976,1521,3438,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12841,-0.63,-97.3,891.2,-6.8,545,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13140,-0.63,-97.3,911.5,-6.6,555,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13441,-0.63,-97.3,929.7,-5.8,565,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13742,-0.63,-97.3,943.7,-4.3,575,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14041,-0.63,-97.3,957.0,-4.7,585,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14341,-0.63,-97.3,973.8,-6.1,595,14345,0.00,2.00,0.00,0.000,4,0.000,0.096,1976,463,3432,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,14442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14443,begin apogee
$GC,14451,-0.18,0.0,981.2,-7.1,599,14578,0.60,0.00,114.90,1.939,6,0.209,0.000,2124,1411,3063,0,0,0,0,1,0,13.83,28.83,12.93
$STATE,14579,end apogee,CONTROL_FINISHED_OK
$STATE,14579,begin climb
$GC,14583,0.60,97.3,986.5,0.0,603,14722,0.82,2.08,126.95,1.919,4,0.114,0.099,2387,344,2665,0,0,0,0,1,0,14.16,14.08,12.95
$GC,14942,0.60,171.6,985.9,2.9,616,15052,0.00,1.85,99.85,1.859,6,0.000,0.048,2387,1411,2362,0,0,0,0,1,0,28.83,14.54,13.02
$GC,15346,0.57,191.6,967.4,5.2,629,15393,0.00,2.03,37.40,1.331,4,0.000,0.100,2394,346,2282,0,0,0,0,1,0,28.83,14.39,13.23
$GC,15512,0.51,191.6,957.0,6.4,634,15516,0.17,1.83,0.00,0.000,6,0.252,0.050,2356,1403,2279,0,0,0,0,0,0,14.22,14.52,28.83
$GC,15828,0.51,207.3,940.5,5.4,645,15872,0.00,1.85,34.08,1.252,4,0.000,0.060,2356,2450,2217,0,0,0,0,1,0,28.83,14.53,13.27
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$STATE,28513,end climb,SURFACE_DEPTH_REACHED
$STATE,28513,begin surface coast
$FINISH,0.3,1.025426
$STATE,28529,end surface coast,CONTROL_FINISHED_OK
$STATE,28529,begin surface
$SM_CCo,28611,0.00,0.000,0,0,1574,365.01
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$IRIDIUM_FIX,2422.84,-3837.37,150113,121249
$TT8_MAMPS,0.02247,0.02247
$HUMID,54.68
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,5
$SC_FREEKB,7627648
$TM_FREEKB,4131904
$24V_AH,12.9,176.681
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,19.475,131.900,702.075,0.000,0.000,0.000,0.000,391.650,1.250,0.000,21.733,3222.727,22066.596,962.979,2455.086,644.044,0.000,2356.650,0.000,1928.422,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28578.000,6498.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.281,13.004,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43323,1175
$CAP_FILE_SIZE,248084,0
$CFSIZE,260034560,207392768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.032,338.5,1
$GPS,160113,044652,2427.237,-3832.507,36,0.9,36,-14.2