version: 66.11
glider: 191
mission: 5
dive: 384
start: 1 20 113 7 13 47
data:
$ID,191
$MISSION,5
$DIVE,384
$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,-5084.2314
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,200113,070035,2405.923,-3811.092,33,0.8,33,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-48.7
$GPS2,200113,071317,2405.992,-3811.055,14,1.3,15,-14.1
$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,157.7,25049,-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,-97.3,0.0,0.0,0,102,0.00,0.00,-70.32,0.000,6,0.000,0.000,152,1508,3461,0,0,0,0,0,0,28.83,28.83,14.71
$GC,105,-0.60,-97.3,4.9,-8.0,5,120,10.23,1.88,0.00,0.000,4,0.418,0.073,1996,460,3461,1,0,0,0,0,0,13.64,14.43,28.83
$GC,239,-0.57,-97.3,22.0,-8.5,14,243,0.00,1.85,0.00,0.000,6,0.000,0.044,1991,1531,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,539,-0.55,-97.3,48.3,-8.3,34,543,0.00,1.83,0.00,0.000,4,0.000,0.054,1983,2579,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,629,-0.53,-97.3,55.3,-8.0,40,634,0.15,1.90,0.00,0.000,6,0.230,0.062,2016,1516,3465,0,0,0,0,0,0,14.11,14.39,28.83
$GC,928,-0.53,-97.3,75.7,-6.7,60,932,0.00,1.95,0.00,0.000,4,0.000,0.085,2016,464,3465,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1004,-0.53,-97.3,81.4,-7.8,65,1007,0.00,1.83,0.00,0.000,6,0.000,0.043,2010,1525,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1303,-0.53,-97.3,103.2,-7.7,85,1306,0.00,1.83,0.00,0.000,4,0.000,0.054,2003,2578,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1454,-0.55,-97.3,114.5,-7.5,95,1458,0.00,1.90,0.00,0.000,6,0.000,0.063,2002,1512,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1753,-0.55,-97.3,137.9,-7.7,115,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.55,-97.3,163.8,-9.3,135,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-0.55,-97.3,190.4,-8.4,155,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1511,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-0.55,-97.3,213.0,-7.0,175,2657,0.00,1.85,0.00,0.000,4,0.000,0.053,1995,2578,3465,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2759,-0.56,-97.3,220.4,-7.0,182,2763,0.00,1.88,0.00,0.000,6,0.000,0.063,1995,1522,3466,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3059,-0.56,-97.3,243.3,-8.3,202,3063,0.00,1.95,0.00,0.000,4,0.000,0.084,1995,454,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3148,-0.55,-97.3,250.3,-9.2,207,3151,0.00,1.83,0.00,0.000,6,0.000,0.044,1987,1527,3465,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3449,-0.55,-97.3,274.9,-7.4,217,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3749,-0.55,-97.3,290.8,-4.5,227,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,-0.55,-97.3,303.9,-5.0,237,4053,0.00,1.80,0.00,0.000,4,0.000,0.054,1979,2578,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4124,-0.55,-97.3,308.5,-6.0,240,4129,0.15,1.88,0.00,0.000,6,0.221,0.063,2013,1519,3463,0,0,0,0,0,0,14.17,14.46,28.83
$GC,4441,-0.57,-97.3,329.2,-6.5,251,4445,0.00,1.92,0.00,0.000,4,0.000,0.085,2013,463,3463,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4527,-0.58,-97.3,334.2,-6.6,254,4531,0.00,1.80,0.00,0.000,6,0.000,0.043,2008,1522,3462,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4832,-0.60,-97.3,350.5,-4.9,264,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-0.61,-97.3,366.2,-5.5,274,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1528,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5430,-0.63,-97.3,384.9,-6.5,284,5433,0.00,1.83,0.00,0.000,4,0.000,0.055,2000,2580,3460,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5548,-0.65,-97.3,392.3,-7.0,288,5552,0.00,1.90,0.00,0.000,6,0.000,0.064,2000,1516,3459,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5849,-0.65,-97.3,414.3,-6.8,298,5853,0.00,1.92,0.00,0.000,4,0.000,0.086,2000,464,3458,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5907,-0.65,-97.3,417.7,-7.0,300,5911,0.00,1.80,0.00,0.000,6,0.000,0.044,1992,1520,3458,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6209,-0.65,-97.3,438.6,-6.5,310,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,-0.65,-97.3,459.5,-7.2,320,6513,0.00,1.95,0.00,0.000,4,0.000,0.086,1992,460,3457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6583,-0.65,-97.3,465.6,-7.9,323,6587,0.00,1.83,0.00,0.000,6,0.000,0.045,1984,1526,3457,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6899,-0.65,-97.3,490.7,-8.1,334,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1527,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7199,-0.65,-97.3,515.7,-8.3,344,7202,0.00,1.83,0.00,0.000,4,0.000,0.056,1976,2579,3456,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7394,-0.65,-97.3,532.0,-8.3,351,7398,0.00,1.90,0.00,0.000,6,0.000,0.066,1977,1520,3455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7709,-0.65,-97.3,556.6,-7.4,362,7712,0.00,1.95,0.00,0.000,4,0.000,0.088,1977,461,3454,0,0,0,0,0,0,28.83,14.29,28.83
$GC,7797,-0.63,-97.3,562.1,-7.3,365,7801,0.00,1.83,0.00,0.000,6,0.000,0.044,1969,1525,3454,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8103,-0.62,-97.3,581.9,-6.0,375,8110,0.00,1.83,0.00,0.000,4,0.000,0.057,1961,2578,3453,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8219,-0.62,-97.3,589.5,-6.3,379,8222,0.00,1.90,0.00,0.000,6,0.000,0.066,1961,1520,3452,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8537,-0.60,-97.3,612.4,-7.8,390,8539,0.15,0.00,0.00,0.000,6,0.243,0.000,1993,1520,3451,0,0,0,0,0,0,14.21,28.83,28.83
$GC,8833,-0.61,-97.3,637.7,-8.9,400,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9134,-0.63,-97.3,663.3,-8.2,410,9138,0.00,1.95,0.00,0.000,4,0.000,0.089,1994,466,3449,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9269,-0.63,-97.3,673.7,-7.8,415,9272,0.00,1.83,0.00,0.000,6,0.000,0.046,1989,1527,3449,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9584,-0.63,-97.3,692.2,-5.6,426,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1528,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9883,-0.63,-97.3,710.2,-6.2,436,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1528,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10184,-0.63,-97.3,731.2,-7.3,446,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1528,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10484,-0.64,-97.3,754.0,-7.6,456,10488,0.00,2.00,0.00,0.000,4,0.000,0.092,1989,461,3445,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10589,-0.64,-97.3,762.5,-8.1,460,10592,0.00,1.85,0.00,0.000,6,0.000,0.047,1981,1527,3444,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10904,-0.64,-97.3,785.1,-6.9,471,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1528,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11203,-0.64,-97.3,804.7,-6.4,481,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1529,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11503,-0.64,-97.3,823.4,-6.2,491,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1529,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11804,-0.64,-97.3,844.2,-7.3,501,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1529,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12103,-0.64,-97.3,867.7,-7.9,511,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1529,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12404,-0.64,-97.3,890.5,-7.5,521,12408,0.00,2.00,0.00,0.000,4,0.000,0.093,1981,467,3438,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12538,-0.64,-97.3,901.8,-8.4,526,12542,0.00,1.85,0.00,0.000,6,0.000,0.050,1973,1520,3438,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12854,-0.64,-97.3,924.7,-7.0,537,12858,0.00,1.90,0.00,0.000,4,0.000,0.060,1965,2587,3437,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12958,-0.64,-97.3,931.9,-6.8,541,12962,0.00,1.95,0.00,0.000,6,0.000,0.073,1965,1524,3437,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13273,-0.64,-97.3,951.9,-6.1,552,13277,0.00,2.00,0.00,0.000,4,0.000,0.094,1965,463,3436,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13334,-0.63,-97.3,955.0,-6.5,554,13338,0.00,1.88,0.00,0.000,6,0.000,0.049,1958,1528,3435,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13636,-0.61,-97.3,975.5,-6.6,564,13640,0.15,1.88,0.00,0.000,4,0.249,0.062,1984,2579,3435,0,0,0,0,0,0,14.08,14.27,28.83
$STATE,13706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13706,begin apogee
$GC,13716,-0.18,0.0,980.1,-6.3,567,13841,0.52,0.00,116.60,1.880,6,0.199,0.000,2126,1398,3062,0,0,0,0,1,0,13.80,28.83,12.86
$STATE,13843,end apogee,CONTROL_FINISHED_OK
$STATE,13843,begin climb
$GC,13846,0.60,97.3,985.1,0.0,571,13985,0.82,2.05,127.38,1.870,4,0.112,0.101,2390,344,2666,0,0,0,0,1,0,14.12,14.05,12.93
$GC,14204,0.58,154.8,982.6,3.6,584,14296,0.00,1.85,81.82,1.742,6,0.000,0.050,2390,1410,2430,0,0,0,0,1,0,28.83,14.52,12.97
$GC,14609,0.52,160.8,960.9,5.8,598,14622,0.12,2.00,4.55,1.964,4,0.280,0.100,2371,345,2406,0,0,0,0,0,0,14.26,14.45,13.21
$GC,14729,0.48,166.7,954.0,5.8,602,14742,0.00,1.83,6.20,1.923,6,0.000,0.050,2371,1396,2384,0,0,0,0,0,0,28.83,14.58,14.14
$GC,15062,0.46,184.6,936.7,5.3,613,15107,0.15,0.00,37.20,1.305,6,0.262,0.000,2340,1400,2309,0,0,0,0,1,0,14.27,28.83,13.19
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$STATE,28170,end climb,SURFACE_DEPTH_REACHED
$STATE,28171,begin surface coast
$FINISH,0.2,1.025531
$STATE,28186,end surface coast,CONTROL_FINISHED_OK
$STATE,28186,begin surface
$SM_CCo,28270,0.00,0.000,0,0,1558,368.93
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$IRIDIUM_FIX,2359.20,-3811.56,190113,232348
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.47
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.50
$XPDR_PINGS,5
$SC_FREEKB,7622656
$TM_FREEKB,3996320
$24V_AH,12.9,182.953
$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,20.125,156.200,687.350,0.000,0.000,0.000,0.000,402.450,1.250,0.000,16.147,3247.227,21648.299,975.503,2476.162,665.492,0.000,2393.043,0.000,1942.269,0.000,0.549,0.000
$DEVICE_MAMPS,417.690,104.040,1963.755,0.000,0.000,0.000,0.000,174.420,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28235.000,6450.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.226,13.027,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43366,1164
$CAP_FILE_SIZE,251882,0
$CFSIZE,260034560,205582336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.024,348.8,1
$GPS,200113,150606,2403.790,-3809.346,25,1.0,26,-14.1