version: 66.11
glider: 191
mission: 5
dive: 385
start: 1 20 113 15 18 42
data:
$ID,191
$MISSION,5
$DIVE,385
$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,-5085.5811
$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,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
$GPS1,200113,150606,2403.790,-3809.346,25,1.0,26,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-52.6
$GPS2,200113,151811,2403.854,-3809.359,14,1.0,15,-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,147.7,20299,-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,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-60.50,0.000,2,0.000,0.000,157,1517,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.5,-7.0,4,110,10.05,1.95,-3.33,0.000,4,0.415,0.111,1995,463,3461,1,0,0,0,0,0,13.70,14.36,14.74
$GC,301,-0.56,-97.3,26.2,-8.8,18,305,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1517,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,600,-0.54,-97.3,51.3,-8.1,38,601,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,900,-0.53,-97.3,75.9,-8.7,58,905,0.12,1.83,0.00,0.000,4,0.248,0.053,2010,2577,3462,0,0,0,0,0,0,14.17,14.43,28.83
$GC,990,-0.54,-97.3,83.1,-7.9,64,994,0.00,1.90,0.00,0.000,6,0.000,0.062,2011,1514,3462,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1289,-0.54,-97.3,106.7,-7.6,84,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-0.54,-97.3,127.4,-6.4,104,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.54,-97.3,144.7,-5.2,124,1893,0.00,1.85,0.00,0.000,4,0.000,0.052,2003,2580,3463,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1966,-0.55,-97.3,148.0,-4.4,129,1970,0.00,1.88,0.00,0.000,6,0.000,0.061,2003,1520,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2265,-0.55,-97.3,163.6,-5.9,149,2268,0.00,1.92,0.00,0.000,4,0.000,0.083,2001,465,3463,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2401,-0.55,-97.3,173.6,-7.5,158,2404,0.00,1.80,0.00,0.000,6,0.000,0.042,1995,1525,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2701,-0.55,-97.3,195.0,-7.0,178,2704,0.00,1.80,0.00,0.000,4,0.000,0.054,1987,2576,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2804,-0.55,-97.3,202.3,-7.0,185,2808,0.00,1.88,0.00,0.000,6,0.000,0.063,1987,1521,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3105,-0.55,-97.3,222.3,-6.6,205,3109,0.00,1.92,0.00,0.000,4,0.000,0.083,1987,463,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3195,-0.53,-97.3,228.7,-7.4,211,3199,0.15,1.80,0.00,0.000,6,0.229,0.041,2012,1521,3463,0,0,0,0,0,0,14.14,14.50,28.83
$GC,3495,-0.55,-97.3,245.7,-5.6,231,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3797,-0.57,-97.3,262.8,-5.8,244,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.59,-97.3,282.2,-6.6,254,4100,0.00,1.80,0.00,0.000,4,0.000,0.053,2007,2577,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4170,-0.61,-97.3,287.5,-7.0,257,4174,0.00,1.88,0.00,0.000,6,0.000,0.063,2007,1519,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4488,-0.63,-97.3,310.6,-7.2,268,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4785,-0.64,-97.3,328.5,-5.4,278,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1517,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-0.66,-97.3,343.9,-5.3,288,5090,0.00,1.92,0.00,0.000,4,0.000,0.085,2007,460,3461,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5189,-0.66,-97.3,350.2,-6.1,292,5193,0.00,1.80,0.00,0.000,6,0.000,0.043,1999,1521,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5504,-0.66,-97.3,371.4,-7.1,303,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-0.66,-97.3,392.6,-6.8,313,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1522,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6105,-0.66,-97.3,411.3,-6.0,323,6108,0.00,1.92,0.00,0.000,4,0.000,0.086,2005,465,3458,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6180,-0.66,-97.3,416.2,-6.2,326,6184,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1523,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6497,-0.66,-97.3,433.6,-5.6,337,6500,0.00,1.80,0.00,0.000,4,0.000,0.055,1983,2577,3457,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6630,-0.66,-97.3,442.1,-6.3,342,6634,0.00,1.88,0.00,0.000,6,0.000,0.065,1983,1520,3457,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6944,-0.66,-97.3,465.6,-7.7,353,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7246,-0.66,-97.3,489.2,-8.0,363,7250,0.00,1.92,0.00,0.000,4,0.000,0.087,1983,466,3455,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7305,-0.66,-97.3,493.0,-8.2,365,7309,0.00,1.80,0.00,0.000,6,0.000,0.044,1976,1522,3455,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7605,-0.66,-97.3,520.7,-8.9,375,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7906,-0.66,-97.3,545.2,-7.6,385,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8205,-0.66,-97.3,564.7,-6.2,395,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1523,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8505,-0.66,-97.3,583.6,-6.7,405,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8806,-0.66,-97.3,606.4,-7.9,415,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9105,-0.66,-97.3,631.1,-8.2,425,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9405,-0.66,-97.3,653.0,-6.9,435,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1524,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9705,-0.66,-97.3,671.5,-6.0,445,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10005,-0.66,-97.3,689.4,-6.0,455,10009,0.00,1.98,0.00,0.000,4,0.000,0.090,1976,460,3447,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10081,-0.64,-97.3,694.3,-6.4,458,10085,0.00,1.83,0.00,0.000,6,0.000,0.046,1968,1519,3446,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10395,-0.64,-97.3,713.7,-6.2,469,10398,0.00,1.85,0.00,0.000,4,0.000,0.058,1960,2577,3445,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10500,-0.64,-97.3,720.4,-6.5,473,10504,0.00,1.92,0.00,0.000,6,0.000,0.068,1960,1514,3445,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10818,-0.63,-97.3,743.1,-7.3,484,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1514,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11116,-0.62,-97.3,765.8,-7.5,494,11120,0.12,1.88,0.00,0.000,4,0.252,0.057,1980,2579,3443,0,0,0,0,0,0,14.27,14.42,28.83
$GC,11204,-0.62,-97.3,770.9,-7.0,497,11208,0.00,1.92,0.00,0.000,6,0.000,0.069,1980,1516,3443,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11504,-0.62,-97.3,791.8,-6.8,507,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11806,-0.62,-97.3,813.9,-7.7,517,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12104,-0.62,-97.3,836.1,-7.1,527,12108,0.00,1.95,0.00,0.000,4,0.000,0.093,1980,467,3440,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12284,-0.62,-97.3,848.7,-7.6,533,12288,0.00,1.83,0.00,0.000,6,0.000,0.047,1973,1519,3439,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12586,-0.62,-97.3,868.4,-5.9,543,12589,0.00,1.88,0.00,0.000,4,0.000,0.060,1965,2580,3438,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12690,-0.62,-97.3,874.8,-6.2,547,12694,0.00,1.92,0.00,0.000,6,0.000,0.070,1965,1523,3438,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13007,-0.62,-97.3,893.9,-6.0,558,13011,0.00,2.00,0.00,0.000,4,0.000,0.093,1965,460,3437,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13095,-0.60,-97.3,899.3,-6.8,561,13099,0.15,1.85,0.00,0.000,6,0.244,0.048,1988,1519,3437,0,0,0,0,0,0,13.95,14.41,28.83
$GC,13398,-0.61,-97.3,919.2,-6.5,571,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13695,-0.63,-97.3,939.7,-6.7,581,13699,0.00,2.00,0.00,0.000,4,0.000,0.094,1988,464,3434,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13800,-0.63,-97.3,946.7,-6.7,585,13804,0.00,1.85,0.00,0.000,6,0.000,0.048,1983,1519,3434,0,0,0,0,0,0,28.83,14.36,28.83
$GC,14117,-0.63,-97.3,964.0,-5.1,596,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1525,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14416,-0.63,-97.3,977.3,-4.2,606,14420,0.00,2.00,0.00,0.000,4,0.000,0.095,1983,464,3432,0,0,0,0,0,0,28.83,14.08,28.83
$GC,14474,-0.63,-97.3,979.4,-4.4,608,14478,0.00,1.85,0.00,0.000,6,0.000,0.050,1972,1519,3432,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,14501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14502,begin apogee
$GC,14509,-0.18,0.0,981.7,-4.8,609,14637,0.57,0.00,116.60,1.901,6,0.210,0.000,2123,1395,3062,0,0,0,0,1,0,13.78,28.83,12.83
$STATE,14639,end apogee,CONTROL_FINISHED_OK
$STATE,14639,begin climb
$GC,14643,0.60,97.3,984.4,0.0,613,14782,0.85,1.95,127.95,1.882,4,0.121,0.059,2380,2460,2666,0,0,0,0,1,0,14.12,14.09,12.89
$GC,15002,0.57,133.0,977.5,4.5,626,15069,0.00,1.92,56.70,1.584,6,0.000,0.076,2388,1403,2520,0,0,0,0,1,0,28.83,14.44,13.03
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$STATE,28777,end climb,SURFACE_DEPTH_REACHED
$STATE,28777,begin surface coast
$FINISH,0.8,1.025539
$STATE,28790,end surface coast,CONTROL_FINISHED_OK
$STATE,28790,begin surface
$SM_CCo,28871,0.00,0.000,0,0,1390,410.14
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$IRIDIUM_FIX,2354.48,-3810.10,200113,070724
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.88
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.70
$XPDR_PINGS,9
$SC_FREEKB,7622272
$TM_FREEKB,3985888
$24V_AH,12.8,183.449
$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,20.050,163.425,793.000,0.000,0.000,0.000,0.000,367.675,2.250,0.000,16.491,3314.873,22012.045,1091.510,2482.187,680.140,0.000,2503.043,0.000,1995.045,0.000,0.549,0.000
$DEVICE_MAMPS,414.630,110.925,1901.025,0.000,0.000,0.000,0.000,177.480,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28837.000,6692.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.328,13.023,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,43316,1193
$CAP_FILE_SIZE,260366,0
$CFSIZE,260034560,205434880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,15,1,0
$CURRENT,0.062,342.8,1
$GPS,200113,232106,2402.628,-3807.546,28,1.8,29,-14.1