version: 66.11
glider: 191
mission: 5
dive: 445
start: 2 10 113 0 25 1
data:
$ID,191
$MISSION,5
$DIVE,445
$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,-5164.6572
$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,26
$R_STBD_OVSHOOT,51
$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,1
$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
$GPS1,100213,001235,2454.854,-3817.165,40,0.8,40,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-50.0
$GPS2,100213,002429,2454.906,-3817.223,21,1.3,21,-14.0
$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,221.3,55681,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.22,0.000,6,0.000,0.000,160,1521,3460,0,0,0,0,0,0,28.83,28.83,14.74
$GC,87,-0.60,-97.3,4.4,-8.0,4,102,9.88,1.88,0.00,0.000,4,0.410,0.070,1995,463,3462,1,0,0,0,0,0,13.58,14.42,28.83
$GC,324,-0.57,-97.3,33.7,-8.9,20,328,0.00,1.77,0.00,0.000,6,0.000,0.041,1987,1511,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,626,-0.56,-97.3,57.0,-8.9,40,629,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,460,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,730,-0.53,-97.3,66.8,-9.2,47,734,0.15,1.80,0.00,0.000,6,0.239,0.041,2015,1522,3463,0,0,0,0,0,0,14.12,14.50,28.83
$GC,1029,-0.53,-97.3,91.6,-8.2,67,1033,0.00,1.92,0.00,0.000,4,0.000,0.083,2015,464,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1089,-0.53,-97.3,97.0,-9.0,71,1093,0.00,1.80,0.00,0.000,6,0.000,0.041,2010,1532,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1389,-0.53,-97.3,122.2,-8.2,91,1393,0.00,1.95,0.00,0.000,4,0.000,0.083,2010,462,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1479,-0.53,-97.3,129.8,-8.4,97,1483,0.00,1.77,0.00,0.000,6,0.000,0.041,2002,1519,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1779,-0.53,-97.3,149.1,-6.6,117,1783,0.00,1.92,0.00,0.000,4,0.000,0.083,2002,460,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1884,-0.53,-97.3,157.0,-7.6,124,1888,0.00,1.77,0.00,0.000,6,0.000,0.041,1994,1520,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2184,-0.53,-97.3,180.7,-8.0,144,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.53,-97.3,202.3,-6.8,164,2489,0.00,1.92,0.00,0.000,4,0.000,0.083,1994,461,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2635,-0.52,-97.3,213.8,-7.6,174,2639,0.15,1.77,0.00,0.000,6,0.239,0.042,2019,1519,3463,0,0,0,0,0,0,14.14,14.53,28.83
$GC,2935,-0.58,-97.3,232.5,-6.3,194,2939,0.00,1.92,0.00,0.000,4,0.000,0.083,2019,460,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3085,-0.62,-97.3,243.2,-7.5,204,3088,0.00,1.77,0.00,0.000,6,0.000,0.042,2015,1518,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3403,-0.68,-97.3,267.7,-7.8,218,3411,0.15,1.95,0.00,0.000,4,0.119,0.083,1955,458,3464,0,0,0,0,0,0,14.62,14.33,28.83
$GC,3581,-0.64,-97.3,283.4,-8.7,224,3585,0.15,1.80,0.00,0.000,6,0.252,0.042,1978,1525,3467,0,0,0,0,0,0,14.12,14.57,28.83
$GC,3900,-0.64,-97.3,303.0,-6.0,235,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4194,-0.64,-97.3,324.0,-7.3,245,4198,0.00,1.92,0.00,0.000,4,0.000,0.084,1978,466,3462,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4301,-0.62,-97.3,332.6,-8.2,249,4305,0.00,1.77,0.00,0.000,6,0.000,0.042,1973,1522,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4617,-0.61,-97.3,357.1,-7.6,260,4621,0.00,1.92,0.00,0.000,4,0.000,0.083,1973,465,3461,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4735,-0.59,-97.3,365.3,-7.8,264,4739,0.15,1.77,0.00,0.000,6,0.247,0.042,1998,1519,3461,0,0,0,0,0,0,14.12,14.54,28.83
$GC,5038,-0.60,-97.3,383.4,-5.5,274,5041,0.00,1.92,0.00,0.000,4,0.000,0.085,1998,463,3460,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5111,-0.60,-97.3,388.0,-5.9,277,5115,0.00,1.80,0.00,0.000,6,0.000,0.042,1992,1529,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5425,-0.60,-97.3,407.5,-6.4,288,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1531,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5725,-0.60,-97.3,428.7,-7.3,298,5729,0.00,1.95,0.00,0.000,4,0.000,0.086,1989,463,3458,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5861,-0.60,-97.3,440.0,-8.4,303,5865,0.00,1.80,0.00,0.000,6,0.000,0.043,1985,1525,3458,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6175,-0.60,-97.3,464.9,-7.7,314,6179,0.00,1.95,0.00,0.000,4,0.000,0.086,1985,461,3457,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6265,-0.60,-97.3,470.6,-7.6,317,6268,0.00,1.80,0.00,0.000,6,0.000,0.042,1977,1522,3457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6565,-0.60,-97.3,491.1,-6.1,327,6569,0.00,1.95,0.00,0.000,4,0.000,0.086,1977,459,3455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6641,-0.59,-97.3,495.8,-6.2,330,6645,0.12,1.80,0.00,0.000,6,0.254,0.043,1995,1520,3457,0,0,0,0,0,0,14.12,14.52,28.83
$GC,6959,-0.60,-97.3,511.9,-5.1,341,6967,0.00,1.95,0.00,0.000,4,0.000,0.086,1995,466,3456,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7030,-0.60,-97.3,515.5,-5.6,343,7033,0.00,1.80,0.00,0.000,6,0.000,0.043,1989,1524,3456,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7331,-0.60,-97.3,533.6,-5.8,353,7335,0.00,1.95,0.00,0.000,4,0.000,0.086,1989,463,3454,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7419,-0.60,-97.3,538.6,-6.4,356,7423,0.00,1.80,0.00,0.000,6,0.000,0.042,1982,1521,3454,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7721,-0.60,-97.3,557.4,-5.9,366,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8021,-0.60,-97.3,575.0,-5.8,376,8024,0.00,1.95,0.00,0.000,4,0.000,0.086,1982,463,3452,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8169,-0.59,-97.3,584.0,-6.7,381,8173,0.00,1.80,0.00,0.000,6,0.000,0.043,1974,1518,3452,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8471,-0.59,-97.3,603.6,-6.2,391,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,-0.59,-97.3,624.0,-7.1,401,8774,0.00,1.95,0.00,0.000,4,0.000,0.087,1974,460,3450,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8890,-0.57,-97.3,632.6,-8.2,405,8895,0.15,1.83,0.00,0.000,6,0.244,0.044,1998,1526,3449,0,0,0,0,0,0,14.03,14.47,28.83
$GC,9194,-0.63,-97.3,657.1,-8.2,415,9197,0.00,1.98,0.00,0.000,4,0.000,0.086,1998,460,3449,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9297,-0.67,-97.3,666.3,-8.6,419,9301,0.00,1.83,0.00,0.000,6,0.000,0.044,1994,1524,3448,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9614,-0.72,-97.3,692.5,-8.3,430,9618,0.12,1.98,0.00,0.000,4,0.138,0.087,1947,459,3447,0,0,0,0,0,0,14.56,14.19,28.83
$GC,9811,-0.68,-97.3,711.8,-10.0,437,9814,0.00,1.83,0.00,0.000,6,0.000,0.044,1939,1524,3446,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10126,-0.65,-97.3,740.4,-8.9,448,10128,0.17,0.00,0.00,0.000,6,0.249,0.000,1978,1525,3445,0,0,0,0,0,0,14.08,28.83,28.83
$GC,10425,-0.65,-97.3,762.7,-7.4,458,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10723,-0.69,-97.3,785.5,-7.9,468,10727,0.00,1.98,0.00,0.000,4,0.000,0.089,1978,464,3443,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10798,-0.72,-97.3,791.7,-8.2,471,10802,0.00,1.83,0.00,0.000,6,0.000,0.044,1974,1518,3443,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11117,-0.76,-97.3,816.5,-7.8,482,11124,0.00,1.98,0.00,0.000,4,0.000,0.089,1974,460,3442,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11233,-0.77,-97.3,825.5,-7.6,486,11237,0.00,1.85,0.00,0.000,6,0.000,0.044,1967,1537,3441,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11552,-0.80,-97.3,847.5,-7.1,497,11554,0.12,0.00,0.00,0.000,6,0.145,0.000,1922,1538,3441,0,0,0,0,0,0,14.50,28.83,28.83
$GC,11848,-0.76,-97.3,871.2,-8.0,507,11852,0.00,2.00,0.00,0.000,4,0.000,0.088,1922,466,3440,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12015,-0.71,-97.3,885.9,-8.9,513,12019,0.20,1.83,0.00,0.000,6,0.269,0.046,1956,1521,3439,0,0,0,0,0,0,13.76,14.40,28.83
$GC,12330,-0.71,-97.3,906.9,-6.5,524,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12629,-0.71,-97.3,926.5,-6.5,534,12633,0.00,1.98,0.00,0.000,4,0.000,0.089,1956,467,3437,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12704,-0.69,-97.3,931.8,-6.9,537,12708,0.00,1.83,0.00,0.000,6,0.000,0.047,1951,1520,3435,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13022,-0.67,-97.3,952.7,-6.7,548,13030,0.00,1.88,0.00,0.000,4,0.000,0.057,1943,2583,3435,0,0,0,0,0,0,28.83,14.29,28.83
$GC,13095,-0.66,-97.3,956.7,-6.6,550,13099,0.15,1.95,0.00,0.000,6,0.249,0.067,1973,1513,3435,0,0,0,0,0,0,13.78,14.19,28.83
$GC,13397,-0.66,-97.3,974.9,-5.5,560,13404,0.00,1.98,0.00,0.000,4,0.000,0.090,1973,463,3434,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,13480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13481,begin apogee
$GC,13490,-0.18,0.0,980.4,-6.1,563,13616,0.57,0.00,115.70,1.855,6,0.212,0.000,2121,1415,3061,0,0,0,0,1,0,13.67,28.83,12.89
$STATE,13617,end apogee,CONTROL_FINISHED_OK
$STATE,13617,begin climb
$GC,13621,0.60,97.3,984.5,0.0,567,13759,0.82,1.85,126.97,1.844,4,0.112,0.057,2379,2448,2665,0,0,0,0,1,0,14.20,14.19,12.95
$GC,13979,0.57,135.6,979.2,4.4,580,14051,0.00,1.90,59.50,1.582,6,0.000,0.072,2387,1396,2509,0,0,0,0,1,0,28.83,14.43,13.09
$GC,14369,0.50,138.8,956.9,5.9,593,14371,0.15,0.00,0.00,0.000,6,0.278,0.000,2357,1396,2504,0,0,0,0,0,0,14.19,28.83,28.83
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$STATE,27752,end climb,SURFACE_DEPTH_REACHED
$STATE,27752,begin surface coast
$FINISH,0.3,1.025727
$STATE,27780,end surface coast,CONTROL_FINISHED_OK
$STATE,27780,begin surface
$SM_CCo,27860,0.00,0.000,0,0,1639,349.06
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$IRIDIUM_FIX,2446.56,-3819.18,100213,000059
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.16
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.50
$XPDR_PINGS,4
$SC_FREEKB,7599232
$24V_AH,12.9,209.500
$10V_AH,10.7,0.000
$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
$DEVICE_SECS,21.950,191.775,663.700,0.000,0.000,0.000,0.000,375.925,1.000,0.000,22.378,3320.792,21082.543,1003.635,2433.435,716.313,0.000,2416.918,0.000,1980.645,0.000,0.551,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.177,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43332,1151
$CAP_FILE_SIZE,260981,0
$CFSIZE,260034560,197693440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.082,347.8,1
$GPS,100213,081034,2453.846,-3818.537,30,0.8,30,-14.0