version: 66.11
glider: 191
mission: 5
dive: 460
start: 2 15 113 0 1 28
data:
$ID,191
$MISSION,5
$DIVE,460
$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,-5183.5337
$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,35
$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
$GPS1,140213,235130,2442.307,-3832.220,38,1.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-57.6
$GPS2,150213,000058,2442.382,-3832.244,21,1.2,21,-14.1
$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,211.6,21374,-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,-57.08,0.000,6,0.000,0.000,159,1502,3461,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.9,-10.8,4,102,9.93,1.85,0.00,0.000,4,0.408,0.074,1997,463,3463,1,0,0,0,0,0,13.59,14.40,28.83
$GC,325,-0.57,-97.3,33.3,-8.7,20,328,0.00,1.83,0.00,0.000,6,0.000,0.043,1992,1536,3465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,625,-0.56,-97.3,57.5,-8.3,40,628,0.00,1.98,0.00,0.000,4,0.000,0.083,1992,460,3465,0,0,0,0,0,0,28.83,14.21,28.83
$GC,716,-0.53,-97.3,65.4,-9.0,46,721,0.15,1.80,0.00,0.000,6,0.238,0.041,2017,1521,3465,0,0,0,0,0,0,14.08,14.48,28.83
$GC,1016,-0.53,-97.3,86.5,-7.0,66,1019,0.00,1.92,0.00,0.000,4,0.000,0.082,2017,464,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1104,-0.53,-97.3,93.7,-8.2,72,1108,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1525,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1406,-0.53,-97.3,117.5,-7.6,92,1409,0.00,1.92,0.00,0.000,4,0.000,0.081,2012,466,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1464,-0.53,-97.3,122.1,-7.8,96,1468,0.00,1.80,0.00,0.000,6,0.000,0.041,2004,1528,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1765,-0.53,-97.3,141.7,-6.5,116,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1529,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,-0.56,-97.3,163.6,-7.9,136,2068,0.00,1.95,0.00,0.000,4,0.000,0.082,2004,462,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2185,-0.56,-97.3,173.4,-8.1,144,2189,0.00,1.80,0.00,0.000,6,0.000,0.041,1996,1531,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2485,-0.56,-97.3,192.6,-5.9,164,2488,0.00,1.95,0.00,0.000,4,0.000,0.081,1997,461,3466,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2545,-0.56,-97.3,196.6,-6.8,168,2549,0.00,1.77,0.00,0.000,6,0.000,0.040,1988,1520,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2844,-0.56,-97.3,216.3,-6.4,188,2848,0.00,1.92,0.00,0.000,4,0.000,0.081,1988,461,3466,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2966,-0.54,-97.3,225.1,-7.4,196,2970,0.15,1.77,0.00,0.000,6,0.232,0.041,2013,1520,3466,0,0,0,0,0,0,14.10,14.51,28.83
$GC,3266,-0.60,-97.3,243.1,-5.7,216,3270,0.00,1.92,0.00,0.000,4,0.000,0.082,2013,463,3466,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3370,-0.63,-97.3,249.1,-5.8,223,3374,0.00,1.77,0.00,0.000,6,0.000,0.040,2008,1521,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3674,-0.69,-97.3,265.3,-5.4,234,3682,0.12,1.92,0.00,0.000,4,0.132,0.081,1957,462,3466,0,0,0,0,0,0,14.61,14.29,28.83
$GC,3834,-0.65,-97.3,276.2,-7.6,239,3838,0.12,1.77,0.00,0.000,6,0.256,0.041,1974,1519,3465,0,0,0,0,0,0,14.09,14.51,28.83
$GC,4135,-0.65,-97.3,300.4,-8.1,249,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,-0.65,-97.3,326.1,-8.7,259,4438,0.00,1.92,0.00,0.000,4,0.000,0.082,1974,463,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4524,-0.63,-97.3,332.8,-8.7,262,4527,0.00,1.77,0.00,0.000,6,0.000,0.041,1966,1519,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4826,-0.61,-97.3,356.2,-6.8,272,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5125,-0.60,-97.3,375.0,-6.0,282,5129,0.00,1.92,0.00,0.000,4,0.000,0.083,1969,463,3462,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5185,-0.58,-97.3,378.2,-6.4,284,5189,0.17,1.80,0.00,0.000,6,0.235,0.041,2000,1525,3462,0,0,0,0,0,0,14.03,14.50,28.83
$GC,5488,-0.59,-97.3,396.3,-6.0,294,5492,0.00,1.95,0.00,0.000,4,0.000,0.083,2000,463,3462,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5531,-0.61,-97.3,399.5,-6.4,296,5535,0.00,1.80,0.00,0.000,6,0.000,0.041,1995,1528,3462,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5846,-0.61,-97.3,419.6,-6.4,307,5850,0.00,1.95,0.00,0.000,4,0.000,0.083,1995,464,3461,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5920,-0.61,-97.3,425.0,-6.9,310,5924,0.00,1.80,0.00,0.000,6,0.000,0.042,1987,1525,3461,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6237,-0.61,-97.3,446.0,-6.7,321,6241,0.00,1.95,0.00,0.000,4,0.000,0.083,1987,463,3459,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6354,-0.61,-97.3,453.9,-7.6,325,6358,0.00,1.80,0.00,0.000,6,0.000,0.041,1979,1524,3459,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6656,-0.61,-97.3,475.8,-6.9,335,6660,0.00,1.95,0.00,0.000,4,0.000,0.084,1979,460,3459,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6715,-0.59,-97.3,479.2,-7.1,337,6719,0.00,1.80,0.00,0.000,6,0.000,0.042,1971,1526,3459,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7016,-0.59,-97.3,501.7,-7.2,347,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1523,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7317,-0.59,-97.3,523.5,-7.3,357,7320,0.00,1.95,0.00,0.000,4,0.000,0.083,1971,463,3457,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7405,-0.58,-97.3,529.5,-7.9,360,7409,0.15,1.80,0.00,0.000,6,0.243,0.042,1997,1521,3457,0,0,0,0,0,0,14.02,14.49,28.83
$GC,7709,-0.63,-97.3,551.9,-7.3,370,7718,0.00,1.98,0.00,0.000,4,0.000,0.084,1997,459,3456,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7841,-0.67,-97.3,561.1,-7.6,374,7844,0.00,1.80,0.00,0.000,6,0.000,0.042,1992,1521,3456,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8142,-0.71,-97.3,585.9,-8.1,384,8146,0.00,1.95,0.00,0.000,4,0.000,0.085,1992,465,3454,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8246,-0.75,-97.3,594.7,-8.4,388,8250,0.12,1.80,0.00,0.000,6,0.138,0.043,1941,1521,3455,0,0,0,0,0,0,14.33,14.45,28.83
$GC,8564,-0.72,-97.3,622.9,-8.9,399,8568,0.00,1.83,0.00,0.000,4,0.000,0.054,1933,2575,3454,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8638,-0.69,-97.3,629.5,-8.7,402,8642,0.15,1.90,0.00,0.000,6,0.251,0.065,1963,1521,3453,0,0,0,0,0,0,13.86,14.21,28.83
$GC,8955,-0.69,-97.3,653.8,-7.7,413,8958,0.00,1.95,0.00,0.000,4,0.000,0.085,1963,463,3452,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9073,-0.67,-97.3,662.6,-8.5,417,9076,0.00,1.80,0.00,0.000,6,0.000,0.043,1958,1519,3451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9372,-0.65,-97.3,687.6,-7.9,427,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,-0.63,-97.3,711.2,-7.9,437,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9972,-0.62,-97.3,733.8,-7.5,447,9974,0.12,0.00,0.00,0.000,6,0.259,0.000,1983,1520,3449,0,0,0,0,0,0,14.19,28.83,28.83
$GC,10274,-0.62,-97.3,752.8,-6.0,457,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.62,-97.3,770.8,-5.9,467,10576,0.00,1.95,0.00,0.000,4,0.000,0.087,1983,467,3447,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10631,-0.62,-97.3,773.8,-6.2,469,10635,0.00,1.83,0.00,0.000,6,0.000,0.045,1978,1524,3447,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10934,-0.62,-97.3,795.2,-7.0,479,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11232,-0.62,-97.3,817.1,-7.4,489,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11534,-0.63,-97.3,838.7,-7.0,499,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11832,-0.67,-97.3,859.1,-6.9,509,11836,0.00,2.00,0.00,0.000,4,0.000,0.090,1978,462,3443,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11967,-0.67,-97.3,868.4,-7.0,514,11971,0.00,1.85,0.00,0.000,6,0.000,0.044,1970,1529,3442,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12286,-0.67,-97.3,887.7,-6.0,525,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1530,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12582,-0.67,-97.3,906.3,-6.4,535,12586,0.00,2.00,0.00,0.000,4,0.000,0.091,1971,467,3440,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12688,-0.66,-97.3,913.9,-7.3,539,12692,0.00,1.85,0.00,0.000,6,0.000,0.047,1963,1517,3440,0,0,0,0,0,0,28.83,14.07,28.83
$GC,13002,-0.66,-97.3,935.7,-6.9,550,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1518,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13304,-0.66,-97.3,955.0,-6.1,560,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1518,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13602,-0.66,-97.3,973.3,-6.1,570,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1518,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13719,begin apogee
$GC,13728,-0.18,0.0,981.2,-6.5,574,13855,0.65,0.00,116.20,1.873,6,0.213,0.000,2123,1392,3065,0,0,0,0,1,0,13.66,28.83,12.91
$STATE,13856,end apogee,CONTROL_FINISHED_OK
$STATE,13856,begin climb
$GC,13860,0.60,97.3,986.3,0.0,578,13997,0.82,1.92,125.97,1.845,4,0.112,0.057,2382,2459,2667,0,0,0,0,1,0,14.18,14.19,12.94
$GC,14219,0.63,190.2,988.3,2.1,591,14350,0.00,1.92,120.12,1.828,6,0.000,0.074,2390,1402,2286,0,0,0,0,1,0,28.83,14.41,12.99
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$STATE,28692,end climb,SURFACE_DEPTH_REACHED
$STATE,28692,begin surface coast
$FINISH,0.2,1.025610
$STATE,28708,end surface coast,CONTROL_FINISHED_OK
$STATE,28708,begin surface
$SM_CCo,28790,0.00,0.000,0,0,1505,381.93
$SM_GC,1.18,6.72,0.17,0.00,0.072,0.088,0.000,150,1533,1505,-6.30,-1.30,381.93,0,0,0,0,0,0,14.46,14.59,28.83
$IRIDIUM_FIX,2434.69,-3826.62,140213,151505
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.20
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.40
$XPDR_PINGS,5
$SC_FREEKB,7593472
$24V_AH,12.9,215.769
$10V_AH,12.9,0.000
$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,20.500,174.425,636.225,0.000,0.000,0.000,0.000,289.400,1.250,0.000,21.839,3376.358,21941.705,931.358,2390.955,697.688,0.000,2272.529,0.000,2018.964,0.000,0.549,0.000
$DEVICE_MAMPS,407.745,107.100,1874.250,0.000,0.000,0.000,0.000,172.890,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28761.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.199,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,43346,1195
$CAP_FILE_SIZE,259089,0
$CFSIZE,260034560,195874816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.097,359.9,1
$GPS,150213,080234,2441.229,-3832.852,33,0.8,33,-14.1