version: 66.11
glider: 191
mission: 5
dive: 54
start: 10 1 112 6 10 42
data:
$ID,191
$MISSION,5
$DIVE,54
$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,350
$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,-3868.6064
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,37
$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,12
$MINV_10V,12
$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
$GPS1,011012,060004,2434.331,-3802.123,38,0.8,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.0
$GPS2,011012,061000,2434.372,-3802.118,21,0.9,21,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$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,191.3,2549,-21.8,-6.049,-25.77
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.83,-42.5,0.0,0.0,0,84,0.00,0.00,-55.45,0.000,6,0.000,0.000,153,1498,3238,0,0,0,0,0,0,28.83,28.83,14.93
$GC,86,-0.83,-42.5,4.2,-8.6,4,101,8.98,1.85,0.00,0.000,4,0.426,0.076,1921,440,3240,0,0,0,0,0,0,14.47,14.69,28.83
$GC,251,-0.75,-42.5,35.7,-17.8,15,255,0.15,1.77,0.00,0.000,6,0.329,0.050,1940,1496,3242,0,0,0,0,0,0,14.57,14.78,28.83
$GC,550,-0.72,-42.5,74.1,-10.1,35,553,0.00,1.80,0.00,0.000,4,0.000,0.060,1937,2564,3242,0,0,0,0,0,0,28.83,14.83,28.83
$GC,776,-0.70,-42.5,97.7,-11.9,50,780,0.00,1.85,0.00,0.000,6,0.000,0.070,1937,1498,3243,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1075,-0.68,-42.5,133.5,-10.0,70,1077,0.15,0.00,0.00,0.000,6,0.298,0.000,1967,1497,3246,0,0,0,0,0,0,14.71,28.83,28.83
$GC,1375,-0.70,-60.3,148.2,-4.4,90,1380,0.00,1.88,-0.40,0.000,4,0.000,0.121,1970,444,3315,0,0,0,0,0,0,28.83,14.84,15.04
$GC,1510,-0.70,-60.3,158.5,-8.7,99,1513,0.00,1.77,0.00,0.000,6,0.000,0.050,1964,1507,3314,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1809,-0.70,-60.3,188.8,-10.6,119,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1509,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,-0.71,-60.3,218.4,-9.7,139,2114,0.00,1.77,0.00,0.000,4,0.000,0.059,1956,2568,3314,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2335,-0.73,-60.3,237.4,-7.8,154,2339,0.00,1.85,0.00,0.000,6,0.000,0.071,1956,1501,3314,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2635,-0.73,-60.3,259.2,-7.4,170,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1500,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-0.74,-60.3,286.5,-10.0,180,2939,0.00,1.85,0.00,0.000,4,0.000,0.092,1956,446,3314,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3084,-0.73,-60.3,302.0,-11.6,185,3088,0.00,1.77,0.00,0.000,6,0.000,0.050,1948,1511,3313,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3385,-0.73,-60.3,334.7,-9.5,195,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1512,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3685,-0.73,-60.3,358.7,-7.6,205,3689,0.00,1.90,0.00,0.000,4,0.000,0.093,1948,439,3313,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3910,-0.72,-60.3,379.2,-9.6,213,3914,0.00,1.77,0.00,0.000,6,0.000,0.051,1941,1500,3313,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4225,-0.72,-60.3,410.8,-10.3,224,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1502,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.72,-60.3,441.8,-10.0,234,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1502,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4825,-0.72,-60.3,467.6,-8.0,244,4828,0.00,1.88,0.00,0.000,4,0.000,0.096,1941,444,3306,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4944,-0.70,-60.3,477.0,-9.0,248,4947,0.00,1.77,0.00,0.000,6,0.000,0.054,1933,1503,3305,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5245,-0.70,-60.3,504.3,-8.8,258,5247,0.12,0.00,0.00,0.000,6,0.295,0.000,1960,1504,3303,0,0,0,0,0,0,14.78,28.83,28.83
$GC,5545,-0.73,-60.3,530.0,-8.8,268,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1504,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,-0.75,-60.3,556.6,-8.9,278,5849,0.00,1.90,0.00,0.000,4,0.000,0.097,1957,439,3301,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5964,-0.75,-60.3,566.7,-9.6,282,5968,0.00,1.80,0.00,0.000,6,0.000,0.054,1952,1510,3300,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6265,-0.77,-60.3,593.0,-8.1,292,6268,0.00,1.77,0.00,0.000,4,0.000,0.065,1944,2559,3298,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6384,-0.80,-60.3,601.4,-8.0,296,6388,0.00,1.85,0.00,0.000,6,0.000,0.076,1944,1500,3297,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6686,-0.81,-60.3,627.1,-8.1,306,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1500,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,-0.82,-60.3,653.3,-9.1,316,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1500,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,-0.84,-60.3,683.3,-10.3,326,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1499,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7585,-0.85,-60.3,714.2,-10.3,336,7589,0.00,1.88,0.00,0.000,4,0.000,0.097,1944,446,3293,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7810,-0.85,-60.3,738.6,-10.9,344,7813,0.00,1.77,0.00,0.000,6,0.000,0.055,1937,1497,3291,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8127,-0.87,-60.3,767.3,-8.3,355,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,1499,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8425,-0.88,-60.3,791.8,-7.9,365,8428,0.00,1.80,0.00,0.000,4,0.000,0.067,1929,2558,3289,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8544,-0.89,-60.3,800.2,-7.9,369,8547,0.00,1.85,0.00,0.000,6,0.000,0.079,1929,1501,3288,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8845,-0.89,-60.3,828.5,-9.5,379,8849,0.00,1.90,0.00,0.000,4,0.000,0.100,1929,441,3287,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9010,-0.88,-60.3,846.0,-10.6,385,9014,0.00,1.80,0.00,0.000,6,0.000,0.057,1921,1500,3286,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9325,-0.88,-60.3,878.4,-10.2,396,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1501,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,-0.88,-60.3,909.1,-10.2,406,9629,0.00,1.90,0.00,0.000,4,0.000,0.101,1921,447,3284,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9745,-0.86,-60.3,920.1,-10.6,410,9748,0.00,1.80,0.00,0.000,6,0.000,0.058,1913,1503,3283,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10044,-0.86,-60.3,948.0,-8.2,420,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,1505,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,-0.86,-60.3,972.2,-8.0,430,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,1505,3281,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10464,begin apogee
$GC,10467,-0.18,0.0,981.8,-8.1,434,10547,0.80,0.00,70.72,2.085,6,0.252,0.000,2124,1505,3062,0,0,0,0,1,0,14.66,28.83,13.46
$STATE,10548,end apogee,CONTROL_FINISHED_OK
$STATE,10548,begin climb
$GC,10550,0.85,60.3,983.4,0.0,436,10644,1.10,0.00,85.72,2.248,6,0.140,0.000,2458,1505,2816,0,0,0,0,1,0,14.33,28.83,13.27
$GC,10930,0.80,60.3,964.8,6.2,449,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1505,2817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11231,0.76,67.4,947.3,5.4,459,11239,0.00,0.00,6.03,2.201,6,0.000,0.000,2458,1505,2787,0,0,0,0,0,0,28.83,28.83,14.42
$GC,11530,0.71,67.4,929.4,6.1,469,11532,0.17,0.00,0.00,0.000,6,0.311,0.000,2422,1505,2790,0,0,0,0,0,0,14.64,28.83,28.83
$GC,11831,0.70,74.1,913.2,5.4,479,11839,0.00,0.00,6.00,2.161,6,0.000,0.000,2422,1505,2759,0,0,0,0,0,0,28.83,28.83,14.09
$GC,12131,0.68,75.1,895.7,6.0,489,12135,0.00,1.83,0.00,0.000,4,0.000,0.070,2422,2565,2763,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12295,0.67,80.9,886.5,5.5,495,12309,0.00,1.90,5.75,2.144,6,0.000,0.083,2428,1497,2736,0,0,0,0,0,0,28.83,14.84,13.97
$GC,12626,0.65,81.1,866.9,6.0,506,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1497,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12925,0.63,82.6,849.0,5.9,516,12933,0.15,1.92,2.97,2.051,4,0.311,0.106,2403,444,2723,0,0,0,0,0,0,14.71,14.83,14.12
$GC,13092,0.62,82.6,838.5,6.4,522,13095,0.00,1.83,0.00,0.000,6,0.000,0.060,2403,1506,2724,0,0,0,0,0,0,28.83,14.88,28.83
$GC,13405,0.62,82.6,818.2,6.5,533,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1507,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13705,0.62,82.6,797.3,7.2,543,13709,0.00,1.92,0.00,0.000,4,0.000,0.106,2411,444,2724,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13870,0.60,82.6,784.1,8.0,549,13874,0.00,1.80,0.00,0.000,6,0.000,0.060,2411,1497,2724,0,0,0,0,0,0,28.83,14.90,28.83
$GC,14186,0.60,82.6,760.8,7.1,560,14189,0.00,1.83,0.00,0.000,4,0.000,0.070,2411,2562,2721,0,0,0,0,0,0,28.83,14.88,28.83
$GC,14351,0.60,82.6,749.7,6.8,566,14355,0.15,1.90,0.00,0.000,6,0.307,0.083,2388,1493,2723,0,0,0,0,0,0,14.70,14.88,28.83
$GC,14667,0.62,84.3,730.4,5.9,577,14670,0.00,1.85,0.00,0.000,4,0.000,0.068,2388,2568,2723,0,0,0,0,0,0,28.83,14.89,28.83
$GC,14741,0.63,85.9,726.1,5.9,580,14749,0.00,1.90,3.00,1.919,6,0.000,0.083,2393,1498,2709,0,0,0,0,0,0,28.83,14.87,14.17
$GC,15057,0.64,85.9,706.2,6.4,591,15060,0.00,1.90,0.00,0.000,4,0.000,0.105,2401,444,2710,0,0,0,0,0,0,28.83,14.83,28.83
$GC,15280,0.64,85.9,690.4,7.0,599,15284,0.00,1.83,0.00,0.000,6,0.000,0.058,2402,1513,2709,0,0,0,0,0,0,28.83,14.90,28.83
$GC,15596,0.66,97.5,672.5,4.9,610,15634,0.00,1.98,28.38,1.055,4,0.000,0.104,2409,441,2664,0,0,0,0,1,0,28.83,14.74,14.09
$GC,15732,0.67,108.6,666.0,5.0,615,15770,0.00,1.83,28.80,1.066,6,0.000,0.058,2409,1504,2619,0,0,0,0,1,0,28.83,14.80,13.95
$GC,16077,0.67,108.8,646.5,6.0,627,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1504,2621,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24401,end climb,SURFACE_DEPTH_REACHED
$STATE,24401,begin surface coast
$FINISH,0.7,1.024318
$STATE,24417,end surface coast,CONTROL_FINISHED_OK
$STATE,24417,begin surface
$SM_CCo,24436,167.95,0.763,0,0,1633,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,43.77
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.80
$XPDR_PINGS,0
$SC_FREEKB,7749408
$TM_FREEKB,7415936
$24V_AH,13.3,27.947
$10V_AH,13.5,0.000
$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,18.925,110.775,301.700,167.950,0.000,0.000,0.000,371.900,0.000,0.000,22.009,2914.322,19160.754,707.302,2239.100,190.840,0.000,1938.930,0.000,1703.018,0.000,0.551,0.000
$DEVICE_MAMPS,426.105,120.870,2248.335,763.470,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.308,13.115,0.000,0.000
$MEM,344960
$DATA_FILE_SIZE,36739,1026
$CAP_FILE_SIZE,216410,0
$CFSIZE,260034560,250540032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.035,349.5,1
$GPS,011012,130206,2432.736,-3802.081,39,0.8,39,-14.0