version: 66.11
glider: 191
mission: 5
dive: 330
start: 1 2 113 1 18 40
data:
$ID,191
$MISSION,5
$DIVE,330
$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,-5013.6401
$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,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
$GPS1,020113,010604,2426.778,-3725.950,40,1.1,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-57.7
$GPS2,020113,011811,2426.853,-3725.919,18,1.0,19,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,45.7,20138,-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,-60.75,0.000,2,0.000,0.000,152,1527,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.5,-6.8,4,109,10.05,1.83,-2.20,0.000,4,0.421,0.083,1974,2574,3461,1,0,0,0,0,0,13.78,14.46,14.75
$GC,300,-0.58,-97.3,26.6,-9.0,18,303,0.00,1.90,0.00,0.000,6,0.000,0.065,1978,1513,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,599,-0.55,-97.3,53.9,-8.6,38,603,0.15,1.90,0.00,0.000,4,0.255,0.085,2011,469,3463,0,0,0,0,0,0,14.22,14.37,28.83
$GC,660,-0.53,-97.3,58.8,-8.2,42,664,0.00,1.77,0.00,0.000,6,0.000,0.043,2005,1510,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,958,-0.53,-97.3,80.4,-6.8,62,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-0.53,-97.3,98.5,-5.7,82,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.53,-97.3,118.3,-6.5,102,1563,0.00,1.83,0.00,0.000,4,0.000,0.054,1997,2576,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1708,-0.53,-97.3,127.1,-5.6,112,1712,0.00,1.88,0.00,0.000,6,0.000,0.062,1997,1512,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2008,-0.53,-97.3,144.6,-5.9,132,2012,0.00,1.83,0.00,0.000,4,0.000,0.052,1989,2577,3467,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2068,-0.53,-97.3,148.0,-5.7,136,2072,0.00,1.88,0.00,0.000,6,0.000,0.063,1989,1518,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2368,-0.53,-97.3,166.9,-7.2,156,2372,0.00,1.90,0.00,0.000,4,0.000,0.084,1990,466,3464,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2428,-0.51,-97.3,171.6,-7.9,160,2433,0.17,1.77,0.00,0.000,6,0.233,0.042,2021,1516,3465,0,0,0,0,0,0,14.17,14.53,28.83
$GC,2729,-0.54,-97.3,192.4,-7.1,180,2733,0.00,1.83,0.00,0.000,4,0.000,0.052,2016,2583,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2848,-0.57,-97.3,201.1,-7.2,188,2852,0.00,1.88,0.00,0.000,6,0.000,0.063,2016,1520,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3148,-0.58,-97.3,222.5,-6.5,208,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.60,-97.3,241.2,-6.3,228,3452,0.00,1.83,0.00,0.000,4,0.000,0.052,2009,2582,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3604,-0.63,-97.3,250.9,-6.4,238,3612,0.00,1.85,0.00,0.000,6,0.000,0.063,2009,1521,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3914,-0.64,-97.3,271.9,-6.9,249,3918,0.00,1.90,0.00,0.000,4,0.000,0.086,2009,464,3464,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3989,-0.64,-97.3,277.4,-7.3,252,3992,0.00,1.77,0.00,0.000,6,0.000,0.043,2001,1522,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4304,-0.64,-97.3,300.3,-7.2,263,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4603,-0.64,-97.3,320.8,-6.7,273,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,-0.64,-97.3,339.0,-5.8,283,4907,0.00,1.80,0.00,0.000,4,0.000,0.054,1993,2578,3463,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4994,-0.66,-97.3,343.1,-5.5,286,4997,0.00,1.88,0.00,0.000,6,0.000,0.063,1993,1511,3461,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5293,-0.66,-97.3,361.5,-6.0,296,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.66,-97.3,382.4,-7.3,306,5597,0.00,1.83,0.00,0.000,4,0.000,0.054,1985,2577,3460,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5682,-0.66,-97.3,388.0,-7.5,309,5686,0.00,1.88,0.00,0.000,6,0.000,0.064,1985,1515,3461,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5983,-0.66,-97.3,412.1,-7.7,319,5987,0.00,1.90,0.00,0.000,4,0.000,0.086,1985,464,3460,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6073,-0.64,-97.3,418.0,-7.8,322,6077,0.00,1.77,0.00,0.000,6,0.000,0.044,1978,1521,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6373,-0.64,-97.3,439.3,-6.5,332,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6675,-0.63,-97.3,457.2,-5.9,342,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6973,-0.63,-97.3,477.7,-7.2,352,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7273,-0.63,-97.3,501.4,-8.2,362,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7573,-0.63,-97.3,527.1,-8.7,372,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,-0.63,-97.3,554.1,-9.2,382,7877,0.00,1.80,0.00,0.000,4,0.000,0.056,1970,2576,3453,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7963,-0.63,-97.3,561.5,-9.7,385,7967,0.00,1.88,0.00,0.000,6,0.000,0.066,1970,1519,3453,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8263,-0.62,-97.3,593.1,-9.9,395,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1518,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8564,-0.61,-97.3,618.9,-8.0,405,8568,0.00,1.92,0.00,0.000,4,0.000,0.089,1970,464,3451,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8622,-0.60,-97.3,622.4,-7.6,407,8627,0.15,1.77,0.00,0.000,6,0.250,0.046,1994,1520,3451,0,0,0,0,0,0,14.26,14.64,28.83
$GC,8926,-0.61,-97.3,638.6,-4.3,417,8930,0.00,1.83,0.00,0.000,4,0.000,0.057,1989,2578,3450,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9044,-0.62,-97.3,642.7,-3.9,421,9047,0.00,1.90,0.00,0.000,6,0.000,0.066,1989,1512,3449,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9343,-0.62,-97.3,654.8,-3.8,431,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1512,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,-0.62,-97.3,668.2,-5.0,441,9648,0.00,1.85,0.00,0.000,4,0.000,0.057,1981,2577,3447,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9748,-0.63,-97.3,674.6,-6.1,445,9752,0.00,1.90,0.00,0.000,6,0.000,0.067,1981,1518,3447,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10064,-0.63,-97.3,696.3,-7.1,456,10068,0.00,1.92,0.00,0.000,4,0.000,0.091,1981,466,3446,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10122,-0.63,-97.3,699.9,-7.5,458,10126,0.00,1.80,0.00,0.000,6,0.000,0.047,1973,1519,3446,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10423,-0.63,-97.3,722.9,-7.1,468,10427,0.00,1.83,0.00,0.000,4,0.000,0.058,1966,2576,3445,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10529,-0.63,-97.3,730.6,-7.3,472,10532,0.00,1.90,0.00,0.000,6,0.000,0.069,1965,1521,3444,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10846,-0.62,-97.3,753.3,-7.0,483,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11144,-0.61,-97.3,773.2,-6.3,493,11148,0.00,1.85,0.00,0.000,4,0.000,0.057,1958,2579,3442,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11232,-0.61,-97.3,778.0,-6.3,496,11236,0.15,1.90,0.00,0.000,6,0.243,0.068,1990,1521,3442,0,0,0,0,0,0,14.14,14.45,28.83
$GC,11537,-0.62,-97.3,795.2,-5.4,506,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11833,-0.63,-97.3,813.4,-6.3,516,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12134,-0.64,-97.3,833.9,-6.9,526,12138,0.00,1.98,0.00,0.000,4,0.000,0.094,1990,460,3441,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12238,-0.64,-97.3,842.0,-7.8,530,12242,0.00,1.83,0.00,0.000,6,0.000,0.048,1985,1518,3439,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12554,-0.64,-97.3,864.4,-6.9,541,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12854,-0.64,-97.3,884.0,-6.4,551,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1520,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13153,-0.64,-97.3,902.8,-6.4,561,13157,0.00,1.85,0.00,0.000,4,0.000,0.060,1977,2577,3436,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13243,-0.65,-97.3,907.7,-6.5,564,13247,0.00,1.92,0.00,0.000,6,0.000,0.071,1977,1518,3435,0,0,0,0,0,0,28.83,14.38,28.83
$GC,13543,-0.65,-97.3,930.1,-7.3,574,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1518,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13843,-0.65,-97.3,953.4,-8.0,584,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1518,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14144,-0.65,-97.3,977.1,-8.0,594,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1518,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14200,begin apogee
$GC,14207,-0.18,0.0,982.0,-8.0,596,14336,0.57,0.00,116.22,2.003,6,0.207,0.000,2128,1389,3063,0,0,0,0,1,0,13.96,28.83,12.92
$STATE,14337,end apogee,CONTROL_FINISHED_OK
$STATE,14338,begin climb
$GC,14341,0.60,97.3,987.7,0.0,600,14480,0.82,2.03,127.35,1.969,4,0.112,0.100,2391,350,2665,0,0,0,0,1,0,14.14,14.03,12.93
$GC,14699,0.54,123.4,983.4,4.9,613,14758,0.00,1.85,45.55,1.515,6,0.000,0.048,2390,1419,2560,0,0,0,0,1,0,28.83,14.54,13.16
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$STATE,28076,end climb,SURFACE_DEPTH_REACHED
$STATE,28076,begin surface coast
$FINISH,0.1,1.025530
$STATE,28093,end surface coast,CONTROL_FINISHED_OK
$STATE,28093,begin surface
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$HUMID,53.81
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$TCM_TEMP,25.60
$XPDR_PINGS,3
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$TM_FREEKB,4561216
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$10V_AH,13.1,0.000
$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
$DEVICE_SECS,20.075,115.975,628.450,0.000,0.000,0.000,0.000,385.000,0.750,0.000,19.492,3181.561,21843.170,880.870,2405.637,573.417,0.000,2233.503,0.000,1873.281,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.160,13.004,0.000,0.000
$MEM,345592
$DATA_FILE_SIZE,43251,1167
$CAP_FILE_SIZE,243280,0
$CFSIZE,260034560,212983808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.008,145.0,1
$GPS,020113,090934,2429.411,-3723.984,38,0.8,38,-13.8