version: 66.11
glider: 191
mission: 5
dive: 332
start: 1 2 113 17 26 54
data:
$ID,191
$MISSION,5
$DIVE,332
$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,-5016.1553
$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,24
$R_STBD_OVSHOOT,47
$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
$GPS1,020113,171422,2432.081,-3721.568,40,0.8,40,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.1
$GPS2,020113,172625,2432.093,-3721.658,14,1.3,15,-13.8
$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,70.2,8182,-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,21,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-61.00,0.000,2,0.000,0.000,159,1518,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.5,-6.6,4,107,9.95,1.83,-0.85,0.000,4,0.416,0.082,1983,2570,3461,1,0,0,0,0,0,13.82,14.52,14.72
$GC,299,-0.58,-97.3,25.9,-8.5,18,302,0.00,1.90,0.00,0.000,6,0.000,0.065,1983,1514,3464,0,0,0,0,0,0,28.83,14.29,28.83
$GC,598,-0.56,-97.3,52.2,-8.3,38,602,0.00,1.92,0.00,0.000,4,0.000,0.086,1983,461,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,644,-0.53,-97.3,56.1,-8.8,41,648,0.17,1.80,0.00,0.000,6,0.239,0.043,2014,1517,3463,0,0,0,0,0,0,14.16,14.44,28.83
$GC,943,-0.53,-97.3,76.4,-6.3,61,946,0.00,1.83,0.00,0.000,4,0.000,0.053,2009,2580,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1019,-0.54,-97.3,81.2,-6.4,66,1023,0.00,1.90,0.00,0.000,6,0.000,0.063,2009,1511,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1318,-0.54,-97.3,100.9,-6.7,86,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.54,-97.3,121.8,-7.0,106,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.54,-97.3,142.6,-6.7,126,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.54,-97.3,159.9,-5.0,146,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1510,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.55,-97.3,176.4,-6.1,166,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.56,-97.3,196.3,-7.1,186,2822,0.00,1.90,0.00,0.000,4,0.000,0.086,2009,464,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2983,-0.56,-97.3,209.5,-8.2,197,2986,0.00,1.77,0.00,0.000,6,0.000,0.042,2001,1521,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3283,-0.56,-97.3,232.8,-7.6,217,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.56,-97.3,254.7,-6.6,236,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3899,-0.56,-97.3,272.3,-5.8,246,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.56,-97.3,289.6,-5.9,256,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4498,-0.56,-97.3,309.4,-6.8,266,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-0.56,-97.3,331.6,-7.5,276,4801,0.00,1.92,0.00,0.000,4,0.000,0.086,2001,461,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4887,-0.56,-97.3,337.8,-8.1,279,4890,0.00,1.77,0.00,0.000,6,0.000,0.044,1994,1520,3461,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5188,-0.56,-97.3,362.0,-7.5,289,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1520,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5488,-0.56,-97.3,382.4,-6.4,299,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5789,-0.56,-97.3,399.7,-5.7,309,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6088,-0.56,-97.3,417.8,-6.6,319,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6388,-0.56,-97.3,440.3,-8.0,329,6391,0.00,1.80,0.00,0.000,4,0.000,0.055,1985,2576,3458,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6477,-0.56,-97.3,446.6,-8.3,332,6481,0.00,1.88,0.00,0.000,6,0.000,0.065,1986,1515,3457,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6778,-0.56,-97.3,474.6,-8.9,342,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,-0.56,-97.3,500.9,-8.6,352,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1515,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7378,-0.56,-97.3,522.5,-6.5,362,7381,0.00,1.92,0.00,0.000,4,0.000,0.089,1986,459,3455,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7467,-0.56,-97.3,527.5,-6.6,365,7470,0.00,1.80,0.00,0.000,6,0.000,0.044,1978,1520,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7769,-0.56,-97.3,544.3,-4.9,375,7772,0.00,1.83,0.00,0.000,4,0.000,0.055,1970,2581,3454,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7843,-0.56,-97.3,547.9,-4.9,378,7847,0.15,1.88,0.00,0.000,6,0.225,0.065,2004,1521,3454,0,0,0,0,0,0,14.28,14.55,28.83
$GC,8161,-0.58,-97.3,563.2,-5.2,389,8165,0.00,1.92,0.00,0.000,4,0.000,0.090,2004,466,3453,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8218,-0.59,-97.3,566.2,-6.0,391,8221,0.00,1.80,0.00,0.000,6,0.000,0.045,1999,1522,3453,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8519,-0.60,-97.3,588.5,-7.4,401,8523,0.00,1.83,0.00,0.000,4,0.000,0.056,1991,2578,3453,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8714,-0.62,-97.3,602.5,-7.0,408,8718,0.00,1.88,0.00,0.000,6,0.000,0.067,1991,1522,3452,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9029,-0.62,-97.3,623.7,-6.6,419,9033,0.00,1.92,0.00,0.000,4,0.000,0.090,1991,465,3450,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9147,-0.62,-97.3,630.9,-7.0,423,9150,0.00,1.80,0.00,0.000,6,0.000,0.045,1983,1522,3450,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9448,-0.62,-97.3,649.6,-5.5,433,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9749,-0.62,-97.3,667.1,-6.2,443,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,-0.62,-97.3,687.3,-6.9,453,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10349,-0.62,-97.3,707.5,-6.5,463,10352,0.00,1.83,0.00,0.000,4,0.000,0.057,1975,2576,3446,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10467,-0.62,-97.3,714.4,-6.6,467,10471,0.00,1.90,0.00,0.000,6,0.000,0.068,1975,1517,3447,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10768,-0.62,-97.3,735.2,-6.5,477,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11069,-0.62,-97.3,755.1,-6.7,487,11072,0.00,1.95,0.00,0.000,4,0.000,0.092,1975,462,3445,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11173,-0.60,-97.3,763.0,-7.5,491,11177,0.00,1.83,0.00,0.000,6,0.000,0.046,1967,1527,3444,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11489,-0.60,-97.3,785.3,-7.1,502,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1528,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11788,-0.60,-97.3,807.8,-7.6,512,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1528,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12089,-0.60,-97.3,831.2,-7.9,522,12092,0.00,1.83,0.00,0.000,4,0.000,0.057,1960,2578,3441,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12193,-0.60,-97.3,839.4,-7.8,526,12198,0.15,1.90,0.00,0.000,6,0.234,0.067,1993,1520,3441,0,0,0,0,0,0,14.12,14.43,28.83
$GC,12510,-0.62,-97.3,860.0,-6.4,537,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12810,-0.64,-97.3,877.9,-5.8,547,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13109,-0.65,-97.3,894.4,-5.5,557,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13410,-0.67,-97.3,910.1,-5.2,567,13413,0.00,1.98,0.00,0.000,4,0.000,0.094,1992,462,3437,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13527,-0.67,-97.3,916.0,-5.6,571,13531,0.00,1.83,0.00,0.000,6,0.000,0.048,1987,1518,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13829,-0.67,-97.3,930.0,-4.4,581,13833,0.00,1.85,0.00,0.000,4,0.000,0.060,1980,2576,3435,0,0,0,0,0,0,28.83,14.43,28.83
$GC,13994,-0.68,-97.3,938.4,-5.2,587,13997,0.00,1.92,0.00,0.000,6,0.000,0.071,1980,1518,3435,0,0,0,0,0,0,28.83,14.37,28.83
$GC,14309,-0.68,-97.3,956.5,-6.1,598,14313,0.00,1.98,0.00,0.000,4,0.000,0.095,1980,462,3434,0,0,0,0,0,0,28.83,14.22,28.83
$GC,14383,-0.68,-97.3,961.7,-6.9,601,14386,0.00,1.85,0.00,0.000,6,0.000,0.048,1972,1529,3434,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,14635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14635,begin apogee
$GC,14643,-0.18,0.0,980.2,-7.4,610,14771,0.57,0.00,117.05,1.990,6,0.205,0.000,2123,1390,3062,0,0,0,0,1,0,13.93,28.83,12.90
$STATE,14773,end apogee,CONTROL_FINISHED_OK
$STATE,14773,begin climb
$GC,14776,0.60,97.3,985.8,0.0,614,14915,0.85,2.03,127.53,1.961,4,0.122,0.099,2390,349,2666,0,0,0,0,1,0,14.12,14.02,12.91
$GC,15134,0.58,159.2,985.6,3.4,627,15229,0.00,1.83,85.62,1.846,6,0.000,0.048,2390,1410,2413,0,0,0,0,1,0,28.83,14.52,13.02
$GC,15540,0.53,159.2,962.9,6.5,641,15544,0.00,1.98,0.00,0.000,4,0.000,0.099,2397,349,2407,0,0,0,0,0,0,28.83,14.47,28.83
$GC,15748,0.45,159.2,947.3,8.2,648,15752,0.25,1.80,0.00,0.000,6,0.250,0.050,2340,1402,2406,0,0,0,0,0,0,14.26,14.62,28.83
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$STATE,29308,end climb,SURFACE_DEPTH_REACHED
$STATE,29308,begin surface coast
$FINISH,-0.0,1.023466
$STATE,29342,end surface coast,CONTROL_FINISHED_OK
$STATE,29342,begin surface
$SM_CCo,29423,0.00,0.000,0,0,1740,324.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.88
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.50
$XPDR_PINGS,3
$SC_FREEKB,7642624
$TM_FREEKB,4540448
$24V_AH,12.9,158.298
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,19.450,127.550,661.175,0.000,0.000,0.000,0.000,384.825,0.750,0.000,16.173,3331.796,22769.525,921.497,2510.764,594.043,0.000,2331.611,0.000,1998.298,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.229,12.988,0.000,0.000
$MEM,345532
$DATA_FILE_SIZE,43267,1212
$CAP_FILE_SIZE,253509,0
$CFSIZE,260034560,212705280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.013,281.1,1
$GPS,030113,013835,2433.865,-3718.998,35,1.0,36,-13.8