version: 66.11
glider: 191
mission: 5
dive: 335
start: 1 3 113 16 56 12
data:
$ID,191
$MISSION,5
$DIVE,335
$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,-5020.1152
$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,21
$R_STBD_OVSHOOT,50
$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
$GPS1,030113,164352,2437.586,-3720.302,39,0.9,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-57.0
$GPS2,030113,165541,2437.606,-3720.322,17,1.2,18,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,322.8,93362,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.60,-97.3,0.0,0.0,0,89,0.00,0.00,-61.33,0.000,2,0.000,0.000,154,1518,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.60,-97.3,3.1,-6.1,4,112,9.90,1.95,-5.03,0.000,4,0.415,0.112,1996,461,3459,1,0,0,0,0,0,13.77,14.45,14.77
$GC,332,-0.57,-97.3,28.5,-9.6,20,336,0.00,1.80,0.00,0.000,6,0.000,0.043,1991,1520,3462,0,0,0,0,0,0,28.83,14.50,28.83
$GC,632,-0.55,-97.3,54.4,-8.8,40,635,0.00,1.95,0.00,0.000,4,0.000,0.086,1991,455,3462,0,0,0,0,0,0,28.83,14.39,28.83
$GC,767,-0.52,-97.3,67.7,-9.7,49,772,0.15,1.83,0.00,0.000,6,0.242,0.044,2017,1525,3462,0,0,0,0,0,0,14.23,14.56,28.83
$GC,1067,-0.52,-97.3,88.3,-5.9,69,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1367,-0.54,-97.3,100.6,-3.6,89,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1667,-0.55,-97.3,114.7,-6.0,109,1670,0.00,1.95,0.00,0.000,4,0.000,0.085,2017,459,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1771,-0.55,-97.3,122.6,-7.8,116,1775,0.00,1.80,0.00,0.000,6,0.000,0.043,2011,1521,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2071,-0.55,-97.3,144.8,-7.3,136,2074,0.00,1.80,0.00,0.000,4,0.000,0.053,2003,2577,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2286,-0.56,-97.3,159.9,-7.3,150,2295,0.00,1.88,0.00,0.000,6,0.000,0.063,2003,1516,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2596,-0.56,-97.3,181.3,-6.4,171,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-0.56,-97.3,197.1,-4.9,191,2900,0.00,1.90,0.00,0.000,4,0.000,0.084,2003,464,3464,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2988,-0.56,-97.3,202.4,-5.8,197,2992,0.00,1.80,0.00,0.000,6,0.000,0.041,1996,1530,3463,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3286,-0.56,-97.3,219.4,-6.2,217,3289,0.00,1.77,0.00,0.000,4,0.000,0.054,1988,2575,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3452,-0.56,-97.3,230.5,-6.8,228,3456,0.00,1.88,0.00,0.000,6,0.000,0.063,1988,1514,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3766,-0.56,-97.3,256.1,-8.4,247,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-0.56,-97.3,282.5,-9.0,257,4070,0.00,1.83,0.00,0.000,4,0.000,0.053,1980,2579,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4231,-0.56,-97.3,297.3,-9.0,263,4235,0.00,1.88,0.00,0.000,6,0.000,0.063,1980,1516,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4546,-0.56,-97.3,325.4,-8.7,274,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4846,-0.56,-97.3,351.1,-8.4,284,4850,0.00,1.90,0.00,0.000,4,0.000,0.086,1980,464,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4922,-0.55,-97.3,357.8,-8.9,287,4926,0.15,1.77,0.00,0.000,6,0.238,0.044,2007,1520,3461,0,0,0,0,0,0,14.34,14.69,28.83
$GC,5240,-0.56,-97.3,378.4,-6.0,298,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5537,-0.57,-97.3,395.2,-5.4,308,5541,0.00,1.80,0.00,0.000,4,0.000,0.055,2002,2576,3460,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5703,-0.60,-97.3,403.9,-5.2,314,5707,0.00,1.88,0.00,0.000,6,0.000,0.065,2001,1514,3459,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6016,-0.60,-97.3,420.7,-5.3,325,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6318,-0.61,-97.3,437.5,-5.6,335,6321,0.00,1.83,0.00,0.000,4,0.000,0.054,1994,2575,3457,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6422,-0.62,-97.3,443.5,-5.7,339,6426,0.00,1.88,0.00,0.000,6,0.000,0.067,1994,1522,3457,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6739,-0.62,-97.3,461.5,-5.6,350,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7037,-0.62,-97.3,477.4,-5.1,360,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7337,-0.62,-97.3,493.1,-5.4,370,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7636,-0.62,-97.3,511.9,-6.7,380,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7936,-0.62,-97.3,536.3,-8.5,390,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8237,-0.62,-97.3,561.3,-8.3,400,8241,0.00,1.83,0.00,0.000,4,0.000,0.056,1986,2575,3452,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8295,-0.63,-97.3,565.0,-8.1,402,8299,0.00,1.90,0.00,0.000,6,0.000,0.067,1986,1513,3451,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8597,-0.63,-97.3,589.4,-7.5,412,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1512,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8896,-0.63,-97.3,609.9,-6.4,422,8900,0.00,1.92,0.00,0.000,4,0.000,0.090,1986,463,3450,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8985,-0.63,-97.3,614.9,-6.6,425,8989,0.00,1.80,0.00,0.000,6,0.000,0.045,1979,1518,3449,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9287,-0.63,-97.3,631.1,-4.6,435,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9586,-0.63,-97.3,645.3,-5.0,445,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1518,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9887,-0.63,-97.3,662.4,-5.9,455,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10186,-0.63,-97.3,682.1,-6.7,465,10190,0.00,1.83,0.00,0.000,4,0.000,0.058,1971,2575,3446,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10335,-0.63,-97.3,692.1,-7.4,470,10339,0.00,1.90,0.00,0.000,6,0.000,0.070,1971,1521,3445,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10637,-0.63,-97.3,718.3,-8.8,480,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10936,-0.63,-97.3,745.6,-9.3,490,10940,0.00,1.85,0.00,0.000,4,0.000,0.057,1964,2577,3444,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10996,-0.63,-97.3,749.8,-9.3,492,11000,0.00,1.92,0.00,0.000,6,0.000,0.070,1963,1513,3442,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11297,-0.62,-97.3,778.1,-8.7,502,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1512,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11597,-0.61,-97.3,801.9,-7.5,512,11599,0.12,0.00,0.00,0.000,6,0.261,0.000,1989,1512,3441,0,0,0,0,0,0,14.33,28.83,28.83
$GC,11899,-0.62,-97.3,819.5,-5.4,522,11903,0.00,1.88,0.00,0.000,4,0.000,0.059,1984,2577,3440,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12109,-0.63,-97.3,828.7,-4.7,529,12112,0.00,1.92,0.00,0.000,6,0.000,0.070,1984,1516,3440,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12406,-0.63,-97.3,843.0,-4.6,539,12410,0.00,1.88,0.00,0.000,4,0.000,0.059,1976,2578,3438,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12495,-0.63,-97.3,846.7,-4.8,542,12499,0.00,1.92,0.00,0.000,6,0.000,0.071,1976,1519,3439,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12797,-0.63,-97.3,863.0,-5.3,552,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13096,-0.63,-97.3,880.5,-6.1,562,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13397,-0.63,-97.3,900.9,-7.0,572,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13696,-0.63,-97.3,924.1,-8.1,582,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13997,-0.63,-97.3,949.0,-8.5,592,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14296,-0.63,-97.3,974.0,-8.3,602,14297,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14384,begin apogee
$GC,14391,-0.18,0.0,981.0,-7.9,605,14518,0.57,0.00,115.50,1.978,6,0.204,0.000,2129,1389,3063,0,0,0,0,1,0,13.96,28.83,12.93
$STATE,14520,end apogee,CONTROL_FINISHED_OK
$STATE,14520,begin climb
$GC,14524,0.60,97.3,986.7,0.0,609,14662,0.80,2.05,127.22,1.963,4,0.109,0.101,2386,343,2665,0,0,0,0,1,0,14.15,14.04,12.94
$GC,14883,0.55,131.0,982.9,4.6,622,14947,0.00,1.85,53.95,1.605,6,0.000,0.050,2387,1405,2528,0,0,0,0,1,0,28.83,14.52,13.14
$GC,15256,0.49,131.0,960.7,6.3,635,15261,0.15,1.98,0.00,0.000,4,0.275,0.099,2360,349,2526,0,0,0,0,0,0,14.26,14.43,28.83
$GC,15333,0.44,131.0,955.9,6.4,638,15337,0.00,1.83,0.00,0.000,6,0.000,0.050,2360,1406,2525,0,0,0,0,0,0,28.83,14.59,28.83
$GC,15649,0.41,143.6,938.1,5.5,649,15687,0.15,0.00,29.92,1.127,6,0.266,0.000,2329,1408,2476,0,0,0,0,1,0,14.30,28.83,13.32
$GC,15979,0.46,177.0,922.1,4.6,660,16041,0.00,0.00,54.95,1.636,6,0.000,0.000,2329,1412,2340,0,0,0,0,1,0,28.83,28.83,13.16
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$STATE,29205,end climb,SURFACE_DEPTH_REACHED
$STATE,29205,begin surface coast
$FINISH,0.4,1.025553
$STATE,29221,end surface coast,CONTROL_FINISHED_OK
$STATE,29221,begin surface
$SM_CCo,29243,0.60,1.100,0,0,1757,320.12
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$IRIDIUM_FIX,2425.21,-3717.79,030113,080852
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.85
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.80
$XPDR_PINGS,7
$SC_FREEKB,7641472
$TM_FREEKB,4509248
$24V_AH,12.9,159.568
$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,19.000,116.750,671.425,0.600,0.000,0.000,0.000,365.825,1.750,0.000,18.781,3324.449,22584.094,934.633,2481.674,616.336,0.000,2311.749,0.000,1996.121,0.000,0.549,0.000
$DEVICE_MAMPS,414.630,112.455,1978.290,1100.070,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29268.000,7337.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.396,13.013,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43345,1224
$CAP_FILE_SIZE,249558,0
$CFSIZE,260034560,212312064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,2,0
$CURRENT,0.022,348.5,1
$GPS,040113,010458,2439.939,-3722.919,36,1.0,37,-13.8