version: 66.11
glider: 191
mission: 5
dive: 345
start: 1 7 113 3 7 59
data:
$ID,191
$MISSION,5
$DIVE,345
$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,-5033.0845
$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,22
$R_STBD_OVSHOOT,49
$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
$GPS1,070113,025500,2502.265,-3746.314,38,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.8
$GPS2,070113,030729,2502.324,-3746.270,14,1.7,15,-13.9
$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,326.3,30335,-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,24,-0.60,-97.3,0.0,0.0,0,72,0.00,0.00,-46.15,0.000,2,0.000,0.000,158,1517,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.60,-97.3,3.1,-6.2,3,103,9.98,1.77,-9.27,0.000,4,0.418,0.084,1982,2574,3461,1,0,0,0,0,0,13.76,14.53,14.79
$GC,268,-0.60,-97.3,20.0,-8.5,16,271,0.00,1.90,0.00,0.000,6,0.000,0.067,1982,1514,3462,0,0,0,0,0,0,28.83,14.38,28.83
$GC,568,-0.57,-97.3,46.1,-8.9,36,572,0.00,1.92,0.00,0.000,4,0.000,0.090,1982,464,3462,0,0,0,0,0,0,28.83,14.32,28.83
$GC,689,-0.53,-97.3,58.1,-10.3,44,693,0.17,1.77,0.00,0.000,6,0.237,0.043,2014,1507,3462,0,0,0,0,0,0,14.22,14.57,28.83
$GC,988,-0.53,-97.3,80.9,-7.2,64,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1507,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-0.53,-97.3,102.2,-7.1,84,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1507,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,-0.55,-97.3,126.1,-8.2,104,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1508,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,-0.56,-97.3,148.2,-6.9,124,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1508,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,-0.58,-97.3,166.2,-5.6,144,2192,0.00,1.92,0.00,0.000,4,0.000,0.091,2015,463,3463,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2248,-0.58,-97.3,170.0,-6.3,148,2251,0.00,1.80,0.00,0.000,6,0.000,0.042,2009,1524,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2549,-0.59,-97.3,185.6,-4.8,168,2552,0.00,1.95,0.00,0.000,4,0.000,0.089,2009,463,3463,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2654,-0.59,-97.3,191.2,-5.5,175,2658,0.00,1.80,0.00,0.000,6,0.000,0.042,2002,1524,3462,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2953,-0.59,-97.3,205.3,-4.5,195,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.59,-97.3,219.5,-5.0,215,3257,0.00,1.80,0.00,0.000,4,0.000,0.053,1994,2579,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3421,-0.60,-97.3,228.1,-5.5,226,3425,0.00,1.88,0.00,0.000,6,0.000,0.064,1994,1519,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3719,-0.60,-97.3,247.5,-6.8,246,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.60,-97.3,271.2,-7.9,258,4038,0.00,1.80,0.00,0.000,4,0.000,0.053,1986,2577,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4108,-0.60,-97.3,277.2,-8.1,261,4112,0.00,1.88,0.00,0.000,6,0.000,0.065,1986,1519,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4424,-0.60,-97.3,302.3,-7.5,272,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-0.60,-97.3,323.4,-6.7,282,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-0.60,-97.3,340.3,-5.2,292,5028,0.00,1.92,0.00,0.000,4,0.000,0.090,1986,461,3461,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5144,-0.58,-97.3,346.5,-5.9,296,5148,0.00,1.80,0.00,0.000,6,0.000,0.043,1978,1529,3461,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5444,-0.57,-97.3,365.5,-6.6,306,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1531,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5744,-0.57,-97.3,389.5,-8.5,316,5748,0.00,1.80,0.00,0.000,4,0.000,0.055,1971,2582,3458,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5863,-0.57,-97.3,399.0,-9.0,320,5867,0.12,1.90,0.00,0.000,6,0.239,0.067,1998,1510,3459,0,0,0,0,0,0,14.31,14.56,28.83
$GC,6166,-0.58,-97.3,427.4,-9.0,330,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1510,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6465,-0.59,-97.3,451.2,-7.3,340,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1510,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6764,-0.61,-97.3,471.2,-6.4,350,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1510,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7065,-0.62,-97.3,489.3,-5.9,360,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1510,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7364,-0.63,-97.3,505.3,-5.1,370,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1507,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7665,-0.64,-97.3,519.6,-4.6,380,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1510,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.65,-97.3,535.2,-5.4,390,7968,0.00,1.85,0.00,0.000,4,0.000,0.055,1993,2579,3452,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8099,-0.67,-97.3,543.4,-6.2,395,8103,0.00,1.90,0.00,0.000,6,0.000,0.067,1993,1514,3452,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8413,-0.67,-97.3,565.1,-7.0,406,8417,0.00,1.85,0.00,0.000,4,0.000,0.056,1985,2580,3451,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8503,-0.68,-97.3,570.6,-7.4,409,8507,0.00,1.90,0.00,0.000,6,0.000,0.068,1985,1517,3450,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8804,-0.68,-97.3,594.0,-7.3,419,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1517,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,-0.68,-97.3,613.4,-5.7,429,9108,0.00,1.95,0.00,0.000,4,0.000,0.093,1985,461,3448,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9193,-0.68,-97.3,617.5,-5.7,432,9197,0.00,1.80,0.00,0.000,6,0.000,0.046,1977,1518,3446,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9494,-0.68,-97.3,632.3,-4.4,442,9498,0.00,1.83,0.00,0.000,4,0.000,0.057,1970,2577,3447,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9674,-0.68,-97.3,639.9,-4.7,448,9678,0.00,1.90,0.00,0.000,6,0.000,0.070,1970,1520,3446,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9974,-0.67,-97.3,658.2,-6.5,458,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10275,-0.66,-97.3,682.2,-8.4,468,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10574,-0.65,-97.3,708.8,-9.0,478,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10874,-0.64,-97.3,734.9,-8.3,488,10878,0.00,1.95,0.00,0.000,4,0.000,0.095,1970,466,3443,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10963,-0.62,-97.3,741.3,-8.4,491,10967,0.00,1.83,0.00,0.000,6,0.000,0.047,1962,1524,3442,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11267,-0.60,-97.3,762.4,-5.7,501,11268,0.12,0.00,0.00,0.000,6,0.255,0.000,1989,1526,3441,0,0,0,0,0,0,14.32,28.83,28.83
$GC,11564,-0.60,-97.3,771.7,-2.4,511,11568,0.00,1.83,0.00,0.000,4,0.000,0.059,1983,2576,3441,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11639,-0.62,-97.3,773.4,-2.2,514,11643,0.00,1.92,0.00,0.000,6,0.000,0.071,1983,1515,3438,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11956,-0.62,-97.3,782.0,-3.0,525,11960,0.00,1.88,0.00,0.000,4,0.000,0.058,1976,2579,3439,0,0,0,0,0,0,28.83,14.46,28.83
$GC,12043,-0.62,-97.3,784.8,-3.6,528,12047,0.00,1.92,0.00,0.000,6,0.000,0.070,1976,1517,3439,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12344,-0.62,-97.3,799.8,-5.5,538,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1516,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12644,-0.62,-97.3,820.1,-7.4,548,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1516,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12943,-0.62,-97.3,844.7,-8.5,558,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1516,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13245,-0.62,-97.3,870.0,-8.4,568,13248,0.00,1.98,0.00,0.000,4,0.000,0.098,1976,466,3435,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13332,-0.62,-97.3,876.8,-8.8,571,13336,0.00,1.83,0.00,0.000,6,0.000,0.048,1968,1518,3435,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13635,-0.62,-97.3,903.0,-8.3,581,13638,0.00,1.88,0.00,0.000,4,0.000,0.060,1960,2582,3434,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13738,-0.62,-97.3,911.4,-8.0,585,13743,0.12,1.95,0.00,0.000,6,0.245,0.073,1985,1515,3433,0,0,0,0,0,0,14.04,14.33,28.83
$GC,14057,-0.62,-97.3,931.8,-6.0,596,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1515,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14354,-0.71,-97.3,945.5,-3.3,606,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1515,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14654,-0.76,-97.3,961.2,-5.8,616,14659,0.15,2.00,0.00,0.000,4,0.130,0.099,1937,460,3431,0,0,0,0,0,0,14.54,14.16,28.83
$GC,14804,-0.72,-97.3,971.8,-8.2,621,14809,0.12,1.85,0.00,0.000,6,0.287,0.050,1951,1518,3431,0,0,0,0,0,0,13.97,14.43,28.83
$STATE,14921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14921,begin apogee
$GC,14928,-0.18,0.0,981.7,-7.3,625,15052,0.68,0.00,114.72,1.980,6,0.217,0.000,2127,1395,3063,0,0,0,0,1,0,13.84,28.83,12.91
$STATE,15054,end apogee,CONTROL_FINISHED_OK
$STATE,15054,begin climb
$GC,15057,0.60,97.3,985.6,0.0,629,15196,0.80,1.95,128.32,1.966,4,0.116,0.059,2374,2461,2666,0,0,0,0,1,0,14.12,14.10,12.94
$GC,15405,0.58,141.6,980.6,4.2,641,15481,0.00,1.95,65.95,1.717,6,0.000,0.078,2385,1397,2485,0,0,0,0,1,0,28.83,14.45,13.08
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$STATE,28796,end climb,SURFACE_DEPTH_REACHED
$STATE,28797,begin surface coast
$FINISH,0.2,1.025618
$STATE,28812,end surface coast,CONTROL_FINISHED_OK
$STATE,28812,begin surface
$SM_CCo,28892,0.00,0.000,0,0,1663,343.17
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$IRIDIUM_FIX,2451.31,-3741.65,060113,181802
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.31
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.50
$XPDR_PINGS,6
$SC_FREEKB,7637632
$TM_FREEKB,4403456
$24V_AH,12.9,164.378
$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,19.650,121.175,625.550,0.000,0.000,0.000,0.000,399.625,1.500,0.000,16.303,3290.397,22390.377,857.880,2493.219,592.164,0.000,2262.487,0.000,1956.698,0.000,0.549,0.000
$DEVICE_MAMPS,418.455,111.690,1979.820,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28866.000,7066.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.310,13.004,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,43288,1199
$CAP_FILE_SIZE,248583,0
$CFSIZE,260034560,210948096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.025, 17.9,1
$GPS,070113,111053,2504.729,-3748.720,40,0.9,40,-13.9