version: 66.11
glider: 191
mission: 5
dive: 429
start: 2 4 113 15 59 59
data:
$ID,191
$MISSION,5
$DIVE,429
$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,-5144.5361
$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,55
$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,1
$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
$GPS1,040213,155030,2512.514,-3800.235,39,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-53.9
$GPS2,040213,155929,2512.531,-3800.289,15,1.2,15,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,221.6,98822,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-97.3,0.0,0.0,0,82,0.00,0.00,-57.60,0.000,6,0.000,0.000,159,1527,3461,0,0,0,0,0,0,28.83,28.83,14.75
$GC,86,-0.60,-97.3,4.5,-9.9,4,101,9.88,1.90,0.00,0.000,4,0.406,0.072,1995,463,3464,1,0,0,0,0,0,13.64,14.47,28.83
$GC,323,-0.57,-97.3,31.5,-8.8,20,327,0.00,1.77,0.00,0.000,6,0.000,0.041,1990,1509,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,624,-0.55,-97.3,55.6,-8.1,40,627,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,461,3463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,715,-0.52,-97.3,63.7,-9.1,46,720,0.15,1.80,0.00,0.000,6,0.246,0.040,2014,1524,3465,0,0,0,0,0,0,14.12,14.53,28.83
$GC,1015,-0.52,-97.3,85.8,-7.6,66,1018,0.00,1.92,0.00,0.000,4,0.000,0.081,2014,465,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1103,-0.52,-97.3,93.5,-8.9,72,1107,0.00,1.80,0.00,0.000,6,0.000,0.041,2009,1524,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1405,-0.52,-97.3,118.5,-8.5,92,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1703,-0.52,-97.3,140.6,-6.2,112,1707,0.00,1.95,0.00,0.000,4,0.000,0.083,2009,461,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1901,-0.52,-97.3,153.0,-6.9,125,1905,0.00,1.80,0.00,0.000,6,0.000,0.041,2001,1527,3465,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2199,-0.52,-97.3,172.5,-6.4,145,2202,0.00,1.80,0.00,0.000,4,0.000,0.051,1993,2579,3466,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2289,-0.52,-97.3,178.4,-6.8,151,2293,0.00,1.88,0.00,0.000,6,0.000,0.060,1993,1519,3466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2589,-0.52,-97.3,197.3,-6.1,171,2593,0.00,1.92,0.00,0.000,4,0.000,0.081,1993,460,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2681,-0.51,-97.3,203.5,-7.2,177,2685,0.15,1.80,0.00,0.000,6,0.227,0.040,2019,1530,3466,0,0,0,0,0,0,14.19,14.57,28.83
$GC,2980,-0.54,-97.3,222.1,-6.8,197,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1531,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-0.60,-97.3,247.1,-8.5,217,3283,0.00,1.95,0.00,0.000,4,0.000,0.083,2019,461,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3429,-0.64,-97.3,258.6,-8.5,223,3433,0.00,1.80,0.00,0.000,6,0.000,0.040,2015,1528,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3729,-0.69,-97.3,280.8,-6.4,233,3734,0.15,1.95,0.00,0.000,4,0.119,0.082,1957,458,3466,0,0,0,0,0,0,14.57,14.34,28.83
$GC,3942,-0.65,-97.3,295.9,-7.9,240,3946,0.12,1.80,0.00,0.000,6,0.278,0.041,1973,1523,3465,0,0,0,0,0,0,14.09,14.56,28.83
$GC,4241,-0.64,-97.3,317.8,-7.1,250,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.63,-97.3,341.2,-8.0,260,4544,0.00,1.95,0.00,0.000,4,0.000,0.083,1974,458,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4614,-0.61,-97.3,347.7,-8.6,263,4618,0.00,1.80,0.00,0.000,6,0.000,0.041,1968,1522,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4933,-0.59,-97.3,373.2,-7.9,274,4937,0.12,1.95,0.00,0.000,4,0.252,0.083,1994,458,3463,0,0,0,0,0,0,14.31,14.31,28.83
$GC,4990,-0.58,-97.3,376.8,-7.8,276,4994,0.00,1.80,0.00,0.000,6,0.000,0.042,1989,1521,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5291,-0.58,-97.3,398.7,-6.8,286,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-0.58,-97.3,418.3,-6.4,296,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5891,-0.58,-97.3,438.2,-6.8,306,5895,0.00,1.95,0.00,0.000,4,0.000,0.085,1989,460,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5967,-0.58,-97.3,444.0,-7.4,309,5971,0.00,1.80,0.00,0.000,6,0.000,0.041,1981,1521,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6281,-0.58,-97.3,467.2,-7.3,320,6284,0.00,1.95,0.00,0.000,4,0.000,0.086,1981,463,3458,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6357,-0.56,-97.3,473.5,-8.2,323,6361,0.15,1.80,0.00,0.000,6,0.244,0.041,2005,1522,3457,0,0,0,0,0,0,14.09,14.52,28.83
$GC,6675,-0.58,-97.3,495.4,-6.6,334,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6971,-0.60,-97.3,514.2,-6.0,344,6975,0.00,1.95,0.00,0.000,4,0.000,0.086,2006,464,3457,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7047,-0.61,-97.3,519.0,-6.3,347,7051,0.00,1.80,0.00,0.000,6,0.000,0.042,2000,1519,3457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7363,-0.66,-97.3,538.9,-6.6,358,7367,0.00,1.95,0.00,0.000,4,0.000,0.085,2000,459,3456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7451,-0.69,-97.3,544.1,-7.0,361,7455,0.00,1.83,0.00,0.000,6,0.000,0.041,1993,1531,3456,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7751,-0.74,-97.3,564.5,-6.3,371,7756,0.12,1.98,0.00,0.000,4,0.135,0.086,1946,461,3455,0,0,0,0,0,0,14.62,14.25,28.83
$GC,7963,-0.69,-97.3,580.5,-8.5,378,7967,0.00,1.80,0.00,0.000,6,0.000,0.042,1938,1518,3454,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8261,-0.65,-97.3,605.5,-7.9,388,8263,0.17,0.00,0.00,0.000,6,0.256,0.000,1976,1519,3453,0,0,0,0,0,0,14.09,28.83,28.83
$GC,8562,-0.65,-97.3,626.3,-7.1,398,8565,0.00,1.95,0.00,0.000,4,0.000,0.086,1976,465,3452,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8666,-0.64,-97.3,634.9,-8.2,402,8669,0.00,1.80,0.00,0.000,6,0.000,0.044,1971,1520,3452,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8984,-0.63,-97.3,660.5,-8.3,413,8988,0.00,1.83,0.00,0.000,4,0.000,0.055,1963,2574,3451,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9056,-0.63,-97.3,667.3,-8.7,416,9060,0.00,1.90,0.00,0.000,6,0.000,0.066,1963,1521,3451,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9374,-0.61,-97.3,694.1,-8.3,427,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,-0.60,-97.3,716.1,-6.8,437,9678,0.15,1.95,0.00,0.000,4,0.251,0.087,1995,467,3449,0,0,0,0,0,0,14.14,14.18,28.83
$GC,9747,-0.60,-97.3,720.7,-6.3,440,9751,0.00,1.80,0.00,0.000,6,0.000,0.044,1990,1518,3449,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10066,-0.61,-97.3,734.5,-4.0,451,10073,0.00,1.85,0.00,0.000,4,0.000,0.055,1982,2579,3448,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10123,-0.63,-97.3,737.0,-4.0,453,10126,0.00,1.92,0.00,0.000,6,0.000,0.066,1982,1516,3447,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10440,-0.63,-97.3,752.2,-5.2,464,10444,0.00,1.95,0.00,0.000,4,0.000,0.089,1982,467,3446,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10557,-0.63,-97.3,759.0,-6.5,468,10560,0.00,1.83,0.00,0.000,6,0.000,0.044,1975,1522,3446,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10858,-0.63,-97.3,780.6,-7.0,478,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1524,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11159,-0.63,-97.3,802.2,-7.1,488,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1524,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11458,-0.63,-97.3,823.5,-7.1,498,11462,0.00,2.00,0.00,0.000,4,0.000,0.088,1975,464,3443,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11639,-0.61,-97.3,836.6,-8.0,504,11642,0.00,1.85,0.00,0.000,6,0.000,0.045,1967,1521,3442,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11938,-0.61,-97.3,858.7,-6.9,514,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1522,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12239,-0.61,-97.3,877.2,-6.0,524,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1522,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12538,-0.61,-97.3,894.4,-5.8,534,12542,0.00,2.00,0.00,0.000,4,0.000,0.090,1967,468,3439,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12657,-0.60,-97.3,901.2,-6.6,538,12662,0.15,1.85,0.00,0.000,6,0.251,0.047,1990,1524,3439,0,0,0,0,0,0,13.73,14.21,28.83
$GC,12962,-0.64,-97.3,919.3,-6.1,548,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1525,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13258,-0.69,-97.3,938.4,-6.5,558,13262,0.00,1.88,0.00,0.000,4,0.000,0.058,1985,2577,3438,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13424,-0.74,-97.3,950.2,-7.2,564,13428,0.00,1.95,0.00,0.000,6,0.000,0.068,1985,1517,3440,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13741,-0.79,-97.3,974.5,-7.9,575,13743,0.15,0.00,0.00,0.000,6,0.133,0.000,1932,1516,3436,0,0,0,0,0,0,14.42,28.83,28.83
$STATE,13824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13825,begin apogee
$GC,13833,-0.18,0.0,982.5,-8.7,578,13960,0.75,0.00,114.15,1.856,6,0.220,0.000,2123,1396,3064,0,0,0,0,1,0,13.71,28.83,12.88
$STATE,13962,end apogee,CONTROL_FINISHED_OK
$STATE,13962,begin climb
$GC,13965,0.60,97.3,989.8,0.0,582,14102,0.82,2.03,125.68,1.843,4,0.107,0.096,2389,348,2668,0,0,0,0,1,0,14.19,14.12,12.95
$GC,14324,0.60,174.7,992.5,2.8,595,14443,0.00,1.85,103.75,1.799,6,0.000,0.045,2389,1422,2349,0,0,0,0,1,0,28.83,14.52,13.00
$GC,14743,0.54,174.7,968.1,6.8,609,14747,0.00,2.00,0.00,0.000,4,0.000,0.096,2397,350,2344,0,0,0,0,0,0,28.83,14.39,28.83
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$STATE,28907,end climb,SURFACE_DEPTH_REACHED
$STATE,28907,begin surface coast
$FINISH,0.2,1.014191
$STATE,28923,end surface coast,CONTROL_FINISHED_OK
$STATE,28923,begin surface
$SM_CCo,29007,0.00,0.000,0,0,1699,334.34
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$IRIDIUM_FIX,2503.20,-3757.93,040213,080814
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.77
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.50
$XPDR_PINGS,10
$SC_FREEKB,7605376
$24V_AH,12.9,202.824
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,21.275,181.575,663.625,0.000,0.000,0.000,0.000,280.425,2.500,0.000,16.528,3443.064,21984.732,981.796,2418.098,704.337,0.000,2334.169,0.000,2060.014,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.173,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43328,1196
$CAP_FILE_SIZE,265794,0
$CFSIZE,260034560,199606272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.113,355.0,1
$GPS,050213,000435,2511.958,-3801.721,26,1.0,26,-13.9