version: 66.11
glider: 191
mission: 5
dive: 430
start: 2 5 113 0 14 31
data:
$ID,191
$MISSION,5
$DIVE,430
$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,-5145.79
$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,41
$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
$GPS1,050213,000435,2511.958,-3801.721,26,1.0,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-55.5
$GPS2,050213,001400,2511.971,-3801.765,20,1.0,21,-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,210.4,96331,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-59.20,0.000,6,0.000,0.000,153,1517,3460,0,0,0,0,0,0,28.83,28.83,14.77
$GC,87,-0.60,-97.3,4.3,-8.6,4,102,9.93,1.90,0.00,0.000,4,0.408,0.073,1996,458,3463,1,0,0,0,0,0,13.64,14.45,28.83
$GC,309,-0.57,-97.3,31.1,-10.2,19,313,0.00,1.83,0.00,0.000,6,0.000,0.041,1990,1526,3466,0,0,0,0,0,0,28.83,14.49,28.83
$GC,610,-0.55,-97.3,60.0,-8.7,39,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,910,-0.54,-97.3,82.6,-7.0,59,913,0.00,1.95,0.00,0.000,4,0.000,0.082,1990,463,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1000,-0.51,-97.3,89.4,-7.8,65,1004,0.17,1.80,0.00,0.000,6,0.230,0.041,2022,1523,3464,0,0,0,0,0,0,14.11,14.53,28.83
$GC,1300,-0.53,-97.3,109.5,-7.4,85,1304,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,461,3465,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1405,-0.53,-97.3,117.9,-7.9,92,1409,0.00,1.80,0.00,0.000,6,0.000,0.041,2016,1522,3465,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1705,-0.54,-97.3,137.7,-6.1,112,1708,0.00,1.83,0.00,0.000,4,0.000,0.052,2009,2581,3465,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1781,-0.56,-97.3,142.1,-6.1,117,1784,0.00,1.90,0.00,0.000,6,0.000,0.061,2009,1509,3464,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2079,-0.56,-97.3,160.2,-6.1,137,2083,0.00,1.90,0.00,0.000,4,0.000,0.083,2009,464,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2260,-0.56,-97.3,172.5,-6.8,149,2264,0.00,1.80,0.00,0.000,6,0.000,0.041,2002,1528,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2560,-0.56,-97.3,192.1,-6.6,169,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1530,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.56,-97.3,212.5,-6.9,189,2863,0.00,1.95,0.00,0.000,4,0.000,0.083,2002,460,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2950,-0.56,-97.3,219.0,-7.3,195,2954,0.00,1.80,0.00,0.000,6,0.000,0.041,1994,1527,3465,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3250,-0.56,-97.3,235.8,-5.4,215,3253,0.00,1.92,0.00,0.000,4,0.000,0.083,1994,467,3465,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3325,-0.54,-97.3,240.7,-6.5,220,3329,0.00,1.77,0.00,0.000,6,0.000,0.041,1986,1520,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3626,-0.54,-97.3,260.5,-6.9,235,3630,0.00,1.92,0.00,0.000,4,0.000,0.083,1986,463,3465,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3715,-0.53,-97.3,266.5,-7.6,238,3719,0.15,1.80,0.00,0.000,6,0.233,0.041,2010,1525,3465,0,0,0,0,0,0,14.16,14.55,28.83
$GC,4018,-0.56,-97.3,284.9,-5.2,248,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1525,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.61,-97.3,299.2,-4.8,258,4320,0.00,1.92,0.00,0.000,4,0.000,0.083,2011,467,3464,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4451,-0.64,-97.3,306.1,-5.2,263,4454,0.00,1.77,0.00,0.000,6,0.000,0.041,2007,1521,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4768,-0.70,-97.3,325.8,-6.9,274,4772,0.12,1.92,0.00,0.000,4,0.134,0.083,1962,466,3463,0,0,0,0,0,0,14.63,14.34,28.83
$GC,4994,-0.65,-97.3,346.1,-9.3,282,4998,0.00,1.80,0.00,0.000,6,0.000,0.042,1948,1524,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5310,-0.62,-97.3,373.3,-8.7,293,5314,0.17,1.92,0.00,0.000,4,0.245,0.083,1987,467,3461,0,0,0,0,0,0,14.18,14.33,28.83
$GC,5397,-0.60,-97.3,379.8,-8.4,296,5401,0.00,1.80,0.00,0.000,6,0.000,0.042,1982,1528,3461,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5699,-0.60,-97.3,405.0,-7.9,306,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,-0.60,-97.3,427.8,-7.3,316,6002,0.00,1.95,0.00,0.000,4,0.000,0.085,1982,465,3459,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6074,-0.59,-97.3,433.7,-7.7,319,6078,0.00,1.80,0.00,0.000,6,0.000,0.043,1974,1519,3459,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6389,-0.59,-97.3,455.9,-6.9,330,6392,0.00,1.92,0.00,0.000,4,0.000,0.085,1974,467,3459,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6447,-0.58,-97.3,459.2,-7.0,332,6452,0.15,1.80,0.00,0.000,6,0.242,0.044,1999,1522,3459,0,0,0,0,0,0,14.10,14.52,28.83
$GC,6752,-0.59,-97.3,478.8,-6.3,342,6759,0.00,1.95,0.00,0.000,4,0.000,0.085,1999,462,3458,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6838,-0.59,-97.3,485.2,-6.9,345,6841,0.00,1.80,0.00,0.000,6,0.000,0.042,1994,1523,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7153,-0.59,-97.3,506.7,-6.8,356,7157,0.00,1.95,0.00,0.000,4,0.000,0.086,1994,463,3457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7213,-0.59,-97.3,510.0,-6.8,358,7216,0.00,1.80,0.00,0.000,6,0.000,0.044,1986,1519,3457,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7513,-0.59,-97.3,532.1,-6.9,368,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7814,-0.59,-97.3,553.9,-7.5,378,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,-0.59,-97.3,576.5,-7.6,388,8117,0.00,1.95,0.00,0.000,4,0.000,0.086,1986,463,3454,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8202,-0.59,-97.3,582.9,-8.3,391,8205,0.00,1.80,0.00,0.000,6,0.000,0.043,1978,1519,3454,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8504,-0.59,-97.3,608.5,-8.1,401,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8803,-0.59,-97.3,632.2,-7.7,411,8807,0.00,1.95,0.00,0.000,4,0.000,0.086,1978,469,3452,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8909,-0.58,-97.3,640.5,-8.0,415,8914,0.15,1.80,0.00,0.000,6,0.244,0.044,2001,1518,3452,0,0,0,0,0,0,14.04,14.47,28.83
$GC,9227,-0.60,-97.3,656.9,-4.6,426,9230,0.00,1.95,0.00,0.000,4,0.000,0.086,2002,465,3451,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9331,-0.61,-97.3,661.8,-4.7,430,9334,0.00,1.83,0.00,0.000,6,0.000,0.044,1997,1528,3450,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9647,-0.67,-97.3,676.0,-4.8,441,9651,0.00,1.98,0.00,0.000,4,0.000,0.088,1997,467,3450,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9765,-0.70,-97.3,682.3,-6.0,445,9768,0.00,1.83,0.00,0.000,6,0.000,0.045,1989,1522,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10067,-0.74,-97.3,706.5,-8.4,455,10071,0.12,1.95,0.00,0.000,4,0.139,0.087,1944,468,3449,0,0,0,0,0,0,14.59,14.21,28.83
$GC,10294,-0.70,-97.3,730.4,-11.0,463,10297,0.00,1.83,0.00,0.000,6,0.000,0.046,1936,1521,3447,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10608,-0.67,-97.3,760.3,-9.0,474,10610,0.15,0.00,0.00,0.000,6,0.262,0.000,1967,1523,3446,0,0,0,0,0,0,14.11,28.83,28.83
$GC,10907,-0.67,-97.3,780.3,-6.1,484,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1523,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11206,-0.67,-97.3,796.5,-5.4,494,11210,0.00,1.98,0.00,0.000,4,0.000,0.088,1967,464,3448,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11341,-0.65,-97.3,804.8,-6.3,499,11345,0.00,1.83,0.00,0.000,6,0.000,0.045,1962,1519,3444,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11660,-0.64,-97.3,823.6,-6.1,510,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11957,-0.63,-97.3,843.2,-6.7,520,11960,0.00,1.98,0.00,0.000,4,0.000,0.090,1961,469,3442,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12032,-0.61,-97.3,848.8,-7.2,523,12037,0.15,1.83,0.00,0.000,6,0.256,0.047,1986,1520,3441,0,0,0,0,0,0,13.91,14.38,28.83
$GC,12350,-0.65,-97.3,869.6,-7.3,534,12353,0.00,1.98,0.00,0.000,4,0.000,0.090,1986,468,3441,0,0,0,0,0,0,28.83,14.13,28.83
$GC,12453,-0.69,-97.3,878.1,-8.1,538,12457,0.00,1.85,0.00,0.000,6,0.000,0.047,1981,1527,3441,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12770,-0.73,-97.3,906.0,-9.1,549,12773,0.00,2.00,0.00,0.000,4,0.000,0.092,1981,470,3439,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12918,-0.75,-97.3,919.0,-9.8,554,12922,0.00,1.85,0.00,0.000,6,0.000,0.047,1974,1524,3439,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13220,-0.79,-97.3,947.2,-8.6,564,13224,0.12,2.00,0.00,0.000,4,0.148,0.091,1931,468,3438,0,0,0,0,0,0,14.50,14.05,28.83
$GC,13432,-0.74,-97.3,966.3,-10.0,571,13435,0.00,1.85,0.00,0.000,6,0.000,0.048,1923,1519,3437,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,13575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13575,begin apogee
$GC,13583,-0.18,0.0,981.3,-8.8,576,13711,0.82,0.00,115.18,1.851,6,0.235,0.000,2126,1394,3063,0,0,0,0,1,0,13.68,28.83,12.92
$STATE,13712,end apogee,CONTROL_FINISHED_OK
$STATE,13712,begin climb
$GC,13716,0.60,97.3,986.7,0.0,580,13853,0.82,2.03,125.40,1.832,4,0.117,0.098,2388,345,2666,0,0,0,0,1,0,14.20,14.14,12.98
$GC,14074,0.55,134.6,982.8,4.5,593,14145,0.00,1.85,57.80,1.555,6,0.000,0.047,2388,1416,2513,0,0,0,0,1,0,28.83,14.52,13.12
$GC,14464,0.49,139.0,960.5,5.9,606,14476,0.17,2.00,3.80,1.940,4,0.267,0.098,2357,345,2495,0,0,0,0,0,0,14.19,14.46,13.32
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$STATE,27360,end climb,SURFACE_DEPTH_REACHED
$STATE,27360,begin surface coast
$FINISH,0.5,1.025620
$STATE,27376,end surface coast,CONTROL_FINISHED_OK
$STATE,27377,begin surface
$SM_CCo,27456,0.00,0.000,0,0,1669,341.70
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$IRIDIUM_FIX,2505.59,-3801.27,040213,151542
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.40
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.40
$XPDR_PINGS,6
$SC_FREEKB,7604992
$24V_AH,12.9,203.256
$10V_AH,12.7,0.000
$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,21.325,181.850,692.825,0.000,0.000,0.000,0.000,289.850,1.500,0.000,21.892,3262.586,20724.857,1030.693,2309.142,675.795,0.000,2334.353,0.000,1939.842,0.000,0.549,0.000
$DEVICE_MAMPS,407.745,105.570,1940.040,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27430.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.204,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,43353,1143
$CAP_FILE_SIZE,254309,0
$CFSIZE,260034560,199495680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.112,338.0,1
$GPS,050213,075328,2510.712,-3803.034,38,0.8,38,-13.9