version: 66.11
glider: 191
mission: 5
dive: 434
start: 2 6 113 8 18 29
data:
$ID,191
$MISSION,5
$DIVE,434
$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,-5150.8232
$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,46
$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
$GPS1,060213,080834,2507.281,-3805.843,41,0.9,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-57.3
$GPS2,060213,081759,2507.340,-3805.869,15,1.1,15,-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,212.3,85381,-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,18,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.47,0.000,6,0.000,0.000,161,1518,3459,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.7,-10.6,4,102,9.98,1.90,0.00,0.000,4,0.412,0.074,1998,460,3462,1,0,0,0,0,0,13.59,14.42,28.83
$GC,324,-0.57,-97.3,32.6,-8.4,20,328,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1515,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,625,-0.55,-97.3,57.4,-12.3,40,628,0.00,1.95,0.00,0.000,4,0.000,0.084,1990,456,3467,0,0,0,0,0,0,28.83,14.31,28.83
$GC,716,-0.53,-97.3,68.1,-12.5,46,721,0.15,1.83,0.00,0.000,6,0.230,0.043,2016,1523,3464,0,0,0,0,0,0,14.13,14.50,28.83
$GC,1016,-0.53,-97.3,89.7,-7.4,66,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1315,-0.53,-97.3,114.1,-8.7,86,1319,0.00,1.95,0.00,0.000,4,0.000,0.083,2016,458,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1436,-0.53,-97.3,123.9,-7.8,94,1440,0.00,1.80,0.00,0.000,6,0.000,0.042,2010,1522,3464,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1735,-0.53,-97.3,143.3,-6.7,114,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,-0.53,-97.3,164.5,-6.7,134,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.54,-97.3,184.7,-6.1,154,2340,0.00,1.95,0.00,0.000,4,0.000,0.083,2010,460,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2409,-0.54,-97.3,189.2,-6.1,159,2413,0.00,1.80,0.00,0.000,6,0.000,0.042,2003,1519,3466,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2711,-0.54,-97.3,204.5,-5.6,179,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.54,-97.3,222.5,-6.4,199,3013,0.00,1.92,0.00,0.000,4,0.000,0.082,2003,462,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3130,-0.54,-97.3,231.1,-7.4,207,3134,0.00,1.80,0.00,0.000,6,0.000,0.041,1995,1524,3465,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3430,-0.54,-97.3,253.5,-7.9,226,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3730,-0.54,-97.3,275.2,-6.8,236,3734,0.00,1.95,0.00,0.000,4,0.000,0.084,1995,458,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3804,-0.54,-97.3,280.7,-7.1,239,3808,0.00,1.80,0.00,0.000,6,0.000,0.043,1987,1520,3465,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4120,-0.54,-97.3,302.5,-6.8,250,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4420,-0.54,-97.3,324.2,-7.6,260,4423,0.00,1.95,0.00,0.000,4,0.000,0.084,1987,454,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4539,-0.53,-97.3,332.6,-8.1,264,4544,0.15,1.83,0.00,0.000,6,0.242,0.043,2012,1528,3463,0,0,0,0,0,0,14.14,14.55,28.83
$GC,4843,-0.58,-97.3,351.1,-5.5,274,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1530,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.64,-97.3,367.8,-5.8,284,5144,0.00,1.80,0.00,0.000,4,0.000,0.054,2007,2578,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5350,-0.70,-97.3,380.6,-6.7,291,5354,0.15,1.90,0.00,0.000,6,0.120,0.063,1946,1513,3462,0,0,0,0,0,0,14.44,14.43,28.83
$GC,5653,-0.67,-97.3,408.7,-9.5,301,5656,0.00,1.90,0.00,0.000,4,0.000,0.085,1946,469,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5756,-0.62,-97.3,419.3,-10.2,305,5761,0.20,1.80,0.00,0.000,6,0.248,0.043,1982,1526,3460,0,0,0,0,0,0,14.03,14.53,28.83
$GC,6073,-0.62,-97.3,444.2,-7.9,316,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1528,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6372,-0.62,-97.3,466.4,-7.2,326,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1527,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.62,-97.3,484.6,-5.7,336,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1528,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6972,-0.62,-97.3,501.5,-5.8,346,6976,0.00,1.95,0.00,0.000,4,0.000,0.086,1982,467,3458,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7105,-0.61,-97.3,511.2,-7.3,351,7109,0.00,1.80,0.00,0.000,6,0.000,0.043,1977,1522,3457,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7422,-0.61,-97.3,535.1,-8.0,362,7425,0.00,1.83,0.00,0.000,4,0.000,0.055,1969,2576,3457,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7479,-0.61,-97.3,538.7,-7.9,364,7483,0.00,1.90,0.00,0.000,6,0.000,0.065,1970,1519,3456,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7781,-0.60,-97.3,565.3,-8.7,374,7784,0.00,1.95,0.00,0.000,4,0.000,0.086,1969,459,3455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7871,-0.58,-97.3,572.4,-9.2,377,7875,0.17,1.83,0.00,0.000,6,0.231,0.044,2000,1524,3455,0,0,0,0,0,0,14.05,14.50,28.83
$GC,8173,-0.63,-97.3,595.2,-6.8,387,8176,0.00,1.95,0.00,0.000,4,0.000,0.087,2001,467,3454,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8262,-0.67,-97.3,600.5,-7.0,390,8266,0.00,1.80,0.00,0.000,6,0.000,0.044,1997,1521,3454,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8562,-0.72,-97.3,619.9,-6.1,400,8566,0.12,1.95,0.00,0.000,4,0.138,0.086,1945,467,3453,0,0,0,0,0,0,14.61,14.25,28.83
$GC,8742,-0.68,-97.3,632.4,-7.7,406,8745,0.00,1.80,0.00,0.000,6,0.000,0.044,1945,1520,3452,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9042,-0.65,-97.3,655.9,-7.5,416,9046,0.15,1.95,0.00,0.000,4,0.250,0.087,1973,467,3451,0,0,0,0,0,0,14.16,14.22,28.83
$GC,9130,-0.63,-97.3,661.6,-7.6,419,9134,0.00,1.83,0.00,0.000,6,0.000,0.045,1968,1527,3451,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9433,-0.63,-97.3,684.2,-7.0,429,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1528,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,-0.63,-97.3,704.1,-6.5,439,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1528,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,-0.63,-97.3,724.8,-7.0,449,10036,0.00,1.98,0.00,0.000,4,0.000,0.090,1968,467,3449,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10136,-0.61,-97.3,733.1,-7.9,453,10141,0.15,1.83,0.00,0.000,6,0.248,0.047,1991,1521,3448,0,0,0,0,0,0,14.01,14.46,28.83
$GC,10455,-0.62,-97.3,753.7,-6.4,464,10462,0.00,1.98,0.00,0.000,4,0.000,0.090,1991,464,3447,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10511,-0.62,-97.3,758.1,-6.9,466,10515,0.00,1.85,0.00,0.000,6,0.000,0.045,1986,1531,3447,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10827,-0.62,-97.3,779.8,-7.1,477,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1532,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11128,-0.65,-97.3,801.4,-7.4,487,11131,0.00,2.00,0.00,0.000,4,0.000,0.090,1986,467,3444,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11202,-0.68,-97.3,807.3,-7.9,490,11205,0.00,1.83,0.00,0.000,6,0.000,0.046,1978,1520,3446,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11517,-0.68,-97.3,830.5,-7.2,501,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11816,-0.68,-97.3,852.1,-7.2,511,11820,0.00,1.98,0.00,0.000,4,0.000,0.091,1978,468,3443,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11936,-0.68,-97.3,860.4,-7.9,515,11940,0.00,1.83,0.00,0.000,6,0.000,0.047,1971,1515,3442,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12236,-0.68,-97.3,883.5,-7.2,525,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1517,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12536,-0.68,-97.3,903.4,-6.2,535,12540,0.00,1.98,0.00,0.000,4,0.000,0.093,1971,469,3440,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12687,-0.67,-97.3,912.8,-7.0,540,12690,0.00,1.85,0.00,0.000,6,0.000,0.047,1963,1523,3439,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12986,-0.67,-97.3,932.0,-5.9,550,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13287,-0.67,-97.3,948.9,-5.7,560,13291,0.00,2.00,0.00,0.000,4,0.000,0.093,1963,469,3438,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13362,-0.66,-97.3,953.7,-6.1,563,13366,0.00,1.85,0.00,0.000,6,0.000,0.049,1955,1521,3437,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13680,-0.64,-97.3,973.5,-6.4,574,13688,0.00,2.03,0.00,0.000,4,0.000,0.093,1956,462,3436,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,13763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13763,begin apogee
$GC,13772,-0.18,0.0,980.1,-7.1,577,13899,0.70,0.00,116.20,1.860,6,0.221,0.000,2124,1413,3062,0,0,0,0,1,0,13.70,28.83,12.89
$STATE,13902,end apogee,CONTROL_FINISHED_OK
$STATE,13902,begin climb
$GC,13906,0.60,97.3,985.2,0.0,581,14044,0.82,1.88,126.43,1.852,4,0.120,0.058,2377,2448,2665,0,0,0,0,1,0,14.18,14.19,12.94
$GC,14247,0.62,170.9,985.8,2.9,593,14356,0.00,1.92,99.05,1.782,6,0.000,0.075,2385,1392,2365,0,0,0,0,1,0,28.83,14.43,13.01
$GC,14668,0.56,170.9,962.3,6.1,608,14672,0.00,1.95,0.00,0.000,4,0.000,0.098,2393,349,2358,0,0,0,0,0,0,28.83,14.39,28.83
$GC,14773,0.49,170.9,954.7,7.3,612,14777,0.17,1.83,0.00,0.000,6,0.259,0.048,2355,1407,2357,0,0,0,0,0,0,14.16,14.56,28.83
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$STATE,27870,end climb,SURFACE_DEPTH_REACHED
$STATE,27870,begin surface coast
$FINISH,0.9,1.025595
$STATE,27884,end surface coast,CONTROL_FINISHED_OK
$STATE,27884,begin surface
$SM_CCo,27964,0.00,0.000,0,0,1679,339.00
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$TT8_MAMPS,0.023219,0.023219
$HUMID,57.04
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.30
$XPDR_PINGS,7
$SC_FREEKB,7603456
$24V_AH,12.9,204.946
$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,20.950,151.500,640.350,0.000,0.000,0.000,0.000,297.125,1.750,0.000,16.049,3251.355,21374.898,910.275,2312.253,663.230,0.000,2207.324,0.000,1942.124,0.000,0.549,0.000
$DEVICE_MAMPS,412.335,100.980,1860.480,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27937.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.155,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43362,1159
$CAP_FILE_SIZE,245673,0
$CFSIZE,260034560,199028736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.077,355.8,1
$GPS,060213,160552,2505.902,-3806.730,37,0.8,37,-14.0