version: 66.11
glider: 191
mission: 5
dive: 454
start: 2 13 113 0 21 23
data:
$ID,191
$MISSION,5
$DIVE,454
$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,-5175.9829
$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,53
$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
$GPS1,130213,001121,2447.261,-3827.809,28,1.1,43,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-60.6
$GPS2,130213,002053,2447.380,-3827.818,19,0.9,19,-14.1
$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,201.8,33108,-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,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.60,0.000,2,0.000,0.000,154,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.60,-97.3,3.9,-7.9,4,103,9.93,1.90,0.00,0.000,4,0.406,0.075,1998,458,3459,1,0,0,0,0,0,13.61,14.44,28.83
$GC,268,-0.58,-97.3,25.7,-9.2,16,272,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1517,3461,0,0,0,0,0,0,28.83,14.41,28.83
$GC,565,-0.56,-97.3,48.7,-7.4,36,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-0.55,-97.3,69.5,-7.0,56,869,0.00,1.92,0.00,0.000,4,0.000,0.083,1992,464,3461,0,0,0,0,0,0,28.83,14.26,28.83
$GC,956,-0.52,-97.3,76.6,-8.0,62,961,0.15,1.80,0.00,0.000,6,0.253,0.041,2016,1530,3461,0,0,0,0,0,0,14.06,14.52,28.83
$GC,1256,-0.52,-97.3,98.0,-7.7,82,1259,0.00,1.95,0.00,0.000,4,0.000,0.083,2016,461,3461,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1345,-0.52,-97.3,105.5,-8.3,88,1349,0.00,1.80,0.00,0.000,6,0.000,0.041,2011,1528,3461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1645,-0.52,-97.3,130.5,-8.5,108,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1530,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.52,-97.3,152.8,-6.6,128,1949,0.00,1.95,0.00,0.000,4,0.000,0.083,2011,461,3466,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2020,-0.52,-97.3,158.0,-6.9,133,2024,0.00,1.77,0.00,0.000,6,0.000,0.041,2003,1520,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2321,-0.56,-97.3,177.9,-6.4,153,2324,0.00,1.92,0.00,0.000,4,0.000,0.083,2003,463,3463,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2425,-0.57,-97.3,184.6,-6.7,160,2429,0.00,1.77,0.00,0.000,6,0.000,0.040,1995,1521,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2725,-0.57,-97.3,201.8,-5.9,180,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3026,-0.57,-97.3,220.5,-6.5,200,3030,0.00,1.92,0.00,0.000,4,0.000,0.083,1995,464,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3145,-0.57,-97.3,229.0,-7.2,208,3149,0.00,1.77,0.00,0.000,6,0.000,0.041,1987,1519,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3445,-0.57,-97.3,249.3,-7.0,228,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.57,-97.3,271.9,-7.3,239,3764,0.00,1.92,0.00,0.000,4,0.000,0.083,1988,462,3461,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3910,-0.56,-97.3,282.7,-8.0,244,3914,0.00,1.77,0.00,0.000,6,0.000,0.041,1978,1519,3459,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4210,-0.56,-97.3,306.8,-7.8,254,4214,0.00,1.92,0.00,0.000,4,0.000,0.083,1980,463,3460,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4285,-0.54,-97.3,313.2,-8.4,257,4290,0.17,1.77,0.00,0.000,6,0.236,0.041,2011,1520,3460,0,0,0,0,0,0,14.07,14.52,28.83
$GC,4605,-0.60,-97.3,337.5,-7.7,268,4612,0.00,1.92,0.00,0.000,4,0.000,0.083,2011,463,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4674,-0.65,-97.3,342.0,-7.6,270,4678,0.00,1.77,0.00,0.000,6,0.000,0.041,2006,1518,3460,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4977,-0.70,-97.3,364.4,-7.0,280,4981,0.15,1.95,0.00,0.000,4,0.119,0.084,1947,463,3459,0,0,0,0,0,0,14.60,14.28,28.83
$GC,5141,-0.66,-97.3,378.5,-8.8,286,5145,0.15,1.80,0.00,0.000,6,0.254,0.042,1970,1528,3458,0,0,0,0,0,0,14.07,14.54,28.83
$GC,5459,-0.65,-97.3,400.6,-6.9,297,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1530,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.65,-97.3,421.5,-6.9,307,5760,0.00,1.95,0.00,0.000,4,0.000,0.084,1970,461,3457,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5922,-0.63,-97.3,434.3,-7.8,313,5925,0.00,1.80,0.00,0.000,6,0.000,0.041,1965,1527,3456,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6238,-0.61,-97.3,458.6,-7.8,324,6242,0.00,1.95,0.00,0.000,4,0.000,0.084,1965,464,3456,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6326,-0.59,-97.3,464.8,-8.3,327,6331,0.17,1.80,0.00,0.000,6,0.243,0.042,1996,1527,3456,0,0,0,0,0,0,14.04,14.52,28.83
$GC,6628,-0.60,-97.3,485.9,-6.4,337,6632,0.00,1.95,0.00,0.000,4,0.000,0.083,1997,461,3456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6685,-0.62,-97.3,489.1,-6.7,339,6689,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1525,3455,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6988,-0.66,-97.3,510.9,-7.4,349,6992,0.00,1.95,0.00,0.000,4,0.000,0.085,1991,463,3455,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7061,-0.69,-97.3,516.5,-7.5,352,7064,0.00,1.80,0.00,0.000,6,0.000,0.042,1983,1523,3454,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7377,-0.69,-97.3,537.3,-6.3,363,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1524,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7676,-0.69,-97.3,555.0,-5.9,373,7680,0.00,1.95,0.00,0.000,4,0.000,0.086,1984,464,3452,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7734,-0.69,-97.3,558.1,-6.2,375,7738,0.00,1.80,0.00,0.000,6,0.000,0.043,1976,1519,3452,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8037,-0.69,-97.3,578.3,-6.5,385,8041,0.00,1.95,0.00,0.000,4,0.000,0.086,1976,463,3451,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8111,-0.68,-97.3,583.5,-6.9,388,8114,0.00,1.80,0.00,0.000,6,0.000,0.043,1968,1521,3451,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8427,-0.68,-97.3,605.7,-7.2,399,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1527,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8725,-0.68,-97.3,629.2,-8.0,409,8729,0.00,1.95,0.00,0.000,4,0.000,0.087,1968,465,3449,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8846,-0.66,-97.3,638.4,-8.8,413,8849,0.00,1.80,0.00,0.000,6,0.000,0.044,1960,1520,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9146,-0.65,-97.3,662.4,-7.2,423,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9446,-0.63,-97.3,681.5,-6.1,433,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9747,-0.62,-97.3,700.5,-6.7,443,9751,0.00,1.98,0.00,0.000,4,0.000,0.088,1960,459,3446,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9911,-0.59,-97.3,714.0,-8.4,449,9915,0.17,1.83,0.00,0.000,6,0.243,0.044,1991,1520,3445,0,0,0,0,0,0,13.92,14.42,28.83
$GC,10229,-0.64,-97.3,737.8,-8.0,460,10236,0.00,1.85,0.00,0.000,4,0.000,0.057,1986,2579,3444,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10286,-0.69,-97.3,742.6,-8.1,462,10289,0.00,1.92,0.00,0.000,6,0.000,0.066,1986,1512,3443,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10605,-0.74,-97.3,767.9,-8.1,473,10613,0.12,1.95,0.00,0.000,4,0.138,0.090,1941,464,3443,0,0,0,0,0,0,14.53,14.12,28.83
$GC,10781,-0.70,-97.3,783.8,-8.9,479,10785,0.12,1.83,0.00,0.000,6,0.272,0.045,1956,1522,3442,0,0,0,0,0,0,13.95,14.40,28.83
$GC,11100,-0.69,-97.3,805.6,-6.5,490,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1523,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11396,-0.68,-97.3,824.0,-6.0,500,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1523,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11697,-0.66,-97.3,844.0,-6.9,510,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1523,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11996,-0.65,-97.3,868.0,-8.4,520,11999,0.00,1.98,0.00,0.000,4,0.000,0.088,1956,464,3438,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12102,-0.63,-97.3,877.9,-9.5,524,12106,0.15,1.83,0.00,0.000,6,0.249,0.045,1982,1520,3438,0,0,0,0,0,0,13.86,14.33,28.83
$GC,12419,-0.67,-97.3,906.7,-9.6,535,12426,0.00,1.88,0.00,0.000,4,0.000,0.058,1977,2581,3437,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12476,-0.71,-97.3,912.4,-9.7,537,12480,0.00,1.95,0.00,0.000,6,0.000,0.068,1977,1513,3437,0,0,0,0,0,0,28.83,14.19,28.83
$GC,12794,-0.75,-97.3,942.1,-9.0,548,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1513,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13091,-0.80,-97.3,965.4,-7.3,558,13096,0.15,1.90,0.00,0.000,4,0.131,0.059,1917,2578,3435,0,0,0,0,0,0,14.43,14.20,28.83
$GC,13151,-0.82,-97.3,969.0,-7.4,560,13155,0.00,1.95,0.00,0.000,6,0.000,0.070,1915,1515,3434,0,0,0,0,0,0,28.83,14.18,28.83
$STATE,13297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13297,begin apogee
$GC,13305,-0.18,0.0,982.0,-7.9,565,13432,0.85,0.00,114.82,1.844,6,0.241,0.000,2125,1396,3062,0,0,0,0,1,0,13.71,28.83,12.90
$STATE,13434,end apogee,CONTROL_FINISHED_OK
$STATE,13434,begin climb
$GC,13438,0.60,97.3,986.2,0.0,569,13576,0.82,2.03,126.22,1.838,4,0.119,0.096,2385,342,2665,0,0,0,0,1,0,14.19,14.14,12.93
$GC,13706,0.56,141.5,984.7,4.2,579,13782,0.00,1.85,66.25,1.625,6,0.000,0.047,2386,1421,2486,0,0,0,0,1,0,28.83,14.50,13.02
$GC,14081,0.51,154.6,964.3,5.5,591,14124,0.15,1.95,31.25,1.144,4,0.278,0.096,2361,348,2431,0,0,0,0,1,0,14.19,14.42,13.19
$GC,14203,0.48,175.0,958.0,5.2,595,14252,0.00,1.80,40.08,1.341,6,0.000,0.047,2362,1400,2348,0,0,0,0,1,0,28.83,14.52,13.13
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$STATE,28020,end climb,SURFACE_DEPTH_REACHED
$STATE,28020,begin surface coast
$FINISH,0.8,1.025639
$STATE,28036,end surface coast,CONTROL_FINISHED_OK
$STATE,28037,begin surface
$SM_CCo,28056,29.77,0.678,0,0,1755,320.12
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$IRIDIUM_FIX,2439.44,-3824.76,120213,161623
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.79
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.20
$XPDR_PINGS,8
$SC_FREEKB,7595776
$24V_AH,12.9,213.258
$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,22.100,188.900,602.850,29.775,0.000,0.000,0.000,291.275,2.000,0.000,20.557,3393.465,21165.125,968.660,2392.939,724.195,0.000,2311.548,0.000,2040.528,0.000,0.549,0.000
$DEVICE_MAMPS,406.215,113.985,1843.650,677.790,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.291,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,43297,1174
$CAP_FILE_SIZE,262748,0
$CFSIZE,260034560,196591616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.115,349.9,1
$GPS,130213,081058,2446.516,-3828.167,40,0.8,40,-14.1