version: 66.11
glider: 191
mission: 5
dive: 455
start: 2 13 113 8 21 13
data:
$ID,191
$MISSION,5
$DIVE,455
$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,-5177.2422
$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,58
$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
$GPS1,130213,081058,2446.516,-3828.167,40,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-61.7
$GPS2,130213,082043,2446.587,-3828.165,17,0.9,17,-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,209.5,31676,-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,-97.3,0.0,0.0,0,82,0.00,0.00,-57.25,0.000,6,0.000,0.000,156,1533,3460,0,0,0,0,0,0,28.83,28.83,14.75
$GC,86,-0.60,-97.3,4.3,-8.6,4,100,9.93,1.90,0.00,0.000,4,0.409,0.070,1995,463,3462,1,0,0,0,0,0,13.59,14.47,28.83
$GC,323,-0.56,-97.3,30.7,-9.6,20,327,0.00,1.77,0.00,0.000,6,0.000,0.040,1989,1511,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,624,-0.55,-97.3,55.7,-8.3,40,625,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-0.53,-97.3,78.8,-7.7,60,925,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1224,-0.52,-97.3,103.5,-8.5,80,1228,0.12,1.92,0.00,0.000,4,0.245,0.082,2017,458,3464,0,0,0,0,0,0,14.24,14.27,28.83
$GC,1298,-0.52,-97.3,110.0,-8.4,85,1302,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1524,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1599,-0.53,-97.3,132.0,-6.5,105,1602,0.00,1.95,0.00,0.000,4,0.000,0.082,2013,458,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1688,-0.53,-97.3,138.4,-7.3,111,1692,0.00,1.80,0.00,0.000,6,0.000,0.040,2004,1524,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1989,-0.53,-97.3,157.7,-6.0,131,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.53,-97.3,174.5,-5.1,151,2294,0.00,1.92,0.00,0.000,4,0.000,0.082,2004,465,3465,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2363,-0.53,-97.3,178.8,-6.0,156,2367,0.00,1.77,0.00,0.000,6,0.000,0.040,1996,1520,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2664,-0.53,-97.3,197.6,-6.9,176,2668,0.00,1.92,0.00,0.000,4,0.000,0.081,1997,463,3469,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2769,-0.52,-97.3,205.7,-7.8,183,2773,0.15,1.77,0.00,0.000,6,0.229,0.040,2022,1521,3465,0,0,0,0,0,0,14.14,14.54,28.83
$GC,3069,-0.58,-97.3,225.7,-6.8,203,3072,0.00,1.92,0.00,0.000,4,0.000,0.082,2022,462,3465,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3159,-0.63,-97.3,231.8,-7.0,209,3162,0.00,1.77,0.00,0.000,6,0.000,0.040,2018,1521,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3459,-0.69,-97.3,252.2,-6.8,228,3463,0.15,1.92,0.00,0.000,4,0.118,0.081,1957,463,3465,0,0,0,0,0,0,14.60,14.30,28.83
$GC,3671,-0.65,-97.3,269.0,-8.8,235,3675,0.12,1.77,0.00,0.000,6,0.253,0.040,1974,1521,3465,0,0,0,0,0,0,14.14,14.56,28.83
$GC,3969,-0.65,-97.3,291.8,-7.0,245,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.65,-97.3,312.3,-6.9,255,4272,0.00,1.92,0.00,0.000,4,0.000,0.082,1974,463,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4405,-0.62,-97.3,323.2,-8.1,260,4408,0.00,1.77,0.00,0.000,6,0.000,0.040,1969,1521,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4722,-0.61,-97.3,349.4,-8.6,271,4725,0.00,1.92,0.00,0.000,4,0.000,0.082,1969,466,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4809,-0.58,-97.3,356.7,-9.5,274,4814,0.15,1.77,0.00,0.000,6,0.239,0.040,1993,1520,3463,0,0,0,0,0,0,14.09,14.52,28.83
$GC,5112,-0.60,-97.3,381.6,-7.7,284,5116,0.00,1.92,0.00,0.000,4,0.000,0.082,1994,466,3462,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5172,-0.62,-97.3,385.4,-7.7,286,5176,0.00,1.77,0.00,0.000,6,0.000,0.040,1989,1521,3462,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5470,-0.62,-97.3,405.9,-6.0,296,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-0.62,-97.3,422.3,-5.2,306,5774,0.00,1.92,0.00,0.000,4,0.000,0.083,1988,466,3460,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5890,-0.62,-97.3,428.9,-6.2,310,5894,0.00,1.77,0.00,0.000,6,0.000,0.040,1980,1521,3459,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6190,-0.62,-97.3,448.1,-6.3,320,6193,0.00,1.92,0.00,0.000,4,0.000,0.083,1981,465,3459,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6266,-0.61,-97.3,453.6,-7.1,323,6270,0.00,1.80,0.00,0.000,6,0.000,0.041,1971,1529,3459,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6580,-0.61,-97.3,476.2,-7.4,334,6583,0.00,1.95,0.00,0.000,4,0.000,0.084,1973,466,3458,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6655,-0.59,-97.3,482.4,-8.1,337,6659,0.15,1.80,0.00,0.000,6,0.239,0.041,1997,1529,3458,0,0,0,0,0,0,14.07,14.50,28.83
$GC,6974,-0.63,-97.3,506.3,-8.2,348,6981,0.00,1.98,0.00,0.000,4,0.000,0.085,1997,463,3457,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7091,-0.67,-97.3,516.8,-8.7,352,7095,0.00,1.80,0.00,0.000,6,0.000,0.040,1992,1525,3457,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7409,-0.72,-97.3,542.2,-7.7,363,7416,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,464,3456,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7495,-0.74,-97.3,548.8,-7.3,366,7499,0.12,1.80,0.00,0.000,6,0.139,0.041,1942,1526,3456,0,0,0,0,0,0,14.39,14.50,28.83
$GC,7814,-0.71,-97.3,571.1,-6.6,377,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1527,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8111,-0.68,-97.3,592.0,-7.4,387,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1527,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,-0.65,-97.3,616.6,-8.5,397,8416,0.15,1.98,0.00,0.000,4,0.246,0.086,1972,461,3453,0,0,0,0,0,0,14.16,14.19,28.83
$GC,8560,-0.63,-97.3,628.4,-8.6,402,8563,0.00,1.80,0.00,0.000,6,0.000,0.042,1969,1519,3453,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8861,-0.63,-97.3,653.3,-8.0,412,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,-0.63,-97.3,677.0,-7.9,422,9164,0.00,1.95,0.00,0.000,4,0.000,0.086,1969,465,3451,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9265,-0.61,-97.3,685.7,-8.4,426,9269,0.00,1.80,0.00,0.000,6,0.000,0.044,1961,1518,3450,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9584,-0.60,-97.3,710.5,-8.0,437,9585,0.15,0.00,0.00,0.000,6,0.243,0.000,1994,1519,3449,0,0,0,0,0,0,14.14,28.83,28.83
$GC,9881,-0.65,-97.3,732.3,-7.3,447,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10181,-0.71,-97.3,753.6,-7.0,457,10185,0.00,1.85,0.00,0.000,4,0.000,0.056,1988,2578,3448,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10329,-0.76,-97.3,762.6,-6.7,462,10334,0.15,1.92,0.00,0.000,6,0.125,0.065,1934,1513,3447,0,0,0,0,0,0,14.26,14.28,28.83
$GC,10634,-0.72,-97.3,787.3,-8.1,472,10641,0.00,1.95,0.00,0.000,4,0.000,0.086,1934,467,3446,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10750,-0.68,-97.3,797.9,-8.8,476,10755,0.20,1.83,0.00,0.000,6,0.256,0.044,1968,1524,3445,0,0,0,0,0,0,13.78,14.38,28.83
$GC,11068,-0.68,-97.3,819.3,-6.8,487,11072,0.00,1.98,0.00,0.000,4,0.000,0.087,1968,466,3444,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11172,-0.66,-97.3,827.0,-7.3,491,11175,0.00,1.83,0.00,0.000,6,0.000,0.044,1963,1523,3444,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11487,-0.66,-97.3,849.1,-7.1,502,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1524,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11786,-0.66,-97.3,870.3,-7.3,512,11790,0.00,1.98,0.00,0.000,4,0.000,0.089,1963,468,3442,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11861,-0.65,-97.3,876.3,-7.7,515,11865,0.00,1.83,0.00,0.000,6,0.000,0.045,1955,1520,3442,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12180,-0.64,-97.3,898.6,-6.9,526,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12476,-0.62,-97.3,919.3,-6.9,536,12481,0.12,1.98,0.00,0.000,4,0.256,0.089,1981,468,3440,0,0,0,0,0,0,14.14,14.03,28.83
$GC,12626,-0.62,-97.3,928.0,-6.5,541,12630,0.00,1.83,0.00,0.000,6,0.000,0.046,1976,1518,3439,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12928,-0.66,-97.3,948.8,-6.8,551,12932,0.00,1.98,0.00,0.000,4,0.000,0.090,1976,467,3439,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13004,-0.68,-97.3,954.5,-7.2,554,13007,0.00,1.85,0.00,0.000,6,0.000,0.046,1969,1527,3438,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13319,-0.72,-97.3,977.5,-7.4,565,13322,0.00,2.00,0.00,0.000,4,0.000,0.092,1968,468,3437,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,13358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13358,begin apogee
$GC,13368,-0.18,0.0,980.8,-7.4,567,13494,0.62,0.00,115.45,1.841,6,0.215,0.000,2122,1412,3063,0,0,0,0,1,0,13.67,28.83,12.88
$STATE,13495,end apogee,CONTROL_FINISHED_OK
$STATE,13495,begin climb
$GC,13499,0.60,97.3,986.9,0.0,571,13633,0.82,0.00,125.55,1.828,6,0.108,0.000,2380,1412,2666,0,0,0,0,1,0,14.19,28.83,12.98
$GC,13932,0.58,144.7,982.1,4.1,586,14008,0.00,0.00,69.55,1.653,6,0.000,0.000,2380,1410,2472,0,0,0,0,1,0,28.83,28.83,13.06
$GC,14294,0.52,144.7,959.6,6.8,598,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1412,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14593,0.46,144.7,939.3,6.8,608,14597,0.17,1.83,0.00,0.000,4,0.265,0.056,2344,2450,2466,0,0,0,0,0,0,14.13,14.49,28.83
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$STATE,28109,end climb,SURFACE_DEPTH_REACHED
$STATE,28109,begin surface coast
$FINISH,0.4,1.025414
$STATE,28124,end surface coast,CONTROL_FINISHED_OK
$STATE,28124,begin surface
$SM_CCo,28147,13.90,0.710,0,0,1756,320.12
$SM_GC,1.91,6.78,2.03,13.90,0.070,0.047,0.710,156,1507,1756,-6.29,-1.50,320.12,0,0,0,0,0,0,14.34,14.40,13.74
$IRIDIUM_FIX,2439.44,-3828.10,130213,000048
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.36
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.30
$XPDR_PINGS,8
$SC_FREEKB,7595392
$24V_AH,12.9,213.679
$10V_AH,10.8,0.000
$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
$DEVICE_SECS,20.800,169.325,690.450,13.900,0.000,0.000,0.000,309.675,2.000,0.000,18.058,3317.287,21318.289,1017.315,2366.858,711.320,0.000,2357.555,0.000,1989.767,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.195,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43319,1171
$CAP_FILE_SIZE,255474,0
$CFSIZE,260034560,196481024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,15,1,0
$CURRENT,0.146,352.5,1
$GPS,130213,161159,2446.138,-3828.898,39,0.8,39,-14.1