version: 66.11
glider: 191
mission: 5
dive: 471
start: 2 18 113 16 41 38
data:
$ID,191
$MISSION,5
$DIVE,471
$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,-5197.3784
$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,23
$R_STBD_OVSHOOT,51
$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
$GPS1,180213,163058,2434.535,-3840.547,38,0.9,38,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-59.6
$GPS2,180213,164108,2434.622,-3840.572,19,1.6,19,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,161.7,97828,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-56.85,0.000,6,0.000,0.000,157,1511,3461,0,0,0,0,0,0,28.83,28.83,14.71
$GC,87,-0.60,-97.3,4.7,-9.3,4,102,10.05,1.88,0.00,0.000,4,0.413,0.070,1995,460,3463,1,0,0,0,0,0,13.57,14.40,28.83
$GC,253,-0.57,-97.3,25.2,-8.7,15,257,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1511,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,551,-0.55,-97.3,49.8,-8.2,35,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.53,-97.3,71.8,-7.2,55,855,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,463,3465,0,0,0,0,0,0,28.83,14.22,28.83
$GC,911,-0.51,-97.3,76.9,-8.5,59,915,0.17,1.80,0.00,0.000,6,0.226,0.041,2022,1521,3465,0,0,0,0,0,0,14.04,14.47,28.83
$GC,1211,-0.52,-97.3,96.8,-6.6,79,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1511,-0.55,-97.3,118.9,-8.1,99,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1525,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,-0.61,-97.3,145.9,-8.4,119,1815,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,460,3466,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2026,-0.64,-97.3,162.3,-7.4,133,2036,0.08,1.80,0.00,0.000,6,0.093,0.040,1976,1532,3466,0,0,0,0,0,0,14.27,14.41,28.83
$GC,2336,-0.63,-97.3,184.7,-6.7,154,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1533,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-0.62,-97.3,203.7,-6.5,174,2642,0.00,1.95,0.00,0.000,4,0.000,0.083,1976,463,3466,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2756,-0.59,-97.3,212.2,-7.1,182,2760,0.00,1.77,0.00,0.000,6,0.000,0.041,1969,1518,3466,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3057,-0.57,-97.3,236.1,-8.6,202,3059,0.15,0.00,0.00,0.000,6,0.236,0.000,2004,1519,3466,0,0,0,0,0,0,14.21,28.83,28.83
$GC,3356,-0.59,-97.3,259.7,-7.8,218,3360,0.00,1.92,0.00,0.000,4,0.000,0.083,2002,463,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3491,-0.59,-97.3,271.0,-8.4,223,3495,0.00,1.77,0.00,0.000,6,0.000,0.041,1998,1520,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3806,-0.59,-97.3,296.6,-8.2,234,3810,0.00,1.95,0.00,0.000,4,0.000,0.083,1996,457,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3895,-0.59,-97.3,303.1,-8.5,237,3898,0.00,1.80,0.00,0.000,6,0.000,0.041,1988,1522,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4197,-0.59,-97.3,326.2,-7.0,247,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,-0.59,-97.3,344.0,-5.6,257,4500,0.00,1.95,0.00,0.000,4,0.000,0.083,1989,460,3463,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4662,-0.57,-97.3,354.2,-6.2,263,4666,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1522,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4976,-0.57,-97.3,372.8,-6.0,274,4980,0.00,1.95,0.00,0.000,4,0.000,0.084,1980,461,3462,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5052,-0.56,-97.3,378.3,-7.1,277,5057,0.15,1.80,0.00,0.000,6,0.238,0.041,2004,1520,3462,0,0,0,0,0,0,14.06,14.47,28.83
$GC,5369,-0.61,-97.3,399.9,-7.2,288,5373,0.00,1.95,0.00,0.000,4,0.000,0.084,2005,461,3461,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5488,-0.65,-97.3,407.8,-7.5,292,5492,0.00,1.80,0.00,0.000,6,0.000,0.042,2000,1520,3461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5787,-0.70,-97.3,430.4,-7.2,302,5792,0.12,1.95,0.00,0.000,4,0.135,0.084,1951,459,3462,0,0,0,0,0,0,14.61,14.25,28.83
$GC,5986,-0.66,-97.3,447.7,-9.1,309,5995,0.15,1.83,0.00,0.000,6,0.251,0.042,1973,1529,3459,0,0,0,0,0,0,14.02,14.48,28.83
$GC,6314,-0.66,-97.3,471.9,-7.3,320,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1529,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.66,-97.3,492.8,-6.9,330,6616,0.00,1.98,0.00,0.000,4,0.000,0.085,1974,463,3459,0,0,0,0,0,0,28.83,14.08,28.83
$GC,6687,-0.65,-97.3,498.0,-6.8,333,6691,0.00,1.80,0.00,0.000,6,0.000,0.041,1969,1520,3459,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7005,-0.64,-97.3,516.5,-5.6,344,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7303,-0.63,-97.3,533.7,-5.9,354,7306,0.00,1.95,0.00,0.000,4,0.000,0.084,1969,463,3457,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7391,-0.61,-97.3,538.5,-6.3,357,7396,0.15,1.80,0.00,0.000,6,0.241,0.041,1993,1518,3457,0,0,0,0,0,0,14.00,14.45,28.83
$GC,7696,-0.62,-97.3,556.0,-5.9,367,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7992,-0.64,-97.3,576.7,-7.2,377,7996,0.00,1.95,0.00,0.000,4,0.000,0.085,1993,463,3456,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8082,-0.66,-97.3,582.6,-7.8,380,8086,0.00,1.83,0.00,0.000,6,0.000,0.041,1988,1530,3455,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8382,-0.70,-97.3,607.0,-7.7,390,8386,0.00,1.98,0.00,0.000,4,0.000,0.086,1988,464,3454,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8502,-0.72,-97.3,615.3,-7.9,394,8506,0.00,1.80,0.00,0.000,6,0.000,0.042,1980,1519,3454,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8802,-0.76,-97.3,637.9,-7.2,404,8807,0.12,1.98,0.00,0.000,4,0.142,0.086,1936,464,3453,0,0,0,0,0,0,14.59,14.18,28.83
$GC,8938,-0.71,-97.3,650.1,-9.1,409,8942,0.15,1.83,0.00,0.000,6,0.265,0.042,1957,1523,3452,0,0,0,0,0,0,13.88,14.40,28.83
$GC,9256,-0.70,-97.3,675.0,-8.0,420,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1524,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9552,-0.68,-97.3,699.1,-8.0,430,9556,0.00,1.98,0.00,0.000,4,0.000,0.086,1957,463,3451,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9612,-0.66,-97.3,702.8,-8.1,432,9616,0.00,1.83,0.00,0.000,6,0.000,0.043,1951,1520,3450,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9913,-0.63,-97.3,727.5,-7.7,442,9915,0.12,0.00,0.00,0.000,6,0.262,0.000,1977,1522,3449,0,0,0,0,0,0,14.16,28.83,28.83
$GC,10213,-0.63,-97.3,745.6,-5.8,452,10217,0.00,2.00,0.00,0.000,4,0.000,0.088,1977,458,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10271,-0.63,-97.3,748.2,-5.8,454,10275,0.00,1.85,0.00,0.000,6,0.000,0.044,1972,1526,3448,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10574,-0.63,-97.3,764.8,-5.2,464,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1528,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10872,-0.63,-97.3,781.8,-5.9,474,10876,0.00,2.00,0.00,0.000,4,0.000,0.089,1972,462,3447,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10931,-0.63,-97.3,785.0,-6.4,476,10934,0.00,1.83,0.00,0.000,6,0.000,0.044,1964,1520,3446,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11233,-0.63,-97.3,808.2,-8.1,486,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11532,-0.63,-97.3,833.0,-8.2,496,11535,0.00,2.00,0.00,0.000,4,0.000,0.090,1964,460,3444,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11652,-0.62,-97.3,842.3,-8.9,500,11657,0.15,1.85,0.00,0.000,6,0.248,0.045,1984,1524,3444,0,0,0,0,0,0,13.82,14.32,28.83
$GC,11955,-0.67,-97.3,862.8,-5.9,510,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1526,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12254,-0.72,-97.3,876.8,-4.1,520,12257,0.00,1.88,0.00,0.000,4,0.000,0.057,1982,2576,3442,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12418,-0.77,-97.3,883.0,-3.8,526,12423,0.12,1.95,0.00,0.000,6,0.142,0.068,1938,1513,3441,0,0,0,0,0,0,14.14,14.17,28.83
$GC,12738,-0.74,-97.3,899.2,-5.5,537,12744,0.00,1.98,0.00,0.000,4,0.000,0.092,1938,466,3440,0,0,0,0,0,0,28.83,13.84,28.83
$GC,12852,-0.70,-97.3,907.4,-6.9,541,12856,0.15,1.85,0.00,0.000,6,0.269,0.046,1959,1524,3439,0,0,0,0,0,0,13.71,14.30,28.83
$GC,13171,-0.70,-97.3,927.8,-6.8,552,13172,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13467,-0.70,-97.3,948.8,-7.1,562,13471,0.00,2.03,0.00,0.000,4,0.000,0.091,1959,460,3438,0,0,0,0,0,0,28.83,13.96,28.83
$GC,13572,-0.69,-97.3,957.1,-7.9,566,13576,0.00,1.85,0.00,0.000,6,0.000,0.046,1954,1518,3438,0,0,0,0,0,0,28.83,14.24,28.83
$STATE,13887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13887,begin apogee
$GC,13895,-0.18,0.0,980.1,-7.2,577,14020,0.65,0.00,116.30,1.862,6,0.217,0.000,2120,1393,3062,0,0,0,0,1,0,13.66,28.83,12.93
$STATE,14022,end apogee,CONTROL_FINISHED_OK
$STATE,14022,begin climb
$GC,14027,0.60,97.3,985.4,0.0,581,14165,0.85,1.95,126.97,1.838,4,0.119,0.057,2379,2466,2665,0,0,0,0,1,0,14.13,14.18,12.93
$GC,14384,0.61,167.8,985.0,3.1,592,14489,0.00,1.95,95.68,1.768,6,0.000,0.072,2387,1397,2376,0,0,0,0,1,0,28.83,14.39,13.00
$GC,14804,0.56,173.8,961.9,5.8,607,14810,0.00,0.00,4.18,1.943,6,0.000,0.000,2387,1397,2353,0,0,0,0,0,0,28.83,28.83,13.31
$GC,15106,0.50,173.8,941.9,7.0,617,15110,0.15,1.98,0.00,0.000,4,0.285,0.096,2363,342,2353,0,0,0,0,0,0,14.16,14.35,28.83
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$STATE,27987,end climb,SURFACE_DEPTH_REACHED
$STATE,27987,begin surface coast
$FINISH,0.2,1.012139
$STATE,28019,end surface coast,CONTROL_FINISHED_OK
$STATE,28022,begin surface
$SM_CCo,28105,0.00,0.000,0,0,1657,344.65
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$IRIDIUM_FIX,2427.58,-3842.18,180213,080833
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.75
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.40
$XPDR_PINGS,5
$SC_FREEKB,7589248
$24V_AH,12.9,220.310
$10V_AH,10.7,0.000
$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
$DEVICE_SECS,21.600,166.900,609.000,0.000,0.000,0.000,0.000,327.750,1.250,0.000,20.526,3319.049,21391.846,889.355,2375.865,718.634,0.000,2238.831,0.000,1980.629,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345552
$DATA_FILE_SIZE,43339,1163
$CAP_FILE_SIZE,254954,0
$CFSIZE,260034560,194539520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.115,347.1,1
$GPS,190213,003122,2434.157,-3839.217,37,0.7,37,-14.2