version: 66.11
glider: 191
mission: 5
dive: 474
start: 2 19 113 17 3 42
data:
$ID,191
$MISSION,5
$DIVE,474
$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,-5201.1533
$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,59
$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
$GPS1,190213,165304,2432.820,-3836.753,39,1.0,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-56.3
$GPS2,190213,170312,2432.875,-3836.753,18,1.3,18,-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,163.9,91015,-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,-57.15,0.000,6,0.000,0.000,154,1533,3459,0,0,0,0,0,0,28.83,28.83,14.72
$GC,87,-0.60,-97.3,4.8,-10.1,4,102,9.93,1.92,0.00,0.000,4,0.406,0.073,1996,456,3462,1,0,0,0,0,0,13.57,14.39,28.83
$GC,253,-0.57,-97.3,25.2,-8.9,15,257,0.00,1.77,0.00,0.000,6,0.000,0.041,1991,1502,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,551,-0.56,-97.3,50.5,-8.4,35,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1504,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.55,-97.3,77.4,-9.0,55,852,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1504,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,-0.53,-97.3,103.8,-8.6,75,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1504,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.52,-97.3,130.1,-8.6,95,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1504,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.52,-97.3,152.7,-6.7,115,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1504,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2052,-0.52,-97.3,170.9,-5.9,135,2056,0.00,1.90,0.00,0.000,4,0.000,0.083,1991,464,3464,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2171,-0.51,-97.3,179.0,-6.8,143,2175,0.17,1.80,0.00,0.000,6,0.225,0.040,2024,1530,3464,0,0,0,0,0,0,14.05,14.48,28.83
$GC,2471,-0.57,-97.3,194.6,-5.1,163,2475,0.00,1.80,0.00,0.000,4,0.000,0.051,2019,2579,3465,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2561,-0.63,-97.3,199.7,-5.9,169,2565,0.00,1.88,0.00,0.000,6,0.000,0.060,2019,1516,3467,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2861,-0.69,-97.3,219.3,-7.3,189,2863,0.17,0.00,0.00,0.000,6,0.107,0.000,1948,1515,3464,0,0,0,0,0,0,14.60,28.83,28.83
$GC,3161,-0.66,-97.3,247.4,-9.8,209,3165,0.12,1.90,0.00,0.000,4,0.243,0.081,1973,467,3466,0,0,0,0,0,0,14.29,14.26,28.83
$GC,3206,-0.63,-97.3,251.6,-9.5,212,3210,0.00,1.77,0.00,0.000,6,0.000,0.041,1968,1519,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3525,-0.61,-97.3,279.3,-8.6,223,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-0.60,-97.3,304.5,-8.2,233,3825,0.00,1.80,0.00,0.000,4,0.000,0.052,1960,2573,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3896,-0.58,-97.3,310.2,-7.8,236,3901,0.17,1.88,0.00,0.000,6,0.225,0.062,1999,1517,3464,0,0,0,0,0,0,14.02,14.40,28.83
$GC,4215,-0.60,-97.3,327.8,-5.2,247,4223,0.00,1.92,0.00,0.000,4,0.000,0.083,2000,461,3463,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4361,-0.60,-97.3,336.3,-5.7,252,4364,0.00,1.80,0.00,0.000,6,0.000,0.040,1994,1529,3463,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4678,-0.60,-97.3,351.0,-4.5,263,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1530,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4976,-0.60,-97.3,364.6,-4.8,273,4980,0.00,1.95,0.00,0.000,4,0.000,0.083,1996,465,3461,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5112,-0.60,-97.3,373.1,-6.3,278,5115,0.00,1.77,0.00,0.000,6,0.000,0.041,1987,1520,3461,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5426,-0.60,-97.3,395.5,-7.6,289,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,-0.60,-97.3,420.6,-8.5,299,5731,0.00,1.95,0.00,0.000,4,0.000,0.083,1986,461,3459,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5875,-0.58,-97.3,432.4,-8.9,304,5879,0.00,1.80,0.00,0.000,6,0.000,0.041,1979,1520,3459,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6177,-0.58,-97.3,456.4,-7.2,314,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6476,-0.58,-97.3,477.8,-7.3,324,6479,0.00,1.92,0.00,0.000,4,0.000,0.084,1979,467,3457,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6535,-0.58,-97.3,481.3,-7.5,326,6539,0.12,1.80,0.00,0.000,6,0.246,0.042,1996,1524,3458,0,0,0,0,0,0,14.07,14.46,28.83
$GC,6841,-0.60,-97.3,502.3,-6.4,336,6847,0.00,1.95,0.00,0.000,4,0.000,0.085,1997,464,3457,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6939,-0.60,-97.3,508.4,-6.8,339,6943,0.00,1.80,0.00,0.000,6,0.000,0.042,1991,1523,3457,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7242,-0.63,-97.3,529.0,-6.4,349,7246,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,465,3456,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7287,-0.66,-97.3,532.0,-6.5,351,7290,0.00,1.80,0.00,0.000,6,0.000,0.043,1984,1520,3456,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7604,-0.69,-97.3,551.6,-6.3,362,7608,0.00,1.95,0.00,0.000,4,0.000,0.085,1984,463,3455,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7662,-0.72,-97.3,554.8,-6.5,364,7666,0.00,1.80,0.00,0.000,6,0.000,0.042,1976,1521,3455,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7962,-0.76,-97.3,575.5,-6.8,374,7966,0.00,1.95,0.00,0.000,4,0.000,0.085,1976,469,3453,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8081,-0.76,-97.3,582.8,-7.0,378,8085,0.00,1.80,0.00,0.000,6,0.000,0.043,1969,1519,3453,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8382,-0.74,-97.3,604.6,-7.1,388,8386,0.00,1.95,0.00,0.000,4,0.000,0.086,1969,468,3452,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8487,-0.72,-97.3,612.9,-8.0,392,8490,0.00,1.80,0.00,0.000,6,0.000,0.044,1960,1519,3455,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8806,-0.71,-97.3,637.5,-7.9,403,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9102,-0.70,-97.3,661.4,-8.2,413,9106,0.00,1.95,0.00,0.000,4,0.000,0.086,1961,470,3450,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9208,-0.67,-97.3,670.8,-9.0,417,9212,0.00,1.80,0.00,0.000,6,0.000,0.044,1953,1521,3449,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9524,-0.65,-97.3,696.0,-7.7,428,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,-0.63,-97.3,717.7,-7.0,438,9828,0.12,1.98,0.00,0.000,4,0.252,0.087,1979,465,3447,0,0,0,0,0,0,14.19,14.09,28.83
$GC,9941,-0.62,-97.3,724.4,-6.4,442,9945,0.00,1.83,0.00,0.000,6,0.000,0.044,1973,1520,3447,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10243,-0.62,-97.3,741.4,-5.1,452,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10542,-0.62,-97.3,756.2,-4.9,462,10546,0.00,1.98,0.00,0.000,4,0.000,0.088,1973,468,3445,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10662,-0.61,-97.3,762.3,-5.9,466,10665,0.00,1.83,0.00,0.000,6,0.000,0.045,1965,1520,3445,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10964,-0.61,-97.3,780.2,-5.9,476,10966,0.10,0.00,0.00,0.000,6,0.262,0.000,1985,1522,3444,0,0,0,0,0,0,14.26,28.83,28.83
$GC,11262,-0.65,-97.3,798.4,-6.7,486,11266,0.00,1.98,0.00,0.000,4,0.000,0.088,1986,470,3443,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11368,-0.68,-97.3,806.0,-7.3,490,11372,0.00,1.83,0.00,0.000,6,0.000,0.045,1981,1520,3443,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11685,-0.73,-97.3,830.5,-8.0,501,11689,0.00,2.00,0.00,0.000,4,0.000,0.090,1981,462,3442,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11819,-0.75,-97.3,841.8,-8.4,506,11823,0.00,1.88,0.00,0.000,6,0.000,0.044,1974,1525,3441,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12135,-0.79,-97.3,866.9,-8.0,517,12140,0.12,2.00,0.00,0.000,4,0.145,0.090,1930,466,3440,0,0,0,0,0,0,14.48,14.02,28.83
$GC,12333,-0.74,-97.3,885.1,-9.3,524,12340,0.00,1.85,0.00,0.000,6,0.000,0.046,1922,1523,3439,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12662,-0.70,-97.3,911.2,-7.5,535,12664,0.17,0.00,0.00,0.000,6,0.252,0.000,1959,1525,3438,0,0,0,0,0,0,13.91,28.83,28.83
$GC,12961,-0.70,-97.3,929.2,-6.0,545,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1525,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13259,-0.70,-97.3,946.4,-5.8,555,13263,0.00,2.03,0.00,0.000,4,0.000,0.091,1960,470,3437,0,0,0,0,0,0,28.83,13.94,28.83
$GC,13379,-0.69,-97.3,953.7,-6.9,559,13383,0.00,1.88,0.00,0.000,6,0.000,0.047,1955,1523,3436,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13680,-0.68,-97.3,975.8,-7.2,569,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1525,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13735,begin apogee
$GC,13745,-0.18,0.0,980.5,-7.6,571,13871,0.68,0.00,114.93,1.850,6,0.209,0.000,2127,1399,3063,0,0,0,0,1,0,13.72,28.83,12.93
$STATE,13873,end apogee,CONTROL_FINISHED_OK
$STATE,13873,begin climb
$GC,13876,0.60,97.3,986.6,0.0,575,14014,0.82,1.92,126.57,1.838,4,0.111,0.057,2382,2461,2665,0,0,0,0,1,0,14.14,14.17,12.93
$GC,14236,0.64,199.5,991.4,1.7,588,14376,0.00,1.95,130.38,1.857,6,0.000,0.073,2390,1395,2248,0,0,0,0,1,0,28.83,14.39,12.96
$GC,14670,0.59,199.5,968.7,6.4,602,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1395,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14969,0.53,199.5,948.6,6.8,612,14973,0.00,1.98,0.00,0.000,4,0.000,0.098,2398,349,2238,0,0,0,0,0,0,28.83,14.31,28.83
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$STATE,28471,end climb,SURFACE_DEPTH_REACHED
$STATE,28471,begin surface coast
$FINISH,0.3,1.025484
$STATE,28490,end surface coast,CONTROL_FINISHED_OK
$STATE,28490,begin surface
$SM_CCo,28510,14.35,0.706,0,0,1756,320.12
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$IRIDIUM_FIX,2425.21,-3838.85,190213,080857
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.60
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.40
$XPDR_PINGS,6
$SC_FREEKB,7588096
$24V_AH,12.9,221.525
$10V_AH,12.3,0.000
$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,21.400,178.000,572.800,14.350,0.000,0.000,0.000,326.950,1.500,0.000,18.737,3385.389,21658.799,893.801,2425.600,753.698,0.000,2269.685,0.000,2020.096,0.000,0.548,0.000
$DEVICE_MAMPS,406.215,107.100,1856.655,706.095,0.000,0.000,0.000,166.770,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28545.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.150,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43299,1174
$CAP_FILE_SIZE,262585,0
$CFSIZE,260034560,194162688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.096,358.0,1
$GPS,200213,010034,2432.382,-3835.198,39,0.8,39,-14.2