version: 66.11
glider: 191
mission: 5
dive: 489
start: 2 24 113 16 23 58
data:
$ID,191
$MISSION,5
$DIVE,489
$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,-5220.0205
$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,55
$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
$GPS1,240213,161404,2413.448,-3813.146,34,0.8,34,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-54.6
$GPS2,240213,162329,2413.328,-3813.090,15,1.4,15,-14.1
$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,145.2,37487,-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,-59.88,0.000,6,0.000,0.000,157,1527,3460,0,0,0,0,0,0,28.83,28.83,14.71
$GC,87,-0.60,-97.3,4.0,-8.5,4,103,10.10,1.77,0.00,0.000,4,0.415,0.047,1983,2568,3464,1,0,0,0,0,0,13.61,14.49,28.83
$GC,324,-0.60,-97.3,29.2,-8.3,20,328,0.00,1.90,0.00,0.000,6,0.000,0.064,1983,1519,3465,0,0,0,0,0,0,28.83,14.27,28.83
$GC,625,-0.58,-97.3,54.7,-8.5,40,628,0.00,1.83,0.00,0.000,4,0.000,0.052,1975,2560,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,700,-0.58,-97.3,60.7,-8.0,45,704,0.00,1.88,0.00,0.000,6,0.000,0.062,1975,1519,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1000,-0.56,-97.3,83.7,-7.3,65,1004,0.15,1.95,0.00,0.000,4,0.241,0.083,2008,462,3463,0,0,0,0,0,0,14.07,14.14,28.83
$GC,1120,-0.56,-97.3,91.9,-6.8,73,1124,0.00,1.77,0.00,0.000,6,0.000,0.039,2003,1510,3465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1421,-0.56,-97.3,110.3,-5.8,93,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.56,-97.3,129.6,-6.7,113,1723,0.00,1.92,0.00,0.000,4,0.000,0.082,2002,464,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1841,-0.55,-97.3,139.1,-7.8,121,1845,0.00,1.80,0.00,0.000,6,0.000,0.041,1995,1523,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2139,-0.55,-97.3,163.7,-9.1,141,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2439,-0.55,-97.3,192.5,-9.7,161,2443,0.00,1.95,0.00,0.000,4,0.000,0.082,1995,462,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2529,-0.55,-97.3,201.7,-10.5,167,2533,0.00,1.80,0.00,0.000,6,0.000,0.040,1987,1522,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2829,-0.55,-97.3,225.4,-6.3,187,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-0.55,-97.3,240.8,-4.9,207,3133,0.00,1.95,0.00,0.000,4,0.000,0.081,1987,463,3466,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3205,-0.53,-97.3,245.2,-6.0,212,3209,0.15,1.80,0.00,0.000,6,0.235,0.040,2011,1523,3465,0,0,0,0,0,0,13.97,14.41,28.83
$GC,3520,-0.56,-97.3,264.2,-6.8,226,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1525,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.61,-97.3,286.6,-7.4,236,3824,0.00,1.95,0.00,0.000,4,0.000,0.081,2011,462,3465,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4030,-0.65,-97.3,300.5,-7.0,243,4034,0.00,1.80,0.00,0.000,6,0.000,0.039,2007,1529,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4333,-0.71,-97.3,319.3,-6.0,253,4341,0.15,1.98,0.00,0.000,4,0.118,0.082,1947,458,3465,0,0,0,0,0,0,14.52,14.14,28.83
$GC,4482,-0.66,-97.3,331.5,-8.5,258,4486,0.15,1.80,0.00,0.000,6,0.250,0.041,1969,1518,3464,0,0,0,0,0,0,13.94,14.43,28.83
$GC,4798,-0.65,-97.3,355.8,-8.0,269,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5096,-0.64,-97.3,381.2,-8.6,279,5100,0.00,1.95,0.00,0.000,4,0.000,0.082,1970,461,3462,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5201,-0.62,-97.3,390.9,-9.3,283,5204,0.00,1.80,0.00,0.000,6,0.000,0.040,1964,1522,3462,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5519,-0.60,-97.3,414.9,-7.2,294,5528,0.12,1.98,0.00,0.000,4,0.252,0.083,1990,461,3461,0,0,0,0,0,0,14.21,14.14,28.83
$GC,5590,-0.59,-97.3,419.2,-7.0,296,5593,0.00,1.80,0.00,0.000,6,0.000,0.041,1985,1521,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5890,-0.59,-97.3,440.3,-7.1,306,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6191,-0.59,-97.3,462.9,-7.6,316,6195,0.00,1.95,0.00,0.000,4,0.000,0.083,1985,464,3459,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6309,-0.59,-97.3,471.8,-8.5,320,6313,0.00,1.80,0.00,0.000,6,0.000,0.041,1977,1520,3459,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6611,-0.59,-97.3,497.4,-8.0,330,6615,0.00,1.95,0.00,0.000,4,0.000,0.083,1977,464,3458,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6685,-0.58,-97.3,503.7,-8.3,333,6690,0.15,1.80,0.00,0.000,6,0.239,0.042,2001,1519,3458,0,0,0,0,0,0,13.95,14.40,28.83
$GC,7003,-0.63,-97.3,524.7,-6.7,344,7007,0.00,1.95,0.00,0.000,4,0.000,0.083,2001,464,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7107,-0.67,-97.3,531.8,-6.7,348,7111,0.00,1.80,0.00,0.000,6,0.000,0.042,1997,1520,3458,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7424,-0.72,-97.3,551.4,-6.1,359,7432,0.12,1.95,0.00,0.000,4,0.135,0.083,1950,464,3457,0,0,0,0,0,0,14.54,14.11,28.83
$GC,7635,-0.68,-97.3,566.9,-7.6,366,7642,0.00,1.83,0.00,0.000,6,0.000,0.042,1942,1527,3456,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7961,-0.65,-97.3,588.3,-6.3,377,7963,0.15,0.00,0.00,0.000,6,0.251,0.000,1979,1528,3455,0,0,0,0,0,0,14.08,28.83,28.83
$GC,8263,-0.65,-97.3,603.2,-5.0,387,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1528,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,-0.65,-97.3,619.0,-5.5,397,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1529,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8862,-0.65,-97.3,638.7,-7.0,407,8866,0.00,2.00,0.00,0.000,4,0.000,0.086,1974,463,3452,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9070,-0.64,-97.3,654.4,-8.1,414,9074,0.00,1.83,0.00,0.000,6,0.000,0.041,1969,1519,3451,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9372,-0.64,-97.3,679.5,-8.1,424,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,-0.64,-97.3,704.5,-8.1,434,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9971,-0.64,-97.3,727.2,-7.1,444,9975,0.00,1.98,0.00,0.000,4,0.000,0.086,1969,466,3449,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10061,-0.62,-97.3,732.5,-7.0,447,10065,0.00,1.83,0.00,0.000,6,0.000,0.044,1961,1519,3449,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10365,-0.61,-97.3,748.5,-4.3,457,10367,0.12,0.00,0.00,0.000,6,0.254,0.000,1986,1521,3448,0,0,0,0,0,0,14.14,28.83,28.83
$GC,10665,-0.66,-97.3,758.5,-3.6,467,10672,0.00,2.00,0.00,0.000,4,0.000,0.088,1986,460,3446,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10752,-0.70,-97.3,762.4,-4.2,470,10756,0.00,1.85,0.00,0.000,6,0.000,0.044,1981,1523,3445,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11070,-0.75,-97.3,779.3,-6.1,481,11078,0.00,2.00,0.00,0.000,4,0.000,0.087,1981,462,3445,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11141,-0.78,-97.3,783.3,-6.4,483,11145,0.12,1.85,0.00,0.000,6,0.141,0.043,1934,1526,3445,0,0,0,0,0,0,14.16,14.30,28.83
$GC,11445,-0.75,-97.3,809.6,-8.8,493,11452,0.00,1.85,0.00,0.000,4,0.000,0.057,1926,2576,3444,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11561,-0.72,-97.3,820.3,-9.0,497,11566,0.12,1.95,0.00,0.000,6,0.262,0.068,1949,1519,3443,0,0,0,0,0,0,13.71,14.08,28.83
$GC,11880,-0.70,-97.3,846.2,-8.1,508,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12176,-0.69,-97.3,869.2,-7.6,518,12180,0.00,2.00,0.00,0.000,4,0.000,0.090,1949,464,3441,0,0,0,0,0,0,28.83,13.93,28.83
$GC,12252,-0.66,-97.3,875.2,-7.9,521,12256,0.12,1.85,0.00,0.000,6,0.264,0.046,1969,1519,3441,0,0,0,0,0,0,13.74,14.21,28.83
$GC,12569,-0.66,-97.3,896.4,-6.5,532,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12866,-0.66,-97.3,917.5,-7.0,542,12870,0.00,2.03,0.00,0.000,4,0.000,0.091,1969,462,3439,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12957,-0.66,-97.3,923.2,-7.4,545,12961,0.00,1.85,0.00,0.000,6,0.000,0.044,1964,1519,3439,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13256,-0.66,-97.3,943.3,-6.0,555,13260,0.00,1.90,0.00,0.000,4,0.000,0.057,1956,2579,3438,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13346,-0.66,-97.3,947.6,-5.8,558,13350,0.00,1.98,0.00,0.000,6,0.000,0.069,1956,1518,3438,0,0,0,0,0,0,28.83,14.01,28.83
$GC,13646,-0.65,-97.3,966.3,-6.1,568,13650,0.00,2.03,0.00,0.000,4,0.000,0.093,1956,465,3437,0,0,0,0,0,0,28.83,13.83,28.83
$GC,13721,-0.63,-97.3,971.3,-6.8,571,13726,0.15,1.88,0.00,0.000,6,0.250,0.046,1977,1525,3436,0,0,0,0,0,0,13.65,14.16,28.83
$STATE,13883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13883,begin apogee
$GC,13892,-0.18,0.0,981.4,-6.2,577,14019,0.55,0.00,115.70,1.844,6,0.208,0.000,2124,1399,3061,0,0,0,0,1,0,13.72,28.83,12.96
$STATE,14020,end apogee,CONTROL_FINISHED_OK
$STATE,14020,begin climb
$GC,14024,0.60,97.3,986.5,0.0,581,14161,0.82,1.92,125.72,1.821,4,0.108,0.057,2379,2460,2665,0,0,0,0,1,0,14.11,14.14,12.97
$GC,14175,0.50,323.7,993.0,-3.5,587,14456,0.15,1.98,264.75,1.911,6,0.293,0.073,2356,1394,1742,0,0,0,0,1,0,13.90,14.20,12.95
$GC,14772,0.55,323.7,955.0,7.8,607,14776,0.00,1.98,0.00,0.000,4,0.000,0.099,2362,348,1736,0,0,0,0,0,0,28.83,14.31,28.83
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$STATE,26274,end climb,SURFACE_DEPTH_REACHED
$STATE,26274,begin surface coast
$FINISH,0.3,1.025742
$STATE,26290,end surface coast,CONTROL_FINISHED_OK
$STATE,26290,begin surface
$SM_CCo,26371,0.00,0.000,0,0,1584,362.55
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$TT8_MAMPS,0.023219,0.023219
$HUMID,58.89
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.10
$XPDR_PINGS,3
$SC_FREEKB,7582464
$24V_AH,12.9,227.817
$10V_AH,11.1,0.000
$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
$DEVICE_SECS,22.050,183.550,579.300,0.000,0.000,0.000,0.000,289.425,0.750,0.000,16.523,3131.042,19982.596,881.226,2212.357,709.535,0.000,2150.189,0.000,1848.309,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.263,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,39990,1093
$CAP_FILE_SIZE,246186,0
$CFSIZE,260034560,192425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,5,1,0
$CURRENT,0.039,223.0,1
$GPS,240213,234453,2411.493,-3811.460,41,0.8,41,-14.1