version: 66.11
glider: 191
mission: 5
dive: 493
start: 2 25 113 23 2 23
data:
$ID,191
$MISSION,5
$DIVE,493
$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,-5225.0542
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,250213,225204,2404.574,-3805.221,32,1.1,32,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.0
$GPS2,250213,230153,2404.491,-3805.229,17,0.8,17,-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,156.6,16456,-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,-60.33,0.000,2,0.000,0.000,158,1509,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.8,-7.7,4,105,9.80,1.92,-2.08,0.000,4,0.406,0.108,1995,463,3462,1,0,0,0,0,0,13.57,14.38,14.74
$GC,295,-0.58,-97.3,26.4,-9.1,18,299,0.00,1.83,0.00,0.000,6,0.000,0.041,1990,1526,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,595,-0.57,-97.3,47.7,-6.8,38,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.55,-97.3,70.1,-8.0,58,899,0.00,1.98,0.00,0.000,4,0.000,0.083,1990,461,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,985,-0.53,-97.3,78.3,-9.3,64,989,0.15,1.80,0.00,0.000,6,0.235,0.041,2014,1521,3464,0,0,0,0,0,0,13.99,14.40,28.83
$GC,1285,-0.54,-97.3,101.0,-6.9,84,1288,0.00,1.95,0.00,0.000,4,0.000,0.083,2014,463,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1359,-0.54,-97.3,106.7,-7.8,89,1363,0.00,1.80,0.00,0.000,6,0.000,0.041,2009,1521,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1660,-0.54,-97.3,131.0,-9.0,109,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.55,-97.3,156.9,-7.1,129,1964,0.00,1.95,0.00,0.000,4,0.000,0.083,2009,463,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2035,-0.55,-97.3,162.2,-7.0,134,2039,0.00,1.80,0.00,0.000,6,0.000,0.041,2001,1522,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2335,-0.55,-97.3,180.3,-6.0,154,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2636,-0.55,-97.3,198.3,-5.9,174,2640,0.00,1.95,0.00,0.000,4,0.000,0.083,2001,465,3465,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2755,-0.55,-97.3,206.3,-6.8,182,2758,0.00,1.80,0.00,0.000,6,0.000,0.040,1993,1525,3464,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3055,-0.55,-97.3,224.4,-5.9,202,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.55,-97.3,238.1,-3.9,222,3359,0.00,1.95,0.00,0.000,4,0.000,0.083,1993,464,3465,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3431,-0.55,-97.3,241.7,-4.7,227,3435,0.00,1.80,0.00,0.000,6,0.000,0.041,1985,1522,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3729,-0.55,-97.3,258.3,-6.4,243,3733,0.00,1.95,0.00,0.000,4,0.000,0.083,1985,463,3466,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3836,-0.54,-97.3,266.9,-8.2,247,3841,0.15,1.80,0.00,0.000,6,0.232,0.040,2010,1522,3464,0,0,0,0,0,0,13.91,14.38,28.83
$GC,4153,-0.60,-97.3,293.4,-8.9,258,4157,0.00,1.95,0.00,0.000,4,0.000,0.083,2009,463,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4271,-0.64,-97.3,302.8,-9.0,262,4275,0.00,1.80,0.00,0.000,6,0.000,0.041,2005,1520,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4571,-0.70,-97.3,329.4,-8.2,272,4575,0.12,1.95,0.00,0.000,4,0.132,0.083,1954,462,3463,0,0,0,0,0,0,14.56,14.16,28.83
$GC,4800,-0.66,-97.3,350.0,-9.3,280,4808,0.12,1.80,0.00,0.000,6,0.258,0.041,1970,1521,3463,0,0,0,0,0,0,14.01,14.44,28.83
$GC,5129,-0.65,-97.3,376.8,-8.6,291,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5427,-0.64,-97.3,406.8,-10.4,301,5431,0.00,1.95,0.00,0.000,4,0.000,0.083,1971,465,3462,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5561,-0.62,-97.3,421.7,-11.2,306,5564,0.00,1.80,0.00,0.000,6,0.000,0.041,1965,1520,3462,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5880,-0.60,-97.3,452.4,-9.0,317,5882,0.12,0.00,0.00,0.000,6,0.254,0.000,1991,1523,3461,0,0,0,0,0,0,14.19,28.83,28.83
$GC,6177,-0.63,-97.3,472.3,-6.2,327,6180,0.00,1.98,0.00,0.000,4,0.000,0.084,1991,460,3461,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6252,-0.67,-97.3,476.8,-5.9,330,6256,0.00,1.83,0.00,0.000,6,0.000,0.041,1986,1530,3461,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6569,-0.71,-97.3,494.4,-5.8,341,6576,0.00,2.00,0.00,0.000,4,0.000,0.084,1986,460,3459,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6716,-0.73,-97.3,504.3,-6.7,346,6719,0.00,1.80,0.00,0.000,6,0.000,0.041,1978,1515,3459,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7034,-0.76,-97.3,526.7,-7.1,357,7036,0.12,0.00,0.00,0.000,6,0.137,0.000,1932,1519,3458,0,0,0,0,0,0,14.52,28.83,28.83
$GC,7331,-0.72,-97.3,551.2,-8.3,367,7334,0.00,1.95,0.00,0.000,4,0.000,0.085,1932,463,3457,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7451,-0.67,-97.3,560.6,-9.0,371,7455,0.20,1.83,0.00,0.000,6,0.251,0.042,1966,1529,3457,0,0,0,0,0,0,13.78,14.38,28.83
$GC,7751,-0.67,-97.3,581.3,-6.4,381,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1531,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8051,-0.67,-97.3,601.4,-6.8,391,8055,0.00,2.00,0.00,0.000,4,0.000,0.086,1967,464,3455,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8156,-0.65,-97.3,609.6,-8.0,395,8159,0.00,1.83,0.00,0.000,6,0.000,0.042,1961,1520,3454,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8475,-0.64,-97.3,634.2,-8.0,406,8482,0.00,1.98,0.00,0.000,4,0.000,0.086,1962,464,3453,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8545,-0.62,-97.3,639.3,-8.3,408,8549,0.15,1.83,0.00,0.000,6,0.243,0.043,1984,1523,3453,0,0,0,0,0,0,13.86,14.34,28.83
$GC,8846,-0.62,-97.3,660.6,-6.3,418,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1524,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.67,-97.3,678.6,-6.1,428,9151,0.00,2.00,0.00,0.000,4,0.000,0.086,1984,461,3451,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9281,-0.69,-97.3,687.0,-6.3,433,9284,0.00,1.83,0.00,0.000,6,0.000,0.043,1980,1521,3451,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9600,-0.74,-97.3,707.2,-6.8,444,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9897,-0.78,-97.3,729.7,-7.5,454,9899,0.12,0.00,0.00,0.000,6,0.140,0.000,1934,1522,3449,0,0,0,0,0,0,14.47,28.83,28.83
$GC,10196,-0.78,-97.3,755.0,-8.3,464,10200,0.00,2.00,0.00,0.000,4,0.000,0.087,1934,463,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10285,-0.75,-97.3,761.5,-8.5,467,10289,0.00,1.83,0.00,0.000,6,0.000,0.044,1926,1519,3447,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10587,-0.71,-97.3,784.8,-6.8,477,10589,0.15,0.00,0.00,0.000,6,0.256,0.000,1957,1520,3444,0,0,0,0,0,0,14.00,28.83,28.83
$GC,10889,-0.70,-97.3,801.7,-5.7,487,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11187,-0.69,-97.3,820.4,-6.7,497,11191,0.00,2.00,0.00,0.000,4,0.000,0.089,1957,467,3445,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11261,-0.67,-97.3,826.3,-7.5,500,11265,0.00,1.85,0.00,0.000,6,0.000,0.044,1952,1525,3444,0,0,0,0,0,0,28.83,14.25,28.83
$GC,11579,-0.65,-97.3,852.0,-8.6,511,11583,0.00,1.88,0.00,0.000,4,0.000,0.057,1944,2579,3443,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11637,-0.64,-97.3,856.1,-8.7,513,11642,0.17,1.95,0.00,0.000,6,0.237,0.067,1980,1521,3443,0,0,0,0,0,0,13.66,14.07,28.83
$GC,11940,-0.69,-97.3,882.4,-8.4,523,11947,0.00,2.00,0.00,0.000,4,0.000,0.090,1981,467,3442,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11982,-0.73,-97.3,885.1,-8.4,524,11986,0.00,1.85,0.00,0.000,6,0.000,0.044,1977,1522,3442,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12282,-0.77,-97.3,911.2,-8.3,534,12286,0.12,1.88,0.00,0.000,4,0.138,0.057,1925,2575,3441,0,0,0,0,0,0,14.42,14.09,28.83
$GC,12464,-0.75,-97.3,926.1,-9.2,540,12468,0.00,1.95,0.00,0.000,6,0.000,0.069,1926,1526,3440,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12764,-0.71,-97.3,952.0,-7.7,550,12769,0.15,2.05,0.00,0.000,4,0.268,0.090,1956,456,3439,0,0,0,0,0,0,13.87,13.85,28.83
$GC,12840,-0.69,-97.3,957.4,-7.2,553,12843,0.00,1.88,0.00,0.000,6,0.000,0.047,1951,1519,3439,0,0,0,0,0,0,28.83,14.16,28.83
$GC,13156,-0.67,-97.3,975.9,-5.6,564,13160,0.00,2.03,0.00,0.000,4,0.000,0.091,1951,463,3438,0,0,0,0,0,0,28.83,13.83,28.83
$GC,13213,-0.65,-97.3,978.7,-5.9,566,13218,0.15,1.88,0.00,0.000,6,0.257,0.046,1972,1524,3437,0,0,0,0,0,0,13.64,14.14,28.83
$STATE,13241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13241,begin apogee
$GC,13250,-0.18,0.0,981.4,-5.9,567,13376,0.57,0.00,115.22,1.828,6,0.210,0.000,2125,1387,3062,0,0,0,0,1,0,13.76,28.83,13.00
$STATE,13378,end apogee,CONTROL_FINISHED_OK
$STATE,13378,begin climb
$GC,13381,0.60,97.3,985.1,0.0,571,13518,0.82,1.95,125.75,1.816,4,0.109,0.056,2379,2463,2665,0,0,0,0,1,0,14.11,14.16,12.99
$GC,13739,0.57,140.1,980.4,4.2,584,13813,0.00,1.95,64.15,1.597,6,0.000,0.073,2388,1398,2489,0,0,0,0,1,0,28.83,14.34,13.08
$GC,14114,0.50,140.1,958.5,6.2,596,14116,0.15,0.00,0.00,0.000,6,0.285,0.000,2359,1398,2485,0,0,0,0,0,0,14.09,28.83,28.83
$GC,14414,0.46,140.1,940.3,6.1,606,14418,0.00,1.98,0.00,0.000,4,0.000,0.096,2364,349,2483,0,0,0,0,0,0,28.83,14.27,28.83
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$STATE,26907,end climb,SURFACE_DEPTH_REACHED
$STATE,26907,begin surface coast
$FINISH,0.1,1.025745
$STATE,26924,end surface coast,CONTROL_FINISHED_OK
$STATE,26924,begin surface
$SM_CCo,27006,0.00,0.000,0,0,1719,329.44
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$TT8_MAMPS,0.023219,0.023219
$HUMID,59.45
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.10
$XPDR_PINGS,4
$SC_FREEKB,7580928
$24V_AH,13.0,229.561
$10V_AH,11.3,0.000
$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
$DEVICE_SECS,22.100,171.950,609.350,0.000,0.000,0.000,0.000,314.800,1.000,0.000,18.395,3261.221,20341.457,906.754,2334.036,733.151,0.000,2234.904,0.000,1966.162,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.346,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43355,1133
$CAP_FILE_SIZE,251182,0
$CFSIZE,260034560,191971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.037,208.7,1
$GPS,260213,063352,2402.189,-3803.726,41,0.8,41,-14.1