version: 66.11
glider: 191
mission: 5
dive: 494
start: 2 26 113 6 43 47
data:
$ID,191
$MISSION,5
$DIVE,494
$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,-5226.311
$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,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
$GPS1,260213,063352,2402.189,-3803.726,41,0.8,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.5
$GPS2,260213,064317,2402.129,-3803.707,17,1.0,17,-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,150.5,11384,-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,-58.33,0.000,6,0.000,0.000,160,1519,3461,0,0,0,0,0,0,28.83,28.83,14.71
$GC,87,-0.60,-97.3,4.4,-9.5,4,101,9.70,1.92,0.00,0.000,4,0.402,0.075,1997,461,3463,1,0,0,0,0,0,13.54,14.35,28.83
$GC,310,-0.57,-97.3,29.7,-8.3,19,313,0.00,1.80,0.00,0.000,6,0.000,0.038,1991,1518,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,610,-0.56,-97.3,53.2,-7.6,39,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.56,-97.3,77.1,-7.8,59,913,0.00,1.95,0.00,0.000,4,0.000,0.082,1991,462,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1015,-0.53,-97.3,86.1,-8.7,66,1020,0.12,1.80,0.00,0.000,6,0.248,0.041,2009,1520,3465,0,0,0,0,0,0,14.01,14.41,28.83
$GC,1315,-0.53,-97.3,103.4,-5.1,86,1319,0.00,1.95,0.00,0.000,4,0.000,0.081,2009,462,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1391,-0.53,-97.3,107.7,-5.7,91,1395,0.00,1.80,0.00,0.000,6,0.000,0.040,2004,1520,3465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1689,-0.53,-97.3,125.1,-6.7,111,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.53,-97.3,148.1,-8.0,131,1993,0.00,1.95,0.00,0.000,4,0.000,0.081,2004,467,3465,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2139,-0.53,-97.3,161.1,-8.5,141,2143,0.00,1.80,0.00,0.000,6,0.000,0.039,1996,1522,3466,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2440,-0.53,-97.3,181.5,-6.0,161,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.53,-97.3,198.3,-5.8,181,2743,0.00,1.98,0.00,0.000,4,0.000,0.081,1996,461,3466,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2829,-0.53,-97.3,204.3,-6.8,187,2833,0.00,1.80,0.00,0.000,6,0.000,0.039,1988,1522,3466,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3129,-0.53,-97.3,223.5,-6.6,207,3133,0.00,1.95,0.00,0.000,4,0.000,0.080,1989,461,3465,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3205,-0.52,-97.3,229.1,-7.6,212,3209,0.15,1.80,0.00,0.000,6,0.231,0.039,2014,1521,3465,0,0,0,0,0,0,13.94,14.39,28.83
$GC,3505,-0.58,-97.3,249.5,-7.0,232,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.65,-97.3,273.1,-7.6,243,3823,0.00,1.83,0.00,0.000,4,0.000,0.051,2011,2578,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3927,-0.70,-97.3,280.8,-7.4,247,3931,0.15,1.90,0.00,0.000,6,0.119,0.060,1952,1513,3465,0,0,0,0,0,0,14.29,14.29,28.83
$GC,4243,-0.68,-97.3,306.5,-7.9,258,4247,0.00,1.92,0.00,0.000,4,0.000,0.081,1951,461,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4361,-0.64,-97.3,315.3,-8.4,262,4365,0.17,1.80,0.00,0.000,6,0.241,0.039,1981,1523,3464,0,0,0,0,0,0,13.90,14.42,28.83
$GC,4660,-0.64,-97.3,335.6,-6.4,272,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.64,-97.3,357.4,-7.6,282,4965,0.00,1.95,0.00,0.000,4,0.000,0.081,1981,465,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5019,-0.64,-97.3,361.3,-8.1,284,5023,0.00,1.80,0.00,0.000,6,0.000,0.039,1976,1526,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5321,-0.64,-97.3,387.2,-7.8,294,5325,0.00,1.95,0.00,0.000,4,0.000,0.082,1976,469,3462,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5381,-0.63,-97.3,390.8,-7.7,296,5385,0.00,1.77,0.00,0.000,6,0.000,0.040,1968,1520,3462,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5681,-0.62,-97.3,413.7,-7.3,306,5684,0.00,1.83,0.00,0.000,4,0.000,0.052,1960,2572,3461,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5756,-0.62,-97.3,419.6,-7.9,309,5761,0.12,1.90,0.00,0.000,6,0.238,0.062,1985,1513,3462,0,0,0,0,0,0,13.96,14.28,28.83
$GC,6075,-0.62,-97.3,443.8,-8.0,320,6083,0.00,1.90,0.00,0.000,4,0.000,0.083,1985,477,3460,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6250,-0.62,-97.3,459.8,-8.9,326,6254,0.00,1.77,0.00,0.000,6,0.000,0.041,1980,1520,3459,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6567,-0.62,-97.3,483.2,-6.5,337,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6867,-0.62,-97.3,497.4,-4.1,347,6870,0.00,1.95,0.00,0.000,4,0.000,0.082,1980,468,3458,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6956,-0.62,-97.3,500.8,-4.3,350,6960,0.00,1.80,0.00,0.000,6,0.000,0.041,1973,1523,3458,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7256,-0.62,-97.3,515.5,-5.3,360,7260,0.00,1.95,0.00,0.000,4,0.000,0.083,1977,470,3457,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7331,-0.60,-97.3,520.7,-6.7,363,7334,0.00,1.80,0.00,0.000,6,0.000,0.040,1965,1520,3458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7650,-0.59,-97.3,546.1,-8.6,374,7658,0.12,1.95,0.00,0.000,4,0.256,0.083,1992,470,3456,0,0,0,0,0,0,14.12,14.08,28.83
$GC,7719,-0.59,-97.3,551.2,-8.5,376,7723,0.00,1.80,0.00,0.000,6,0.000,0.041,1987,1519,3456,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8022,-0.64,-97.3,576.8,-8.2,386,8026,0.00,1.95,0.00,0.000,4,0.000,0.083,1987,470,3454,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8096,-0.67,-97.3,583.1,-8.3,389,8100,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1521,3458,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8415,-0.71,-97.3,607.4,-7.4,400,8422,0.00,1.98,0.00,0.000,4,0.000,0.083,1979,467,3454,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8531,-0.74,-97.3,616.3,-7.5,404,8534,0.00,1.83,0.00,0.000,6,0.000,0.042,1973,1529,3457,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8850,-0.77,-97.3,638.6,-7.1,415,8857,0.00,2.00,0.00,0.000,4,0.000,0.085,1974,461,3453,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8966,-0.78,-97.3,648.0,-7.8,419,8969,0.00,1.83,0.00,0.000,6,0.000,0.042,1965,1520,3452,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9283,-0.81,-97.3,673.6,-8.4,430,9288,0.12,1.98,0.00,0.000,4,0.142,0.083,1921,467,3451,0,0,0,0,0,0,14.48,13.99,28.83
$GC,9481,-0.75,-97.3,693.4,-10.2,437,9489,0.15,1.83,0.00,0.000,6,0.280,0.043,1941,1520,3450,0,0,0,0,0,0,13.71,14.30,28.83
$GC,9810,-0.72,-97.3,719.5,-7.6,448,9814,0.00,1.85,0.00,0.000,4,0.000,0.053,1935,2576,3449,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9914,-0.70,-97.3,727.1,-7.3,452,9918,0.00,1.95,0.00,0.000,6,0.000,0.063,1935,1519,3449,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10231,-0.66,-97.3,752.1,-8.3,463,10233,0.17,0.00,0.00,0.000,6,0.253,0.000,1973,1518,3449,0,0,0,0,0,0,13.89,28.83,28.83
$GC,10528,-0.66,-97.3,776.0,-8.4,473,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10828,-0.66,-97.3,804.3,-9.8,483,10832,0.00,1.98,0.00,0.000,4,0.000,0.086,1973,466,3446,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10917,-0.66,-97.3,812.2,-10.5,486,10921,0.00,1.83,0.00,0.000,6,0.000,0.042,1968,1519,3446,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11218,-0.66,-97.3,842.0,-8.8,496,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11518,-0.66,-97.3,864.0,-6.8,506,11522,0.00,2.00,0.00,0.000,4,0.000,0.087,1965,463,3444,0,0,0,0,0,0,28.83,13.92,28.83
$GC,11607,-0.66,-97.3,869.6,-7.4,509,11610,0.00,1.85,0.00,0.000,6,0.000,0.043,1960,1520,3444,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11907,-0.66,-97.3,892.6,-7.4,519,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12209,-0.66,-97.3,915.9,-8.0,529,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12507,-0.66,-97.3,941.1,-8.5,539,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12809,-0.66,-97.3,965.0,-7.7,549,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13014,begin apogee
$GC,13022,-0.18,0.0,980.5,-7.4,556,13150,0.65,0.00,116.10,1.826,6,0.210,0.000,2125,1393,3062,0,0,0,0,1,0,13.71,28.83,12.99
$STATE,13152,end apogee,CONTROL_FINISHED_OK
$STATE,13152,begin climb
$GC,13155,0.60,97.3,985.7,0.0,560,13292,0.82,2.00,125.32,1.808,4,0.113,0.093,2387,350,2665,0,0,0,0,1,0,14.09,14.10,13.01
$GC,13513,0.54,124.3,980.3,4.9,573,13573,0.00,1.83,46.33,1.433,6,0.000,0.044,2387,1411,2555,0,0,0,0,1,0,28.83,14.45,13.14
$GC,13873,0.46,124.3,956.9,6.9,585,13875,0.20,0.00,0.00,0.000,6,0.265,0.000,2343,1412,2552,0,0,0,0,0,0,14.04,28.83,28.83
$GC,14177,0.43,126.0,938.5,6.0,595,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1412,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14474,0.42,143.8,921.8,5.3,605,14518,0.00,0.00,37.08,1.286,6,0.000,0.000,2343,1412,2477,0,0,0,0,1,0,28.83,28.83,13.26
$GC,14806,0.43,171.8,905.0,4.9,616,14862,0.00,0.00,49.08,1.460,6,0.000,0.000,2343,1412,2361,0,0,0,0,1,0,28.83,28.83,13.17
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$STATE,26830,end climb,SURFACE_DEPTH_REACHED
$STATE,26830,begin surface coast
$FINISH,0.1,0.998716
$STATE,26846,end surface coast,CONTROL_FINISHED_OK
$STATE,26846,begin surface
$SM_CCo,26927,0.00,0.000,0,0,1545,372.12
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$IRIDIUM_FIX,2356.84,-3806.78,250213,222227
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.50
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.20
$XPDR_PINGS,7
$SC_FREEKB,7580544
$24V_AH,13.0,229.998
$10V_AH,12.8,0.000
$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,20.400,159.475,688.000,0.000,0.000,0.000,0.000,288.325,1.750,0.000,18.648,3170.484,20349.922,979.005,2267.724,706.761,0.000,2261.393,0.000,1924.997,0.000,0.549,0.000
$DEVICE_MAMPS,401.625,101.745,1826.055,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26898.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.367,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43317,1126
$CAP_FILE_SIZE,240921,0
$CFSIZE,260034560,191873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.018,257.9,1
$GPS,260213,141352,2400.226,-3801.909,36,0.8,36,-14.1