version: 66.11
glider: 191
mission: 5
dive: 498
start: 2 27 113 13 43 34
data:
$ID,191
$MISSION,5
$DIVE,498
$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,-5231.3438
$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,54
$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
$GPS1,270213,133323,2400.218,-3757.346,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-55.2
$GPS2,270213,134305,2400.207,-3757.269,19,0.8,19,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,45.8,92335,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.78,0.000,6,0.000,0.000,159,1526,3461,0,0,0,0,0,0,28.83,28.83,14.67
$GC,87,-0.60,-97.3,4.2,-8.8,4,101,9.95,1.90,0.00,0.000,4,0.409,0.071,1995,463,3462,1,0,0,0,0,0,13.54,14.35,28.83
$GC,325,-0.57,-97.3,31.1,-8.8,20,328,0.00,1.80,0.00,0.000,6,0.000,0.039,1990,1515,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,625,-0.56,-97.3,55.4,-8.3,40,628,0.00,1.95,0.00,0.000,4,0.000,0.081,1990,462,3464,0,0,0,0,0,0,28.83,14.07,28.83
$GC,717,-0.54,-97.3,63.0,-8.5,46,721,0.15,1.80,0.00,0.000,6,0.235,0.038,2014,1522,3464,0,0,0,0,0,0,13.95,14.40,28.83
$GC,1017,-0.55,-97.3,83.2,-6.7,66,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1315,-0.55,-97.3,103.1,-6.4,86,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.56,-97.3,122.4,-6.1,106,1619,0.00,1.95,0.00,0.000,4,0.000,0.081,2014,464,3465,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1690,-0.56,-97.3,127.4,-6.8,111,1693,0.00,1.80,0.00,0.000,6,0.000,0.040,2009,1523,3465,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1990,-0.56,-97.3,146.5,-6.3,131,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.58,-97.3,163.4,-5.5,151,2295,0.00,1.95,0.00,0.000,4,0.000,0.081,2009,464,3466,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2335,-0.58,-97.3,166.3,-6.1,154,2339,0.00,1.80,0.00,0.000,6,0.000,0.040,1999,1522,3466,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2637,-0.58,-97.3,183.4,-5.5,174,2640,0.00,1.95,0.00,0.000,4,0.000,0.080,2001,463,3466,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2695,-0.58,-97.3,187.0,-6.1,178,2699,0.00,1.80,0.00,0.000,6,0.000,0.039,1994,1524,3466,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2996,-0.58,-97.3,204.1,-6.2,198,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.58,-97.3,224.5,-7.5,218,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1525,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,-0.58,-97.3,249.6,-9.0,238,3599,0.00,1.95,0.00,0.000,4,0.000,0.081,1993,464,3466,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3714,-0.58,-97.3,260.1,-10.0,242,3718,0.00,1.80,0.00,0.000,6,0.000,0.040,1985,1523,3466,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4016,-0.58,-97.3,291.8,-10.0,252,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.58,-97.3,317.7,-8.0,262,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-0.58,-97.3,337.6,-6.2,272,4620,0.00,1.95,0.00,0.000,4,0.000,0.081,1985,463,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4690,-0.58,-97.3,342.3,-6.2,275,4693,0.00,1.80,0.00,0.000,6,0.000,0.040,1978,1522,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5005,-0.58,-97.3,359.7,-5.3,286,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,-0.58,-97.3,377.0,-5.9,296,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.58,-97.3,397.4,-7.0,306,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-0.58,-97.3,420.8,-8.0,316,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6205,-0.58,-97.3,445.7,-8.2,326,6208,0.00,1.95,0.00,0.000,4,0.000,0.082,1978,464,3460,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6310,-0.56,-97.3,454.5,-8.4,330,6315,0.15,1.80,0.00,0.000,6,0.239,0.041,2002,1519,3460,0,0,0,0,0,0,13.90,14.37,28.83
$GC,6630,-0.61,-97.3,471.4,-4.9,341,6636,0.00,1.95,0.00,0.000,4,0.000,0.083,2002,461,3459,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6686,-0.66,-97.3,474.2,-4.6,343,6690,0.00,1.80,0.00,0.000,6,0.000,0.040,1998,1521,3459,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7004,-0.72,-97.3,487.5,-4.3,354,7013,0.12,1.95,0.00,0.000,4,0.132,0.083,1948,464,3458,0,0,0,0,0,0,14.54,14.08,28.83
$GC,7135,-0.70,-97.3,495.2,-6.5,358,7139,0.00,1.80,0.00,0.000,6,0.000,0.041,1941,1519,3458,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7436,-0.66,-97.3,520.4,-8.7,368,7438,0.15,0.00,0.00,0.000,6,0.247,0.000,1972,1520,3457,0,0,0,0,0,0,14.04,28.83,28.83
$GC,7735,-0.66,-97.3,546.0,-8.6,378,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8036,-0.66,-97.3,570.1,-7.6,388,8040,0.00,1.98,0.00,0.000,4,0.000,0.083,1973,459,3456,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8110,-0.65,-97.3,575.9,-7.6,391,8114,0.00,1.83,0.00,0.000,6,0.000,0.041,1967,1521,3456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8428,-0.64,-97.3,596.1,-6.0,402,8432,0.00,1.85,0.00,0.000,4,0.000,0.053,1959,2581,3454,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8502,-0.64,-97.3,600.2,-5.4,405,8506,0.00,1.92,0.00,0.000,6,0.000,0.062,1959,1518,3454,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8819,-0.62,-97.3,618.0,-5.7,416,8822,0.00,1.98,0.00,0.000,4,0.000,0.085,1959,466,3452,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8923,-0.60,-97.3,624.8,-6.5,420,8927,0.17,1.83,0.00,0.000,6,0.241,0.041,1989,1524,3453,0,0,0,0,0,0,13.76,14.30,28.83
$GC,9240,-0.65,-97.3,643.0,-6.3,431,9247,0.00,2.00,0.00,0.000,4,0.000,0.084,1989,462,3451,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9298,-0.69,-97.3,647.1,-6.7,433,9302,0.00,1.83,0.00,0.000,6,0.000,0.041,1986,1521,3452,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9614,-0.74,-97.3,671.8,-8.5,444,9619,0.12,1.85,0.00,0.000,4,0.136,0.054,1933,2575,3451,0,0,0,0,0,0,14.45,14.16,28.83
$GC,9672,-0.77,-97.3,676.2,-8.9,446,9676,0.00,1.92,0.00,0.000,6,0.000,0.064,1933,1518,3450,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9974,-0.73,-97.3,710.8,-11.0,456,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10273,-0.69,-97.3,742.7,-10.4,466,10278,0.15,1.98,0.00,0.000,4,0.269,0.086,1963,467,3449,0,0,0,0,0,0,13.91,13.93,28.83
$GC,10350,-0.67,-97.3,750.1,-9.9,469,10353,0.00,1.83,0.00,0.000,6,0.000,0.042,1958,1519,3447,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10665,-0.65,-97.3,775.3,-7.3,480,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10964,-0.64,-97.3,794.6,-6.1,490,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,-0.62,-97.3,811.6,-5.5,500,11265,0.12,0.00,0.00,0.000,6,0.260,0.000,1983,1520,3445,0,0,0,0,0,0,14.07,28.83,28.83
$GC,11567,-0.67,-97.3,826.7,-5.1,510,11575,0.00,2.00,0.00,0.000,4,0.000,0.086,1983,463,3445,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11683,-0.70,-97.3,833.4,-5.6,514,11687,0.00,1.85,0.00,0.000,6,0.000,0.042,1978,1525,3444,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12003,-0.75,-97.3,851.3,-6.0,525,12009,0.00,2.00,0.00,0.000,4,0.000,0.087,1978,468,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,12088,-0.77,-97.3,857.1,-6.4,528,12091,0.00,1.83,0.00,0.000,6,0.000,0.044,1972,1519,3443,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12406,-0.80,-97.3,878.3,-7.2,539,12410,0.12,1.90,0.00,0.000,4,0.143,0.057,1921,2573,3442,0,0,0,0,0,0,14.39,14.04,28.83
$GC,12451,-0.82,-97.3,882.0,-7.6,541,12455,0.00,1.95,0.00,0.000,6,0.000,0.068,1921,1518,3442,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12767,-0.78,-97.3,911.2,-9.7,552,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1519,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13066,-0.74,-97.3,941.0,-9.9,562,13068,0.12,0.00,0.00,0.000,6,0.287,0.000,1944,1518,3440,0,0,0,0,0,0,13.92,28.83,28.83
$GC,13364,-0.72,-97.3,966.9,-8.4,572,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1518,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13541,begin apogee
$GC,13550,-0.18,0.0,981.3,-7.9,578,13676,0.73,0.00,115.35,1.823,6,0.226,0.000,2126,1398,3062,0,0,0,0,1,0,13.77,28.83,13.00
$STATE,13678,end apogee,CONTROL_FINISHED_OK
$STATE,13678,begin climb
$GC,13681,0.60,97.3,986.7,0.0,582,13818,0.82,1.92,125.50,1.816,4,0.109,0.057,2381,2460,2665,0,0,0,0,1,0,14.09,14.14,13.02
$GC,14040,0.57,134.7,982.5,4.5,595,14111,0.00,1.95,57.85,1.552,6,0.000,0.071,2390,1394,2514,0,0,0,0,1,0,28.83,14.33,13.11
$GC,14430,0.50,135.8,959.2,6.0,608,14435,0.17,1.85,0.00,0.000,4,0.278,0.054,2352,2451,2510,0,0,0,0,0,0,14.04,14.42,28.83
$GC,14565,0.50,166.0,952.7,4.8,613,14625,0.00,1.92,51.05,1.490,6,0.000,0.072,2358,1398,2384,0,0,0,0,1,0,28.83,14.35,13.16
$GC,14940,0.55,234.9,938.3,3.1,626,15042,0.00,2.03,91.97,1.725,4,0.000,0.096,2366,347,2104,0,0,0,0,1,0,28.83,14.17,13.05
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$STATE,26952,end climb,SURFACE_DEPTH_REACHED
$STATE,26952,begin surface coast
$FINISH,0.0,1.025796
$STATE,26982,end surface coast,CONTROL_FINISHED_OK
$STATE,26982,begin surface
$SM_CCo,27064,0.00,0.000,0,0,1610,355.93
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$IRIDIUM_FIX,2352.12,-3758.70,270213,050500
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.56
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.00
$XPDR_PINGS,2
$SC_FREEKB,7579008
$24V_AH,13.0,231.740
$10V_AH,10.9,0.000
$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,20.775,148.775,692.475,0.000,0.000,0.000,0.000,300.000,0.500,0.000,20.226,3116.055,20582.846,982.762,2242.764,701.759,0.000,2268.630,0.000,1880.428,0.000,0.549,0.000
$DEVICE_MAMPS,409.275,109.395,1822.995,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27034.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.401,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,39978,1127
$CAP_FILE_SIZE,238940,0
$CFSIZE,260034560,191422464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.065,193.1,1
$GPS,270213,211600,2401.698,-3755.876,40,1.9,40,-14.1