version: 66.11
glider: 191
mission: 5
dive: 511
start: 3 3 113 18 4 6
data:
$ID,191
$MISSION,5
$DIVE,511
$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,-5247.6992
$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,42
$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
$GPS1,030313,175353,2417.195,-3742.350,42,0.8,42,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.0
$GPS2,030313,180336,2417.116,-3742.299,16,0.9,16,-14.0
$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,71.0,52647,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-60.20,0.000,2,0.000,0.000,161,1513,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.5,-7.6,4,104,9.95,1.92,-0.85,0.000,4,0.409,0.101,1996,460,3460,1,0,0,0,0,0,13.47,14.28,14.61
$GC,295,-0.57,-97.3,26.3,-8.5,18,299,0.00,1.83,0.00,0.000,6,0.000,0.040,1990,1525,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,595,-0.56,-97.3,50.4,-8.1,38,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.55,-97.3,75.7,-8.7,58,899,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,460,3462,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1000,-0.52,-97.3,85.5,-9.5,65,1004,0.15,1.83,0.00,0.000,6,0.230,0.040,2015,1525,3461,0,0,0,0,0,0,13.89,14.31,28.83
$GC,1300,-0.54,-97.3,110.9,-8.3,85,1304,0.00,1.98,0.00,0.000,4,0.000,0.080,2015,461,3462,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1345,-0.54,-97.3,114.7,-8.5,88,1348,0.00,1.80,0.00,0.000,6,0.000,0.039,2010,1519,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1644,-0.54,-97.3,138.0,-7.1,108,1648,0.00,1.98,0.00,0.000,4,0.000,0.081,2010,458,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1719,-0.54,-97.3,143.7,-7.9,113,1723,0.00,1.83,0.00,0.000,6,0.000,0.040,2002,1522,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2020,-0.54,-97.3,164.4,-6.5,133,2023,0.00,1.98,0.00,0.000,4,0.000,0.081,2002,461,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2080,-0.54,-97.3,168.6,-7.0,137,2084,0.00,1.80,0.00,0.000,6,0.000,0.039,1994,1522,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2379,-0.54,-97.3,188.6,-6.9,157,2383,0.00,1.98,0.00,0.000,4,0.000,0.081,1994,460,3463,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2471,-0.52,-97.3,195.5,-7.7,163,2475,0.15,1.80,0.00,0.000,6,0.230,0.040,2019,1520,3463,0,0,0,0,0,0,13.88,14.32,28.83
$GC,2770,-0.58,-97.3,216.9,-7.6,183,2773,0.00,1.83,0.00,0.000,4,0.000,0.052,2013,2575,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2861,-0.64,-97.3,224.0,-8.0,189,2865,0.00,1.90,0.00,0.000,6,0.000,0.060,2014,1515,3462,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3161,-0.70,-97.3,245.3,-6.0,209,3166,0.15,1.92,0.00,0.000,4,0.117,0.081,1953,468,3464,0,0,0,0,0,0,14.47,14.04,28.83
$GC,3358,-0.66,-97.3,258.7,-6.8,218,3362,0.15,1.77,0.00,0.000,6,0.239,0.040,1975,1520,3464,0,0,0,0,0,0,13.77,14.35,28.83
$GC,3675,-0.66,-97.3,275.2,-5.3,229,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3972,-0.66,-97.3,293.1,-5.9,239,3975,0.00,1.95,0.00,0.000,4,0.000,0.081,1976,462,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4031,-0.65,-97.3,296.0,-6.3,241,4034,0.00,1.80,0.00,0.000,6,0.000,0.039,1972,1525,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4336,-0.63,-97.3,313.8,-5.2,251,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.62,-97.3,329.6,-5.4,261,4636,0.00,1.95,0.00,0.000,4,0.000,0.080,1970,468,3461,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4692,-0.60,-97.3,332.5,-5.8,263,4696,0.15,1.80,0.00,0.000,6,0.239,0.040,1995,1528,3461,0,0,0,0,0,0,13.85,14.33,28.83
$GC,4994,-0.61,-97.3,351.2,-6.3,273,4998,0.00,1.98,0.00,0.000,4,0.000,0.082,1995,462,3461,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5068,-0.61,-97.3,356.8,-7.2,276,5072,0.00,1.83,0.00,0.000,6,0.000,0.039,1990,1525,3461,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5382,-0.61,-97.3,382.3,-8.5,287,5386,0.00,1.95,0.00,0.000,4,0.000,0.081,1990,469,3460,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5487,-0.61,-97.3,392.8,-10.1,291,5491,0.00,1.80,0.00,0.000,6,0.000,0.039,1982,1531,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5803,-0.61,-97.3,423.1,-10.1,302,5807,0.00,1.98,0.00,0.000,4,0.000,0.083,1982,468,3459,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5908,-0.61,-97.3,434.2,-10.7,306,5911,0.00,1.77,0.00,0.000,6,0.000,0.040,1975,1516,3459,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6223,-0.61,-97.3,463.4,-8.7,317,6227,0.00,1.95,0.00,0.000,4,0.000,0.083,1975,468,3456,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6267,-0.61,-97.3,467.5,-8.7,319,6270,0.00,1.80,0.00,0.000,6,0.000,0.041,1967,1522,3458,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6585,-0.60,-97.3,493.0,-7.8,330,6589,0.00,1.98,0.00,0.000,4,0.000,0.082,1967,461,3457,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6643,-0.59,-97.3,496.7,-7.8,332,6647,0.17,1.80,0.00,0.000,6,0.233,0.040,1998,1519,3457,0,0,0,0,0,0,13.81,14.33,28.83
$GC,6946,-0.64,-97.3,518.6,-7.0,342,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7244,-0.70,-97.3,540.4,-7.4,352,7248,0.00,1.85,0.00,0.000,4,0.000,0.052,1993,2580,3455,0,0,0,0,0,0,28.83,14.18,28.83
$GC,7318,-0.75,-97.3,545.5,-6.9,355,7322,0.15,1.92,0.00,0.000,6,0.122,0.062,1937,1516,3455,0,0,0,0,0,0,14.12,14.13,28.83
$GC,7638,-0.72,-97.3,570.8,-8.0,366,7644,0.00,1.95,0.00,0.000,4,0.000,0.084,1936,469,3454,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7783,-0.67,-97.3,583.4,-8.4,371,7787,0.20,1.80,0.00,0.000,6,0.243,0.041,1972,1519,3453,0,0,0,0,0,0,13.68,14.29,28.83
$GC,8101,-0.67,-97.3,602.8,-6.1,382,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,-0.67,-97.3,621.3,-6.4,392,8402,0.00,1.98,0.00,0.000,4,0.000,0.083,1972,462,3451,0,0,0,0,0,0,28.83,13.96,28.83
$GC,8486,-0.67,-97.3,626.9,-7.1,395,8490,0.00,1.83,0.00,0.000,6,0.000,0.041,1966,1522,3451,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8789,-0.67,-97.3,650.7,-7.9,405,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9087,-0.67,-97.3,676.0,-8.6,415,9091,0.00,2.00,0.00,0.000,4,0.000,0.085,1966,465,3450,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9194,-0.65,-97.3,685.9,-9.4,419,9198,0.00,1.83,0.00,0.000,6,0.000,0.043,1960,1519,3449,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9511,-0.64,-97.3,713.3,-8.4,430,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9808,-0.64,-97.3,736.5,-7.3,440,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10110,-0.64,-97.3,755.7,-6.0,450,10113,0.00,2.00,0.00,0.000,4,0.000,0.086,1959,464,3446,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10197,-0.63,-97.3,760.2,-6.0,453,10202,0.15,1.85,0.00,0.000,6,0.243,0.043,1982,1525,3446,0,0,0,0,0,0,13.69,14.18,28.83
$GC,10503,-0.67,-97.3,773.8,-4.1,463,10509,0.00,2.00,0.00,0.000,4,0.000,0.086,1982,466,3445,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10588,-0.70,-97.3,777.9,-4.4,466,10592,0.00,1.85,0.00,0.000,6,0.000,0.043,1978,1521,3445,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10907,-0.74,-97.3,793.5,-5.4,477,10914,0.00,1.98,0.00,0.000,4,0.000,0.085,1978,474,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11008,-0.77,-97.3,799.0,-6.0,480,11012,0.00,1.85,0.00,0.000,6,0.000,0.044,1972,1523,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11312,-0.81,-97.3,822.5,-8.2,490,11320,0.15,2.00,0.00,0.000,4,0.129,0.086,1918,470,3442,0,0,0,0,0,0,14.35,13.83,28.83
$GC,11472,-0.75,-97.3,838.6,-11.1,495,11476,0.15,1.85,0.00,0.000,6,0.270,0.044,1939,1525,3441,0,0,0,0,0,0,13.57,14.16,28.83
$GC,11777,-0.73,-97.3,869.5,-9.8,505,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1526,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12073,-0.70,-97.3,898.0,-9.3,515,12077,0.00,2.03,0.00,0.000,4,0.000,0.086,1939,466,3438,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12162,-0.67,-97.3,905.4,-9.8,518,12166,0.15,1.85,0.00,0.000,6,0.257,0.044,1965,1520,3439,0,0,0,0,0,0,13.61,14.14,28.83
$GC,12466,-0.67,-97.3,929.3,-7.0,528,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12762,-0.67,-97.3,949.1,-6.2,538,12766,0.00,2.03,0.00,0.000,4,0.000,0.088,1965,466,3437,0,0,0,0,0,0,28.83,13.79,28.83
$GC,12853,-0.67,-97.3,954.3,-6.9,541,12856,0.00,1.88,0.00,0.000,6,0.000,0.046,1959,1526,3437,0,0,0,0,0,0,28.83,14.11,28.83
$GC,13153,-0.67,-97.3,975.1,-6.5,551,13156,0.00,2.03,0.00,0.000,4,0.000,0.088,1959,471,3436,0,0,0,0,0,0,28.83,13.79,28.83
$STATE,13225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13225,begin apogee
$GC,13236,-0.18,0.0,980.5,-7.0,554,13360,0.65,0.00,114.40,1.832,6,0.217,0.000,2121,1410,3062,0,0,0,0,1,0,13.80,28.83,13.04
$STATE,13362,end apogee,CONTROL_FINISHED_OK
$STATE,13362,begin climb
$GC,13365,0.60,97.3,985.1,0.0,558,13502,0.85,2.05,125.45,1.813,4,0.107,0.093,2392,346,2665,0,0,0,0,1,0,14.04,14.09,13.05
$GC,13724,0.55,139.0,981.4,4.3,571,13796,0.00,1.85,62.55,1.587,6,0.000,0.044,2392,1417,2495,0,0,0,0,1,0,28.83,14.40,13.13
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$STATE,26096,end climb,SURFACE_DEPTH_REACHED
$STATE,26096,begin surface coast
$FINISH,-0.1,1.025542
$STATE,26112,end surface coast,CONTROL_FINISHED_OK
$STATE,26112,begin surface
$SM_CCo,26197,0.00,0.000,0,0,1496,384.14
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$TT8_MAMPS,0.023219,0.023219
$HUMID,60.39
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,24.90
$XPDR_PINGS,7
$SC_FREEKB,7573984
$24V_AH,13.0,237.426
$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
$DEVICE_SECS,21.575,182.800,702.250,0.000,0.000,0.000,0.000,301.900,1.750,0.000,18.032,3099.386,19692.172,1011.966,2228.446,729.844,0.000,2302.104,0.000,1858.695,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.351,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,39919,1086
$CAP_FILE_SIZE,243619,0
$CFSIZE,260034560,189939712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.080,202.4,1
$GPS,040313,012205,2417.676,-3740.395,40,1.2,40,-14.0