version: 66.11
glider: 191
mission: 5
dive: 514
start: 3 4 113 16 40 30
data:
$ID,191
$MISSION,5
$DIVE,514
$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,-5251.4736
$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,43
$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
$GPS1,040313,163005,2420.296,-3738.363,26,0.9,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-55.0
$GPS2,040313,164000,2420.221,-3738.290,19,1.0,19,-13.9
$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,63.3,43781,-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,-59.20,0.000,6,0.000,0.000,162,1519,3460,0,0,0,0,0,0,28.83,28.83,14.65
$GC,87,-0.60,-97.3,4.2,-9.1,4,102,9.77,1.90,0.00,0.000,4,0.400,0.071,1998,461,3462,1,0,0,0,0,0,13.54,14.31,28.83
$GC,254,-0.57,-97.3,23.0,-8.2,15,262,0.00,1.83,0.00,0.000,6,0.000,0.041,1993,1521,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,565,-0.56,-97.3,47.2,-7.7,36,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-0.55,-97.3,71.1,-8.3,56,869,0.00,1.98,0.00,0.000,4,0.000,0.081,1993,460,3464,0,0,0,0,0,0,28.83,13.99,28.83
$GC,940,-0.53,-97.3,77.8,-9.1,61,944,0.15,1.83,0.00,0.000,6,0.234,0.041,2017,1529,3464,0,0,0,0,0,0,13.88,14.31,28.83
$GC,1240,-0.55,-97.3,100.2,-7.1,81,1244,0.00,1.98,0.00,0.000,4,0.000,0.082,2017,464,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1299,-0.55,-97.3,104.8,-7.5,85,1303,0.00,1.80,0.00,0.000,6,0.000,0.039,2012,1518,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1600,-0.60,-97.3,123.8,-6.3,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.65,-97.3,144.3,-7.3,125,1904,0.00,1.95,0.00,0.000,4,0.000,0.080,2012,464,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2005,-0.68,-97.3,152.5,-8.1,132,2009,0.12,1.80,0.00,0.000,6,0.131,0.039,1958,1521,3463,0,0,0,0,0,0,14.19,14.31,28.83
$GC,2305,-0.66,-97.3,179.4,-9.1,152,2308,0.00,1.83,0.00,0.000,4,0.000,0.050,1950,2572,3466,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2395,-0.64,-97.3,187.5,-9.3,158,2400,0.15,1.90,0.00,0.000,6,0.240,0.060,1980,1518,3469,0,0,0,0,0,0,13.77,14.16,28.83
$GC,2697,-0.64,-97.3,209.5,-7.1,178,2700,0.00,1.95,0.00,0.000,4,0.000,0.081,1980,463,3466,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2846,-0.62,-97.3,221.8,-8.4,188,2850,0.00,1.80,0.00,0.000,6,0.000,0.038,1975,1524,3466,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3144,-0.62,-97.3,245.2,-7.8,208,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3461,-0.62,-97.3,269.4,-7.7,221,3464,0.00,1.95,0.00,0.000,4,0.000,0.080,1975,468,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3565,-0.60,-97.3,277.9,-8.2,225,3569,0.00,1.80,0.00,0.000,6,0.000,0.039,1968,1526,3466,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3884,-0.59,-97.3,302.6,-7.8,236,3892,0.12,1.98,0.00,0.000,4,0.247,0.080,1993,464,3464,0,0,0,0,0,0,14.12,14.01,28.83
$GC,3999,-0.59,-97.3,311.2,-7.1,240,4003,0.00,1.80,0.00,0.000,6,0.000,0.039,1988,1521,3465,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4317,-0.59,-97.3,328.2,-4.9,251,4320,0.00,1.95,0.00,0.000,4,0.000,0.080,1988,466,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4374,-0.59,-97.3,330.5,-5.0,253,4378,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1520,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4675,-0.59,-97.3,346.4,-5.3,263,4679,0.00,1.95,0.00,0.000,4,0.000,0.081,1979,468,3463,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4734,-0.59,-97.3,349.3,-6.0,265,4738,0.00,1.80,0.00,0.000,6,0.000,0.039,1972,1522,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5035,-0.59,-97.3,374.5,-8.8,275,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1524,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5336,-0.59,-97.3,403.1,-9.5,285,5339,0.00,1.98,0.00,0.000,4,0.000,0.082,1973,461,3462,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5500,-0.57,-97.3,420.0,-10.2,291,5505,0.17,1.80,0.00,0.000,6,0.233,0.039,2002,1520,3461,0,0,0,0,0,0,13.78,14.32,28.83
$GC,5821,-0.62,-97.3,444.3,-7.1,302,5826,0.00,1.77,0.00,0.000,4,0.000,0.052,1998,2574,3460,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5875,-0.68,-97.3,448.5,-7.0,304,5879,0.00,1.90,0.00,0.000,6,0.000,0.061,1997,1521,3460,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6193,-0.72,-97.3,467.9,-5.8,315,6195,0.12,0.00,0.00,0.000,6,0.135,0.000,1949,1520,3459,0,0,0,0,0,0,14.49,28.83,28.83
$GC,6492,-0.74,-97.3,489.3,-7.3,325,6495,0.00,1.95,0.00,0.000,4,0.000,0.083,1949,468,3459,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6535,-0.74,-97.3,492.9,-7.5,327,6539,0.00,1.80,0.00,0.000,6,0.000,0.040,1941,1519,3458,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6854,-0.71,-97.3,515.2,-7.0,338,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.68,-97.3,538.6,-8.1,348,7154,0.00,1.98,0.00,0.000,4,0.000,0.082,1942,462,3457,0,0,0,0,0,0,28.83,13.97,28.83
$GC,7227,-0.64,-97.3,545.8,-9.2,351,7231,0.20,1.83,0.00,0.000,6,0.244,0.040,1976,1522,3457,0,0,0,0,0,0,13.64,14.25,28.83
$GC,7545,-0.64,-97.3,571.0,-8.3,362,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,-0.64,-97.3,597.0,-8.7,372,7844,0.00,1.98,0.00,0.000,4,0.000,0.082,1976,468,3456,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7917,-0.64,-97.3,603.9,-9.2,375,7921,0.00,1.83,0.00,0.000,6,0.000,0.042,1971,1523,3455,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8230,-0.64,-97.3,629.1,-7.4,386,8234,0.00,2.00,0.00,0.000,4,0.000,0.083,1971,461,3454,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8306,-0.62,-97.3,634.6,-7.3,389,8310,0.00,1.83,0.00,0.000,6,0.000,0.041,1964,1522,3454,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8624,-0.62,-97.3,653.4,-5.5,400,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1523,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,-0.62,-97.3,669.9,-5.6,410,8924,0.00,1.98,0.00,0.000,4,0.000,0.083,1963,468,3451,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8997,-0.61,-97.3,674.9,-6.5,413,9001,0.15,1.83,0.00,0.000,6,0.242,0.043,1987,1521,3451,0,0,0,0,0,0,13.72,14.23,28.83
$GC,9314,-0.66,-97.3,694.4,-6.7,424,9321,0.00,2.00,0.00,0.000,4,0.000,0.085,1988,462,3450,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9402,-0.69,-97.3,700.9,-7.0,427,9405,0.00,1.85,0.00,0.000,6,0.000,0.041,1983,1528,3450,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9718,-0.74,-97.3,722.5,-6.8,438,9722,0.00,1.88,0.00,0.000,4,0.000,0.054,1976,2578,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9836,-0.78,-97.3,729.4,-6.5,442,9841,0.12,1.95,0.00,0.000,6,0.139,0.063,1932,1517,3449,0,0,0,0,0,0,13.97,14.01,28.83
$GC,10139,-0.75,-97.3,751.3,-6.8,452,10146,0.00,2.00,0.00,0.000,4,0.000,0.086,1931,464,3448,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10257,-0.70,-97.3,760.1,-7.4,456,10262,0.17,1.85,0.00,0.000,6,0.252,0.043,1958,1524,3447,0,0,0,0,0,0,13.56,14.16,28.83
$GC,10575,-0.70,-97.3,777.5,-5.7,467,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1530,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10871,-0.70,-97.3,797.6,-7.1,477,10875,0.00,2.03,0.00,0.000,4,0.000,0.086,1958,463,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10961,-0.69,-97.3,803.9,-8.1,480,10965,0.00,1.85,0.00,0.000,6,0.000,0.043,1953,1522,3445,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11261,-0.67,-97.3,827.0,-7.0,490,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1523,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11563,-0.66,-97.3,845.0,-5.7,500,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,-0.65,-97.3,862.7,-6.0,510,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1523,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12162,-0.64,-97.3,883.1,-7.0,520,12167,0.15,2.03,0.00,0.000,4,0.245,0.086,1985,468,3442,0,0,0,0,0,0,13.87,13.81,28.83
$GC,12237,-0.64,-97.3,888.4,-7.1,523,12240,0.00,1.85,0.00,0.000,6,0.000,0.044,1980,1522,3441,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12556,-0.68,-97.3,912.1,-7.9,534,12564,0.00,2.00,0.00,0.000,4,0.000,0.087,1979,470,3440,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12641,-0.71,-97.3,919.7,-8.3,537,12645,0.00,1.85,0.00,0.000,6,0.000,0.046,1973,1518,3440,0,0,0,0,0,0,28.83,14.06,28.83
$GC,12960,-0.76,-97.3,945.8,-8.1,548,12967,0.00,1.90,0.00,0.000,4,0.000,0.056,1966,2576,3439,0,0,0,0,0,0,28.83,13.93,28.83
$GC,13078,-0.80,-97.3,955.5,-8.2,552,13082,0.00,1.98,0.00,0.000,6,0.000,0.067,1966,1524,3438,0,0,0,0,0,0,28.83,13.91,28.83
$GC,13394,-0.84,-97.3,979.7,-7.4,563,13399,0.15,2.05,0.00,0.000,4,0.130,0.089,1914,458,3438,0,0,0,0,0,0,14.28,13.85,28.83
$STATE,13405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13405,begin apogee
$GC,13416,-0.18,0.0,980.9,-7.4,564,13541,0.88,0.00,115.53,1.830,6,0.243,0.000,2121,1416,3061,0,0,0,0,1,0,13.88,28.83,13.03
$STATE,13542,end apogee,CONTROL_FINISHED_OK
$STATE,13542,begin climb
$GC,13546,0.60,97.3,986.9,0.0,568,13683,0.82,2.08,125.15,1.816,4,0.101,0.097,2388,346,2666,0,0,0,0,1,0,14.05,14.09,13.06
$GC,13903,0.56,149.9,984.7,3.8,581,13992,0.00,1.85,75.32,1.668,6,0.000,0.046,2386,1411,2450,0,0,0,0,1,0,28.83,14.40,13.11
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$STATE,26339,end climb,SURFACE_DEPTH_REACHED
$STATE,26339,begin surface coast
$FINISH,-0.2,1.000574
$STATE,26354,end surface coast,CONTROL_FINISHED_OK
$STATE,26354,begin surface
$SM_CCo,26437,0.00,0.000,0,0,1642,348.33
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$TT8_MAMPS,0.023219,0.023219
$HUMID,60.27
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.80
$XPDR_PINGS,11
$SC_FREEKB,7572832
$24V_AH,13.0,238.741
$10V_AH,11.5,0.000
$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
$DEVICE_SECS,21.600,186.800,629.950,0.000,0.000,0.000,0.000,308.150,2.750,0.000,20.101,3148.209,19909.826,952.593,2255.115,746.596,0.000,2247.284,0.000,1875.294,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.331,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,40010,1099
$CAP_FILE_SIZE,247518,0
$CFSIZE,260034560,189599744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.071,203.7,1
$GPS,050313,000229,2421.030,-3736.783,39,0.8,39,-13.9