version: 66.11
glider: 191
mission: 5
dive: 515
start: 3 5 113 0 12 59
data:
$ID,191
$MISSION,5
$DIVE,515
$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,-5252.7324
$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,48
$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
$GPS1,050313,000229,2421.030,-3736.783,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.5
$GPS2,050313,001229,2420.977,-3736.778,21,1.1,21,-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,54.3,40922,-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,-60.95,0.000,2,0.000,0.000,150,1517,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.5,-7.3,4,104,10.32,1.95,-0.60,0.000,4,0.421,0.103,1996,456,3463,1,0,0,0,0,0,13.52,14.31,14.63
$GC,223,-0.58,-97.3,19.3,-8.0,13,233,0.00,1.83,0.00,0.000,6,0.000,0.040,1990,1517,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,535,-0.57,-97.3,43.1,-8.0,34,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,835,-0.55,-97.3,67.5,-8.2,54,839,0.00,1.95,0.00,0.000,4,0.000,0.081,1990,464,3465,0,0,0,0,0,0,28.83,14.08,28.83
$GC,925,-0.53,-97.3,75.3,-8.8,60,929,0.15,1.80,0.00,0.000,6,0.237,0.039,2014,1521,3465,0,0,0,0,0,0,13.88,14.32,28.83
$GC,1225,-0.58,-97.3,96.5,-7.1,80,1229,0.00,1.98,0.00,0.000,4,0.000,0.081,2014,459,3465,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1300,-0.61,-97.3,102.1,-7.5,85,1304,0.00,1.83,0.00,0.000,6,0.000,0.040,2009,1529,3465,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1600,-0.66,-97.3,124.1,-7.3,105,1604,0.00,1.98,0.00,0.000,4,0.000,0.081,2009,464,3466,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1737,-0.68,-97.3,133.8,-7.0,114,1741,0.12,1.80,0.00,0.000,6,0.134,0.040,1957,1522,3466,0,0,0,0,0,0,14.19,14.31,28.83
$GC,2036,-0.66,-97.3,155.2,-7.1,134,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.63,-97.3,176.5,-7.3,154,2340,0.12,1.95,0.00,0.000,4,0.252,0.080,1981,461,3466,0,0,0,0,0,0,14.08,14.03,28.83
$GC,2425,-0.61,-97.3,183.1,-7.4,160,2429,0.00,1.80,0.00,0.000,6,0.000,0.040,1976,1520,3466,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2725,-0.60,-97.3,207.0,-8.2,180,2729,0.00,1.95,0.00,0.000,4,0.000,0.081,1976,464,3466,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2786,-0.58,-97.3,212.6,-9.2,184,2791,0.15,1.80,0.00,0.000,6,0.242,0.040,2000,1519,3466,0,0,0,0,0,0,13.84,14.32,28.83
$GC,3085,-0.63,-97.3,237.3,-8.6,204,3089,0.00,1.95,0.00,0.000,4,0.000,0.080,2000,464,3466,0,0,0,0,0,0,28.83,14.05,28.83
$GC,3146,-0.66,-97.3,242.6,-8.8,208,3150,0.00,1.80,0.00,0.000,6,0.000,0.040,1996,1521,3466,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3448,-0.71,-97.3,268.5,-8.5,221,3452,0.12,1.95,0.00,0.000,4,0.135,0.080,1947,465,3466,0,0,0,0,0,0,14.50,13.94,28.83
$GC,3597,-0.67,-97.3,282.2,-10.3,226,3601,0.15,1.80,0.00,0.000,6,0.253,0.041,1969,1519,3465,0,0,0,0,0,0,13.78,14.30,28.83
$GC,3899,-0.66,-97.3,305.6,-6.4,236,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.65,-97.3,320.5,-4.4,246,4202,0.00,1.95,0.00,0.000,4,0.000,0.081,1969,464,3464,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4302,-0.63,-97.3,325.6,-4.9,250,4306,0.00,1.80,0.00,0.000,6,0.000,0.040,1964,1520,3465,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4621,-0.61,-97.3,342.5,-6.0,261,4629,0.00,1.98,0.00,0.000,4,0.000,0.081,1964,459,3463,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4707,-0.58,-97.3,349.3,-7.4,264,4711,0.17,1.83,0.00,0.000,6,0.243,0.041,1993,1524,3463,0,0,0,0,0,0,13.74,14.29,28.83
$GC,5026,-0.62,-97.3,370.8,-7.3,275,5033,0.00,1.95,0.00,0.000,4,0.000,0.081,1993,469,3463,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5112,-0.65,-97.3,378.0,-7.9,278,5115,0.00,1.80,0.00,0.000,6,0.000,0.041,1989,1521,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5429,-0.69,-97.3,404.0,-8.5,289,5433,0.00,1.98,0.00,0.000,4,0.000,0.081,1989,465,3462,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5563,-0.71,-97.3,416.0,-8.8,294,5567,0.00,1.80,0.00,0.000,6,0.000,0.040,1982,1522,3461,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5880,-0.75,-97.3,443.8,-8.7,305,5884,0.00,1.98,0.00,0.000,4,0.000,0.081,1982,463,3460,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5968,-0.77,-97.3,450.6,-9.0,308,5972,0.12,1.83,0.00,0.000,6,0.136,0.040,1933,1528,3460,0,0,0,0,0,0,14.07,14.19,28.83
$GC,6271,-0.73,-97.3,480.7,-9.5,318,6274,0.00,1.83,0.00,0.000,4,0.000,0.053,1925,2573,3460,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6359,-0.70,-97.3,487.5,-9.2,321,6363,0.17,1.92,0.00,0.000,6,0.248,0.063,1961,1513,3459,0,0,0,0,0,0,13.66,14.14,28.83
$GC,6661,-0.68,-97.3,512.4,-7.8,331,6665,0.00,1.95,0.00,0.000,4,0.000,0.083,1961,468,3459,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6794,-0.66,-97.3,524.0,-8.6,336,6798,0.00,1.83,0.00,0.000,6,0.000,0.041,1956,1519,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7113,-0.64,-97.3,549.1,-7.8,347,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,-0.62,-97.3,569.8,-6.1,357,7414,0.15,2.00,0.00,0.000,4,0.248,0.083,1988,461,3457,0,0,0,0,0,0,14.01,13.94,28.83
$GC,7499,-0.62,-97.3,574.2,-5.9,360,7503,0.00,1.85,0.00,0.000,6,0.000,0.041,1983,1525,3456,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7799,-0.62,-97.3,592.9,-6.3,370,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1526,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8100,-0.62,-97.3,615.1,-8.0,380,8104,0.00,2.00,0.00,0.000,4,0.000,0.083,1983,467,3455,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8158,-0.62,-97.3,619.0,-8.2,382,8161,0.00,1.83,0.00,0.000,6,0.000,0.042,1975,1520,3454,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8459,-0.62,-97.3,645.6,-8.3,392,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8760,-0.62,-97.3,666.2,-6.2,402,8764,0.00,2.00,0.00,0.000,4,0.000,0.084,1975,464,3453,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8833,-0.62,-97.3,670.9,-6.1,405,8837,0.00,1.85,0.00,0.000,6,0.000,0.042,1967,1521,3452,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9151,-0.62,-97.3,686.2,-4.6,416,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9449,-0.62,-97.3,701.5,-5.5,426,9453,0.00,2.00,0.00,0.000,4,0.000,0.085,1967,468,3450,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9508,-0.61,-97.3,704.5,-6.1,428,9512,0.15,1.83,0.00,0.000,6,0.247,0.043,1989,1519,3450,0,0,0,0,0,0,13.59,14.09,28.83
$GC,9813,-0.66,-97.3,725.9,-7.4,438,9820,0.00,2.00,0.00,0.000,4,0.000,0.085,1990,465,3450,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9914,-0.70,-97.3,732.8,-7.6,441,9917,0.00,1.85,0.00,0.000,6,0.000,0.043,1986,1521,3449,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10215,-0.75,-97.3,757.5,-7.9,451,10217,0.12,0.00,0.00,0.000,6,0.142,0.000,1941,1522,3448,0,0,0,0,0,0,14.40,28.83,28.83
$GC,10514,-0.76,-97.3,783.7,-8.8,461,10518,0.00,2.03,0.00,0.000,4,0.000,0.086,1941,460,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10710,-0.72,-97.3,802.0,-9.4,468,10714,0.00,1.85,0.00,0.000,6,0.000,0.043,1933,1520,3446,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11027,-0.69,-97.3,829.8,-8.8,479,11029,0.15,0.00,0.00,0.000,6,0.259,0.000,1962,1522,3445,0,0,0,0,0,0,13.85,28.83,28.83
$GC,11325,-0.69,-97.3,851.5,-6.9,489,11329,0.00,2.03,0.00,0.000,4,0.000,0.086,1963,461,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11383,-0.69,-97.3,854.8,-6.8,491,11386,0.00,1.85,0.00,0.000,6,0.000,0.044,1958,1519,3444,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11684,-0.68,-97.3,874.4,-6.1,501,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11985,-0.68,-97.3,893.1,-6.3,511,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12285,-0.67,-97.3,913.8,-7.1,521,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12585,-0.67,-97.3,936.4,-7.9,531,12589,0.00,2.03,0.00,0.000,4,0.000,0.088,1958,464,3440,0,0,0,0,0,0,28.83,13.79,28.83
$GC,12643,-0.66,-97.3,940.3,-8.3,533,12647,0.00,1.88,0.00,0.000,6,0.000,0.045,1950,1523,3440,0,0,0,0,0,0,28.83,14.06,28.83
$GC,12949,-0.64,-97.3,966.3,-8.0,543,12951,0.15,0.00,0.00,0.000,6,0.251,0.000,1981,1525,3439,0,0,0,0,0,0,13.83,28.83,28.83
$STATE,13150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13150,begin apogee
$GC,13158,-0.18,0.0,980.7,-6.9,550,13286,0.52,0.00,115.45,1.834,6,0.181,0.000,2124,1397,3062,0,0,0,0,1,0,13.72,28.83,13.05
$STATE,13287,end apogee,CONTROL_FINISHED_OK
$STATE,13287,begin climb
$GC,13292,0.60,97.3,987.3,0.0,554,13429,0.82,1.92,125.65,1.818,4,0.100,0.054,2386,2458,2665,0,0,0,0,1,0,14.06,14.12,13.04
$GC,13650,0.61,176.0,988.9,2.7,567,13769,0.00,1.95,103.97,1.774,6,0.000,0.070,2394,1394,2344,0,0,0,0,1,0,28.83,14.29,13.05
$GC,14069,0.56,186.1,966.4,5.6,581,14103,0.00,0.00,26.77,0.999,6,0.000,0.000,2394,1394,2301,0,0,0,0,1,0,28.83,28.83,13.26
$GC,14403,0.50,186.1,946.8,6.3,592,14405,0.17,0.00,0.00,0.000,6,0.272,0.000,2358,1394,2300,0,0,0,0,0,0,13.96,28.83,28.83
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$STATE,27694,end climb,SURFACE_DEPTH_REACHED
$STATE,27694,begin surface coast
$FINISH,-0.1,1.010128
$STATE,27722,end surface coast,CONTROL_FINISHED_OK
$STATE,27723,begin surface
$SM_CCo,27805,0.00,0.000,0,0,1681,338.76
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$TT8_MAMPS,0.023219,0.023219
$HUMID,60.27
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,5
$SC_FREEKB,7572448
$24V_AH,13.0,239.172
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,22.050,183.275,674.225,0.000,0.000,0.000,0.000,316.125,1.250,0.000,22.479,3284.216,20950.736,1004.061,2372.284,775.055,0.000,2357.728,0.000,1980.939,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345548
$DATA_FILE_SIZE,43340,1139
$CAP_FILE_SIZE,255409,0
$CFSIZE,260034560,189476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.051,250.0,1
$GPS,050313,075734,2422.841,-3736.260,28,0.8,28,-13.9