version: 66.11
glider: 191
mission: 5
dive: 516
start: 3 5 113 8 8 42
data:
$ID,191
$MISSION,5
$DIVE,516
$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,-5253.9907
$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,53
$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
$GPS1,050313,075734,2422.841,-3736.260,28,0.8,28,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.4
$GPS2,050313,080811,2422.838,-3736.322,18,0.9,18,-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,72.2,38203,-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,-60.17,0.000,2,0.000,0.000,159,1518,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,4.2,-9.9,4,103,10.05,1.90,0.00,0.000,4,0.414,0.072,1995,461,3460,1,0,0,0,0,0,13.53,14.36,28.83
$GC,295,-0.58,-97.3,28.3,-7.9,18,299,0.00,1.80,0.00,0.000,6,0.000,0.039,1990,1516,3462,0,0,0,0,0,0,28.83,14.28,28.83
$GC,595,-0.57,-97.3,50.5,-7.4,38,599,0.00,1.95,0.00,0.000,4,0.000,0.082,1990,464,3462,0,0,0,0,0,0,28.83,14.09,28.83
$GC,657,-0.54,-97.3,55.3,-8.1,42,661,0.12,1.80,0.00,0.000,6,0.243,0.040,2007,1521,3462,0,0,0,0,0,0,13.86,14.26,28.83
$GC,956,-0.54,-97.3,74.0,-6.1,62,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1255,-0.54,-97.3,95.7,-7.8,82,1259,0.00,1.98,0.00,0.000,4,0.000,0.080,2007,460,3462,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1330,-0.54,-97.3,102.3,-9.1,87,1333,0.00,1.83,0.00,0.000,6,0.000,0.039,2002,1529,3462,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1630,-0.57,-97.3,128.7,-9.3,107,1634,0.00,1.98,0.00,0.000,4,0.000,0.081,2002,464,3463,0,0,0,0,0,0,28.83,14.03,28.83
$GC,1690,-0.58,-97.3,134.4,-9.5,111,1694,0.00,1.80,0.00,0.000,6,0.000,0.038,2001,1521,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1990,-0.58,-97.3,160.3,-8.0,131,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.58,-97.3,179.7,-5.2,151,2294,0.00,1.98,0.00,0.000,4,0.000,0.080,1995,461,3462,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2336,-0.58,-97.3,182.1,-5.4,154,2339,0.00,1.80,0.00,0.000,6,0.000,0.039,1987,1520,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2636,-0.58,-97.3,195.9,-5.1,174,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-0.58,-97.3,215.4,-7.2,194,2939,0.00,1.95,0.00,0.000,4,0.000,0.081,1986,467,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2997,-0.57,-97.3,220.3,-8.0,198,3001,0.00,1.80,0.00,0.000,6,0.000,0.039,1979,1524,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3297,-0.57,-97.3,240.7,-6.0,218,3300,0.00,1.98,0.00,0.000,4,0.000,0.080,1979,458,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3356,-0.55,-97.3,244.6,-6.7,222,3360,0.15,1.83,0.00,0.000,6,0.234,0.040,2004,1527,3463,0,0,0,0,0,0,13.84,14.31,28.83
$GC,3670,-0.60,-97.3,263.3,-6.5,236,3674,0.00,1.98,0.00,0.000,4,0.000,0.082,2004,462,3462,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3790,-0.64,-97.3,270.4,-6.8,240,3794,0.00,1.80,0.00,0.000,6,0.000,0.040,2000,1521,3463,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4094,-0.70,-97.3,289.8,-5.9,250,4102,0.12,1.98,0.00,0.000,4,0.132,0.080,1951,464,3462,0,0,0,0,0,0,14.47,13.98,28.83
$GC,4304,-0.65,-97.3,304.2,-7.0,257,4312,0.15,1.83,0.00,0.000,6,0.246,0.041,1973,1526,3461,0,0,0,0,0,0,13.75,14.21,28.83
$GC,4633,-0.65,-97.3,323.8,-6.2,268,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.65,-97.3,347.1,-8.5,278,4935,0.00,1.98,0.00,0.000,4,0.000,0.081,1973,464,3460,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5035,-0.64,-97.3,357.4,-9.8,282,5039,0.00,1.80,0.00,0.000,6,0.000,0.040,1968,1521,3460,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5354,-0.62,-97.3,389.0,-10.0,293,5361,0.00,1.98,0.00,0.000,4,0.000,0.081,1968,465,3459,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5410,-0.60,-97.3,395.0,-9.8,295,5415,0.15,1.80,0.00,0.000,6,0.239,0.041,1992,1519,3459,0,0,0,0,0,0,13.83,14.31,28.83
$GC,5730,-0.62,-97.3,419.4,-7.1,306,5736,0.00,1.85,0.00,0.000,4,0.000,0.052,1986,2577,3458,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5785,-0.63,-97.3,423.2,-6.6,308,5789,0.00,1.92,0.00,0.000,6,0.000,0.060,1986,1515,3458,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6104,-0.67,-97.3,441.9,-5.5,319,6111,0.00,1.95,0.00,0.000,4,0.000,0.083,1986,468,3460,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6296,-0.70,-97.3,450.9,-5.0,325,6299,0.00,1.80,0.00,0.000,6,0.000,0.040,1979,1521,3457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6598,-0.74,-97.3,465.4,-4.8,335,6602,0.00,1.98,0.00,0.000,4,0.000,0.081,1979,462,3457,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6733,-0.75,-97.3,473.4,-5.9,340,6737,0.00,1.83,0.00,0.000,6,0.000,0.040,1972,1520,3456,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7051,-0.78,-97.3,495.7,-7.7,351,7059,0.12,1.95,0.00,0.000,4,0.139,0.082,1927,467,3455,0,0,0,0,0,0,14.42,13.86,28.83
$GC,7168,-0.74,-97.3,508.1,-10.4,355,7171,0.00,1.80,0.00,0.000,6,0.000,0.041,1918,1519,3455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7484,-0.70,-97.3,541.5,-10.6,366,7486,0.20,0.00,0.00,0.000,6,0.249,0.000,1962,1521,3454,0,0,0,0,0,0,13.78,28.83,28.83
$GC,7783,-0.68,-97.3,567.1,-8.1,376,7787,0.00,1.98,0.00,0.000,4,0.000,0.083,1962,467,3454,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7841,-0.67,-97.3,571.0,-8.1,378,7845,0.00,1.83,0.00,0.000,6,0.000,0.041,1957,1526,3453,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8143,-0.65,-97.3,594.3,-7.1,388,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1526,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,-0.63,-97.3,613.9,-6.2,398,8446,0.00,2.00,0.00,0.000,4,0.000,0.083,1957,463,3451,0,0,0,0,0,0,28.83,13.92,28.83
$GC,8501,-0.61,-97.3,616.9,-6.5,400,8505,0.17,1.83,0.00,0.000,6,0.241,0.041,1987,1521,3451,0,0,0,0,0,0,13.69,14.26,28.83
$GC,8806,-0.64,-97.3,632.3,-4.9,410,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9102,-0.69,-97.3,648.5,-5.7,420,9106,0.00,2.00,0.00,0.000,4,0.000,0.083,1987,461,3449,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9268,-0.72,-97.3,659.5,-6.8,426,9271,0.00,1.83,0.00,0.000,6,0.000,0.041,1983,1519,3449,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9586,-0.76,-97.3,683.6,-8.1,437,9594,0.12,1.98,0.00,0.000,4,0.138,0.084,1938,468,3448,0,0,0,0,0,0,14.39,13.77,28.83
$GC,9733,-0.72,-97.3,698.7,-10.4,442,9737,0.00,1.83,0.00,0.000,6,0.000,0.042,1930,1518,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10049,-0.68,-97.3,730.9,-10.1,453,10058,0.17,1.88,0.00,0.000,4,0.250,0.053,1961,2575,3446,0,0,0,0,0,0,13.78,14.04,28.83
$GC,10138,-0.67,-97.3,738.6,-8.9,456,10142,0.00,1.92,0.00,0.000,6,0.000,0.064,1961,1523,3446,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10452,-0.67,-97.3,762.6,-7.3,467,10455,0.00,2.00,0.00,0.000,4,0.000,0.086,1961,466,3445,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10557,-0.65,-97.3,770.4,-7.5,471,10561,0.00,1.85,0.00,0.000,6,0.000,0.042,1954,1526,3444,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10874,-0.64,-97.3,789.8,-6.1,482,10879,0.12,1.90,0.00,0.000,4,0.247,0.053,1973,2579,3443,0,0,0,0,0,0,13.99,14.00,28.83
$GC,10932,-0.64,-97.3,792.5,-5.8,484,10935,0.00,1.95,0.00,0.000,6,0.000,0.064,1973,1521,3443,0,0,0,0,0,0,28.83,13.99,28.83
$GC,11238,-0.67,-97.3,809.7,-5.7,494,11244,0.00,2.00,0.00,0.000,4,0.000,0.086,1973,467,3443,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11367,-0.70,-97.3,817.2,-6.2,498,11371,0.00,1.85,0.00,0.000,6,0.000,0.042,1967,1525,3443,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11669,-0.73,-97.3,838.3,-7.1,508,11673,0.00,2.03,0.00,0.000,4,0.000,0.086,1967,464,3442,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11803,-0.74,-97.3,849.0,-7.9,513,11807,0.00,1.85,0.00,0.000,6,0.000,0.043,1960,1521,3441,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12122,-0.77,-97.3,875.4,-8.6,524,12130,0.00,2.03,0.00,0.000,4,0.000,0.086,1960,461,3440,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12207,-0.77,-97.3,883.7,-9.1,527,12211,0.00,1.88,0.00,0.000,6,0.000,0.042,1952,1528,3440,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12527,-0.76,-97.3,911.9,-8.9,538,12534,0.00,1.88,0.00,0.000,4,0.000,0.057,1945,2574,3439,0,0,0,0,0,0,28.83,13.94,28.83
$GC,12612,-0.76,-97.3,920.0,-9.0,541,12616,0.00,1.98,0.00,0.000,6,0.000,0.067,1944,1516,3439,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12931,-0.74,-97.3,947.9,-8.6,552,12932,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1515,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13229,-0.72,-97.3,972.0,-7.7,562,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1515,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13344,begin apogee
$GC,13353,-0.18,0.0,980.2,-6.8,566,13479,0.73,0.00,114.50,1.818,6,0.222,0.000,2126,1396,3062,0,0,0,0,1,0,13.79,28.83,13.05
$STATE,13481,end apogee,CONTROL_FINISHED_OK
$STATE,13481,begin climb
$GC,13486,0.60,97.3,984.1,0.0,570,13622,0.82,2.03,124.28,1.811,4,0.113,0.093,2388,345,2667,0,0,0,0,1,0,14.01,14.09,13.07
$GC,13844,0.51,103.7,976.0,5.8,583,13856,0.12,1.85,5.22,1.957,6,0.284,0.044,2362,1419,2640,0,0,0,0,0,0,13.98,14.40,13.27
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$STATE,26069,end climb,SURFACE_DEPTH_REACHED
$STATE,26070,begin surface coast
$FINISH,0.0,1.025666
$STATE,26085,end surface coast,CONTROL_FINISHED_OK
$STATE,26085,begin surface
$SM_CCo,26167,0.00,0.000,0,0,1617,354.46
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.78
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.90
$XPDR_PINGS,6
$SC_FREEKB,7572064
$24V_AH,13.1,239.613
$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,22.075,179.650,652.000,0.000,0.000,0.000,0.000,349.500,1.500,0.000,19.562,3154.960,19567.541,963.344,2327.609,772.324,0.000,2317.709,0.000,1914.091,0.000,0.550,0.000
$DEVICE_MAMPS,413.865,110.925,1956.870,0.000,0.000,0.000,0.000,166.770,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26141.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.405,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40026,1091
$CAP_FILE_SIZE,245753,0
$CFSIZE,260034560,189370368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.078,246.5,1
$GPS,050313,152605,2423.792,-3735.354,33,0.9,33,-13.9