version: 66.11
glider: 191
mission: 5
dive: 517
start: 3 5 113 15 36 30
data:
$ID,191
$MISSION,5
$DIVE,517
$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,-5255.249
$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,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
$GPS1,050313,152605,2423.792,-3735.354,33,0.9,33,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.3
$GPS2,050313,153600,2423.799,-3735.369,17,1.4,17,-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,73.7,35860,-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,-60.88,0.000,2,0.000,0.000,155,1518,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.7,-8.0,4,104,9.93,1.92,-1.10,0.000,4,0.408,0.101,1997,463,3462,1,0,0,0,0,0,13.50,14.33,14.66
$GC,325,-0.57,-97.3,28.7,-8.3,20,328,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1511,3463,0,0,0,0,0,0,28.83,14.24,28.83
$GC,625,-0.56,-97.3,51.6,-7.7,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.55,-97.3,75.9,-8.4,60,928,0.00,1.95,0.00,0.000,4,0.000,0.082,1992,462,3464,0,0,0,0,0,0,28.83,14.07,28.83
$GC,985,-0.53,-97.3,81.3,-9.0,64,989,0.15,1.80,0.00,0.000,6,0.237,0.039,2016,1521,3464,0,0,0,0,0,0,13.90,14.34,28.83
$GC,1285,-0.54,-97.3,103.5,-7.4,84,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.60,-97.3,123.8,-6.4,104,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1886,-0.65,-97.3,145.6,-7.9,124,1890,0.12,1.98,0.00,0.000,4,0.132,0.080,1967,457,3465,0,0,0,0,0,0,14.45,14.03,28.83
$GC,2038,-0.62,-97.3,159.8,-9.8,134,2048,0.12,1.85,0.00,0.000,6,0.249,0.041,1983,1526,3465,0,0,0,0,0,0,13.74,14.11,28.83
$GC,2349,-0.62,-97.3,183.3,-6.8,155,2353,0.00,1.98,0.00,0.000,4,0.000,0.080,1983,463,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2410,-0.61,-97.3,187.3,-6.6,159,2414,0.00,1.80,0.00,0.000,6,0.000,0.038,1978,1523,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2712,-0.61,-97.3,203.8,-5.3,179,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.61,-97.3,220.6,-5.6,199,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-0.61,-97.3,237.6,-5.9,219,3313,0.00,1.95,0.00,0.000,4,0.000,0.080,1978,464,3465,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3431,-0.58,-97.3,245.5,-6.5,227,3435,0.12,1.80,0.00,0.000,6,0.246,0.040,1995,1520,3465,0,0,0,0,0,0,13.86,14.30,28.83
$GC,3732,-0.58,-97.3,263.7,-6.6,240,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,-0.58,-97.3,286.6,-8.0,250,4035,0.00,1.98,0.00,0.000,4,0.000,0.081,1995,458,3465,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4119,-0.58,-97.3,293.4,-8.8,253,4123,0.00,1.80,0.00,0.000,6,0.000,0.039,1990,1519,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4420,-0.58,-97.3,319.7,-8.1,263,4424,0.00,1.98,0.00,0.000,4,0.000,0.081,1990,458,3464,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4480,-0.58,-97.3,323.6,-8.1,265,4484,0.00,1.83,0.00,0.000,6,0.000,0.039,1982,1525,3464,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4780,-0.58,-97.3,348.0,-7.7,275,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,-0.58,-97.3,368.1,-6.2,285,5085,0.00,1.98,0.00,0.000,4,0.000,0.082,1982,462,3463,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5168,-0.58,-97.3,372.8,-6.2,288,5172,0.00,1.83,0.00,0.000,6,0.000,0.040,1974,1525,3462,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5470,-0.58,-97.3,391.5,-6.2,298,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-0.58,-97.3,415.2,-8.6,308,5774,0.00,1.98,0.00,0.000,4,0.000,0.082,1979,464,3461,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5829,-0.57,-97.3,419.6,-9.3,310,5833,0.15,1.83,0.00,0.000,6,0.237,0.041,1998,1528,3461,0,0,0,0,0,0,13.82,14.30,28.83
$GC,6135,-0.61,-97.3,447.1,-8.5,320,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1529,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6430,-0.66,-97.3,468.6,-6.5,330,6434,0.00,2.00,0.00,0.000,4,0.000,0.084,1998,464,3458,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6580,-0.70,-97.3,476.7,-6.0,335,6584,0.00,1.83,0.00,0.000,6,0.000,0.040,1994,1525,3459,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6884,-0.75,-97.3,493.2,-5.1,345,6892,0.15,1.98,0.00,0.000,4,0.122,0.083,1938,465,3458,0,0,0,0,0,0,14.40,13.85,28.83
$GC,7000,-0.72,-97.3,502.0,-7.4,349,7003,0.00,1.83,0.00,0.000,6,0.000,0.041,1930,1521,3457,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7319,-0.68,-97.3,530.2,-10.0,360,7326,0.17,1.85,0.00,0.000,4,0.249,0.053,1962,2574,3457,0,0,0,0,0,0,13.88,14.15,28.83
$GC,7420,-0.66,-97.3,538.9,-9.8,363,7423,0.00,1.92,0.00,0.000,6,0.000,0.063,1959,1519,3457,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7721,-0.64,-97.3,569.7,-9.7,373,7725,0.00,1.98,0.00,0.000,4,0.000,0.083,1962,465,3456,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7839,-0.62,-97.3,580.5,-10.4,377,7843,0.15,1.83,0.00,0.000,6,0.237,0.041,1985,1520,3455,0,0,0,0,0,0,13.72,14.22,28.83
$GC,8142,-0.62,-97.3,604.2,-6.5,387,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8440,-0.62,-97.3,619.7,-4.8,397,8444,0.00,2.00,0.00,0.000,4,0.000,0.083,1985,460,3454,0,0,0,0,0,0,28.83,13.89,28.83
$GC,8499,-0.62,-97.3,621.9,-4.8,399,8502,0.00,1.83,0.00,0.000,6,0.000,0.041,1980,1519,3454,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8802,-0.62,-97.3,636.3,-4.6,409,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9100,-0.62,-97.3,650.0,-4.6,419,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9402,-0.65,-97.3,667.5,-6.6,429,9405,0.00,2.00,0.00,0.000,4,0.000,0.084,1980,462,3451,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9475,-0.68,-97.3,673.1,-7.4,432,9479,0.00,1.85,0.00,0.000,6,0.000,0.042,1973,1525,3451,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9795,-0.72,-97.3,699.0,-8.5,443,9801,0.00,2.00,0.00,0.000,4,0.000,0.085,1973,470,3450,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9910,-0.74,-97.3,710.1,-9.3,447,9914,0.00,1.83,0.00,0.000,6,0.000,0.042,1966,1521,3449,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10228,-0.77,-97.3,738.4,-9.1,458,10231,0.00,2.00,0.00,0.000,4,0.000,0.085,1966,465,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10303,-0.78,-97.3,745.8,-9.7,461,10306,0.00,1.85,0.00,0.000,6,0.000,0.043,1958,1522,3448,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10618,-0.77,-97.3,774.7,-8.9,472,10622,0.00,1.88,0.00,0.000,4,0.000,0.054,1950,2578,3447,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10693,-0.77,-97.3,781.5,-8.8,475,10697,0.00,1.98,0.00,0.000,6,0.000,0.064,1950,1517,3447,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11009,-0.75,-97.3,807.1,-7.8,486,11013,0.00,2.00,0.00,0.000,4,0.000,0.086,1949,466,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11113,-0.72,-97.3,815.8,-8.3,490,11117,0.00,1.85,0.00,0.000,6,0.000,0.043,1942,1519,3445,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11429,-0.69,-97.3,837.6,-6.6,501,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1519,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11728,-0.67,-97.3,856.9,-6.6,511,11730,0.12,0.00,0.00,0.000,6,0.260,0.000,1966,1517,3444,0,0,0,0,0,0,13.96,28.83,28.83
$GC,12027,-0.67,-97.3,873.5,-5.3,521,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12327,-0.67,-97.3,888.0,-4.8,531,12331,0.00,2.03,0.00,0.000,4,0.000,0.088,1966,463,3445,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12387,-0.67,-97.3,890.5,-5.1,533,12391,0.00,1.88,0.00,0.000,6,0.000,0.044,1961,1525,3442,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12686,-0.67,-97.3,908.8,-6.1,543,12690,0.00,1.88,0.00,0.000,4,0.000,0.056,1954,2576,3441,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12748,-0.67,-97.3,911.7,-6.3,545,12752,0.00,1.98,0.00,0.000,6,0.000,0.067,1958,1518,3441,0,0,0,0,0,0,28.83,13.93,28.83
$GC,13047,-0.66,-97.3,935.4,-7.8,555,13051,0.00,2.03,0.00,0.000,4,0.000,0.089,1954,464,3440,0,0,0,0,0,0,28.83,13.81,28.83
$GC,13136,-0.64,-97.3,942.1,-8.8,558,13140,0.15,1.88,0.00,0.000,6,0.250,0.044,1975,1522,3440,0,0,0,0,0,0,13.54,14.04,28.83
$GC,13440,-0.64,-97.3,969.0,-9.0,568,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13584,begin apogee
$GC,13592,-0.18,0.0,982.7,-9.2,573,13719,0.57,0.00,115.85,1.836,6,0.206,0.000,2124,1397,3061,0,0,0,0,1,0,13.76,28.83,13.03
$STATE,13721,end apogee,CONTROL_FINISHED_OK
$STATE,13721,begin climb
$GC,13725,0.60,97.3,991.5,0.0,577,13862,0.85,2.03,124.62,1.821,4,0.115,0.094,2389,348,2665,0,0,0,0,1,0,13.97,14.07,13.05
$GC,14083,0.63,199.2,999.7,1.7,590,14222,0.00,1.85,128.50,1.834,6,0.000,0.044,2389,1421,2250,0,0,0,0,1,0,28.83,14.40,13.06
$GC,14517,0.57,199.2,972.0,8.2,604,14521,0.00,2.03,0.00,0.000,4,0.000,0.094,2397,349,2242,0,0,0,0,0,0,28.83,14.24,28.83
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$STATE,27551,end climb,SURFACE_DEPTH_REACHED
$STATE,27551,begin surface coast
$FINISH,-0.0,1.006232
$STATE,27571,end surface coast,CONTROL_FINISHED_OK
$STATE,27572,begin surface
$SM_CCo,27592,4.62,0.791,0,0,1757,320.12
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$IRIDIUM_FIX,2413.38,-3737.14,050313,080815
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.08
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.10
$XPDR_PINGS,4
$SC_FREEKB,7571680
$24V_AH,13.0,240.031
$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,21.375,180.250,558.675,4.625,0.000,0.000,0.000,312.075,1.000,0.000,18.204,3284.055,20923.756,875.756,2338.734,754.164,0.000,2204.877,0.000,1960.204,0.000,0.549,0.000
$DEVICE_MAMPS,407.745,104.040,1836.000,791.010,0.000,0.000,0.000,167.535,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27625.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.324,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43423,1146
$CAP_FILE_SIZE,252416,0
$CFSIZE,260034560,189243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.065,243.7,1
$GPS,050313,231753,2424.806,-3733.928,39,0.8,39,-13.9