version: 66.11
glider: 191
mission: 5
dive: 519
start: 3 6 113 7 19 41
data:
$ID,191
$MISSION,5
$DIVE,519
$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,-5257.7671
$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,26
$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
$GPS1,060313,070922,2426.207,-3732.889,41,0.8,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-51.6
$GPS2,060313,071911,2426.173,-3732.868,20,0.8,20,-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,75.3,29904,-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,-58.58,0.000,6,0.000,0.000,158,1525,3460,0,0,0,0,0,0,28.83,28.83,14.67
$GC,87,-0.60,-97.3,4.5,-9.9,4,101,9.80,1.90,0.00,0.000,4,0.405,0.071,1998,464,3462,1,0,0,0,0,0,13.52,14.33,28.83
$GC,325,-0.58,-97.3,32.4,-8.5,20,328,0.00,1.80,0.00,0.000,6,0.000,0.039,1992,1518,3466,0,0,0,0,0,0,28.83,14.26,28.83
$GC,625,-0.57,-97.3,56.5,-8.4,40,629,0.00,1.95,0.00,0.000,4,0.000,0.080,1993,467,3464,0,0,0,0,0,0,28.83,14.03,28.83
$GC,731,-0.54,-97.3,66.1,-9.3,47,735,0.00,1.83,0.00,0.000,6,0.000,0.040,1985,1530,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1031,-0.53,-97.3,93.0,-8.8,67,1036,0.15,1.98,0.00,0.000,4,0.242,0.081,2018,466,3463,0,0,0,0,0,0,14.00,14.06,28.83
$GC,1104,-0.53,-97.3,99.4,-8.5,72,1108,0.00,1.80,0.00,0.000,6,0.000,0.040,2013,1518,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1408,-0.55,-97.3,121.3,-7.3,92,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-0.60,-97.3,145.2,-8.6,112,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.66,-97.3,168.7,-6.9,132,2009,0.12,1.85,0.00,0.000,4,0.132,0.050,1957,2578,3464,0,0,0,0,0,0,14.50,14.21,28.83
$GC,2109,-0.66,-97.3,176.0,-6.9,139,2113,0.00,1.92,0.00,0.000,6,0.000,0.060,1957,1513,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2410,-0.63,-97.3,194.6,-6.1,159,2414,0.12,1.92,0.00,0.000,4,0.258,0.080,1981,474,3464,0,0,0,0,0,0,14.06,14.00,28.83
$GC,2531,-0.61,-97.3,202.4,-6.6,167,2535,0.00,1.80,0.00,0.000,6,0.000,0.039,1976,1528,3464,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2830,-0.61,-97.3,226.1,-9.9,187,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1529,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,-0.61,-97.3,260.7,-11.1,205,3148,0.00,1.98,0.00,0.000,4,0.000,0.082,1976,467,3464,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3234,-0.60,-97.3,269.2,-11.2,208,3238,0.00,1.80,0.00,0.000,6,0.000,0.040,1969,1519,3464,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3536,-0.59,-97.3,299.1,-8.8,218,3541,0.12,1.95,0.00,0.000,4,0.253,0.080,1994,472,3464,0,0,0,0,0,0,14.09,13.98,28.83
$GC,3594,-0.59,-97.3,302.9,-8.6,220,3597,0.00,1.80,0.00,0.000,6,0.000,0.040,1989,1525,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3896,-0.59,-97.3,324.5,-6.4,230,3900,0.00,1.98,0.00,0.000,4,0.000,0.081,1989,465,3464,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3954,-0.59,-97.3,327.5,-6.5,232,3957,0.00,1.80,0.00,0.000,6,0.000,0.039,1981,1522,3466,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4255,-0.59,-97.3,346.8,-6.1,242,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.59,-97.3,365.2,-6.2,252,4560,0.00,1.95,0.00,0.000,4,0.000,0.081,1981,474,3462,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4644,-0.59,-97.3,370.3,-6.6,255,4647,0.00,1.80,0.00,0.000,6,0.000,0.040,1974,1526,3462,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4946,-0.59,-97.3,390.2,-6.3,265,4950,0.00,1.98,0.00,0.000,4,0.000,0.081,1973,468,3461,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5005,-0.57,-97.3,393.3,-6.6,267,5010,0.15,1.80,0.00,0.000,6,0.239,0.040,1997,1521,3461,0,0,0,0,0,0,13.81,14.31,28.83
$GC,5308,-0.62,-97.3,414.1,-6.9,277,5311,0.00,1.95,0.00,0.000,4,0.000,0.082,1997,474,3460,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5383,-0.66,-97.3,419.7,-7.2,280,5386,0.00,1.80,0.00,0.000,6,0.000,0.040,1993,1522,3460,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5699,-0.71,-97.3,442.7,-7.4,291,5707,0.00,1.98,0.00,0.000,4,0.000,0.082,1993,467,3459,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5800,-0.75,-97.3,449.6,-7.5,294,5804,0.12,1.83,0.00,0.000,6,0.135,0.041,1943,1528,3459,0,0,0,0,0,0,14.12,14.24,28.83
$GC,6105,-0.72,-97.3,474.8,-8.0,304,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1529,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6401,-0.69,-97.3,499.4,-8.3,314,6405,0.00,1.98,0.00,0.000,4,0.000,0.083,1942,476,3457,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6507,-0.65,-97.3,509.1,-9.3,318,6512,0.20,1.80,0.00,0.000,6,0.247,0.041,1977,1519,3457,0,0,0,0,0,0,13.62,14.23,28.83
$GC,6823,-0.65,-97.3,532.8,-7.5,329,6827,0.00,1.98,0.00,0.000,4,0.000,0.083,1977,474,3456,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6883,-0.65,-97.3,536.6,-7.8,331,6887,0.00,1.83,0.00,0.000,6,0.000,0.041,1972,1521,3456,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7181,-0.65,-97.3,561.3,-7.7,341,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7482,-0.65,-97.3,584.6,-7.7,351,7486,0.00,1.98,0.00,0.000,4,0.000,0.084,1972,473,3454,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7601,-0.63,-97.3,593.1,-8.2,355,7605,0.00,1.83,0.00,0.000,6,0.000,0.041,1965,1524,3457,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7901,-0.63,-97.3,615.2,-6.8,365,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1525,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8203,-0.63,-97.3,633.9,-5.9,375,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1525,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8501,-0.63,-97.3,649.1,-4.7,385,8505,0.00,2.00,0.00,0.000,4,0.000,0.084,1965,466,3451,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8608,-0.61,-97.3,655.1,-5.9,389,8613,0.15,1.85,0.00,0.000,6,0.243,0.043,1988,1525,3451,0,0,0,0,0,0,13.68,14.19,28.83
$GC,8926,-0.67,-97.3,672.9,-6.2,400,8932,0.00,2.00,0.00,0.000,4,0.000,0.084,1988,473,3450,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9027,-0.70,-97.3,679.0,-6.6,403,9031,0.00,1.83,0.00,0.000,6,0.000,0.043,1983,1522,3450,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9327,-0.75,-97.3,704.0,-8.5,413,9332,0.12,2.00,0.00,0.000,4,0.140,0.084,1939,467,3449,0,0,0,0,0,0,14.42,13.85,28.83
$GC,9526,-0.71,-97.3,725.2,-11.2,420,9533,0.00,1.85,0.00,0.000,6,0.000,0.043,1930,1522,3448,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9852,-0.68,-97.3,761.1,-10.9,431,9857,0.17,2.00,0.00,0.000,4,0.251,0.084,1968,476,3447,0,0,0,0,0,0,13.76,13.82,28.83
$GC,9911,-0.65,-97.3,765.7,-10.7,433,9915,0.00,1.83,0.00,0.000,6,0.000,0.043,1959,1519,3448,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10214,-0.65,-97.3,793.2,-8.0,443,10217,0.00,2.00,0.00,0.000,4,0.000,0.085,1963,471,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10271,-0.64,-97.3,796.9,-8.0,445,10275,0.00,1.85,0.00,0.000,6,0.000,0.043,1955,1525,3446,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10576,-0.62,-97.3,817.7,-5.9,455,10578,0.15,0.00,0.00,0.000,6,0.246,0.000,1986,1526,3445,0,0,0,0,0,0,13.85,28.83,28.83
$GC,10876,-0.67,-97.3,833.1,-5.2,465,10883,0.00,2.00,0.00,0.000,4,0.000,0.086,1987,474,3444,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11023,-0.70,-97.3,841.3,-5.4,470,11027,0.00,1.85,0.00,0.000,6,0.000,0.043,1982,1519,3444,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11340,-0.75,-97.3,860.4,-6.4,481,11343,0.00,1.90,0.00,0.000,4,0.000,0.057,1975,2574,3443,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11428,-0.80,-97.3,865.3,-6.4,484,11432,0.15,1.95,0.00,0.000,6,0.128,0.067,1923,1526,3440,0,0,0,0,0,0,13.93,13.94,28.83
$GC,11730,-0.76,-97.3,891.7,-8.8,494,11734,0.00,2.03,0.00,0.000,4,0.000,0.088,1923,466,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11849,-0.71,-97.3,902.3,-10.0,498,11853,0.20,1.88,0.00,0.000,6,0.258,0.044,1955,1525,3441,0,0,0,0,0,0,13.51,14.04,28.83
$GC,12151,-0.71,-97.3,929.0,-8.5,508,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1527,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12448,-0.71,-97.3,954.5,-8.3,518,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1526,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12749,-0.71,-97.3,979.6,-8.3,528,12753,0.00,2.05,0.00,0.000,4,0.000,0.090,1955,466,3438,0,0,0,0,0,0,28.83,13.78,28.83
$STATE,12760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12760,begin apogee
$GC,12770,-0.18,0.0,980.8,-8.4,529,12895,0.68,0.00,114.60,1.825,6,0.218,0.000,2129,1414,3061,0,0,0,0,1,0,13.83,28.83,13.02
$STATE,12897,end apogee,CONTROL_FINISHED_OK
$STATE,12897,begin climb
$GC,12902,0.60,97.3,987.9,0.0,533,13038,0.85,1.88,124.53,1.813,4,0.107,0.056,2384,2453,2665,0,0,0,0,1,0,13.97,14.13,13.07
$GC,13260,0.62,184.4,991.3,2.4,546,13382,0.00,1.95,111.65,1.789,6,0.000,0.073,2391,1391,2310,0,0,0,0,1,0,28.83,14.28,13.09
$GC,13693,0.56,184.4,966.0,6.8,561,13697,0.00,1.88,0.00,0.000,4,0.000,0.055,2392,2456,2303,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13770,0.50,184.4,960.5,7.3,564,13774,0.20,1.95,0.00,0.000,6,0.274,0.073,2358,1397,2302,0,0,0,0,0,0,13.95,14.29,28.83
$GC,14086,0.47,184.4,939.2,6.8,575,14090,0.00,2.00,0.00,0.000,4,0.000,0.096,2364,348,2301,0,0,0,0,0,0,28.83,14.19,28.83
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$STATE,27194,end climb,SURFACE_DEPTH_REACHED
$STATE,27194,begin surface coast
$FINISH,0.0,1.023728
$STATE,27225,end surface coast,CONTROL_FINISHED_OK
$STATE,27226,begin surface
$SM_CCo,27246,4.82,0.786,0,0,1757,320.12
$SM_GC,1.79,6.93,0.15,4.82,0.080,0.096,0.786,152,1521,1757,-6.30,-1.55,320.12,0,0,0,0,0,0,14.27,14.46,13.80
$IRIDIUM_FIX,2415.74,-3735.27,050313,232326
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.68
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,5
$SC_FREEKB,7570912
$24V_AH,13.0,240.867
$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,21.625,194.125,604.725,4.825,0.000,0.000,0.000,299.325,1.250,0.000,21.649,3262.591,20512.895,932.119,2336.774,781.187,0.000,2264.527,0.000,1972.857,0.000,0.549,0.000
$DEVICE_MAMPS,404.685,97.920,1825.290,785.655,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.337,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43305,1116
$CAP_FILE_SIZE,254441,0
$CFSIZE,260034560,189005824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.081,250.1,1
$GPS,060313,145523,2427.340,-3732.157,43,0.8,43,-13.9