version: 66.11
glider: 191
mission: 5
dive: 521
start: 3 6 113 22 35 1
data:
$ID,191
$MISSION,5
$DIVE,521
$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,-5260.2852
$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,51
$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
$GPS1,060313,222459,2428.671,-3730.786,41,0.8,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-56.1
$GPS2,060313,223431,2428.653,-3730.821,19,0.8,19,-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,86.2,24584,-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,-97.3,0.0,0.0,0,98,0.00,0.00,-69.93,0.000,6,0.000,0.000,160,1523,3460,0,0,0,0,0,0,28.83,28.83,14.64
$GC,102,-0.60,-97.3,4.9,-8.2,5,117,9.93,1.90,0.00,0.000,4,0.412,0.067,1995,460,3462,1,0,0,0,0,0,13.52,14.37,28.83
$GC,340,-0.57,-97.3,33.5,-9.3,21,343,0.00,1.80,0.00,0.000,6,0.000,0.040,1990,1512,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,640,-0.56,-97.3,58.2,-8.2,41,644,0.00,1.95,0.00,0.000,4,0.000,0.081,1990,464,3464,0,0,0,0,0,0,28.83,14.07,28.83
$GC,731,-0.54,-97.3,66.5,-9.3,47,735,0.15,1.83,0.00,0.000,6,0.239,0.040,2014,1526,3464,0,0,0,0,0,0,13.85,14.26,28.83
$GC,1031,-0.55,-97.3,87.2,-6.7,67,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-0.57,-97.3,108.1,-6.9,87,1334,0.00,1.98,0.00,0.000,4,0.000,0.081,2014,464,3464,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1391,-0.57,-97.3,112.8,-7.9,91,1394,0.00,1.80,0.00,0.000,6,0.000,0.038,2009,1521,3464,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1690,-0.58,-97.3,137.6,-8.6,111,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.63,-97.3,163.5,-8.2,131,1994,0.00,1.98,0.00,0.000,4,0.000,0.080,2009,460,3465,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2065,-0.66,-97.3,169.9,-8.5,136,2068,0.00,1.83,0.00,0.000,6,0.000,0.040,2002,1526,3464,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2365,-0.71,-97.3,192.6,-6.3,156,2367,0.12,0.00,0.00,0.000,6,0.134,0.000,1952,1527,3465,0,0,0,0,0,0,14.43,28.83,28.83
$GC,2665,-0.68,-97.3,210.6,-5.8,176,2669,0.00,1.98,0.00,0.000,4,0.000,0.080,1952,464,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2785,-0.63,-97.3,219.2,-7.3,184,2789,0.17,1.80,0.00,0.000,6,0.246,0.040,1981,1519,3464,0,0,0,0,0,0,13.69,14.26,28.83
$GC,3084,-0.63,-97.3,236.4,-6.1,204,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,-0.63,-97.3,258.1,-7.9,221,3396,0.00,2.00,0.00,0.000,4,0.000,0.080,1981,457,3465,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3474,-0.63,-97.3,266.1,-8.8,224,3478,0.00,1.83,0.00,0.000,6,0.000,0.040,1976,1525,3465,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3790,-0.63,-97.3,293.2,-8.4,235,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4091,-0.63,-97.3,317.0,-7.7,245,4094,0.00,1.98,0.00,0.000,4,0.000,0.081,1976,464,3464,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4149,-0.62,-97.3,320.9,-8.0,247,4152,0.00,1.83,0.00,0.000,6,0.000,0.040,1968,1528,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4455,-0.61,-97.3,341.8,-5.7,257,4461,0.00,1.98,0.00,0.000,4,0.000,0.081,1968,466,3463,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4511,-0.59,-97.3,345.1,-5.4,259,4515,0.15,1.83,0.00,0.000,6,0.245,0.041,1992,1528,3463,0,0,0,0,0,0,13.76,14.26,28.83
$GC,4828,-0.62,-97.3,357.8,-4.3,270,4832,0.00,2.00,0.00,0.000,4,0.000,0.081,1992,464,3463,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4887,-0.65,-97.3,360.2,-4.7,272,4890,0.00,1.80,0.00,0.000,6,0.000,0.039,1987,1521,3462,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5186,-0.65,-97.3,380.3,-7.3,282,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,-0.66,-97.3,408.4,-10.1,292,5491,0.00,1.98,0.00,0.000,4,0.000,0.080,1987,464,3461,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5590,-0.66,-97.3,420.1,-11.2,296,5594,0.00,1.83,0.00,0.000,6,0.000,0.039,1978,1526,3461,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5910,-0.67,-97.3,452.1,-9.6,307,5917,0.00,2.00,0.00,0.000,4,0.000,0.081,1979,461,3460,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5951,-0.69,-97.3,454.7,-9.4,308,5954,0.00,1.83,0.00,0.000,6,0.000,0.039,1972,1524,3460,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6251,-0.69,-97.3,476.8,-5.8,318,6255,0.00,2.00,0.00,0.000,4,0.000,0.082,1972,458,3456,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6328,-0.67,-97.3,481.2,-5.8,321,6331,0.00,1.83,0.00,0.000,6,0.000,0.039,1965,1521,3458,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6644,-0.66,-97.3,496.3,-4.9,332,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6943,-0.65,-97.3,514.0,-6.6,342,6947,0.00,2.00,0.00,0.000,4,0.000,0.082,1964,459,3457,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7046,-0.63,-97.3,522.8,-8.4,346,7050,0.12,1.83,0.00,0.000,6,0.260,0.040,1980,1521,3457,0,0,0,0,0,0,13.76,14.24,28.83
$GC,7363,-0.63,-97.3,548.3,-8.6,357,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7663,-0.67,-97.3,576.7,-9.8,367,7667,0.00,2.00,0.00,0.000,4,0.000,0.083,1980,460,3456,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7797,-0.69,-97.3,590.8,-10.4,372,7801,0.00,1.85,0.00,0.000,6,0.000,0.041,1976,1530,3455,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8117,-0.73,-97.3,621.8,-9.8,383,8123,0.00,2.00,0.00,0.000,4,0.000,0.085,1976,465,3454,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8262,-0.73,-97.3,636.4,-9.7,388,8265,0.00,1.83,0.00,0.000,6,0.000,0.041,1968,1519,3453,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8578,-0.73,-97.3,662.2,-7.6,399,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8877,-0.73,-97.3,681.4,-6.0,409,8881,0.00,2.00,0.00,0.000,4,0.000,0.083,1968,463,3451,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8968,-0.71,-97.3,686.2,-6.2,412,8971,0.00,1.85,0.00,0.000,6,0.000,0.041,1961,1519,3450,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9271,-0.70,-97.3,703.7,-5.5,422,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9567,-0.69,-97.3,721.8,-6.3,432,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9867,-0.68,-97.3,742.6,-7.3,442,9871,0.00,2.00,0.00,0.000,4,0.000,0.085,1960,465,3448,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9943,-0.66,-97.3,748.9,-8.1,445,9946,0.00,1.85,0.00,0.000,6,0.000,0.042,1953,1522,3448,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10261,-0.65,-97.3,776.3,-9.0,456,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1523,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10557,-0.63,-97.3,802.2,-8.2,466,10559,0.15,0.00,0.00,0.000,6,0.251,0.000,1984,1524,3446,0,0,0,0,0,0,13.90,28.83,28.83
$GC,10861,-0.68,-97.3,821.6,-5.9,476,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1524,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11158,-0.74,-97.3,836.7,-4.8,486,11162,0.00,1.90,0.00,0.000,4,0.000,0.055,1979,2578,3445,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11234,-0.79,-97.3,840.0,-4.5,489,11238,0.15,1.98,0.00,0.000,6,0.125,0.064,1925,1515,3442,0,0,0,0,0,0,13.95,13.94,28.83
$GC,11551,-0.75,-97.3,858.3,-6.0,500,11558,0.00,2.00,0.00,0.000,4,0.000,0.086,1925,468,3442,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11621,-0.71,-97.3,862.7,-6.6,502,11626,0.17,1.85,0.00,0.000,6,0.263,0.044,1952,1519,3442,0,0,0,0,0,0,13.52,14.09,28.83
$GC,11928,-0.70,-97.3,882.7,-6.7,512,11934,0.00,2.03,0.00,0.000,4,0.000,0.087,1952,462,3441,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11983,-0.68,-97.3,887.3,-7.3,514,11987,0.00,1.88,0.00,0.000,6,0.000,0.044,1947,1522,3441,0,0,0,0,0,0,28.83,14.06,28.83
$GC,12302,-0.67,-97.3,911.5,-7.9,525,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1523,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12598,-0.65,-97.3,935.9,-8.2,535,12599,0.15,0.00,0.00,0.000,6,0.252,0.000,1978,1523,3439,0,0,0,0,0,0,13.83,28.83,28.83
$GC,12899,-0.70,-97.3,956.8,-6.8,545,12903,0.00,2.05,0.00,0.000,4,0.000,0.087,1978,460,3438,0,0,0,0,0,0,28.83,13.83,28.83
$GC,13016,-0.73,-97.3,964.0,-6.9,549,13020,0.00,1.90,0.00,0.000,6,0.000,0.044,1974,1527,3438,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,13254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13254,begin apogee
$GC,13264,-0.18,0.0,980.7,-6.5,557,13390,0.55,0.00,114.55,1.819,6,0.184,0.000,2123,1398,3063,0,0,0,0,1,0,13.78,28.83,13.07
$STATE,13392,end apogee,CONTROL_FINISHED_OK
$STATE,13392,begin climb
$GC,13396,0.60,97.3,986.3,0.0,561,13529,0.82,0.00,124.90,1.804,6,0.105,0.000,2379,1398,2665,0,0,0,0,1,0,14.04,28.83,13.08
$GC,13828,0.62,180.8,985.4,2.5,576,13947,0.00,2.03,107.57,1.783,4,0.000,0.097,2387,348,2325,0,0,0,0,1,0,28.83,14.12,13.11
$GC,14071,0.54,182.4,974.1,6.0,584,14080,0.00,1.85,0.00,0.000,6,0.000,0.046,2388,1410,2321,0,0,0,0,0,0,28.83,14.37,28.83
$GC,14400,0.49,194.8,956.1,5.5,595,14440,0.15,0.00,29.70,1.095,6,0.269,0.000,2355,1411,2269,0,0,0,0,1,0,14.02,28.83,13.28
$GC,14758,0.48,207.2,936.8,5.5,607,14800,0.00,1.95,31.30,1.140,4,0.000,0.093,2361,342,2218,0,0,0,0,1,0,28.83,14.38,13.27
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$STATE,28153,end climb,SURFACE_DEPTH_REACHED
$STATE,28153,begin surface coast
$FINISH,0.2,1.025820
$STATE,28169,end surface coast,CONTROL_FINISHED_OK
$STATE,28169,begin surface
$SM_CCo,28251,0.00,0.000,0,0,1646,347.59
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$IRIDIUM_FIX,2415.74,-3731.95,060313,151501
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.01
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.10
$XPDR_PINGS,5
$SC_FREEKB,7570144
$24V_AH,13.1,241.726
$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
$DEVICE_SECS,20.500,183.900,634.550,0.000,0.000,0.000,0.000,289.400,1.250,0.000,20.230,3338.100,21342.654,968.655,2371.585,783.306,0.000,2312.654,0.000,2004.063,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.294,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43367,1158
$CAP_FILE_SIZE,258827,0
$CFSIZE,260034560,188768256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.098,254.8,1
$GPS,070313,062722,2429.466,-3730.062,46,1.0,46,-13.9