version: 66.11
glider: 191
mission: 5
dive: 528
start: 3 9 113 5 1 30
data:
$ID,191
$MISSION,5
$DIVE,528
$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,-5269.0967
$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,50
$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
$GPS1,090313,045104,2433.510,-3724.547,39,0.7,40,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.6
$GPS2,090313,050100,2433.479,-3724.606,19,0.9,19,-13.8
$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,94.2,11477,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.95,0.000,2,0.000,0.000,155,1521,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.4,-6.1,4,106,9.98,1.83,-1.88,0.000,4,0.412,0.081,1982,2565,3460,1,0,0,0,0,0,13.51,14.40,14.70
$GC,265,-0.60,-97.3,22.0,-8.0,16,269,0.00,1.90,0.00,0.000,6,0.000,0.063,1982,1517,3462,0,0,0,0,0,0,28.83,14.15,28.83
$GC,566,-0.58,-97.3,46.4,-7.9,36,570,0.00,1.95,0.00,0.000,4,0.000,0.082,1982,466,3462,0,0,0,0,0,0,28.83,14.07,28.83
$GC,672,-0.55,-97.3,55.5,-9.0,43,677,0.15,1.80,0.00,0.000,6,0.233,0.041,2005,1512,3462,0,0,0,0,0,0,13.85,14.28,28.83
$GC,970,-0.55,-97.3,77.2,-7.4,63,974,0.00,1.95,0.00,0.000,4,0.000,0.082,2007,465,3462,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1032,-0.55,-97.3,82.1,-8.2,67,1035,0.00,1.80,0.00,0.000,6,0.000,0.040,2001,1520,3462,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1330,-0.55,-97.3,109.0,-9.7,87,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-0.55,-97.3,136.8,-8.4,107,1635,0.00,1.98,0.00,0.000,4,0.000,0.081,2001,462,3462,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1736,-0.55,-97.3,145.3,-7.9,114,1740,0.00,1.83,0.00,0.000,6,0.000,0.039,1993,1526,3465,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2036,-0.55,-97.3,161.2,-4.2,134,2040,0.00,1.98,0.00,0.000,4,0.000,0.081,1993,466,3462,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2172,-0.54,-97.3,167.1,-4.1,143,2177,0.12,1.80,0.00,0.000,6,0.240,0.039,2010,1521,3464,0,0,0,0,0,0,13.83,14.25,28.83
$GC,2471,-0.59,-97.3,177.9,-4.3,163,2475,0.00,1.85,0.00,0.000,4,0.000,0.049,2006,2581,3463,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2562,-0.65,-97.3,182.3,-5.0,169,2566,0.00,1.92,0.00,0.000,6,0.000,0.059,2005,1512,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2862,-0.70,-97.3,202.7,-7.7,189,2867,0.15,1.95,0.00,0.000,4,0.118,0.080,1952,461,3463,0,0,0,0,0,0,14.41,13.95,28.83
$GC,2921,-0.68,-97.3,208.6,-9.8,193,2924,0.00,1.80,0.00,0.000,6,0.000,0.038,1938,1520,3463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3222,-0.64,-97.3,238.0,-9.5,213,3224,0.17,0.00,0.00,0.000,6,0.242,0.000,1976,1521,3462,0,0,0,0,0,0,13.88,28.83,28.83
$GC,3538,-0.64,-97.3,266.5,-9.1,228,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.64,-97.3,293.9,-8.7,238,3841,0.00,1.98,0.00,0.000,4,0.000,0.080,1976,461,3462,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3941,-0.63,-97.3,303.0,-8.7,242,3945,0.00,1.83,0.00,0.000,6,0.000,0.038,1971,1529,3462,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4257,-0.63,-97.3,324.4,-6.4,253,4260,0.00,2.00,0.00,0.000,4,0.000,0.081,1971,462,3462,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4315,-0.62,-97.3,327.7,-6.7,255,4318,0.00,1.80,0.00,0.000,6,0.000,0.038,1963,1519,3462,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4618,-0.60,-97.3,352.1,-8.1,265,4620,0.12,0.00,0.00,0.000,6,0.249,0.000,1989,1520,3462,0,0,0,0,0,0,14.09,28.83,28.83
$GC,4917,-0.65,-97.3,375.6,-7.8,275,4921,0.00,1.98,0.00,0.000,4,0.000,0.080,1989,462,3462,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5035,-0.68,-97.3,383.5,-7.5,279,5039,0.00,1.83,0.00,0.000,6,0.000,0.039,1984,1524,3462,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5338,-0.71,-97.3,404.2,-6.4,289,5341,0.00,1.98,0.00,0.000,4,0.000,0.081,1980,468,3461,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5425,-0.74,-97.3,409.0,-6.4,292,5429,0.00,1.83,0.00,0.000,6,0.000,0.040,1976,1524,3460,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5728,-0.77,-97.3,429.6,-6.7,302,5730,0.12,0.00,0.00,0.000,6,0.135,0.000,1930,1525,3460,0,0,0,0,0,0,14.42,28.83,28.83
$GC,6026,-0.77,-97.3,455.5,-8.9,312,6029,0.00,2.00,0.00,0.000,4,0.000,0.081,1930,460,3460,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6131,-0.73,-97.3,466.0,-10.0,316,6135,0.15,1.83,0.00,0.000,6,0.266,0.040,1950,1517,3460,0,0,0,0,0,0,13.62,14.21,28.83
$GC,6450,-0.71,-97.3,493.7,-8.6,327,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1519,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-0.69,-97.3,517.5,-7.5,337,6750,0.00,1.98,0.00,0.000,4,0.000,0.083,1950,468,3458,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6866,-0.65,-97.3,525.8,-7.9,341,6871,0.15,1.83,0.00,0.000,6,0.252,0.041,1975,1521,3458,0,0,0,0,0,0,13.65,14.18,28.83
$GC,7171,-0.69,-97.3,546.5,-6.8,351,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7467,-0.73,-97.3,568.0,-7.3,361,7471,0.00,1.88,0.00,0.000,4,0.000,0.052,1970,2581,3456,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7511,-0.77,-97.3,571.4,-7.4,363,7515,0.00,1.95,0.00,0.000,6,0.000,0.061,1970,1516,3455,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7831,-0.81,-97.3,596.5,-8.3,374,7833,0.12,0.00,0.00,0.000,6,0.137,0.000,1923,1516,3454,0,0,0,0,0,0,14.38,28.83,28.83
$GC,8126,-0.77,-97.3,624.7,-9.5,384,8130,0.00,1.98,0.00,0.000,4,0.000,0.083,1923,467,3453,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8201,-0.72,-97.3,632.6,-10.4,387,8205,0.17,1.85,0.00,0.000,6,0.265,0.041,1949,1528,3453,0,0,0,0,0,0,13.52,14.15,28.83
$GC,8520,-0.70,-97.3,661.4,-9.3,398,8527,0.00,2.03,0.00,0.000,4,0.000,0.084,1949,464,3452,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8576,-0.68,-97.3,667.5,-9.6,400,8580,0.00,1.85,0.00,0.000,6,0.000,0.041,1944,1529,3452,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8895,-0.65,-97.3,695.3,-8.4,411,8903,0.15,2.03,0.00,0.000,4,0.251,0.085,1975,463,3451,0,0,0,0,0,0,13.74,13.78,28.83
$GC,8981,-0.64,-97.3,701.5,-7.1,414,8985,0.00,1.85,0.00,0.000,6,0.000,0.041,1970,1525,3451,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9301,-0.68,-97.3,717.0,-4.5,425,9307,0.00,2.00,0.00,0.000,4,0.000,0.084,1970,466,3450,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9387,-0.70,-97.3,721.3,-4.7,428,9391,0.00,1.85,0.00,0.000,6,0.000,0.042,1962,1524,3449,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9704,-0.73,-97.3,735.8,-4.8,439,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1525,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10001,-0.76,-97.3,754.7,-6.9,449,10005,0.00,2.03,0.00,0.000,4,0.000,0.084,1962,464,3447,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10076,-0.78,-97.3,760.6,-7.7,452,10080,0.00,1.85,0.00,0.000,6,0.000,0.042,1955,1520,3447,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10395,-0.80,-97.3,789.0,-9.5,463,10402,0.00,2.03,0.00,0.000,4,0.000,0.086,1955,467,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10495,-0.80,-97.3,798.1,-10.0,466,10499,0.00,1.85,0.00,0.000,6,0.000,0.043,1947,1519,3445,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10797,-0.78,-97.3,828.1,-9.3,476,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11096,-0.76,-97.3,854.2,-8.6,486,11100,0.00,2.03,0.00,0.000,4,0.000,0.086,1947,465,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11156,-0.74,-97.3,858.3,-8.7,488,11159,0.00,1.88,0.00,0.000,6,0.000,0.044,1940,1525,3443,0,0,0,0,0,0,28.83,14.07,28.83
$GC,11460,-0.71,-97.3,884.5,-8.0,498,11467,0.00,1.88,0.00,0.000,4,0.000,0.054,1931,2574,3442,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11532,-0.69,-97.3,888.9,-7.6,500,11536,0.15,1.98,0.00,0.000,6,0.256,0.066,1959,1517,3441,0,0,0,0,0,0,13.55,13.93,28.83
$GC,11835,-0.69,-97.3,909.4,-6.2,510,11842,0.00,2.03,0.00,0.000,4,0.000,0.089,1960,464,3441,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11951,-0.68,-97.3,917.7,-6.9,514,11955,0.00,1.88,0.00,0.000,6,0.000,0.044,1955,1522,3440,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12270,-0.67,-97.3,939.3,-7.2,525,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1523,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12566,-0.65,-97.3,961.1,-7.2,535,12570,0.00,2.05,0.00,0.000,4,0.000,0.087,1954,462,3438,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12642,-0.64,-97.3,967.0,-7.7,538,12647,0.15,1.88,0.00,0.000,6,0.253,0.044,1976,1519,3438,0,0,0,0,0,0,13.54,14.01,28.83
$STATE,12862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12862,begin apogee
$GC,12871,-0.18,0.0,981.1,-6.3,546,12993,0.55,0.00,114.20,1.822,6,0.182,0.000,2127,1395,3062,0,0,0,0,1,0,13.76,28.83,13.10
$STATE,12995,end apogee,CONTROL_FINISHED_OK
$STATE,12995,begin climb
$GC,13000,0.60,97.3,986.7,0.0,550,13136,0.80,2.03,123.88,1.808,4,0.106,0.094,2389,345,2666,0,0,0,0,1,0,13.95,14.09,13.12
$GC,13361,0.54,133.2,983.4,4.5,562,13427,0.00,1.85,56.55,1.534,6,0.000,0.046,2389,1411,2517,0,0,0,0,1,0,28.83,14.37,13.21
$GC,13721,0.47,133.2,961.3,6.3,574,13726,0.20,2.00,0.00,0.000,4,0.267,0.091,2352,344,2514,0,0,0,0,0,0,14.01,14.28,28.83
$GC,13950,0.44,145.7,948.5,5.5,582,13989,0.00,1.83,28.73,1.063,6,0.000,0.045,2352,1404,2469,0,0,0,0,1,0,28.83,14.45,13.31
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$STATE,26413,end climb,SURFACE_DEPTH_REACHED
$STATE,26413,begin surface coast
$FINISH,0.0,1.025760
$STATE,26430,end surface coast,CONTROL_FINISHED_OK
$STATE,26430,begin surface
$SM_CCo,26513,0.00,0.000,0,0,1608,356.67
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$TT8_MAMPS,0.023219,0.023219
$HUMID,60.47
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.80
$XPDR_PINGS,7
$SC_FREEKB,7567456
$24V_AH,13.1,244.682
$10V_AH,12.1,0.000
$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
$DEVICE_SECS,21.975,198.975,753.375,0.000,0.000,0.000,0.000,308.800,1.750,0.000,21.099,3182.607,19711.010,1105.717,2291.997,798.194,0.000,2437.216,0.000,1916.844,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.342,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,39970,1093
$CAP_FILE_SIZE,255110,0
$CFSIZE,260034560,187965440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,16,0,0
$CURRENT,0.129,261.9,1
$GPS,090313,122434,2434.042,-3724.250,28,0.8,28,-13.8