version: 66.11
glider: 191
mission: 5
dive: 530
start: 3 9 113 20 44 36
data:
$ID,191
$MISSION,5
$DIVE,530
$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,-5271.6147
$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,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
$GPS1,090313,203404,2434.760,-3723.185,33,0.9,33,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.5
$GPS2,090313,204406,2434.889,-3723.197,15,1.1,15,-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,98.9,8755,-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,-57.53,0.000,6,0.000,0.000,157,1519,3459,0,0,0,0,0,0,28.83,28.83,14.64
$GC,87,-0.60,-97.3,4.3,-8.1,4,101,9.82,1.80,0.00,0.000,4,0.409,0.047,1981,2568,3461,1,0,0,0,0,0,13.54,14.39,28.83
$GC,236,-0.60,-97.3,22.6,-8.7,14,240,0.00,1.90,0.00,0.000,6,0.000,0.062,1982,1520,3464,0,0,0,0,0,0,28.83,14.24,28.83
$GC,535,-0.57,-97.3,47.3,-7.8,34,539,0.00,1.95,0.00,0.000,4,0.000,0.081,1980,464,3464,0,0,0,0,0,0,28.83,14.09,28.83
$GC,597,-0.55,-97.3,52.3,-8.5,38,602,0.15,1.80,0.00,0.000,6,0.236,0.039,2006,1516,3463,0,0,0,0,0,0,13.87,14.23,28.83
$GC,896,-0.55,-97.3,76.1,-7.9,58,900,0.00,1.95,0.00,0.000,4,0.000,0.081,2006,464,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,957,-0.55,-97.3,81.2,-8.5,62,961,0.00,1.80,0.00,0.000,6,0.000,0.038,2001,1522,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1256,-0.55,-97.3,106.3,-7.8,82,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-0.55,-97.3,125.2,-5.6,102,1560,0.00,1.98,0.00,0.000,4,0.000,0.080,2001,461,3465,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1645,-0.55,-97.3,130.9,-6.5,108,1649,0.00,1.80,0.00,0.000,6,0.000,0.037,1993,1520,3464,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1945,-0.55,-97.3,151.6,-7.0,128,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,-0.55,-97.3,173.9,-7.9,148,2250,0.00,1.98,0.00,0.000,4,0.000,0.080,1993,460,3465,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2365,-0.55,-97.3,184.2,-8.5,156,2369,0.00,1.83,0.00,0.000,6,0.000,0.038,1985,1527,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2666,-0.55,-97.3,204.9,-6.1,176,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1529,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2966,-0.55,-97.3,222.0,-5.9,196,2970,0.00,1.98,0.00,0.000,4,0.000,0.080,1985,464,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3072,-0.54,-97.3,229.2,-6.9,203,3076,0.15,1.80,0.00,0.000,6,0.233,0.038,2010,1522,3465,0,0,0,0,0,0,13.82,14.29,28.83
$GC,3372,-0.59,-97.3,250.2,-7.9,223,3376,0.00,1.83,0.00,0.000,4,0.000,0.049,2005,2575,3466,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3460,-0.65,-97.3,256.3,-8.1,226,3464,0.00,1.90,0.00,0.000,6,0.000,0.060,2005,1518,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3761,-0.71,-97.3,283.2,-8.7,236,3765,0.12,1.85,0.00,0.000,4,0.133,0.050,1947,2577,3465,0,0,0,0,0,0,14.47,14.17,28.83
$GC,3821,-0.74,-97.3,287.4,-8.8,238,3825,0.00,1.92,0.00,0.000,6,0.000,0.060,1947,1512,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4121,-0.71,-97.3,315.6,-8.5,248,4125,0.00,1.95,0.00,0.000,4,0.000,0.080,1946,461,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4227,-0.67,-97.3,324.8,-8.9,252,4232,0.15,1.80,0.00,0.000,6,0.256,0.038,1969,1519,3465,0,0,0,0,0,0,13.74,14.26,28.83
$GC,4543,-0.67,-97.3,347.8,-7.2,263,4547,0.00,1.98,0.00,0.000,4,0.000,0.080,1969,461,3464,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4647,-0.65,-97.3,356.4,-8.2,267,4650,0.00,1.80,0.00,0.000,6,0.000,0.038,1964,1519,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4964,-0.63,-97.3,381.6,-8.2,278,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5263,-0.62,-97.3,405.6,-8.0,288,5266,0.00,1.98,0.00,0.000,4,0.000,0.082,1964,462,3463,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5440,-0.59,-97.3,419.6,-8.5,294,5445,0.17,1.80,0.00,0.000,6,0.237,0.038,1994,1524,3462,0,0,0,0,0,0,13.74,14.28,28.83
$GC,5745,-0.64,-97.3,438.7,-5.7,304,5753,0.00,1.83,0.00,0.000,4,0.000,0.050,1989,2568,3461,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5816,-0.69,-97.3,442.1,-5.5,306,5820,0.00,1.90,0.00,0.000,6,0.000,0.062,1989,1522,3461,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6119,-0.74,-97.3,458.9,-5.4,316,6121,0.12,0.00,0.00,0.000,6,0.132,0.000,1940,1521,3460,0,0,0,0,0,0,14.44,28.83,28.83
$GC,6418,-0.72,-97.3,480.0,-7.5,326,6422,0.00,1.98,0.00,0.000,4,0.000,0.083,1941,465,3459,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6521,-0.68,-97.3,489.0,-8.6,330,6526,0.17,1.80,0.00,0.000,6,0.254,0.040,1969,1516,3459,0,0,0,0,0,0,13.66,14.26,28.83
$GC,6839,-0.68,-97.3,512.4,-7.6,341,6846,0.00,1.98,0.00,0.000,4,0.000,0.083,1969,466,3458,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6910,-0.68,-97.3,517.4,-8.0,343,6913,0.00,1.83,0.00,0.000,6,0.000,0.039,1964,1527,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7213,-0.67,-97.3,543.9,-8.5,353,7216,0.00,2.00,0.00,0.000,4,0.000,0.083,1964,466,3457,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7286,-0.65,-97.3,550.8,-9.1,356,7290,0.00,1.83,0.00,0.000,6,0.000,0.039,1956,1524,3457,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7604,-0.63,-97.3,576.3,-7.5,367,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1526,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7903,-0.62,-97.3,596.5,-6.5,377,7905,0.15,0.00,0.00,0.000,6,0.247,0.000,1988,1525,3455,0,0,0,0,0,0,13.93,28.83,28.83
$GC,8201,-0.67,-97.3,616.6,-7.2,387,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1525,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,-0.72,-97.3,641.4,-8.6,397,8506,0.00,2.00,0.00,0.000,4,0.000,0.084,1988,465,3453,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8606,-0.75,-97.3,650.9,-9.1,401,8610,0.12,1.83,0.00,0.000,6,0.137,0.041,1941,1519,3453,0,0,0,0,0,0,14.04,14.17,28.83
$GC,8925,-0.73,-97.3,681.8,-9.8,412,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,-0.70,-97.3,708.0,-8.2,422,9225,0.00,2.00,0.00,0.000,4,0.000,0.084,1947,466,3451,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9371,-0.66,-97.3,719.2,-8.3,427,9376,0.17,1.83,0.00,0.000,6,0.255,0.041,1969,1519,3450,0,0,0,0,0,0,13.55,14.14,28.83
$GC,9674,-0.66,-97.3,737.0,-5.2,437,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9973,-0.69,-97.3,753.9,-6.0,447,9977,0.00,2.03,0.00,0.000,4,0.000,0.086,1969,462,3447,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10077,-0.71,-97.3,760.8,-6.6,451,10080,0.00,1.85,0.00,0.000,6,0.000,0.041,1964,1524,3449,0,0,0,0,0,0,28.83,14.13,28.83
$GC,10394,-0.74,-97.3,783.4,-7.6,462,10398,0.00,2.03,0.00,0.000,4,0.000,0.084,1964,466,3448,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10498,-0.76,-97.3,792.6,-8.6,466,10502,0.00,1.85,0.00,0.000,6,0.000,0.041,1958,1522,3447,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10815,-0.79,-97.3,819.7,-8.6,477,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1523,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11114,-0.81,-97.3,844.4,-8.0,487,11118,0.00,2.05,0.00,0.000,4,0.000,0.086,1958,460,3445,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11217,-0.81,-97.3,852.6,-7.8,491,11220,0.00,1.85,0.00,0.000,6,0.000,0.041,1950,1521,3444,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11536,-0.80,-97.3,872.4,-5.6,502,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11832,-0.78,-97.3,887.3,-4.8,512,11836,0.00,2.03,0.00,0.000,4,0.000,0.086,1950,467,3442,0,0,0,0,0,0,28.83,13.70,28.83
$GC,11939,-0.76,-97.3,893.2,-5.6,516,11942,0.00,1.88,0.00,0.000,6,0.000,0.043,1942,1524,3442,0,0,0,0,0,0,28.83,13.94,28.83
$GC,12255,-0.74,-97.3,909.5,-5.3,527,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1525,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12553,-0.72,-97.3,928.3,-6.8,537,12557,0.00,2.05,0.00,0.000,4,0.000,0.087,1943,463,3440,0,0,0,0,0,0,28.83,13.91,28.83
$GC,12611,-0.70,-97.3,931.8,-7.2,539,12616,0.12,1.88,0.00,0.000,6,0.268,0.043,1958,1522,3440,0,0,0,0,0,0,13.58,14.04,28.83
$GC,12915,-0.70,-97.3,955.6,-7.9,549,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13208,begin apogee
$GC,13218,-0.18,0.0,981.4,-8.9,559,13344,0.62,0.00,114.60,1.828,6,0.212,0.000,2122,1398,3062,0,0,0,0,1,0,13.74,28.83,13.08
$STATE,13346,end apogee,CONTROL_FINISHED_OK
$STATE,13346,begin climb
$GC,13350,0.60,97.3,989.4,0.0,563,13486,0.85,1.92,124.70,1.820,4,0.112,0.054,2384,2461,2665,0,0,0,0,1,0,13.97,14.14,13.11
$GC,13707,0.65,206.4,997.1,1.4,576,13856,0.00,1.95,135.73,1.843,6,0.000,0.070,2391,1400,2220,0,0,0,0,1,0,28.83,14.24,13.12
$GC,14157,0.60,206.4,968.0,8.0,591,14161,0.00,1.85,0.00,0.000,4,0.000,0.053,2391,2456,2214,0,0,0,0,0,0,28.83,14.31,28.83
$GC,14216,0.54,206.4,964.1,8.2,593,14221,0.15,1.95,0.00,0.000,6,0.282,0.071,2371,1400,2213,0,0,0,0,0,0,13.89,14.23,28.83
$GC,14521,0.51,206.4,938.4,8.2,603,14528,0.00,2.03,0.00,0.000,4,0.000,0.095,2377,342,2214,0,0,0,0,0,0,28.83,14.10,28.83
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$STATE,27599,end climb,SURFACE_DEPTH_REACHED
$STATE,27599,begin surface coast
$FINISH,0.7,1.025630
$STATE,27614,end surface coast,CONTROL_FINISHED_OK
$STATE,27614,begin surface
$SM_CCo,27635,6.80,0.747,0,0,1756,320.12
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$TT8_MAMPS,0.023968,0.023968
$HUMID,59.33
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.20
$XPDR_PINGS,6
$SC_FREEKB,7566688
$24V_AH,13.1,245.514
$10V_AH,11.1,0.000
$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
$DEVICE_SECS,21.550,195.275,606.900,6.800,0.000,0.000,0.000,314.050,1.500,0.000,16.891,3355.640,20740.227,941.376,2397.746,791.762,0.000,2302.932,0.000,2035.658,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27672.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.342,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43367,1156
$CAP_FILE_SIZE,260635,0
$CFSIZE,260034560,187719680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,0,0
$CURRENT,0.090,286.8,1
$GPS,100313,042634,2435.783,-3721.954,28,0.9,28,-13.8