version: 66.11
glider: 191
mission: 5
dive: 534
start: 3 11 113 4 16 17
data:
$ID,191
$MISSION,5
$DIVE,534
$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,-5276.6465
$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,23
$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
$GPS1,110313,040604,2436.332,-3719.466,22,1.0,22,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-56.8
$GPS2,110313,041547,2436.343,-3719.531,16,1.1,16,-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,143.6,3582,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-59.35,0.000,6,0.000,0.000,152,1521,3460,0,0,0,0,0,0,28.83,28.83,14.66
$GC,87,-0.60,-97.3,4.2,-9.1,4,102,10.07,1.83,0.00,0.000,4,0.415,0.048,1983,2575,3463,1,0,0,0,0,0,13.54,14.42,28.83
$GC,176,-0.58,-97.3,16.9,-8.2,10,179,0.00,1.92,0.00,0.000,6,0.000,0.063,1983,1511,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,476,-0.56,-97.3,41.0,-8.1,30,479,0.00,1.95,0.00,0.000,4,0.000,0.083,1984,463,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,596,-0.53,-97.3,51.7,-8.8,38,601,0.17,1.80,0.00,0.000,6,0.224,0.039,2015,1513,3465,0,0,0,0,0,0,13.83,14.30,28.83
$GC,896,-0.54,-97.3,72.3,-6.6,58,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1514,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1196,-0.57,-97.3,93.2,-6.9,78,1200,0.00,1.95,0.00,0.000,4,0.000,0.081,2015,465,3466,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1285,-0.59,-97.3,100.4,-8.4,84,1289,0.00,1.80,0.00,0.000,6,0.000,0.039,2011,1519,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1585,-0.64,-97.3,126.4,-9.0,104,1589,0.00,1.95,0.00,0.000,4,0.000,0.080,2010,465,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1660,-0.67,-97.3,133.7,-9.7,109,1664,0.00,1.80,0.00,0.000,6,0.000,0.038,2003,1519,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1961,-0.71,-97.3,160.7,-8.7,129,1965,0.15,1.98,0.00,0.000,4,0.120,0.080,1945,464,3465,0,0,0,0,0,0,14.40,13.99,28.83
$GC,2066,-0.66,-97.3,171.4,-10.4,136,2071,0.17,1.83,0.00,0.000,6,0.245,0.039,1973,1528,3465,0,0,0,0,0,0,13.73,14.27,28.83
$GC,2365,-0.64,-97.3,194.9,-7.3,156,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1529,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.64,-97.3,216.9,-7.2,176,2668,0.00,1.98,0.00,0.000,4,0.000,0.082,1976,466,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2726,-0.63,-97.3,221.7,-8.1,180,2729,0.00,1.80,0.00,0.000,6,0.000,0.039,1968,1520,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3025,-0.61,-97.3,247.3,-8.7,200,3029,0.00,1.98,0.00,0.000,4,0.000,0.080,1968,461,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3084,-0.59,-97.3,251.5,-9.2,203,3089,0.17,1.80,0.00,0.000,6,0.233,0.038,1997,1521,3465,0,0,0,0,0,0,13.76,14.27,28.83
$GC,3391,-0.64,-97.3,276.9,-7.8,213,3396,0.00,1.95,0.00,0.000,4,0.000,0.080,1998,470,3465,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3475,-0.67,-97.3,283.6,-7.5,216,3479,0.00,1.80,0.00,0.000,6,0.000,0.039,1993,1523,3466,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3794,-0.72,-97.3,302.9,-5.6,227,3802,0.12,1.88,0.00,0.000,4,0.132,0.050,1936,2581,3465,0,0,0,0,0,0,14.40,14.14,28.83
$GC,3880,-0.72,-97.3,308.2,-5.9,230,3884,0.00,1.92,0.00,0.000,6,0.000,0.060,1936,1513,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4200,-0.68,-97.3,326.8,-5.8,241,4207,0.15,1.92,0.00,0.000,4,0.256,0.081,1967,473,3464,0,0,0,0,0,0,13.95,13.88,28.83
$GC,4300,-0.66,-97.3,332.2,-5.9,244,4303,0.00,1.80,0.00,0.000,6,0.000,0.039,1962,1522,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4601,-0.64,-97.3,350.7,-6.3,254,4605,0.00,1.98,0.00,0.000,4,0.000,0.080,1962,464,3467,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4659,-0.62,-97.3,353.9,-6.6,256,4664,0.15,1.80,0.00,0.000,6,0.241,0.039,1986,1521,3463,0,0,0,0,0,0,13.79,14.28,28.83
$GC,4964,-0.65,-97.3,375.7,-7.1,266,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.69,-97.3,400.7,-8.8,276,5264,0.00,1.98,0.00,0.000,4,0.000,0.081,1986,465,3462,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5396,-0.71,-97.3,413.3,-9.4,281,5399,0.00,1.83,0.00,0.000,6,0.000,0.040,1981,1527,3462,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5715,-0.75,-97.3,442.7,-9.2,292,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1528,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.79,-97.3,466.2,-7.3,302,6012,0.15,0.00,0.00,0.000,6,0.122,0.000,1926,1528,3460,0,0,0,0,0,0,14.40,28.83,28.83
$GC,6312,-0.77,-97.3,488.4,-7.3,312,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,1528,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,-0.73,-97.3,511.3,-7.8,322,6614,0.00,2.00,0.00,0.000,4,0.000,0.083,1925,462,3458,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6746,-0.67,-97.3,523.5,-9.2,327,6751,0.22,1.83,0.00,0.000,6,0.251,0.041,1965,1521,3458,0,0,0,0,0,0,13.57,14.23,28.83
$GC,7063,-0.67,-97.3,547.3,-7.7,338,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,-0.67,-97.3,569.7,-7.4,348,7365,0.00,2.00,0.00,0.000,4,0.000,0.083,1965,462,3457,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7450,-0.66,-97.3,575.5,-7.6,351,7453,0.00,1.83,0.00,0.000,6,0.000,0.041,1960,1519,3457,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7750,-0.65,-97.3,597.2,-6.6,361,7754,0.00,2.00,0.00,0.000,4,0.000,0.083,1960,463,3456,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7810,-0.63,-97.3,600.4,-6.7,363,7815,0.15,1.83,0.00,0.000,6,0.239,0.040,1983,1521,3456,0,0,0,0,0,0,13.70,14.19,28.83
$GC,8114,-0.67,-97.3,618.5,-5.6,373,8121,0.00,2.00,0.00,0.000,4,0.000,0.083,1983,467,3453,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8217,-0.70,-97.3,623.8,-5.8,376,8220,0.00,1.83,0.00,0.000,6,0.000,0.041,1979,1521,3454,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8515,-0.75,-97.3,643.7,-6.7,386,8519,0.00,1.85,0.00,0.000,4,0.000,0.052,1972,2574,3453,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8651,-0.79,-97.3,653.7,-7.5,391,8656,0.12,1.95,0.00,0.000,6,0.138,0.063,1926,1515,3452,0,0,0,0,0,0,13.98,13.99,28.83
$GC,8968,-0.75,-97.3,684.1,-10.2,402,8972,0.00,2.00,0.00,0.000,4,0.000,0.085,1926,463,3455,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9072,-0.70,-97.3,696.2,-11.4,406,9077,0.20,1.85,0.00,0.000,6,0.247,0.041,1960,1525,3450,0,0,0,0,0,0,13.52,14.08,28.83
$GC,9389,-0.70,-97.3,726.1,-9.3,417,9393,0.00,2.03,0.00,0.000,4,0.000,0.085,1960,463,3450,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9476,-0.68,-97.3,733.6,-9.6,420,9480,0.00,1.85,0.00,0.000,6,0.000,0.041,1954,1524,3450,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9780,-0.67,-97.3,760.6,-8.1,430,9784,0.00,2.03,0.00,0.000,4,0.000,0.085,1954,461,3449,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9867,-0.65,-97.3,766.9,-8.3,433,9871,0.15,1.85,0.00,0.000,6,0.244,0.041,1977,1521,3449,0,0,0,0,0,0,13.62,14.10,28.83
$GC,10173,-0.69,-97.3,787.5,-6.1,443,10179,0.00,2.00,0.00,0.000,4,0.000,0.086,1977,469,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10228,-0.72,-97.3,791.2,-6.2,445,10232,0.00,1.85,0.00,0.000,6,0.000,0.042,1974,1522,3448,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10547,-0.76,-97.3,808.9,-5.5,456,10555,0.00,2.00,0.00,0.000,4,0.000,0.085,1974,470,3446,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10678,-0.79,-97.3,816.1,-5.9,460,10682,0.00,1.85,0.00,0.000,6,0.000,0.042,1966,1526,3446,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10982,-0.82,-97.3,835.7,-6.6,470,10990,0.15,2.03,0.00,0.000,4,0.129,0.086,1915,464,3445,0,0,0,0,0,0,14.26,13.78,28.83
$GC,11112,-0.78,-97.3,846.2,-8.8,474,11116,0.00,1.85,0.00,0.000,6,0.000,0.043,1907,1519,3444,0,0,0,0,0,0,28.83,14.06,28.83
$GC,11414,-0.73,-97.3,877.1,-10.1,484,11416,0.20,0.00,0.00,0.000,6,0.259,0.000,1949,1520,3443,0,0,0,0,0,0,13.45,28.83,28.83
$GC,11713,-0.72,-97.3,903.4,-8.6,494,11717,0.00,2.03,0.00,0.000,4,0.000,0.088,1949,466,3442,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11772,-0.70,-97.3,907.6,-8.8,496,11776,0.00,1.88,0.00,0.000,6,0.000,0.044,1943,1524,3442,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12077,-0.68,-97.3,934.7,-8.3,506,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1525,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12373,-0.66,-97.3,957.7,-7.5,516,12378,0.15,2.05,0.00,0.000,4,0.254,0.088,1974,466,3440,0,0,0,0,0,0,13.78,13.94,28.83
$GC,12463,-0.65,-97.3,963.1,-7.1,519,12467,0.00,1.90,0.00,0.000,6,0.000,0.044,1968,1531,3440,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,12729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12729,begin apogee
$GC,12737,-0.18,0.0,981.0,-6.0,528,12864,0.60,0.00,114.68,1.816,6,0.181,0.000,2129,1394,3063,0,0,0,0,1,0,13.82,28.83,13.09
$STATE,12866,end apogee,CONTROL_FINISHED_OK
$STATE,12866,begin climb
$GC,12871,0.60,97.3,986.0,0.0,532,13007,0.80,1.92,124.60,1.812,4,0.094,0.054,2380,2457,2665,0,0,0,0,1,0,14.02,14.14,13.12
$GC,13230,0.57,142.2,982.1,4.2,545,13305,0.00,1.95,65.68,1.604,6,0.000,0.070,2388,1398,2482,0,0,0,0,1,0,28.83,14.24,13.19
$GC,13603,0.51,147.8,960.7,5.8,557,13610,0.15,0.00,4.45,1.948,6,0.289,0.000,2358,1398,2458,0,0,0,0,0,0,14.04,28.83,13.33
$GC,13907,0.51,184.9,946.4,4.5,567,13976,0.00,1.95,58.12,1.552,4,0.000,0.095,2364,346,2307,0,0,0,0,1,0,28.83,14.27,13.25
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$STATE,26774,end climb,SURFACE_DEPTH_REACHED
$STATE,26774,begin surface coast
$FINISH,0.5,1.025626
$STATE,26791,end surface coast,CONTROL_FINISHED_OK
$STATE,26791,begin surface
$SM_CCo,26872,0.00,0.000,0,0,1730,326.74
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$IRIDIUM_FIX,2425.21,-3719.67,100313,202044
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.52
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.20
$XPDR_PINGS,9
$SC_FREEKB,7565152
$24V_AH,13.1,247.198
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,22.000,194.975,654.575,0.000,0.000,0.000,0.000,296.775,2.250,0.000,17.361,3232.208,20111.674,991.203,2306.469,793.532,0.000,2317.648,0.000,1944.426,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26843.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.339,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43265,1102
$CAP_FILE_SIZE,255830,0
$CFSIZE,260034560,187248640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,0,0
$CURRENT,0.125,286.7,1
$GPS,110313,114528,2435.530,-3719.042,36,0.7,36,-13.8