version: 66.11
glider: 191
mission: 5
dive: 540
start: 3 13 113 2 40 12
data:
$ID,191
$MISSION,5
$DIVE,540
$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,-5284.1904
$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,41
$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
$GPS1,130313,022934,2442.034,-3726.087,37,0.8,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-51.2
$GPS2,130313,023941,2441.984,-3726.072,17,1.0,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,324.4,80815,-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,18,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.20,0.000,2,0.000,0.000,159,1510,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.2,-6.1,4,106,9.93,1.95,-2.78,0.000,4,0.410,0.106,1997,457,3460,1,0,0,0,0,0,13.54,14.21,14.68
$GC,254,-0.58,-97.3,21.4,-7.8,15,263,0.00,1.85,0.00,0.000,6,0.000,0.040,1991,1527,3461,0,0,0,0,0,0,28.83,14.32,28.83
$GC,566,-0.57,-97.3,45.4,-7.0,36,569,0.00,1.98,0.00,0.000,4,0.000,0.082,1991,464,3461,0,0,0,0,0,0,28.83,14.07,28.83
$GC,642,-0.54,-97.3,51.1,-7.8,41,646,0.12,1.83,0.00,0.000,6,0.251,0.041,2008,1524,3461,0,0,0,0,0,0,13.88,14.27,28.83
$GC,940,-0.54,-97.3,71.1,-6.9,61,944,0.00,1.98,0.00,0.000,4,0.000,0.081,2009,464,3462,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1001,-0.54,-97.3,75.7,-7.8,65,1005,0.00,1.83,0.00,0.000,6,0.000,0.040,2004,1526,3461,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1300,-0.54,-97.3,98.9,-7.9,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1527,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-0.54,-97.3,121.7,-7.5,105,1604,0.00,1.98,0.00,0.000,4,0.000,0.082,2003,464,3462,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1705,-0.54,-97.3,130.4,-8.2,112,1709,0.00,1.83,0.00,0.000,6,0.000,0.039,1996,1529,3463,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2005,-0.54,-97.3,152.0,-7.3,132,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1529,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.54,-97.3,175.6,-8.0,152,2309,0.00,2.00,0.00,0.000,4,0.000,0.082,1995,459,3462,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2365,-0.54,-97.3,180.7,-8.4,156,2369,0.00,1.83,0.00,0.000,6,0.000,0.040,1987,1523,3463,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2666,-0.56,-97.3,203.1,-7.1,176,2669,0.00,1.98,0.00,0.000,4,0.000,0.080,1993,459,3462,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2710,-0.56,-97.3,206.6,-7.7,179,2714,0.00,1.83,0.00,0.000,6,0.000,0.040,1979,1528,3462,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3010,-0.56,-97.3,227.5,-6.7,199,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1529,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.56,-97.3,246.6,-6.0,219,3315,0.00,2.00,0.00,0.000,4,0.000,0.083,1979,458,3462,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3418,-0.54,-97.3,253.8,-7.0,225,3422,0.17,1.83,0.00,0.000,6,0.230,0.040,2010,1522,3462,0,0,0,0,0,0,13.61,14.12,28.83
$GC,3736,-0.60,-97.3,272.8,-6.5,236,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.66,-97.3,293.9,-7.3,246,4036,0.00,1.85,0.00,0.000,4,0.000,0.052,2005,2581,3462,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4167,-0.72,-97.3,303.3,-7.0,251,4171,0.15,1.92,0.00,0.000,6,0.118,0.060,1946,1512,3462,0,0,0,0,0,0,14.11,14.11,28.83
$GC,4486,-0.69,-97.3,328.6,-8.0,262,4493,0.00,1.95,0.00,0.000,4,0.000,0.082,1946,461,3460,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4586,-0.65,-97.3,336.3,-8.5,265,4591,0.17,1.83,0.00,0.000,6,0.246,0.040,1974,1526,3462,0,0,0,0,0,0,13.64,14.23,28.83
$GC,4887,-0.65,-97.3,357.2,-6.4,275,4891,0.00,1.98,0.00,0.000,4,0.000,0.083,1975,467,3462,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4945,-0.65,-97.3,360.5,-6.6,277,4949,0.00,1.80,0.00,0.000,6,0.000,0.040,1970,1521,3462,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5247,-0.65,-97.3,380.8,-6.1,287,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5548,-0.65,-97.3,396.9,-5.1,297,5552,0.00,1.98,0.00,0.000,4,0.000,0.082,1970,467,3461,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5622,-0.63,-97.3,401.3,-5.7,300,5626,0.00,1.80,0.00,0.000,6,0.000,0.041,1962,1521,3461,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5941,-0.61,-97.3,423.2,-7.9,311,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6237,-0.60,-97.3,451.6,-9.9,321,6242,0.15,1.98,0.00,0.000,4,0.241,0.082,1995,469,3460,0,0,0,0,0,0,13.97,13.81,28.83
$GC,6312,-0.60,-97.3,458.9,-10.0,324,6316,0.00,1.83,0.00,0.000,6,0.000,0.041,1989,1527,3459,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6630,-0.64,-97.3,486.5,-8.3,335,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1528,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6928,-0.69,-97.3,507.4,-6.5,345,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1529,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,-0.74,-97.3,526.4,-6.1,355,7232,0.12,2.00,0.00,0.000,4,0.135,0.082,1943,463,3456,0,0,0,0,0,0,14.45,13.88,28.83
$GC,7376,-0.70,-97.3,536.7,-7.8,360,7379,0.00,1.83,0.00,0.000,6,0.000,0.041,1935,1519,3456,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7678,-0.67,-97.3,560.7,-7.8,370,7680,0.17,0.00,0.00,0.000,6,0.241,0.000,1973,1521,3455,0,0,0,0,0,0,13.87,28.83,28.83
$GC,7977,-0.67,-97.3,584.1,-8.3,380,7980,0.00,2.00,0.00,0.000,4,0.000,0.083,1973,461,3454,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8068,-0.67,-97.3,591.0,-9.0,383,8072,0.00,1.83,0.00,0.000,6,0.000,0.041,1968,1520,3453,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8366,-0.67,-97.3,619.6,-9.4,393,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8668,-0.67,-97.3,646.5,-8.6,403,8672,0.00,2.00,0.00,0.000,4,0.000,0.083,1968,462,3452,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8756,-0.65,-97.3,653.1,-8.8,406,8759,0.00,1.85,0.00,0.000,6,0.000,0.041,1960,1524,3452,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9058,-0.64,-97.3,676.2,-6.7,416,9062,0.00,2.00,0.00,0.000,4,0.000,0.083,1960,467,3448,0,0,0,0,0,0,28.83,13.70,28.83
$GC,9133,-0.62,-97.3,681.3,-6.8,419,9137,0.15,1.83,0.00,0.000,6,0.247,0.042,1983,1521,3451,0,0,0,0,0,0,13.62,14.12,28.83
$GC,9451,-0.66,-97.3,698.4,-5.4,430,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9748,-0.71,-97.3,716.3,-6.2,440,9752,0.00,1.88,0.00,0.000,4,0.000,0.054,1977,2574,3448,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9836,-0.76,-97.3,721.2,-6.4,443,9840,0.00,1.95,0.00,0.000,6,0.000,0.064,1977,1522,3448,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10138,-0.80,-97.3,744.2,-7.8,453,10140,0.15,0.00,0.00,0.000,6,0.125,0.000,1924,1522,3447,0,0,0,0,0,0,14.33,28.83,28.83
$GC,10437,-0.80,-97.3,772.8,-9.9,463,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10736,-0.80,-97.3,802.6,-9.8,473,10740,0.00,2.03,0.00,0.000,4,0.000,0.087,1924,463,3445,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10843,-0.76,-97.3,813.5,-10.4,477,10846,0.00,1.85,0.00,0.000,6,0.000,0.044,1915,1519,3445,0,0,0,0,0,0,28.83,14.07,28.83
$GC,11160,-0.72,-97.3,844.0,-9.4,488,11168,0.17,1.90,0.00,0.000,4,0.252,0.054,1946,2574,3443,0,0,0,0,0,0,13.51,13.97,28.83
$GC,11232,-0.69,-97.3,849.1,-9.0,490,11236,0.00,1.95,0.00,0.000,6,0.000,0.067,1946,1522,3445,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11535,-0.66,-97.3,876.9,-8.9,500,11538,0.00,2.03,0.00,0.000,4,0.000,0.089,1946,464,3442,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11653,-0.64,-97.3,886.7,-9.4,504,11658,0.20,1.88,0.00,0.000,6,0.239,0.043,1981,1524,3441,0,0,0,0,0,0,13.54,14.03,28.83
$GC,11956,-0.69,-97.3,909.9,-6.8,514,11959,0.00,1.90,0.00,0.000,4,0.000,0.057,1976,2576,3440,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12044,-0.74,-97.3,914.9,-6.6,517,12048,0.00,1.98,0.00,0.000,6,0.000,0.067,1977,1518,3440,0,0,0,0,0,0,28.83,13.95,28.83
$GC,12347,-0.79,-97.3,933.1,-5.3,527,12355,0.12,1.92,0.00,0.000,4,0.142,0.056,1925,2577,3439,0,0,0,0,0,0,14.33,13.90,28.83
$GC,12421,-0.82,-97.3,936.6,-5.4,529,12425,0.00,1.98,0.00,0.000,6,0.000,0.067,1925,1521,3439,0,0,0,0,0,0,28.83,13.95,28.83
$GC,12722,-0.78,-97.3,954.8,-6.0,539,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13019,-0.75,-97.3,973.2,-6.3,549,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13135,begin apogee
$GC,13145,-0.18,0.0,981.2,-6.7,553,13271,0.77,0.00,113.90,1.811,6,0.226,0.000,2121,1391,3061,0,0,0,0,1,0,13.85,28.83,13.09
$STATE,13273,end apogee,CONTROL_FINISHED_OK
$STATE,13273,begin climb
$GC,13276,0.60,97.3,985.9,0.0,557,13412,0.85,2.03,124.50,1.807,4,0.116,0.094,2386,341,2665,0,0,0,0,1,0,13.95,14.09,13.12
$GC,13634,0.59,172.9,985.2,2.9,570,13744,0.00,1.88,99.65,1.750,6,0.000,0.045,2386,1421,2356,0,0,0,0,1,0,28.83,14.33,13.16
$GC,14039,0.54,177.5,963.5,5.9,583,14050,0.00,2.05,2.90,1.932,4,0.000,0.096,2392,341,2337,0,0,0,0,0,0,28.83,14.26,13.33
$GC,14219,0.47,177.5,950.8,7.3,589,14224,0.20,1.85,0.00,0.000,6,0.252,0.045,2348,1409,2336,0,0,0,0,0,0,13.92,14.35,28.83
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$STATE,26398,end climb,SURFACE_DEPTH_REACHED
$STATE,26398,begin surface coast
$FINISH,-0.0,1.025453
$STATE,26414,end surface coast,CONTROL_FINISHED_OK
$STATE,26414,begin surface
$SM_CCo,26496,0.00,0.000,0,0,1654,345.63
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$IRIDIUM_FIX,2429.95,-3724.43,120313,181828
$TT8_MAMPS,0.02247,0.02247
$HUMID,59.92
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.20
$XPDR_PINGS,8
$SC_FREEKB,7562848
$24V_AH,13.1,249.756
$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
$DEVICE_SECS,21.950,184.950,587.950,0.000,0.000,0.000,0.000,318.900,2.000,0.000,18.662,3203.511,19875.330,909.583,2307.602,788.381,0.000,2235.084,0.000,1917.266,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.396,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43345,1105
$CAP_FILE_SIZE,247773,0
$CFSIZE,260034560,186568704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,0,0
$CURRENT,0.022,175.5,1
$GPS,130313,100305,2443.310,-3728.061,34,0.9,34,-13.8