version: 66.11
glider: 191
mission: 5
dive: 541
start: 3 13 113 10 13 37
data:
$ID,191
$MISSION,5
$DIVE,541
$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,-5285.4468
$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,57
$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
$GPS1,130313,100305,2443.310,-3728.061,34,0.9,34,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-49.2
$GPS2,130313,101307,2443.350,-3728.069,14,1.0,14,-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,334.1,76666,-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,-60.40,0.000,2,0.000,0.000,162,1532,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,4.1,-9.2,4,105,9.70,1.98,-0.93,0.000,4,0.404,0.105,1996,462,3462,1,0,0,0,0,0,13.52,14.20,14.60
$GC,326,-0.57,-97.3,30.7,-8.4,20,330,0.00,1.80,0.00,0.000,6,0.000,0.039,1991,1512,3463,0,0,0,0,0,0,28.83,14.21,28.83
$GC,626,-0.56,-97.3,56.3,-8.0,40,630,0.00,1.98,0.00,0.000,4,0.000,0.083,1991,457,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,672,-0.54,-97.3,60.0,-8.1,43,676,0.12,1.83,0.00,0.000,6,0.248,0.040,2008,1519,3464,0,0,0,0,0,0,13.88,14.24,28.83
$GC,971,-0.54,-97.3,81.0,-6.4,63,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.54,-97.3,101.8,-6.6,83,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-0.54,-97.3,120.9,-6.7,103,1574,0.00,1.98,0.00,0.000,4,0.000,0.080,2008,461,3465,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1631,-0.54,-97.3,125.4,-7.6,107,1634,0.00,1.83,0.00,0.000,6,0.000,0.040,2003,1522,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1931,-0.54,-97.3,146.3,-6.9,127,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.54,-97.3,166.7,-7.0,147,2234,0.00,1.98,0.00,0.000,4,0.000,0.080,2003,463,3465,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2307,-0.54,-97.3,172.7,-8.0,152,2311,0.00,1.83,0.00,0.000,6,0.000,0.039,1995,1525,3464,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2606,-0.58,-97.3,196.4,-8.1,172,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.62,-97.3,219.9,-8.0,192,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-0.67,-97.3,246.5,-9.1,212,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.71,-97.3,276.4,-9.7,224,3525,0.12,1.85,0.00,0.000,4,0.135,0.051,1938,2580,3465,0,0,0,0,0,0,14.45,14.12,28.83
$GC,3582,-0.73,-97.3,280.8,-9.7,226,3586,0.00,1.92,0.00,0.000,6,0.000,0.060,1938,1517,3465,0,0,0,0,0,0,28.83,14.10,28.83
$GC,3882,-0.70,-97.3,309.2,-7.8,236,3885,0.00,1.98,0.00,0.000,4,0.000,0.081,1938,463,3465,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3987,-0.64,-97.3,316.9,-7.5,240,3992,0.20,1.83,0.00,0.000,6,0.243,0.039,1973,1528,3465,0,0,0,0,0,0,13.64,14.25,28.83
$GC,4304,-0.64,-97.3,331.2,-4.4,251,4308,0.00,2.00,0.00,0.000,4,0.000,0.081,1973,457,3465,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4377,-0.63,-97.3,335.3,-5.1,254,4381,0.00,1.83,0.00,0.000,6,0.000,0.039,1968,1525,3465,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4696,-0.62,-97.3,353.9,-6.4,265,4703,0.00,1.98,0.00,0.000,4,0.000,0.081,1968,465,3464,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4752,-0.60,-97.3,358.4,-7.0,267,4757,0.15,1.80,0.00,0.000,6,0.237,0.039,1991,1521,3464,0,0,0,0,0,0,13.74,14.22,28.83
$GC,5073,-0.65,-97.3,381.2,-7.8,278,5078,0.00,1.92,0.00,0.000,4,0.000,0.082,1992,462,3463,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5127,-0.69,-97.3,386.3,-8.2,280,5130,0.00,1.83,0.00,0.000,6,0.000,0.039,1988,1524,3463,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5446,-0.73,-97.3,414.1,-8.9,291,5453,0.00,1.83,0.00,0.000,4,0.000,0.051,1981,2573,3462,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5532,-0.77,-97.3,422.2,-9.0,294,5536,0.12,1.92,0.00,0.000,6,0.135,0.062,1933,1517,3462,0,0,0,0,0,0,14.02,14.04,28.83
$GC,5851,-0.73,-97.3,453.6,-10.2,305,5858,0.00,1.98,0.00,0.000,4,0.000,0.083,1933,466,3461,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5967,-0.68,-97.3,466.7,-10.9,309,5971,0.20,1.83,0.00,0.000,6,0.243,0.040,1968,1528,3461,0,0,0,0,0,0,13.62,14.23,28.83
$GC,6285,-0.68,-97.3,491.7,-7.3,320,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1530,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,-0.68,-97.3,510.5,-6.0,330,6587,0.00,2.00,0.00,0.000,4,0.000,0.083,1968,466,3460,0,0,0,0,0,0,28.83,13.87,28.83
$GC,6657,-0.66,-97.3,515.7,-6.7,333,6661,0.00,1.83,0.00,0.000,6,0.000,0.041,1962,1522,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6976,-0.65,-97.3,539.2,-8.1,344,6983,0.00,2.00,0.00,0.000,4,0.000,0.083,1962,462,3457,0,0,0,0,0,0,28.83,13.86,28.83
$GC,7046,-0.63,-97.3,544.7,-8.7,346,7050,0.12,1.83,0.00,0.000,6,0.243,0.041,1979,1519,3459,0,0,0,0,0,0,13.74,14.17,28.83
$GC,7351,-0.67,-97.3,572.4,-8.8,356,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7647,-0.72,-97.3,598.3,-8.5,366,7651,0.00,2.00,0.00,0.000,4,0.000,0.085,1979,463,3456,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7706,-0.75,-97.3,602.3,-8.6,368,7710,0.00,1.85,0.00,0.000,6,0.000,0.041,1974,1529,3456,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8009,-0.79,-97.3,626.6,-7.4,378,8013,0.12,2.03,0.00,0.000,4,0.138,0.083,1929,467,3453,0,0,0,0,0,0,14.38,13.76,28.83
$GC,8097,-0.79,-97.3,633.3,-8.4,381,8100,0.00,1.83,0.00,0.000,6,0.000,0.041,1921,1518,3455,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8399,-0.75,-97.3,659.2,-8.0,391,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,-0.70,-97.3,683.8,-8.3,401,8702,0.17,2.00,0.00,0.000,4,0.243,0.084,1959,468,3453,0,0,0,0,0,0,13.77,13.82,28.83
$GC,8804,-0.67,-97.3,692.3,-8.1,405,8807,0.00,1.85,0.00,0.000,6,0.000,0.041,1953,1527,3452,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9121,-0.65,-97.3,718.9,-8.9,416,9128,0.00,1.88,0.00,0.000,4,0.000,0.054,1946,2577,3451,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9178,-0.64,-97.3,724.7,-9.1,418,9182,0.15,1.95,0.00,0.000,6,0.241,0.064,1975,1522,3451,0,0,0,0,0,0,13.62,13.97,28.83
$GC,9497,-0.68,-97.3,752.4,-8.8,429,9504,0.00,1.98,0.00,0.000,4,0.000,0.085,1975,473,3450,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9674,-0.71,-97.3,768.1,-8.8,435,9677,0.00,1.83,0.00,0.000,6,0.000,0.043,1972,1521,3449,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9992,-0.74,-97.3,791.6,-7.0,446,10000,0.00,1.88,0.00,0.000,4,0.000,0.054,1964,2573,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10062,-0.78,-97.3,795.8,-6.9,448,10066,0.00,1.95,0.00,0.000,6,0.000,0.064,1964,1520,3447,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10364,-0.81,-97.3,817.2,-6.9,458,10368,0.00,2.03,0.00,0.000,4,0.000,0.086,1964,461,3447,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10512,-0.79,-97.3,827.2,-7.5,463,10516,0.00,1.88,0.00,0.000,6,0.000,0.042,1956,1525,3446,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10817,-0.78,-97.3,852.6,-8.6,473,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1526,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11114,-0.77,-97.3,880.3,-9.1,483,11117,0.00,1.90,0.00,0.000,4,0.000,0.055,1948,2578,3444,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11187,-0.77,-97.3,887.1,-9.1,486,11191,0.00,1.98,0.00,0.000,6,0.000,0.064,1949,1517,3444,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11507,-0.75,-97.3,914.2,-8.1,497,11514,0.00,2.00,0.00,0.000,4,0.000,0.087,1949,467,3443,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11593,-0.73,-97.3,921.6,-8.1,500,11596,0.00,1.88,0.00,0.000,6,0.000,0.044,1941,1525,3443,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11912,-0.70,-97.3,942.2,-6.0,511,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1526,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12208,-0.68,-97.3,957.0,-4.8,521,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1526,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12509,-0.66,-97.3,972.2,-5.3,531,12514,0.15,1.92,0.00,0.000,4,0.245,0.056,1966,2577,3440,0,0,0,0,0,0,13.76,14.00,28.83
$GC,12614,-0.66,-97.3,977.3,-4.9,535,12618,0.00,1.98,0.00,0.000,6,0.000,0.067,1966,1521,3439,0,0,0,0,0,0,28.83,13.96,28.83
$STATE,12684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12684,begin apogee
$GC,12694,-0.18,0.0,981.4,-5.3,538,12821,0.57,0.00,114.88,1.812,6,0.194,0.000,2122,1392,3061,0,0,0,0,1,0,13.84,28.83,13.09
$STATE,12823,end apogee,CONTROL_FINISHED_OK
$STATE,12823,begin climb
$GC,12826,0.60,97.3,986.4,0.0,542,12962,0.82,2.03,124.38,1.796,4,0.103,0.094,2387,342,2668,0,0,0,0,1,0,14.00,14.09,13.13
$GC,13184,0.62,193.5,987.9,2.0,555,13317,0.00,1.85,120.68,1.787,6,0.000,0.046,2386,1410,2273,0,0,0,0,1,0,28.83,14.37,13.16
$GC,13635,0.59,213.3,968.4,5.2,570,13682,0.00,2.03,37.58,1.281,4,0.000,0.093,2393,343,2193,0,0,0,0,1,0,28.83,14.26,13.29
$GC,13902,0.53,213.3,950.5,7.6,578,13907,0.15,1.83,0.00,0.000,6,0.252,0.046,2363,1401,2190,0,0,0,0,0,0,14.02,14.40,28.83
$GC,14207,0.51,213.3,927.8,7.4,588,14209,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1403,2188,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26670,end climb,SURFACE_DEPTH_REACHED
$STATE,26670,begin surface coast
$FINISH,-0.0,1.012100
$STATE,26690,end surface coast,CONTROL_FINISHED_OK
$STATE,26690,begin surface
$SM_CCo,26771,0.00,0.000,0,0,1646,347.10
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$IRIDIUM_FIX,2432.32,-3724.43,130313,020209
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.31
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.10
$XPDR_PINGS,8
$SC_FREEKB,7562464
$24V_AH,13.1,250.181
$10V_AH,11.5,0.000
$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
$DEVICE_SECS,20.650,192.075,611.225,0.000,0.000,0.000,0.000,316.175,2.000,0.000,16.098,3218.595,20084.861,930.673,2310.419,809.708,0.000,2261.010,0.000,1928.688,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.335,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43313,1109
$CAP_FILE_SIZE,252533,0
$CFSIZE,260034560,186449920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.028,163.9,1
$GPS,130313,174104,2444.802,-3729.448,33,0.8,33,-13.8