version: 66.11
glider: 191
mission: 5
dive: 543
start: 3 14 113 1 48 46
data:
$ID,191
$MISSION,5
$DIVE,543
$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,-5287.9668
$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,44
$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
$GPS1,140313,013830,2446.746,-3730.854,56,0.8,56,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-51.7
$GPS2,140313,014817,2446.812,-3730.756,15,1.1,15,-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,317.3,68942,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-59.97,0.000,2,0.000,0.000,166,1513,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.4,-7.2,4,104,9.93,1.92,-1.20,0.000,4,0.415,0.103,1995,461,3461,1,0,0,0,0,0,13.50,14.23,14.63
$GC,280,-0.57,-97.3,21.4,-6.5,17,283,0.00,1.83,0.00,0.000,6,0.000,0.038,1990,1526,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,580,-0.56,-97.3,46.1,-8.6,37,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1527,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.55,-97.3,74.1,-8.8,57,884,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,464,3463,0,0,0,0,0,0,28.83,14.05,28.83
$GC,985,-0.52,-97.3,83.6,-9.0,64,989,0.15,1.83,0.00,0.000,6,0.238,0.039,2014,1527,3463,0,0,0,0,0,0,13.81,14.26,28.83
$GC,1285,-0.56,-97.3,104.2,-6.4,84,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1528,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.62,-97.3,123.7,-6.1,104,1589,0.00,2.00,0.00,0.000,4,0.000,0.081,2014,458,3464,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1705,-0.65,-97.3,130.9,-5.8,112,1709,0.00,1.83,0.00,0.000,6,0.000,0.038,2009,1524,3464,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2005,-0.70,-97.3,150.5,-6.9,132,2010,0.15,1.83,0.00,0.000,4,0.118,0.050,1944,2576,3463,0,0,0,0,0,0,14.42,14.16,28.83
$GC,2064,-0.70,-97.3,155.0,-7.5,136,2068,0.00,1.92,0.00,0.000,6,0.000,0.059,1944,1509,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2365,-0.66,-97.3,181.2,-9.2,156,2369,0.15,1.95,0.00,0.000,4,0.246,0.080,1976,461,3464,0,0,0,0,0,0,13.94,13.96,28.83
$GC,2426,-0.63,-97.3,186.7,-9.3,160,2430,0.00,1.83,0.00,0.000,6,0.000,0.037,1971,1531,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2725,-0.62,-97.3,211.7,-8.3,180,2729,0.00,2.00,0.00,0.000,4,0.000,0.080,1970,461,3464,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2801,-0.59,-97.3,218.4,-9.1,185,2806,0.15,1.80,0.00,0.000,6,0.240,0.038,1994,1517,3464,0,0,0,0,0,0,13.77,14.26,28.83
$GC,3101,-0.61,-97.3,237.9,-5.7,205,3104,0.00,1.98,0.00,0.000,4,0.000,0.080,1994,461,3464,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3161,-0.61,-97.3,241.7,-6.3,209,3164,0.00,1.83,0.00,0.000,6,0.000,0.038,1989,1525,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3463,-0.61,-97.3,258.9,-5.9,224,3466,0.00,2.00,0.00,0.000,4,0.000,0.080,1989,457,3463,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3506,-0.61,-97.3,261.8,-6.1,226,3510,0.00,1.83,0.00,0.000,6,0.000,0.038,1980,1525,3464,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3821,-0.61,-97.3,284.6,-7.9,237,3825,0.00,1.98,0.00,0.000,4,0.000,0.081,1981,467,3463,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3911,-0.61,-97.3,291.2,-8.6,240,3914,0.00,1.80,0.00,0.000,6,0.000,0.038,1973,1520,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4212,-0.61,-97.3,319.0,-9.0,250,4216,0.00,1.98,0.00,0.000,4,0.000,0.080,1973,463,3463,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4285,-0.59,-97.3,326.2,-9.3,253,4290,0.15,1.83,0.00,0.000,6,0.237,0.038,1997,1526,3464,0,0,0,0,0,0,13.75,14.22,28.83
$GC,4606,-0.64,-97.3,351.5,-8.0,264,4612,0.00,1.98,0.00,0.000,4,0.000,0.081,1997,465,3463,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4690,-0.68,-97.3,358.5,-7.7,267,4694,0.00,1.80,0.00,0.000,6,0.000,0.038,1994,1518,3463,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5010,-0.73,-97.3,379.6,-6.5,278,5017,0.12,1.85,0.00,0.000,4,0.132,0.050,1937,2573,3463,0,0,0,0,0,0,14.45,14.04,28.83
$GC,5066,-0.76,-97.3,383.8,-6.7,280,5069,0.00,1.92,0.00,0.000,6,0.000,0.060,1937,1513,3462,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5385,-0.72,-97.3,408.7,-8.0,291,5392,0.00,1.95,0.00,0.000,4,0.000,0.082,1937,465,3462,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5441,-0.68,-97.3,413.8,-8.4,293,5446,0.17,1.83,0.00,0.000,6,0.252,0.039,1965,1527,3462,0,0,0,0,0,0,13.64,14.21,28.83
$GC,5759,-0.67,-97.3,436.9,-7.3,304,5767,0.00,2.00,0.00,0.000,4,0.000,0.082,1965,464,3461,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5847,-0.65,-97.3,444.1,-7.8,307,5850,0.00,1.83,0.00,0.000,6,0.000,0.038,1960,1527,3460,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6164,-0.63,-97.3,466.4,-7.1,318,6171,0.00,2.00,0.00,0.000,4,0.000,0.081,1960,464,3460,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6236,-0.61,-97.3,471.1,-7.5,320,6240,0.17,1.83,0.00,0.000,6,0.237,0.039,1989,1524,3460,0,0,0,0,0,0,13.65,14.19,28.83
$GC,6538,-0.65,-97.3,492.5,-6.9,330,6542,0.00,2.00,0.00,0.000,4,0.000,0.081,1990,461,3459,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6612,-0.68,-97.3,498.0,-7.2,333,6616,0.00,1.83,0.00,0.000,6,0.000,0.039,1985,1520,3458,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6931,-0.72,-97.3,519.3,-6.5,344,6939,0.00,1.98,0.00,0.000,4,0.000,0.082,1985,467,3457,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7061,-0.75,-97.3,527.1,-6.5,348,7065,0.00,1.83,0.00,0.000,6,0.000,0.039,1978,1524,3460,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7363,-0.79,-97.3,547.1,-6.6,358,7367,0.15,2.00,0.00,0.000,4,0.123,0.082,1922,463,3457,0,0,0,0,0,0,14.37,13.85,28.83
$GC,7451,-0.78,-97.3,553.4,-7.9,361,7455,0.00,1.83,0.00,0.000,6,0.000,0.039,1914,1521,3456,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7753,-0.72,-97.3,584.7,-10.4,371,7755,0.17,0.00,0.00,0.000,6,0.252,0.000,1951,1523,3455,0,0,0,0,0,0,13.79,28.83,28.83
$GC,8052,-0.71,-97.3,612.9,-9.3,381,8056,0.00,2.00,0.00,0.000,4,0.000,0.083,1952,465,3454,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8142,-0.68,-97.3,620.2,-9.7,384,8146,0.00,1.85,0.00,0.000,6,0.000,0.041,1946,1527,3454,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8442,-0.65,-97.3,644.4,-7.0,394,8444,0.12,0.00,0.00,0.000,6,0.259,0.000,1971,1528,3453,0,0,0,0,0,0,14.00,28.83,28.83
$GC,8742,-0.65,-97.3,661.3,-5.4,404,8745,0.00,2.03,0.00,0.000,4,0.000,0.083,1971,464,3452,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8847,-0.65,-97.3,667.8,-6.2,408,8851,0.00,1.85,0.00,0.000,6,0.000,0.041,1966,1522,3452,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9162,-0.65,-97.3,687.1,-6.5,419,9166,0.00,2.00,0.00,0.000,4,0.000,0.083,1966,467,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9223,-0.64,-97.3,690.5,-6.9,421,9226,0.00,1.85,0.00,0.000,6,0.000,0.042,1958,1527,3451,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9522,-0.63,-97.3,715.3,-8.3,431,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1528,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,-0.62,-97.3,744.0,-9.9,441,9828,0.12,2.05,0.00,0.000,4,0.256,0.086,1983,462,3448,0,0,0,0,0,0,13.95,13.81,28.83
$GC,9911,-0.62,-97.3,752.0,-10.4,444,9915,0.00,1.85,0.00,0.000,6,0.000,0.041,1978,1522,3448,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10214,-0.66,-97.3,784.9,-10.5,454,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1523,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,-0.71,-97.3,812.6,-8.7,464,10517,0.00,1.90,0.00,0.000,4,0.000,0.055,1970,2573,3447,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10647,-0.75,-97.3,823.1,-7.6,469,10651,0.00,1.95,0.00,0.000,6,0.000,0.064,1966,1524,3446,0,0,0,0,0,0,28.83,13.92,28.83
$GC,10967,-0.79,-97.3,843.2,-6.0,480,10974,0.12,2.00,0.00,0.000,4,0.141,0.085,1926,469,3444,0,0,0,0,0,0,14.31,13.76,28.83
$GC,11189,-0.74,-97.3,859.5,-8.2,487,11194,0.15,1.85,0.00,0.000,6,0.266,0.043,1946,1519,3445,0,0,0,0,0,0,13.48,14.00,28.83
$GC,11492,-0.72,-97.3,883.1,-7.7,497,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1519,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11787,-0.71,-97.3,907.4,-8.2,507,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12089,-0.69,-97.3,932.1,-8.1,517,12092,0.00,2.03,0.00,0.000,4,0.000,0.086,1947,464,3441,0,0,0,0,0,0,28.83,13.84,28.83
$GC,12163,-0.67,-97.3,938.4,-8.4,520,12168,0.15,1.88,0.00,0.000,6,0.256,0.043,1971,1521,3440,0,0,0,0,0,0,13.53,14.00,28.83
$GC,12482,-0.71,-97.3,961.3,-7.3,531,12490,0.00,2.03,0.00,0.000,4,0.000,0.086,1971,465,3442,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12597,-0.74,-97.3,970.0,-7.2,535,12601,0.00,1.88,0.00,0.000,6,0.000,0.043,1966,1522,3439,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,12758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12759,begin apogee
$GC,12768,-0.18,0.0,981.7,-7.0,541,12894,0.57,0.00,114.30,1.817,6,0.185,0.000,2125,1395,3062,0,0,0,0,1,0,13.81,28.83,13.14
$STATE,12896,end apogee,CONTROL_FINISHED_OK
$STATE,12896,begin climb
$GC,12900,0.60,97.3,987.9,0.0,545,13035,0.82,1.92,123.97,1.802,4,0.101,0.054,2384,2461,2665,0,0,0,0,1,0,13.98,14.12,13.12
$GC,13258,0.59,161.0,987.4,3.4,558,13355,0.00,1.95,86.53,1.702,6,0.000,0.069,2392,1402,2406,0,0,0,0,1,0,28.83,14.21,13.17
$GC,13665,0.52,161.0,963.3,6.4,572,13667,0.15,0.00,0.00,0.000,6,0.273,0.000,2362,1402,2400,0,0,0,0,0,0,14.02,28.83,28.83
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$STATE,27928,end climb,SURFACE_DEPTH_REACHED
$STATE,27928,begin surface coast
$FINISH,0.1,1.011674
$STATE,27944,end surface coast,CONTROL_FINISHED_OK
$STATE,27944,begin surface
$SM_CCo,28027,0.00,0.000,0,0,1583,362.55
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$IRIDIUM_FIX,2434.69,-3727.32,130313,171737
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.66
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.10
$XPDR_PINGS,8
$SC_FREEKB,7561696
$24V_AH,13.1,251.014
$10V_AH,11.4,0.000
$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,21.275,202.450,628.400,0.000,0.000,0.000,0.000,299.200,2.000,0.000,16.667,3413.297,20941.340,979.583,2423.794,834.735,0.000,2356.098,0.000,2072.950,0.000,0.549,0.000
$DEVICE_MAMPS,415.395,102.510,1940.805,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27998.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.381,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43350,1174
$CAP_FILE_SIZE,266253,0
$CFSIZE,260034560,186195968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,9,0,0
$CURRENT,0.045,115.6,1
$GPS,140313,093705,2447.418,-3732.602,26,0.9,26,-13.8