version: 66.11
glider: 191
mission: 5
dive: 545
start: 3 14 113 17 15 59
data:
$ID,191
$MISSION,5
$DIVE,545
$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,-5290.4844
$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,36
$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
$GPS1,140313,170552,2448.404,-3734.239,38,0.8,38,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-50.1
$GPS2,140313,171529,2448.332,-3734.226,15,1.1,15,-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,328.7,62865,-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,-60.30,0.000,2,0.000,0.000,152,1512,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.7,-8.3,4,104,9.68,1.92,-0.57,0.000,4,0.399,0.102,1998,462,3461,1,0,0,0,0,0,13.53,14.26,14.62
$GC,177,-0.57,-97.3,17.0,-10.0,10,180,0.00,1.83,0.00,0.000,6,0.000,0.040,1992,1529,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,476,-0.57,-97.3,39.9,-8.4,30,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1530,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,776,-0.56,-97.3,64.9,-7.9,50,778,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1530,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.55,-97.3,85.3,-6.4,70,1080,0.00,2.00,0.00,0.000,4,0.000,0.081,1992,461,3463,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1227,-0.54,-97.3,96.7,-7.5,80,1232,0.12,1.83,0.00,0.000,6,0.249,0.039,2010,1526,3463,0,0,0,0,0,0,13.83,14.25,28.83
$GC,1528,-0.55,-97.3,113.3,-4.8,100,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,-0.56,-97.3,129.4,-5.7,120,1831,0.00,2.00,0.00,0.000,4,0.000,0.080,2010,455,3464,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1902,-0.56,-97.3,134.4,-6.9,125,1905,0.00,1.83,0.00,0.000,6,0.000,0.039,2004,1518,3461,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2202,-0.57,-97.3,154.5,-7.1,145,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-0.59,-97.3,176.4,-7.4,165,2505,0.00,1.98,0.00,0.000,4,0.000,0.080,2005,462,3464,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2577,-0.59,-97.3,182.0,-7.5,170,2581,0.00,1.80,0.00,0.000,6,0.000,0.038,1997,1520,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2877,-0.59,-97.3,202.6,-6.0,190,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3177,-0.61,-97.3,215.9,-3.9,210,3181,0.00,1.98,0.00,0.000,4,0.000,0.080,1997,462,3464,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3251,-0.61,-97.3,219.6,-5.0,215,3254,0.00,1.83,0.00,0.000,6,0.000,0.038,1987,1530,3466,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3550,-0.61,-97.3,237.3,-6.6,235,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1531,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3866,-0.61,-97.3,259.6,-7.5,252,3870,0.00,2.00,0.00,0.000,4,0.000,0.081,1989,464,3463,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3940,-0.61,-97.3,266.0,-8.2,255,3944,0.00,1.83,0.00,0.000,6,0.000,0.038,1980,1525,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4256,-0.61,-97.3,294.2,-8.9,266,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4558,-0.61,-97.3,319.4,-7.8,276,4561,0.00,2.00,0.00,0.000,4,0.000,0.080,1981,460,3463,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4615,-0.61,-97.3,322.8,-7.6,278,4619,0.00,1.83,0.00,0.000,6,0.000,0.040,1973,1521,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4920,-0.60,-97.3,341.4,-5.4,288,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-0.58,-97.3,360.8,-6.9,298,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-0.58,-97.3,384.5,-8.2,308,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-0.58,-97.3,410.4,-8.6,318,5821,0.00,1.98,0.00,0.000,4,0.000,0.080,1973,464,3461,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5905,-0.57,-97.3,417.2,-8.8,321,5909,0.17,1.83,0.00,0.000,6,0.230,0.040,2003,1520,3461,0,0,0,0,0,0,13.65,14.08,28.83
$GC,6211,-0.63,-97.3,439.9,-7.0,331,6218,0.00,1.98,0.00,0.000,4,0.000,0.082,2004,463,3460,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6267,-0.68,-97.3,444.0,-6.9,333,6271,0.00,1.83,0.00,0.000,6,0.000,0.040,2001,1521,3460,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6585,-0.74,-97.3,463.3,-5.8,344,6594,0.15,1.98,0.00,0.000,4,0.120,0.080,1943,471,3459,0,0,0,0,0,0,14.35,13.80,28.83
$GC,6656,-0.76,-97.3,467.3,-6.1,346,6660,0.00,1.83,0.00,0.000,6,0.000,0.041,1934,1523,3459,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6957,-0.72,-97.3,489.2,-7.1,356,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1524,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7258,-0.68,-97.3,512.1,-7.7,366,7262,0.15,2.00,0.00,0.000,4,0.253,0.081,1966,464,3458,0,0,0,0,0,0,13.92,13.85,28.83
$GC,7316,-0.65,-97.3,515.4,-7.4,368,7320,0.00,1.85,0.00,0.000,6,0.000,0.041,1961,1525,3458,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7618,-0.63,-97.3,536.7,-6.7,378,7622,0.00,2.00,0.00,0.000,4,0.000,0.082,1957,466,3457,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7662,-0.61,-97.3,540.0,-6.8,380,7666,0.15,1.85,0.00,0.000,6,0.246,0.040,1985,1529,3457,0,0,0,0,0,0,13.64,14.14,28.83
$GC,7981,-0.63,-97.3,560.0,-6.7,391,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1531,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,-0.67,-97.3,583.0,-7.8,401,8281,0.00,2.03,0.00,0.000,4,0.000,0.084,1985,466,3455,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8352,-0.71,-97.3,589.1,-8.0,404,8356,0.00,1.85,0.00,0.000,6,0.000,0.040,1981,1530,3453,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8671,-0.75,-97.3,611.3,-6.7,415,8678,0.00,2.03,0.00,0.000,4,0.000,0.084,1981,465,3454,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8818,-0.77,-97.3,621.8,-7.0,420,8821,0.00,1.85,0.00,0.000,6,0.000,0.041,1975,1524,3454,0,0,0,0,0,0,28.83,14.10,28.83
$GC,9136,-0.81,-97.3,644.4,-7.7,431,9138,0.15,0.00,0.00,0.000,6,0.125,0.000,1922,1525,3453,0,0,0,0,0,0,14.21,28.83,28.83
$GC,9432,-0.80,-97.3,671.5,-9.1,441,9436,0.00,2.03,0.00,0.000,4,0.000,0.083,1921,461,3452,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9521,-0.76,-97.3,679.2,-10.0,444,9525,0.12,1.85,0.00,0.000,6,0.278,0.041,1936,1520,3451,0,0,0,0,0,0,13.59,14.12,28.83
$GC,9825,-0.73,-97.3,707.4,-8.8,454,9828,0.00,1.88,0.00,0.000,4,0.000,0.054,1930,2575,3450,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9899,-0.70,-97.3,714.1,-8.8,457,9903,0.15,1.95,0.00,0.000,6,0.250,0.063,1959,1519,3450,0,0,0,0,0,0,13.57,13.95,28.83
$GC,10216,-0.69,-97.3,738.1,-7.4,468,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,-0.69,-97.3,760.9,-7.6,478,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,-0.69,-97.3,784.0,-7.6,488,10816,0.00,2.03,0.00,0.000,4,0.000,0.086,1959,462,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10872,-0.67,-97.3,787.8,-7.8,490,10875,0.00,1.85,0.00,0.000,6,0.000,0.041,1954,1520,3446,0,0,0,0,0,0,28.83,14.08,28.83
$GC,11174,-0.66,-97.3,813.9,-8.2,500,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1520,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,-0.64,-97.3,839.4,-8.4,510,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11774,-0.63,-97.3,862.1,-6.9,520,11776,0.12,0.00,0.00,0.000,6,0.257,0.000,1979,1521,3444,0,0,0,0,0,0,13.95,28.83,28.83
$GC,12076,-0.68,-97.3,878.8,-5.5,530,12083,0.00,2.03,0.00,0.000,4,0.000,0.086,1979,465,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12195,-0.71,-97.3,885.6,-5.6,534,12198,0.00,1.88,0.00,0.000,6,0.000,0.043,1975,1520,3444,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12511,-0.76,-97.3,903.3,-5.8,545,12519,0.00,2.03,0.00,0.000,4,0.000,0.086,1975,465,3442,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12643,-0.79,-97.3,911.1,-6.4,549,12647,0.00,1.88,0.00,0.000,6,0.000,0.043,1969,1525,3440,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12943,-0.83,-97.3,933.5,-7.6,559,12947,0.15,2.05,0.00,0.000,4,0.131,0.086,1917,463,3441,0,0,0,0,0,0,14.21,13.85,28.83
$GC,13109,-0.77,-97.3,950.1,-10.6,565,13114,0.12,1.88,0.00,0.000,6,0.281,0.044,1932,1518,3440,0,0,0,0,0,0,13.49,13.98,28.83
$GC,13426,-0.74,-97.3,979.2,-8.9,576,13430,0.00,1.92,0.00,0.000,4,0.000,0.056,1926,2577,3439,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,13435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13435,begin apogee
$GC,13445,-0.18,0.0,980.5,-8.7,577,13571,0.77,0.00,114.40,1.810,6,0.233,0.000,2123,1393,3061,0,0,0,0,1,0,13.87,28.83,13.09
$STATE,13573,end apogee,CONTROL_FINISHED_OK
$STATE,13573,begin climb
$GC,13578,0.60,97.3,987.0,0.0,581,13713,0.82,1.92,123.88,1.802,4,0.103,0.054,2379,2457,2665,0,0,0,0,1,0,13.97,14.12,13.13
$GC,13936,0.60,161.8,987.6,3.3,594,14036,0.00,1.95,87.22,1.701,6,0.000,0.070,2387,1399,2403,0,0,0,0,1,0,28.83,14.21,13.17
$GC,14354,0.53,161.8,958.2,8.0,608,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1401,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14656,0.47,161.8,933.6,8.2,618,14661,0.20,2.00,0.00,0.000,4,0.273,0.093,2351,342,2395,0,0,0,0,0,0,13.88,14.18,28.83
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$STATE,27182,end climb,SURFACE_DEPTH_REACHED
$STATE,27182,begin surface coast
$FINISH,-0.1,1.025942
$STATE,27198,end surface coast,CONTROL_FINISHED_OK
$STATE,27198,begin surface
$SM_CCo,27281,0.00,0.000,0,0,1750,321.83
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$IRIDIUM_FIX,2441.81,-3708.34,140313,090945
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.25
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.10
$XPDR_PINGS,10
$SC_FREEKB,7560928
$24V_AH,13.1,251.849
$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,21.875,181.025,561.575,0.000,0.000,0.000,0.000,289.850,2.500,0.000,16.666,3302.398,20546.498,871.006,2320.932,797.383,0.000,2186.681,0.000,1978.850,0.000,0.548,0.000
$DEVICE_MAMPS,398.565,101.745,1809.990,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.491,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43335,1154
$CAP_FILE_SIZE,255317,0
$CFSIZE,260034560,185982976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,0,0
$CURRENT,0.019,119.0,1
$GPS,150313,005158,2449.706,-3735.897,35,0.9,35,-13.8