version: 66.11
glider: 191
mission: 5
dive: 547
start: 3 15 113 8 44 17
data:
$ID,191
$MISSION,5
$DIVE,547
$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,-5292.998
$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,27
$R_STBD_OVSHOOT,55
$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
$GPS1,150313,083405,2450.754,-3737.228,37,1.0,37,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.2
$GPS2,150313,084347,2450.714,-3737.205,17,1.1,17,-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,328.6,56233,-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,-58.55,0.000,6,0.000,0.000,160,1526,3461,0,0,0,0,0,0,28.83,28.83,14.61
$GC,88,-0.60,-97.3,4.0,-8.1,4,100,9.82,0.00,0.00,0.000,6,0.405,0.000,1987,1525,3463,1,0,0,0,0,0,13.51,28.83,28.83
$GC,401,-0.58,-97.3,33.1,-6.7,25,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,701,-0.57,-97.3,54.0,-6.9,45,705,0.00,1.98,0.00,0.000,4,0.000,0.083,1988,467,3465,0,0,0,0,0,0,28.83,13.98,28.83
$GC,822,-0.55,-97.3,63.1,-7.5,53,826,0.00,1.80,0.00,0.000,6,0.000,0.039,1983,1517,3465,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1122,-0.54,-97.3,84.4,-8.0,73,1124,0.15,0.00,0.00,0.000,6,0.235,0.000,2015,1517,3465,0,0,0,0,0,0,13.94,28.83,28.83
$GC,1421,-0.55,-97.3,104.9,-6.9,93,1425,0.00,1.98,0.00,0.000,4,0.000,0.080,2015,461,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1527,-0.55,-97.3,113.1,-8.1,100,1530,0.00,1.83,0.00,0.000,6,0.000,0.039,2010,1526,3466,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1826,-0.57,-97.3,136.7,-7.6,120,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1527,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2126,-0.59,-97.3,158.4,-7.2,140,2130,0.00,1.98,0.00,0.000,4,0.000,0.080,2010,467,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2201,-0.61,-97.3,164.3,-7.9,145,2204,0.00,1.80,0.00,0.000,6,0.000,0.039,2003,1520,3467,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2501,-0.65,-97.3,189.3,-8.8,165,2505,0.00,1.98,0.00,0.000,4,0.000,0.080,2003,464,3467,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2670,-0.68,-97.3,203.9,-8.7,176,2679,0.00,1.83,0.00,0.000,6,0.000,0.038,1996,1528,3470,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2981,-0.73,-97.3,228.6,-7.7,197,2986,0.12,1.98,0.00,0.000,4,0.132,0.080,1946,468,3466,0,0,0,0,0,0,14.42,13.89,28.83
$GC,3027,-0.73,-97.3,232.4,-8.3,200,3030,0.00,1.80,0.00,0.000,6,0.000,0.039,1939,1518,3466,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3326,-0.69,-97.3,256.9,-7.7,217,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1519,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-0.65,-97.3,276.7,-6.4,227,3629,0.17,0.00,0.00,0.000,6,0.237,0.000,1977,1518,3467,0,0,0,0,0,0,13.88,28.83,28.83
$GC,3926,-0.65,-97.3,294.9,-6.5,237,3929,0.00,1.98,0.00,0.000,4,0.000,0.080,1977,461,3466,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4003,-0.64,-97.3,300.8,-7.6,240,4006,0.00,1.83,0.00,0.000,6,0.000,0.039,1972,1522,3466,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4319,-0.63,-97.3,328.0,-9.2,251,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4617,-0.63,-97.3,357.0,-9.5,261,4620,0.00,1.98,0.00,0.000,4,0.000,0.080,1972,468,3465,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4691,-0.61,-97.3,364.3,-9.6,264,4695,0.00,1.80,0.00,0.000,6,0.000,0.039,1964,1519,3465,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5009,-0.59,-97.3,389.7,-7.1,275,5011,0.15,0.00,0.00,0.000,6,0.239,0.000,1996,1520,3464,0,0,0,0,0,0,13.97,28.83,28.83
$GC,5311,-0.63,-97.3,404.7,-4.6,285,5319,0.00,1.95,0.00,0.000,4,0.000,0.081,1996,471,3463,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5366,-0.68,-97.3,407.6,-4.6,287,5370,0.00,1.80,0.00,0.000,6,0.000,0.040,1992,1519,3464,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5685,-0.73,-97.3,422.5,-5.0,298,5693,0.12,1.95,0.00,0.000,4,0.133,0.080,1943,473,3463,0,0,0,0,0,0,14.40,13.77,28.83
$GC,5832,-0.68,-97.3,433.1,-7.5,303,5836,0.15,1.80,0.00,0.000,6,0.249,0.040,1965,1518,3463,0,0,0,0,0,0,13.65,14.19,28.83
$GC,6150,-0.68,-97.3,455.0,-7.3,314,6158,0.00,1.98,0.00,0.000,4,0.000,0.083,1965,467,3461,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6221,-0.67,-97.3,460.2,-8.1,316,6224,0.00,1.83,0.00,0.000,6,0.000,0.041,1960,1522,3461,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6523,-0.65,-97.3,487.6,-9.0,326,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1523,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6822,-0.64,-97.3,516.1,-9.6,336,6825,0.00,2.00,0.00,0.000,4,0.000,0.082,1960,464,3459,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6941,-0.61,-97.3,527.4,-10.8,340,6945,0.17,1.85,0.00,0.000,6,0.236,0.040,1988,1528,3459,0,0,0,0,0,0,13.58,14.12,28.83
$GC,7245,-0.66,-97.3,555.8,-9.0,350,7252,0.00,2.03,0.00,0.000,4,0.000,0.083,1988,463,3458,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7345,-0.69,-97.3,563.6,-8.7,353,7349,0.00,1.83,0.00,0.000,6,0.000,0.040,1985,1521,3458,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7647,-0.74,-97.3,588.5,-7.4,363,7652,0.12,2.00,0.00,0.000,4,0.136,0.082,1939,465,3458,0,0,0,0,0,0,14.43,13.80,28.83
$GC,7782,-0.71,-97.3,599.7,-8.6,368,7786,0.12,1.83,0.00,0.000,6,0.268,0.041,1954,1520,3457,0,0,0,0,0,0,13.62,14.13,28.83
$GC,8101,-0.69,-97.3,621.3,-6.7,379,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,-0.67,-97.3,641.3,-6.7,389,8401,0.00,2.00,0.00,0.000,4,0.000,0.083,1955,465,3456,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8504,-0.64,-97.3,649.2,-7.5,393,8508,0.12,1.85,0.00,0.000,6,0.254,0.041,1973,1527,3455,0,0,0,0,0,0,13.62,14.09,28.83
$GC,8820,-0.65,-97.3,670.5,-6.9,404,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1528,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9119,-0.69,-97.3,691.5,-6.9,414,9123,0.00,2.03,0.00,0.000,4,0.000,0.083,1974,468,3453,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9252,-0.69,-97.3,701.4,-7.3,419,9256,0.00,1.85,0.00,0.000,6,0.000,0.041,1970,1524,3453,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9567,-0.69,-97.3,723.7,-7.3,430,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1525,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9869,-0.73,-97.3,747.4,-8.1,440,9873,0.00,2.03,0.00,0.000,4,0.000,0.084,1970,464,3451,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10004,-0.75,-97.3,759.0,-8.7,445,10007,0.00,1.85,0.00,0.000,6,0.000,0.041,1962,1519,3450,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10322,-0.78,-97.3,786.3,-8.7,456,10330,0.00,2.00,0.00,0.000,4,0.000,0.086,1962,469,3449,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10408,-0.79,-97.3,794.2,-8.8,459,10412,0.00,1.85,0.00,0.000,6,0.000,0.041,1955,1522,3450,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10727,-0.78,-97.3,819.7,-7.9,470,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1524,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11023,-0.77,-97.3,840.9,-6.9,480,11027,0.00,2.03,0.00,0.000,4,0.000,0.086,1955,467,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11083,-0.75,-97.3,844.5,-7.4,482,11087,0.00,1.88,0.00,0.000,6,0.000,0.043,1947,1525,3447,0,0,0,0,0,0,28.83,14.01,28.83
$GC,11386,-0.73,-97.3,867.7,-7.3,492,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1527,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11683,-0.71,-97.3,890.6,-7.6,502,11687,0.00,2.03,0.00,0.000,4,0.000,0.086,1947,470,3445,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11744,-0.69,-97.3,894.4,-8.0,504,11747,0.00,1.88,0.00,0.000,6,0.000,0.043,1940,1525,3445,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12043,-0.66,-97.3,919.2,-7.8,514,12045,0.15,0.00,0.00,0.000,6,0.252,0.000,1970,1525,3444,0,0,0,0,0,0,13.74,28.83,28.83
$GC,12344,-0.68,-97.3,938.7,-6.3,524,12348,0.00,2.05,0.00,0.000,4,0.000,0.087,1970,462,3443,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12417,-0.68,-97.3,944.1,-6.9,527,12421,0.00,1.88,0.00,0.000,6,0.000,0.042,1965,1521,3443,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12737,-0.72,-97.3,964.5,-6.4,538,12744,0.00,1.90,0.00,0.000,4,0.000,0.055,1957,2578,3442,0,0,0,0,0,0,28.83,13.79,28.83
$GC,12824,-0.75,-97.3,970.0,-6.0,541,12828,0.00,1.98,0.00,0.000,6,0.000,0.065,1958,1523,3442,0,0,0,0,0,0,28.83,13.95,28.83
$STATE,13014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13014,begin apogee
$GC,13024,-0.18,0.0,981.7,-5.9,548,13150,0.60,0.00,115.05,1.814,6,0.190,0.000,2120,1393,3063,0,0,0,0,1,0,13.83,28.83,13.07
$STATE,13151,end apogee,CONTROL_FINISHED_OK
$STATE,13151,begin climb
$GC,13155,0.60,97.3,986.8,0.0,552,13291,0.85,2.03,124.82,1.808,4,0.104,0.093,2389,342,2665,0,0,0,0,1,0,13.93,14.07,13.12
$GC,13395,0.58,181.6,988.5,2.5,561,13515,0.00,1.88,109.68,1.763,6,0.000,0.044,2389,1419,2321,0,0,0,0,1,0,28.83,14.26,13.14
$GC,13828,0.52,181.6,962.8,6.2,576,13832,0.15,2.03,0.00,0.000,4,0.275,0.093,2365,346,2314,0,0,0,0,0,0,13.97,14.19,28.83
$GC,13978,0.48,187.8,954.9,5.8,581,13992,0.00,1.83,4.05,1.918,6,0.000,0.044,2365,1398,2296,0,0,0,0,0,0,28.83,14.31,13.37
$GC,14298,0.47,204.8,937.0,5.3,592,14343,0.00,1.85,35.80,1.241,4,0.000,0.056,2366,2445,2226,0,0,0,0,1,0,28.83,14.37,13.33
$GC,14413,0.45,220.1,931.1,5.4,595,14457,0.17,1.92,34.25,1.202,6,0.270,0.070,2338,1393,2164,0,0,0,0,1,0,13.96,14.28,13.24
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$STATE,26938,end climb,SURFACE_DEPTH_REACHED
$STATE,26938,begin surface coast
$FINISH,0.0,1.011014
$STATE,26954,end surface coast,CONTROL_FINISHED_OK
$STATE,26954,begin surface
$SM_CCo,27041,0.00,0.000,0,0,1706,332.63
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$TT8_MAMPS,0.023219,0.023219
$HUMID,59.21
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,9
$SC_FREEKB,7560160
$24V_AH,13.1,252.687
$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
$DEVICE_SECS,20.875,184.300,630.950,0.000,0.000,0.000,0.000,294.725,2.250,0.000,18.523,3227.320,20323.930,954.835,2305.969,792.456,0.000,2272.262,0.000,1946.853,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.389,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43393,1118
$CAP_FILE_SIZE,251638,0
$CFSIZE,260034560,185757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,0,0
$CURRENT,0.054,114.3,1
$GPS,150313,161622,2451.908,-3738.411,25,0.8,41,-13.8