version: 66.11
glider: 191
mission: 5
dive: 555
start: 3 17 113 23 15 11
data:
$ID,191
$MISSION,5
$DIVE,555
$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,-5303.0596
$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,40
$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
$GPS1,170313,230435,2446.747,-3744.655,33,0.8,33,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-53.7
$GPS2,170313,231441,2446.701,-3744.688,18,0.8,18,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,195.6,29744,-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,-60.70,0.000,2,0.000,0.000,158,1505,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,4.0,-8.6,4,104,9.85,1.90,0.00,0.000,4,0.407,0.074,1995,457,3458,1,0,0,0,0,0,13.52,14.28,28.83
$GC,326,-0.58,-97.3,28.7,-7.5,20,329,0.00,1.85,0.00,0.000,6,0.000,0.039,1990,1530,3460,0,0,0,0,0,0,28.83,14.28,28.83
$GC,626,-0.57,-97.3,52.8,-7.4,40,630,0.00,2.00,0.00,0.000,4,0.000,0.082,1990,461,3460,0,0,0,0,0,0,28.83,14.05,28.83
$GC,747,-0.55,-97.3,62.2,-8.0,48,752,0.12,1.83,0.00,0.000,6,0.246,0.039,2007,1524,3459,0,0,0,0,0,0,13.79,14.17,28.83
$GC,1048,-0.55,-97.3,81.1,-7.1,68,1052,0.00,1.98,0.00,0.000,4,0.000,0.080,2007,464,3460,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1106,-0.55,-97.3,86.1,-8.5,72,1109,0.00,1.83,0.00,0.000,6,0.000,0.039,2002,1527,3460,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1407,-0.55,-97.3,110.9,-8.0,92,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1528,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1706,-0.55,-97.3,132.3,-6.4,112,1710,0.00,2.00,0.00,0.000,4,0.000,0.081,2001,458,3461,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1751,-0.55,-97.3,135.5,-6.7,115,1754,0.00,1.83,0.00,0.000,6,0.000,0.038,1993,1522,3461,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2051,-0.59,-97.3,155.6,-7.9,135,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.63,-97.3,182.0,-7.9,155,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,-0.67,-97.3,200.4,-6.0,175,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2952,-0.72,-97.3,222.8,-8.7,195,2956,0.12,1.98,0.00,0.000,4,0.132,0.080,1946,462,3461,0,0,0,0,0,0,14.45,13.92,28.83
$GC,3146,-0.67,-97.3,244.7,-11.9,208,3151,0.15,1.83,0.00,0.000,6,0.244,0.038,1967,1524,3461,0,0,0,0,0,0,13.66,14.16,28.83
$GC,3449,-0.66,-97.3,274.9,-9.7,220,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1525,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3748,-0.65,-97.3,300.2,-7.8,230,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1525,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-0.64,-97.3,317.7,-5.2,240,4050,0.00,2.00,0.00,0.000,4,0.000,0.080,1967,460,3460,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4138,-0.62,-97.3,321.7,-5.3,243,4141,0.00,1.83,0.00,0.000,6,0.000,0.038,1962,1520,3460,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4436,-0.60,-97.3,339.0,-6.2,253,4438,0.15,0.00,0.00,0.000,6,0.236,0.000,1994,1521,3459,0,0,0,0,0,0,13.97,28.83,28.83
$GC,4738,-0.65,-97.3,360.8,-8.0,263,4742,0.00,2.00,0.00,0.000,4,0.000,0.081,1994,458,3459,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4871,-0.68,-97.3,372.7,-8.9,268,4875,0.00,1.83,0.00,0.000,6,0.000,0.038,1990,1520,3458,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5191,-0.73,-97.3,398.3,-7.7,279,5198,0.00,1.98,0.00,0.000,4,0.000,0.081,1990,463,3458,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5276,-0.76,-97.3,404.6,-7.1,282,5281,0.12,1.83,0.00,0.000,6,0.131,0.039,1939,1521,3457,0,0,0,0,0,0,14.03,14.15,28.83
$GC,5594,-0.72,-97.3,425.8,-6.7,293,5598,0.00,1.88,0.00,0.000,4,0.000,0.050,1931,2578,3456,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5652,-0.69,-97.3,428.8,-6.6,295,5657,0.15,1.95,0.00,0.000,6,0.243,0.060,1961,1511,3456,0,0,0,0,0,0,13.57,14.01,28.83
$GC,5955,-0.67,-97.3,451.1,-7.4,305,5959,0.00,1.98,0.00,0.000,4,0.000,0.083,1961,465,3456,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6030,-0.65,-97.3,457.4,-8.1,308,6033,0.00,1.83,0.00,0.000,6,0.000,0.039,1957,1523,3456,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6346,-0.63,-97.3,484.0,-8.9,319,6348,0.12,0.00,0.00,0.000,6,0.250,0.000,1981,1524,3455,0,0,0,0,0,0,14.00,28.83,28.83
$GC,6644,-0.64,-97.3,509.0,-8.4,329,6648,0.00,2.00,0.00,0.000,4,0.000,0.083,1981,465,3455,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6732,-0.64,-97.3,515.7,-8.8,332,6735,0.00,1.83,0.00,0.000,6,0.000,0.039,1976,1520,3454,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7034,-0.68,-97.3,540.9,-7.5,342,7038,0.00,2.00,0.00,0.000,4,0.000,0.083,1976,467,3454,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7122,-0.70,-97.3,546.7,-7.7,345,7126,0.00,1.83,0.00,0.000,6,0.000,0.039,1968,1522,3453,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7423,-0.73,-97.3,568.7,-6.7,355,7427,0.00,2.00,0.00,0.000,4,0.000,0.082,1968,464,3452,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7513,-0.74,-97.3,573.9,-6.7,358,7517,0.00,1.85,0.00,0.000,6,0.000,0.040,1961,1521,3452,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7813,-0.76,-97.3,592.8,-6.1,368,7817,0.00,2.00,0.00,0.000,4,0.000,0.082,1961,467,3451,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7889,-0.76,-97.3,597.7,-6.4,371,7893,0.00,1.85,0.00,0.000,6,0.000,0.041,1953,1531,3451,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8206,-0.78,-97.3,619.8,-7.3,382,8210,0.00,2.03,0.00,0.000,4,0.000,0.083,1954,467,3450,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8310,-0.77,-97.3,628.5,-8.3,386,8314,0.00,1.85,0.00,0.000,6,0.000,0.041,1946,1526,3450,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8628,-0.74,-97.3,654.8,-8.4,397,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1527,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8924,-0.72,-97.3,678.2,-7.5,407,8928,0.00,2.03,0.00,0.000,4,0.000,0.083,1946,465,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8984,-0.69,-97.3,681.7,-7.7,409,8988,0.00,1.85,0.00,0.000,6,0.000,0.041,1938,1521,3447,0,0,0,0,0,0,28.83,14.05,28.83
$GC,9284,-0.66,-97.3,705.4,-7.5,419,9286,0.15,0.00,0.00,0.000,6,0.249,0.000,1969,1523,3447,0,0,0,0,0,0,13.81,28.83,28.83
$GC,9585,-0.68,-97.3,726.6,-7.1,429,9589,0.00,2.03,0.00,0.000,4,0.000,0.084,1968,463,3446,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9643,-0.70,-97.3,729.9,-7.4,431,9647,0.00,1.85,0.00,0.000,6,0.000,0.041,1964,1521,3445,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9944,-0.73,-97.3,752.1,-6.8,441,9948,0.00,2.03,0.00,0.000,4,0.000,0.084,1964,463,3443,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9990,-0.75,-97.3,755.4,-6.9,443,9994,0.00,1.88,0.00,0.000,6,0.000,0.042,1957,1526,3444,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10307,-0.78,-97.3,775.9,-6.6,454,10311,0.00,2.03,0.00,0.000,4,0.000,0.085,1957,468,3443,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10441,-0.77,-97.3,785.7,-7.2,459,10445,0.00,1.85,0.00,0.000,6,0.000,0.041,1948,1520,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10758,-0.75,-97.3,810.0,-8.1,470,10759,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11057,-0.73,-97.3,836.8,-9.3,480,11060,0.00,2.03,0.00,0.000,4,0.000,0.086,1949,467,3442,0,0,0,0,0,0,28.83,13.86,28.83
$GC,11114,-0.71,-97.3,841.3,-9.6,482,11118,0.00,1.88,0.00,0.000,6,0.000,0.042,1941,1523,3440,0,0,0,0,0,0,28.83,14.05,28.83
$GC,11416,-0.69,-97.3,870.0,-8.8,492,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1519,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11715,-0.67,-97.3,894.2,-7.7,502,11720,0.12,2.03,0.00,0.000,4,0.258,0.086,1967,467,3439,0,0,0,0,0,0,13.72,13.97,28.83
$GC,11774,-0.65,-97.3,897.6,-7.5,504,11778,0.00,1.88,0.00,0.000,6,0.000,0.043,1962,1523,3439,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12077,-0.68,-97.3,917.3,-6.1,514,12080,0.00,2.03,0.00,0.000,4,0.000,0.086,1962,467,3438,0,0,0,0,0,0,28.83,13.96,28.83
$GC,12134,-0.71,-97.3,920.2,-6.2,516,12138,0.00,1.88,0.00,0.000,6,0.000,0.043,1955,1521,3438,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12436,-0.74,-97.3,940.8,-6.5,526,12440,0.00,2.03,0.00,0.000,4,0.000,0.086,1955,472,3436,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12480,-0.76,-97.3,944.0,-6.7,528,12484,0.00,1.88,0.00,0.000,6,0.000,0.043,1947,1522,3436,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12799,-0.75,-97.3,965.0,-6.7,539,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1524,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13031,begin apogee
$GC,13040,-0.18,0.0,981.8,-7.1,547,13167,0.73,0.00,114.28,1.812,6,0.217,0.000,2128,1399,3062,0,0,0,0,1,0,13.84,28.83,13.07
$STATE,13168,end apogee,CONTROL_FINISHED_OK
$STATE,13168,begin climb
$GC,13172,0.60,97.3,987.3,0.0,551,13308,0.82,2.03,124.88,1.805,4,0.099,0.093,2393,349,2666,0,0,0,0,1,0,13.94,14.05,13.12
$GC,13530,0.60,181.8,988.8,2.5,564,13649,0.00,1.85,108.85,1.769,6,0.000,0.042,2393,1412,2322,0,0,0,0,1,0,28.83,14.28,13.16
$GC,13950,0.54,181.8,966.4,6.1,578,13954,0.00,2.00,0.00,0.000,4,0.000,0.091,2401,349,2315,0,0,0,0,0,0,28.83,14.17,28.83
$GC,14179,0.46,181.8,950.8,7.1,586,14187,0.25,1.83,0.00,0.000,6,0.246,0.043,2342,1407,2313,0,0,0,0,0,0,13.89,14.31,28.83
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$STATE,26825,end climb,SURFACE_DEPTH_REACHED
$STATE,26825,begin surface coast
$FINISH,0.0,1.009824
$STATE,26852,end surface coast,CONTROL_FINISHED_OK
$STATE,26853,begin surface
$SM_CCo,26934,0.00,0.000,0,0,1738,324.78
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$TT8_MAMPS,0.023219,0.023219
$HUMID,60.15
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,6
$SC_FREEKB,7557088
$24V_AH,13.1,256.056
$10V_AH,13.0,0.000
$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
$DEVICE_SECS,21.200,192.800,584.100,0.000,0.000,0.000,0.000,313.300,1.500,0.000,19.805,3252.229,20250.621,903.289,2319.366,792.631,0.000,2229.874,0.000,1938.510,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26906.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.389,0.000,0.000,0.000
$MEM,345324
$DATA_FILE_SIZE,43325,1118
$CAP_FILE_SIZE,253918,0
$CFSIZE,260034560,184832000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,0,0
$CURRENT,0.063,319.1,1
$GPS,180313,064523,2445.234,-3745.268,35,0.8,35,-13.9