version: 66.11
glider: 191
mission: 5
dive: 562
start: 3 20 113 5 31 24
data:
$ID,191
$MISSION,5
$DIVE,562
$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,-5311.8682
$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,19
$R_STBD_OVSHOOT,56
$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
$GPS1,200313,052034,2436.573,-3747.283,34,0.9,34,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.4
$GPS2,200313,053053,2436.581,-3747.319,21,0.9,21,-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,173.3,10509,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.38,0.000,6,0.000,0.000,159,1521,3459,0,0,0,0,0,0,28.83,28.83,14.54
$GC,87,-0.60,-97.3,4.4,-8.8,4,101,9.62,1.92,0.00,0.000,4,0.398,0.070,1996,454,3462,1,0,0,0,0,0,13.50,14.19,28.83
$GC,310,-0.58,-97.3,30.8,-9.4,19,314,0.00,1.80,0.00,0.000,6,0.000,0.038,1990,1511,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,610,-0.58,-97.3,56.4,-8.2,39,613,0.00,1.98,0.00,0.000,4,0.000,0.080,1991,456,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,657,-0.57,-97.3,60.4,-8.6,42,661,0.00,1.83,0.00,0.000,6,0.000,0.037,1983,1520,3463,0,0,0,0,0,0,28.83,14.16,28.83
$GC,956,-0.55,-97.3,83.6,-7.3,62,957,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1256,-0.54,-97.3,105.7,-6.5,82,1260,0.12,2.00,0.00,0.000,4,0.250,0.080,2009,454,3464,0,0,0,0,0,0,13.98,13.99,28.83
$GC,1316,-0.54,-97.3,109.1,-5.6,86,1320,0.00,1.83,0.00,0.000,6,0.000,0.038,2003,1518,3464,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1616,-0.56,-97.3,125.3,-5.6,106,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,-0.57,-97.3,145.3,-7.6,126,1919,0.00,2.00,0.00,0.000,4,0.000,0.080,2003,453,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1990,-0.57,-97.3,151.4,-8.2,131,1993,0.00,1.85,0.00,0.000,6,0.000,0.038,1996,1527,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2290,-0.57,-97.3,170.7,-6.2,151,2293,0.00,1.85,0.00,0.000,4,0.000,0.049,1987,2580,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2350,-0.59,-97.3,174.6,-6.6,155,2354,0.00,1.95,0.00,0.000,6,0.000,0.059,1987,1507,3464,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2650,-0.59,-97.3,196.9,-7.9,175,2653,0.00,1.95,0.00,0.000,4,0.000,0.080,1987,463,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2740,-0.59,-97.3,204.6,-8.7,181,2743,0.00,1.83,0.00,0.000,6,0.000,0.037,1980,1529,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3040,-0.59,-97.3,227.9,-7.6,201,3043,0.00,1.85,0.00,0.000,4,0.000,0.050,1972,2579,3464,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3085,-0.59,-97.3,231.5,-7.9,204,3088,0.00,1.92,0.00,0.000,6,0.000,0.059,1972,1520,3464,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3400,-0.59,-97.3,255.5,-7.5,223,3403,0.00,1.98,0.00,0.000,4,0.000,0.080,1972,464,3464,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3519,-0.57,-97.3,264.1,-8.2,227,3523,0.17,1.80,0.00,0.000,6,0.226,0.037,2001,1520,3464,0,0,0,0,0,0,13.62,14.16,28.83
$GC,3825,-0.62,-97.3,287.9,-7.8,237,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-0.68,-97.3,310.2,-7.3,247,4124,0.00,1.85,0.00,0.000,4,0.000,0.049,1997,2574,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,4240,-0.74,-97.3,317.4,-6.9,251,4245,0.15,1.92,0.00,0.000,6,0.117,0.060,1939,1522,3464,0,0,0,0,0,0,13.98,13.96,28.83
$GC,4543,-0.70,-97.3,341.4,-7.5,261,4547,0.00,1.98,0.00,0.000,4,0.000,0.080,1938,464,3463,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4690,-0.65,-97.3,352.3,-8.1,266,4695,0.20,1.83,0.00,0.000,6,0.243,0.038,1972,1525,3463,0,0,0,0,0,0,13.52,14.14,28.83
$GC,4993,-0.65,-97.3,373.8,-7.1,276,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1526,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-0.65,-97.3,397.5,-8.1,286,5296,0.00,2.00,0.00,0.000,4,0.000,0.081,1972,464,3462,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5336,-0.65,-97.3,401.4,-8.3,288,5340,0.00,1.83,0.00,0.000,6,0.000,0.038,1966,1524,3462,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5651,-0.65,-97.3,425.2,-7.2,299,5655,0.00,2.00,0.00,0.000,4,0.000,0.081,1967,465,3461,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5711,-0.64,-97.3,428.6,-7.3,301,5715,0.00,1.83,0.00,0.000,6,0.000,0.038,1959,1521,3461,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6011,-0.62,-97.3,450.1,-6.7,311,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1524,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.61,-97.3,470.8,-7.0,321,6317,0.15,2.03,0.00,0.000,4,0.243,0.080,1991,459,3459,0,0,0,0,0,0,13.85,13.81,28.83
$GC,6370,-0.59,-97.3,474.0,-7.1,323,6374,0.00,1.85,0.00,0.000,6,0.000,0.038,1985,1530,3459,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6673,-0.64,-97.3,496.9,-7.6,333,6677,0.00,2.03,0.00,0.000,4,0.000,0.082,1985,463,3458,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6777,-0.67,-97.3,505.4,-8.1,337,6781,0.00,1.83,0.00,0.000,6,0.000,0.037,1978,1521,3458,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7094,-0.72,-97.3,530.8,-8.1,348,7098,0.00,2.00,0.00,0.000,4,0.000,0.081,1978,465,3457,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7212,-0.75,-97.3,539.6,-8.4,352,7215,0.00,1.83,0.00,0.000,6,0.000,0.039,1972,1518,3457,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7513,-0.78,-97.3,563.6,-7.4,362,7517,0.12,2.03,0.00,0.000,4,0.135,0.083,1925,464,3457,0,0,0,0,0,0,14.40,13.78,28.83
$GC,7589,-0.77,-97.3,570.0,-8.2,365,7592,0.00,1.85,0.00,0.000,6,0.000,0.040,1917,1526,3456,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7906,-0.72,-97.3,596.1,-8.0,376,7908,0.17,0.00,0.00,0.000,6,0.252,0.000,1954,1527,3455,0,0,0,0,0,0,13.66,28.83,28.83
$GC,8204,-0.71,-97.3,616.2,-6.6,386,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1528,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,-0.70,-97.3,636.0,-6.5,396,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1528,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8804,-0.71,-97.3,657.9,-7.6,406,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1528,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9102,-0.73,-97.3,682.4,-8.4,416,9106,0.00,2.03,0.00,0.000,4,0.000,0.083,1954,465,3452,0,0,0,0,0,0,28.83,13.79,28.83
$GC,9208,-0.73,-97.3,691.9,-9.1,420,9211,0.00,1.85,0.00,0.000,6,0.000,0.039,1949,1523,3452,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9527,-0.72,-97.3,719.6,-8.8,431,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1524,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9822,-0.70,-97.3,744.5,-8.2,441,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1524,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,-0.68,-97.3,771.1,-9.1,451,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1524,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-0.67,-97.3,799.8,-9.7,461,10426,0.00,2.03,0.00,0.000,4,0.000,0.084,1949,466,3448,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10499,-0.64,-97.3,807.3,-9.9,464,10503,0.17,1.88,0.00,0.000,6,0.244,0.041,1976,1524,3448,0,0,0,0,0,0,13.60,14.07,28.83
$GC,10816,-0.69,-97.3,832.9,-7.9,475,10819,0.00,2.03,0.00,0.000,4,0.000,0.084,1977,466,3447,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10920,-0.72,-97.3,840.8,-7.5,479,10923,0.00,1.88,0.00,0.000,6,0.000,0.041,1973,1527,3446,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11238,-0.77,-97.3,860.3,-5.7,490,11246,0.00,2.03,0.00,0.000,4,0.000,0.086,1973,468,3445,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11309,-0.80,-97.3,863.6,-5.5,492,11314,0.12,1.85,0.00,0.000,6,0.138,0.041,1926,1521,3445,0,0,0,0,0,0,13.91,14.00,28.83
$GC,11613,-0.77,-97.3,884.5,-7.0,502,11620,0.00,1.90,0.00,0.000,4,0.000,0.052,1917,2576,3442,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11713,-0.74,-97.3,891.1,-7.2,505,11717,0.15,1.98,0.00,0.000,6,0.252,0.065,1947,1520,3443,0,0,0,0,0,0,13.65,13.98,28.83
$GC,12018,-0.72,-97.3,914.5,-7.5,515,12026,0.00,2.00,0.00,0.000,4,0.000,0.087,1947,467,3443,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12088,-0.71,-97.3,919.4,-7.9,517,12092,0.00,1.88,0.00,0.000,6,0.000,0.041,1942,1527,3442,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12391,-0.69,-97.3,943.8,-7.8,527,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1528,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12689,-0.67,-97.3,967.3,-7.9,537,12691,0.12,0.00,0.00,0.000,6,0.262,0.000,1966,1529,3441,0,0,0,0,0,0,13.81,28.83,28.83
$STATE,12865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12865,begin apogee
$GC,12875,-0.18,0.0,980.7,-7.4,543,13001,0.57,0.00,114.80,1.810,6,0.199,0.000,2121,1391,3063,0,0,0,0,1,0,13.76,28.83,13.06
$STATE,13003,end apogee,CONTROL_FINISHED_OK
$STATE,13003,begin climb
$GC,13007,0.60,97.3,987.6,0.0,547,13144,0.85,2.03,124.95,1.811,4,0.109,0.092,2387,343,2665,0,0,0,0,1,0,13.87,14.03,13.11
$GC,13364,0.61,184.1,990.8,2.4,560,13486,0.00,1.85,111.93,1.784,6,0.000,0.042,2387,1410,2310,0,0,0,0,1,0,28.83,14.26,13.15
$GC,13801,0.55,184.1,966.0,6.6,575,13804,0.00,2.03,0.00,0.000,4,0.000,0.091,2391,342,2304,0,0,0,0,0,0,28.83,14.14,28.83
$GC,14027,0.48,184.1,948.5,7.9,583,14031,0.20,1.85,0.00,0.000,6,0.249,0.044,2351,1404,2302,0,0,0,0,0,0,13.83,14.28,28.83
$GC,14345,0.47,184.1,927.5,7.0,594,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1409,2300,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26799,end climb,SURFACE_DEPTH_REACHED
$STATE,26799,begin surface coast
$FINISH,0.8,1.025721
$STATE,26811,end surface coast,CONTROL_FINISHED_OK
$STATE,26812,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.27
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$TCM_TEMP,24.90
$XPDR_PINGS,6
$SC_FREEKB,7554400
$24V_AH,13.1,258.922
$10V_AH,11.2,0.000
$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
$DEVICE_SECS,20.775,180.725,614.875,0.000,0.000,0.000,0.000,320.900,1.500,0.000,23.023,3219.600,20220.875,919.765,2322.757,811.543,0.000,2248.350,0.000,1928.671,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.268,0.000,0.000,0.000
$MEM,345356
$DATA_FILE_SIZE,43378,1118
$CAP_FILE_SIZE,250550,0
$CFSIZE,260034560,184012800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.112,302.1,1
$GPS,200313,130058,2435.416,-3747.817,37,0.8,37,-13.9