version: 66.11
glider: 191
mission: 5
dive: 564
start: 3 20 113 20 54 32
data:
$ID,191
$MISSION,5
$DIVE,564
$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,-5314.3848
$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,54
$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
$GPS1,200313,204404,2434.913,-3747.701,29,0.9,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.3
$GPS2,200313,205401,2434.938,-3747.747,20,0.9,20,-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,173.7,7398,-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,-59.25,0.000,6,0.000,0.000,155,1523,3459,0,0,0,0,0,0,28.83,28.83,14.57
$GC,87,-0.60,-97.3,4.1,-8.6,4,103,10.15,1.80,0.00,0.000,4,0.421,0.047,1982,2568,3462,1,0,0,0,0,0,13.51,14.35,28.83
$GC,324,-0.60,-97.3,29.0,-8.2,20,328,0.00,1.90,0.00,0.000,6,0.000,0.060,1982,1518,3464,0,0,0,0,0,0,28.83,14.10,28.83
$GC,625,-0.58,-97.3,54.7,-8.7,40,629,0.00,1.95,0.00,0.000,4,0.000,0.080,1982,465,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,717,-0.55,-97.3,63.4,-9.8,46,721,0.15,1.80,0.00,0.000,6,0.242,0.038,2005,1517,3462,0,0,0,0,0,0,13.76,14.13,28.83
$GC,1016,-0.55,-97.3,87.3,-7.6,66,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.55,-97.3,107.8,-6.5,86,1320,0.00,1.98,0.00,0.000,4,0.000,0.080,2005,461,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1451,-0.55,-97.3,116.8,-6.5,95,1455,0.00,1.83,0.00,0.000,6,0.000,0.038,2000,1524,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1751,-0.58,-97.3,135.5,-7.0,115,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.63,-97.3,159.8,-8.8,135,2054,0.00,1.98,0.00,0.000,4,0.000,0.078,2000,464,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2110,-0.65,-97.3,165.2,-9.2,139,2114,0.00,1.80,0.00,0.000,6,0.000,0.037,1992,1521,3466,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2411,-0.69,-97.3,190.5,-7.9,159,2414,0.00,1.98,0.00,0.000,4,0.000,0.079,1992,462,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2516,-0.71,-97.3,198.9,-7.9,166,2520,0.00,1.83,0.00,0.000,6,0.000,0.037,1984,1531,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2816,-0.74,-97.3,220.8,-7.0,186,2821,0.12,2.00,0.00,0.000,4,0.133,0.079,1937,463,3465,0,0,0,0,0,0,14.37,13.90,28.83
$GC,2907,-0.69,-97.3,228.7,-9.3,192,2911,0.15,1.80,0.00,0.000,6,0.253,0.037,1958,1518,3465,0,0,0,0,0,0,13.63,14.16,28.83
$GC,3206,-0.68,-97.3,253.2,-8.3,211,3209,0.00,1.98,0.00,0.000,4,0.000,0.080,1958,463,3465,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3266,-0.65,-97.3,257.3,-8.5,213,3269,0.00,1.83,0.00,0.000,6,0.000,0.037,1953,1528,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3566,-0.63,-97.3,284.1,-8.4,223,3571,0.15,2.00,0.00,0.000,4,0.246,0.080,1984,466,3465,0,0,0,0,0,0,13.88,13.85,28.83
$GC,3642,-0.61,-97.3,289.8,-7.9,226,3646,0.00,1.80,0.00,0.000,6,0.000,0.037,1979,1518,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3958,-0.61,-97.3,309.1,-5.6,237,3962,0.00,1.98,0.00,0.000,4,0.000,0.080,1979,466,3464,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4045,-0.61,-97.3,313.7,-5.8,240,4049,0.00,1.83,0.00,0.000,6,0.000,0.038,1971,1528,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4347,-0.61,-97.3,332.2,-6.4,250,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1529,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,-0.61,-97.3,355.2,-8.2,260,4650,0.00,2.00,0.00,0.000,4,0.000,0.080,1970,467,3463,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4721,-0.60,-97.3,362.1,-9.0,263,4726,0.15,1.83,0.00,0.000,6,0.240,0.038,1994,1528,3463,0,0,0,0,0,0,13.64,14.13,28.83
$GC,5039,-0.65,-97.3,388.5,-8.3,274,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1530,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.70,-97.3,409.5,-6.3,284,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1529,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-0.76,-97.3,425.8,-5.2,294,5641,0.17,1.88,0.00,0.000,4,0.110,0.051,1925,2577,3461,0,0,0,0,0,0,14.32,13.97,28.83
$GC,5866,-0.73,-97.3,440.2,-6.7,302,5872,0.00,1.95,0.00,0.000,6,0.000,0.060,1925,1514,3460,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6192,-0.69,-97.3,466.7,-8.7,313,6196,0.17,1.98,0.00,0.000,4,0.261,0.080,1961,467,3457,0,0,0,0,0,0,13.67,13.85,28.83
$GC,6281,-0.65,-97.3,473.4,-9.0,316,6285,0.00,1.83,0.00,0.000,6,0.000,0.038,1956,1522,3459,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6582,-0.63,-97.3,502.0,-9.4,326,6586,0.12,2.00,0.00,0.000,4,0.256,0.082,1980,467,3458,0,0,0,0,0,0,13.95,13.83,28.83
$GC,6626,-0.62,-97.3,506.1,-9.4,328,6630,0.00,1.83,0.00,0.000,6,0.000,0.041,1975,1519,3458,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6942,-0.62,-97.3,531.2,-7.5,339,6946,0.00,1.88,0.00,0.000,4,0.000,0.053,1967,2573,3457,0,0,0,0,0,0,28.83,13.93,28.83
$GC,7000,-0.62,-97.3,534.4,-7.1,341,7004,0.00,1.95,0.00,0.000,6,0.000,0.063,1966,1521,3457,0,0,0,0,0,0,28.83,13.98,28.83
$GC,7304,-0.65,-97.3,554.6,-6.4,351,7307,0.00,2.00,0.00,0.000,4,0.000,0.083,1967,464,3457,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7436,-0.65,-97.3,564.1,-7.0,356,7440,0.00,1.85,0.00,0.000,6,0.000,0.041,1960,1524,3457,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7757,-0.68,-97.3,586.6,-7.5,367,7763,0.00,2.00,0.00,0.000,4,0.000,0.083,1960,470,3454,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7841,-0.68,-97.3,594.1,-8.2,370,7845,0.00,1.85,0.00,0.000,6,0.000,0.041,1953,1529,3455,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8160,-0.70,-97.3,619.8,-8.2,381,8163,0.00,2.03,0.00,0.000,4,0.000,0.085,1953,466,3454,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8233,-0.70,-97.3,626.5,-8.6,384,8237,0.00,1.85,0.00,0.000,6,0.000,0.041,1949,1523,3454,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8550,-0.68,-97.3,649.7,-6.7,395,8554,0.00,2.03,0.00,0.000,4,0.000,0.084,1945,464,3453,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8609,-0.65,-97.3,652.9,-6.8,397,8613,0.17,1.88,0.00,0.000,6,0.248,0.041,1973,1527,3453,0,0,0,0,0,0,13.62,14.09,28.83
$GC,8912,-0.65,-97.3,669.4,-4.7,407,8920,0.00,2.03,0.00,0.000,4,0.000,0.086,1973,468,3452,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8953,-0.65,-97.3,671.0,-4.7,408,8956,0.00,1.85,0.00,0.000,6,0.000,0.041,1968,1522,3452,0,0,0,0,0,0,28.83,14.05,28.83
$GC,9259,-0.68,-97.3,686.6,-5.2,418,9265,0.00,2.00,0.00,0.000,4,0.000,0.085,1968,470,3451,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9328,-0.70,-97.3,690.1,-5.6,420,9332,0.00,1.85,0.00,0.000,6,0.000,0.042,1961,1521,3451,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9631,-0.73,-97.3,712.8,-8.0,430,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9929,-0.75,-97.3,740.7,-9.6,440,9932,0.00,2.03,0.00,0.000,4,0.000,0.085,1961,465,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10077,-0.75,-97.3,754.4,-10.2,445,10081,0.00,1.85,0.00,0.000,6,0.000,0.041,1953,1521,3449,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10380,-0.74,-97.3,783.5,-8.8,455,10384,0.00,2.03,0.00,0.000,4,0.000,0.086,1953,466,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10454,-0.72,-97.3,790.2,-8.9,458,10457,0.00,1.85,0.00,0.000,6,0.000,0.043,1945,1521,3448,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10773,-0.69,-97.3,812.2,-6.3,469,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1523,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11069,-0.67,-97.3,828.2,-5.5,479,11073,0.00,2.03,0.00,0.000,4,0.000,0.086,1945,466,3445,0,0,0,0,0,0,28.83,13.91,28.83
$GC,11129,-0.65,-97.3,831.2,-5.9,481,11134,0.17,1.88,0.00,0.000,6,0.247,0.043,1973,1524,3445,0,0,0,0,0,0,13.59,14.06,28.83
$GC,11432,-0.67,-97.3,849.8,-6.6,491,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1525,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11730,-0.72,-97.3,873.2,-8.1,501,11734,0.00,2.05,0.00,0.000,4,0.000,0.088,1979,463,3444,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11908,-0.74,-97.3,887.8,-8.9,507,11911,0.00,1.88,0.00,0.000,6,0.000,0.043,1969,1520,3443,0,0,0,0,0,0,28.83,13.84,28.83
$GC,12210,-0.78,-97.3,915.8,-8.8,517,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12509,-0.83,-97.3,940.9,-8.1,527,12513,0.15,2.05,0.00,0.000,4,0.127,0.089,1919,460,3441,0,0,0,0,0,0,14.16,13.97,28.83
$GC,12646,-0.78,-97.3,953.5,-9.4,532,12649,0.00,1.90,0.00,0.000,6,0.000,0.044,1914,1523,3438,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12962,-0.73,-97.3,979.7,-7.9,543,12970,0.17,1.90,0.00,0.000,4,0.264,0.057,1940,2575,3443,0,0,0,0,0,0,13.47,14.02,28.83
$STATE,12985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12985,begin apogee
$GC,12997,-0.18,0.0,981.9,-7.7,544,13121,0.73,0.00,115.30,1.814,6,0.228,0.000,2122,1393,3064,0,0,0,0,1,0,13.84,28.83,13.07
$STATE,13123,end apogee,CONTROL_FINISHED_OK
$STATE,13123,begin climb
$GC,13127,0.60,97.3,986.1,0.0,548,13263,0.85,1.95,124.95,1.805,4,0.106,0.055,2381,2465,2665,0,0,0,0,1,0,13.89,14.06,13.11
$GC,13486,0.57,141.9,982.6,4.2,561,13561,0.00,1.98,65.35,1.600,6,0.000,0.070,2389,1399,2484,0,0,0,0,1,0,28.83,14.11,13.22
$GC,13859,0.50,144.9,960.9,5.9,573,13864,0.15,0.00,2.50,1.950,6,0.288,0.000,2360,1399,2469,0,0,0,0,0,0,13.95,28.83,13.38
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$STATE,27329,end climb,SURFACE_DEPTH_REACHED
$STATE,27329,begin surface coast
$FINISH,0.8,1.025716
$STATE,27349,end surface coast,CONTROL_FINISHED_OK
$STATE,27349,begin surface
$SM_CCo,27370,36.17,0.689,0,0,1756,320.12
$SM_GC,1.14,6.97,0.15,36.17,0.087,0.098,0.689,156,1519,1756,-6.30,-1.72,320.12,0,0,0,0,0,0,14.19,14.33,13.89
$IRIDIUM_FIX,2427.58,-3746.68,200313,131342
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.19
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.80
$XPDR_PINGS,12
$SC_FREEKB,7553632
$24V_AH,13.1,259.738
$10V_AH,11.6,0.000
$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
$DEVICE_SECS,21.700,192.825,522.300,36.175,0.000,0.000,0.000,297.000,3.000,0.000,21.733,3329.302,20632.881,883.093,2344.458,797.912,0.000,2198.791,0.000,1966.572,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.292,0.000,0.000,0.000
$MEM,345320
$DATA_FILE_SIZE,43347,1146
$CAP_FILE_SIZE,256870,0
$CFSIZE,260034560,183767040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.111,311.0,1
$GPS,210313,043235,2434.044,-3747.808,28,0.9,28,-13.9