version: 66.11
glider: 191
mission: 5
dive: 569
start: 3 22 113 12 3 55
data:
$ID,191
$MISSION,5
$DIVE,569
$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,-5320.6777
$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,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
$GPS1,220313,115234,2431.880,-3753.398,31,0.8,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.0
$GPS2,220313,120323,2431.898,-3753.473,14,1.3,14,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,268.3,81927,-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,-57.22,0.000,6,0.000,0.000,162,1525,3460,0,0,0,0,0,0,28.83,28.83,14.53
$GC,88,-0.60,-97.3,4.5,-9.7,4,102,9.77,1.80,0.00,0.000,4,0.408,0.052,1982,2559,3462,1,0,0,0,0,0,13.49,14.30,28.83
$GC,325,-0.60,-97.3,30.4,-8.1,20,329,0.00,1.90,0.00,0.000,6,0.000,0.061,1982,1517,3464,0,0,0,0,0,0,28.83,14.08,28.83
$GC,627,-0.58,-97.3,53.9,-8.4,40,631,0.00,1.98,0.00,0.000,4,0.000,0.083,1982,461,3463,0,0,0,0,0,0,28.83,13.95,28.83
$GC,701,-0.55,-97.3,60.2,-8.7,45,706,0.15,1.80,0.00,0.000,6,0.237,0.038,2002,1508,3464,0,0,0,0,0,0,13.73,14.12,28.83
$GC,1002,-0.56,-97.3,83.5,-8.1,65,1006,0.00,1.98,0.00,0.000,4,0.000,0.082,2006,461,3465,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1061,-0.56,-97.3,89.0,-9.3,69,1064,0.00,1.83,0.00,0.000,6,0.000,0.039,2000,1520,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1362,-0.57,-97.3,113.6,-7.7,89,1366,0.00,1.88,0.00,0.000,4,0.000,0.051,1993,2579,3465,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1451,-0.61,-97.3,120.2,-7.5,95,1455,0.00,1.92,0.00,0.000,6,0.000,0.060,1992,1521,3467,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1751,-0.64,-97.3,140.7,-6.2,115,1755,0.00,1.98,0.00,0.000,4,0.000,0.080,1992,465,3466,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1920,-0.66,-97.3,151.0,-6.0,126,1929,0.00,1.85,0.00,0.000,6,0.000,0.037,1985,1536,3466,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2231,-0.69,-97.3,170.9,-7.3,147,2235,0.00,2.03,0.00,0.000,4,0.000,0.080,1985,459,3466,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2306,-0.69,-97.3,177.1,-8.5,152,2309,0.00,1.83,0.00,0.000,6,0.000,0.037,1977,1522,3466,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2606,-0.72,-97.3,201.1,-8.0,172,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.75,-97.3,225.3,-8.1,192,2910,0.00,2.00,0.00,0.000,4,0.000,0.080,1977,460,3466,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3056,-0.75,-97.3,237.4,-7.9,202,3060,0.00,1.83,0.00,0.000,6,0.000,0.038,1970,1520,3466,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3357,-0.76,-97.3,259.5,-7.4,218,3360,0.00,1.98,0.00,0.000,4,0.000,0.080,1970,467,3466,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3415,-0.76,-97.3,262.9,-7.5,220,3419,0.00,1.80,0.00,0.000,6,0.000,0.039,1962,1518,3465,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3718,-0.75,-97.3,286.4,-7.6,230,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4017,-0.73,-97.3,310.4,-8.4,240,4020,0.00,1.98,0.00,0.000,4,0.000,0.081,1962,466,3465,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4061,-0.71,-97.3,314.6,-8.9,242,4065,0.00,1.83,0.00,0.000,6,0.000,0.038,1954,1521,3465,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4380,-0.68,-97.3,342.6,-8.6,253,4387,0.00,1.85,0.00,0.000,4,0.000,0.051,1947,2573,3464,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4436,-0.66,-97.3,347.5,-8.3,255,4440,0.00,1.92,0.00,0.000,6,0.000,0.060,1948,1521,3464,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4755,-0.63,-97.3,371.2,-6.9,266,4763,0.15,2.00,0.00,0.000,4,0.238,0.081,1980,463,3463,0,0,0,0,0,0,13.84,13.81,28.83
$GC,4901,-0.63,-97.3,381.4,-6.7,271,4904,0.00,1.83,0.00,0.000,6,0.000,0.037,1974,1523,3463,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5217,-0.63,-97.3,401.2,-6.6,282,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1524,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.63,-97.3,425.9,-9.1,292,5521,0.00,2.00,0.00,0.000,4,0.000,0.081,1974,467,3461,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5591,-0.63,-97.3,433.7,-10.2,295,5594,0.00,1.83,0.00,0.000,6,0.000,0.039,1967,1522,3462,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5907,-0.63,-97.3,468.0,-10.8,306,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6206,-0.63,-97.3,496.7,-9.0,316,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6507,-0.63,-97.3,518.6,-6.7,326,6511,0.00,2.00,0.00,0.000,4,0.000,0.082,1971,468,3459,0,0,0,0,0,0,28.83,13.72,28.83
$GC,6595,-0.62,-97.3,523.7,-6.8,329,6599,0.12,1.83,0.00,0.000,6,0.246,0.039,1982,1521,3459,0,0,0,0,0,0,13.65,14.09,28.83
$GC,6902,-0.66,-97.3,541.3,-5.6,339,6907,0.00,1.98,0.00,0.000,4,0.000,0.083,1983,455,3457,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6940,-0.70,-97.3,543.1,-5.6,340,6944,0.00,1.85,0.00,0.000,6,0.000,0.040,1978,1521,3458,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7241,-0.74,-97.3,565.1,-7.5,350,7245,0.00,2.03,0.00,0.000,4,0.000,0.083,1978,461,3455,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7361,-0.76,-97.3,573.9,-8.4,354,7365,0.00,1.85,0.00,0.000,6,0.000,0.041,1971,1523,3457,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7661,-0.80,-97.3,601.4,-8.8,364,7666,0.12,1.88,0.00,0.000,4,0.136,0.052,1919,2572,3456,0,0,0,0,0,0,14.31,13.88,28.83
$GC,7751,-0.80,-97.3,608.4,-9.2,367,7755,0.00,1.95,0.00,0.000,6,0.000,0.063,1918,1523,3455,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8051,-0.75,-97.3,636.7,-8.3,377,8056,0.12,2.03,0.00,0.000,4,0.274,0.083,1942,464,3454,0,0,0,0,0,0,13.86,13.83,28.83
$GC,8141,-0.71,-97.3,642.8,-8.1,380,8145,0.00,1.85,0.00,0.000,6,0.000,0.040,1937,1523,3454,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8441,-0.68,-97.3,663.9,-6.4,390,8443,0.15,0.00,0.00,0.000,6,0.246,0.000,1968,1524,3453,0,0,0,0,0,0,13.77,28.83,28.83
$GC,8741,-0.68,-97.3,681.7,-6.2,400,8744,0.00,2.03,0.00,0.000,4,0.000,0.084,1968,464,3452,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8817,-0.68,-97.3,687.2,-7.1,403,8821,0.00,1.85,0.00,0.000,6,0.000,0.041,1962,1519,3452,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9131,-0.68,-97.3,709.9,-7.5,414,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,-0.68,-97.3,733.4,-7.9,424,9436,0.00,2.03,0.00,0.000,4,0.000,0.085,1962,464,3450,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9536,-0.66,-97.3,742.6,-8.9,428,9540,0.00,1.85,0.00,0.000,6,0.000,0.041,1955,1521,3450,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9855,-0.65,-97.3,767.3,-7.5,439,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10151,-0.64,-97.3,788.6,-7.0,449,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10451,-0.62,-97.3,808.7,-6.5,459,10456,0.15,2.05,0.00,0.000,4,0.241,0.085,1986,461,3447,0,0,0,0,0,0,13.75,13.83,28.83
$GC,10511,-0.62,-97.3,811.6,-6.5,461,10515,0.00,1.88,0.00,0.000,6,0.000,0.042,1981,1524,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10815,-0.67,-97.3,829.2,-5.8,471,10823,0.00,2.05,0.00,0.000,4,0.000,0.086,1981,461,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10873,-0.71,-97.3,832.9,-5.9,473,10876,0.00,1.88,0.00,0.000,6,0.000,0.043,1974,1519,3446,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11189,-0.75,-97.3,853.8,-6.9,484,11193,0.00,2.03,0.00,0.000,4,0.000,0.086,1974,464,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11263,-0.78,-97.3,859.6,-7.4,487,11267,0.00,1.88,0.00,0.000,6,0.000,0.043,1967,1523,3444,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11580,-0.82,-97.3,885.3,-8.5,498,11585,0.15,2.05,0.00,0.000,4,0.127,0.086,1915,462,3443,0,0,0,0,0,0,14.23,13.86,28.83
$GC,11762,-0.77,-97.3,903.2,-11.0,504,11772,0.15,1.88,0.00,0.000,6,0.266,0.043,1935,1518,3443,0,0,0,0,0,0,13.45,13.93,28.83
$GC,12077,-0.74,-97.3,934.8,-9.0,515,12081,0.00,1.92,0.00,0.000,4,0.000,0.054,1929,2578,3442,0,0,0,0,0,0,28.83,13.96,28.83
$GC,12134,-0.72,-97.3,938.9,-8.8,517,12139,0.12,2.00,0.00,0.000,6,0.252,0.066,1952,1512,3442,0,0,0,0,0,0,13.73,14.04,28.83
$GC,12439,-0.72,-97.3,962.3,-6.9,527,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12731,begin apogee
$GC,12741,-0.18,0.0,981.9,-6.4,537,12867,0.65,0.00,115.82,1.815,6,0.216,0.000,2120,1396,3062,0,0,0,0,1,0,13.78,28.83,13.05
$STATE,12869,end apogee,CONTROL_FINISHED_OK
$STATE,12869,begin climb
$GC,12872,0.60,97.3,986.9,0.0,541,13009,0.85,1.92,124.97,1.812,4,0.106,0.053,2379,2457,2665,0,0,0,0,1,0,13.88,14.03,13.07
$GC,13230,0.63,187.4,988.4,2.2,554,13356,0.00,1.98,115.47,1.796,6,0.000,0.069,2387,1395,2298,0,0,0,0,1,0,28.83,14.07,13.14
$GC,13668,0.58,197.2,966.3,5.6,569,13701,0.00,0.00,26.33,0.979,6,0.000,0.000,2387,1395,2257,0,0,0,0,1,0,28.83,28.83,13.32
$GC,13999,0.53,197.2,945.2,6.8,580,14006,0.00,1.88,0.00,0.000,4,0.000,0.052,2387,2455,2253,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14040,0.47,197.2,943.1,7.0,581,14044,0.22,1.95,0.00,0.000,6,0.261,0.070,2347,1400,2254,0,0,0,0,0,0,13.81,14.16,28.83
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$STATE,27246,end climb,SURFACE_DEPTH_REACHED
$STATE,27246,begin surface coast
$FINISH,0.1,1.011296
$STATE,27274,end surface coast,CONTROL_FINISHED_OK
$STATE,27274,begin surface
$SM_CCo,27296,33.33,0.700,0,0,1756,320.12
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$IRIDIUM_FIX,2422.84,-3751.88,220313,040438
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.33
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.00
$XPDR_PINGS,3
$SC_FREEKB,7551712
$24V_AH,13.1,261.781
$10V_AH,11.3,0.000
$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,20.800,204.450,526.625,33.325,0.000,0.000,0.000,352.375,0.750,0.000,16.009,3313.769,20531.109,902.077,2358.912,857.885,0.000,2284.668,0.000,1979.735,0.000,0.549,0.000
$DEVICE_MAMPS,407.745,108.630,1815.345,699.975,0.000,0.000,0.000,166.770,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27333.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.363,0.000,0.000,0.000
$MEM,345424
$DATA_FILE_SIZE,43291,1146
$CAP_FILE_SIZE,259642,0
$CFSIZE,260034560,183160832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.063,323.8,1
$GPS,220313,194052,2431.770,-3756.216,38,0.9,38,-14.0