version: 66.11
glider: 191
mission: 5
dive: 576
start: 3 24 113 17 47 12
data:
$ID,191
$MISSION,5
$DIVE,576
$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,-5329.4844
$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
$GPS1,240313,173634,2430.652,-3813.367,32,0.9,32,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-57.2
$GPS2,240313,174641,2430.665,-3813.396,14,1.2,14,-14.1
$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,298.0,48837,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-57.12,0.000,6,0.000,0.000,157,1524,3460,0,0,0,0,0,0,28.83,28.83,14.56
$GC,89,-0.60,-97.3,4.3,-7.9,4,103,9.75,1.90,0.00,0.000,4,0.405,0.068,1997,461,3462,1,0,0,0,0,0,13.47,14.24,28.83
$GC,252,-0.58,-97.3,24.2,-8.7,15,256,0.00,1.80,0.00,0.000,6,0.000,0.037,1992,1516,3464,0,0,0,0,0,0,28.83,14.22,28.83
$GC,553,-0.57,-97.3,48.9,-8.3,35,557,0.00,1.98,0.00,0.000,4,0.000,0.080,1992,463,3464,0,0,0,0,0,0,28.83,13.85,28.83
$GC,627,-0.54,-97.3,56.0,-9.5,40,631,0.12,1.80,0.00,0.000,6,0.249,0.038,2009,1518,3465,0,0,0,0,0,0,13.71,14.16,28.83
$GC,931,-0.56,-97.3,78.8,-7.6,60,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-0.61,-97.3,101.3,-7.1,80,1231,0.00,1.98,0.00,0.000,4,0.000,0.080,2009,463,3465,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1288,-0.63,-97.3,105.7,-7.3,84,1292,0.00,1.80,0.00,0.000,6,0.000,0.038,2004,1519,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1587,-0.68,-97.3,125.7,-6.3,104,1592,0.12,2.00,0.00,0.000,4,0.132,0.081,1954,464,3465,0,0,0,0,0,0,14.52,13.80,28.83
$GC,1618,-0.70,-97.3,128.0,-6.9,106,1622,0.00,1.80,0.00,0.000,6,0.000,0.039,1945,1518,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1919,-0.66,-97.3,150.5,-7.4,126,1921,0.12,0.00,0.00,0.000,6,0.254,0.000,1970,1520,3465,0,0,0,0,0,0,14.09,28.83,28.83
$GC,2218,-0.65,-97.3,172.1,-7.8,146,2221,0.00,1.98,0.00,0.000,4,0.000,0.081,1971,464,3466,0,0,0,0,0,0,28.83,13.78,28.83
$GC,2308,-0.62,-97.3,179.9,-8.8,152,2312,0.00,1.80,0.00,0.000,6,0.000,0.038,1965,1522,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2607,-0.60,-97.3,206.2,-8.8,172,2611,0.00,1.98,0.00,0.000,4,0.000,0.080,1965,464,3466,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2682,-0.57,-97.3,213.3,-9.5,177,2686,0.20,1.80,0.00,0.000,6,0.223,0.038,2001,1520,3466,0,0,0,0,0,0,13.56,14.16,28.83
$GC,2986,-0.63,-97.3,236.9,-7.7,197,2996,0.00,1.85,0.00,0.000,4,0.000,0.050,1996,2578,3465,0,0,0,0,0,0,28.83,14.03,28.83
$GC,3042,-0.68,-97.3,241.3,-7.3,201,3046,0.00,1.92,0.00,0.000,6,0.000,0.059,1996,1517,3466,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3343,-0.73,-97.3,263.1,-7.1,215,3348,0.12,1.88,0.00,0.000,4,0.129,0.049,1937,2581,3465,0,0,0,0,0,0,14.54,14.04,28.83
$GC,3417,-0.75,-97.3,269.3,-8.1,218,3421,0.00,1.92,0.00,0.000,6,0.000,0.060,1937,1522,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3734,-0.71,-97.3,298.1,-9.4,229,3737,0.00,1.98,0.00,0.000,4,0.000,0.080,1937,464,3465,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3808,-0.67,-97.3,305.7,-10.0,232,3813,0.20,1.80,0.00,0.000,6,0.237,0.038,1971,1520,3465,0,0,0,0,0,0,13.52,14.17,28.83
$GC,4122,-0.67,-97.3,331.2,-7.7,243,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4422,-0.67,-97.3,351.6,-6.4,253,4425,0.00,1.98,0.00,0.000,4,0.000,0.080,1972,466,3464,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4542,-0.66,-97.3,358.7,-6.8,257,4546,0.00,1.80,0.00,0.000,6,0.000,0.037,1966,1521,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4842,-0.66,-97.3,378.7,-6.5,267,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,-0.68,-97.3,401.8,-8.2,277,5146,0.00,2.00,0.00,0.000,4,0.000,0.080,1966,459,3462,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5232,-0.68,-97.3,408.5,-8.7,280,5236,0.00,1.83,0.00,0.000,6,0.000,0.038,1959,1527,3462,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5532,-0.67,-97.3,437.5,-9.5,290,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1529,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,-0.67,-97.3,465.7,-9.3,300,5835,0.00,2.00,0.00,0.000,4,0.000,0.081,1958,466,3460,0,0,0,0,0,0,28.83,13.75,28.83
$GC,5952,-0.65,-97.3,475.2,-9.1,304,5957,0.12,1.80,0.00,0.000,6,0.245,0.039,1975,1518,3460,0,0,0,0,0,0,13.66,14.14,28.83
$GC,6253,-0.69,-97.3,494.6,-5.2,314,6257,0.00,2.00,0.00,0.000,4,0.000,0.083,1975,463,3459,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6297,-0.71,-97.3,496.9,-4.8,316,6301,0.00,1.83,0.00,0.000,6,0.000,0.039,1970,1523,3459,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6614,-0.75,-97.3,510.9,-4.4,327,6617,0.00,2.00,0.00,0.000,4,0.000,0.081,1970,465,3458,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6672,-0.77,-97.3,513.0,-4.5,329,6675,0.00,1.83,0.00,0.000,6,0.000,0.039,1962,1523,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6974,-0.80,-97.3,528.2,-5.4,339,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1525,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7274,-0.82,-97.3,550.2,-8.2,349,7279,0.12,1.88,0.00,0.000,4,0.138,0.050,1907,2581,3457,0,0,0,0,0,0,14.50,13.96,28.83
$GC,7349,-0.82,-97.3,557.7,-9.5,352,7352,0.00,1.95,0.00,0.000,6,0.000,0.061,1907,1520,3456,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7665,-0.77,-97.3,594.6,-12.0,363,7670,0.15,2.00,0.00,0.000,4,0.267,0.083,1937,466,3455,0,0,0,0,0,0,13.85,13.69,28.83
$GC,7783,-0.72,-97.3,606.8,-11.7,367,7787,0.00,1.83,0.00,0.000,6,0.000,0.040,1931,1520,3455,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8085,-0.69,-97.3,638.9,-9.8,377,8087,0.15,0.00,0.00,0.000,6,0.248,0.000,1963,1522,3454,0,0,0,0,0,0,13.94,28.83,28.83
$GC,8386,-0.70,-97.3,663.9,-8.3,387,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8685,-0.73,-97.3,689.9,-8.7,397,8689,0.00,2.03,0.00,0.000,4,0.000,0.085,1964,463,3452,0,0,0,0,0,0,28.83,13.66,28.83
$GC,8743,-0.75,-97.3,693.9,-8.8,399,8747,0.00,1.85,0.00,0.000,6,0.000,0.041,1959,1527,3452,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9046,-0.78,-97.3,719.5,-7.5,409,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1528,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9345,-0.81,-97.3,739.4,-6.3,419,9348,0.00,1.88,0.00,0.000,4,0.000,0.053,1951,2576,3450,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9420,-0.84,-97.3,744.0,-6.2,422,9424,0.00,1.98,0.00,0.000,6,0.000,0.063,1950,1514,3450,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9736,-0.86,-97.3,765.3,-6.9,433,9741,0.12,2.03,0.00,0.000,4,0.140,0.086,1905,461,3449,0,0,0,0,0,0,14.46,13.66,28.83
$GC,9782,-0.86,-97.3,769.2,-7.4,435,9785,0.00,1.85,0.00,0.000,6,0.000,0.041,1896,1520,3448,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10095,-0.80,-97.3,798.2,-9.5,446,10097,0.15,0.00,0.00,0.000,6,0.265,0.000,1928,1522,3447,0,0,0,0,0,0,13.84,28.83,28.83
$GC,10397,-0.77,-97.3,823.8,-8.5,456,10400,0.00,2.03,0.00,0.000,4,0.000,0.085,1928,467,3446,0,0,0,0,0,0,28.83,13.63,28.83
$GC,10454,-0.73,-97.3,827.8,-8.7,458,10459,0.15,1.85,0.00,0.000,6,0.253,0.042,1951,1522,3446,0,0,0,0,0,0,13.43,13.99,28.83
$GC,10757,-0.71,-97.3,851.8,-7.4,468,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1523,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11056,-0.71,-97.3,873.8,-7.3,478,11060,0.00,2.05,0.00,0.000,4,0.000,0.085,1951,462,3445,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11160,-0.69,-97.3,882.4,-8.3,482,11164,0.00,1.85,0.00,0.000,6,0.000,0.041,1946,1520,3444,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11475,-0.68,-97.3,906.5,-7.6,493,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11777,-0.66,-97.3,928.7,-7.4,503,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12076,-0.65,-97.3,950.4,-7.2,513,12080,0.15,2.05,0.00,0.000,4,0.247,0.086,1977,467,3441,0,0,0,0,0,0,13.87,13.65,28.83
$GC,12180,-0.65,-97.3,957.9,-7.2,517,12184,0.00,1.88,0.00,0.000,6,0.000,0.043,1972,1526,3440,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,12491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12491,begin apogee
$GC,12502,-0.18,0.0,980.4,-7.4,528,12627,0.57,0.00,114.62,1.815,6,0.183,0.000,2125,1397,3062,0,0,0,0,1,0,13.59,28.83,13.08
$STATE,12628,end apogee,CONTROL_FINISHED_OK
$STATE,12628,begin climb
$GC,12632,0.60,97.3,987.5,0.0,532,12767,0.82,1.92,124.00,1.815,4,0.100,0.053,2381,2454,2665,0,0,0,0,1,0,13.97,14.00,13.03
$GC,12991,0.62,181.9,990.7,2.5,545,13111,0.00,1.95,109.43,1.790,6,0.000,0.069,2389,1404,2320,0,0,0,0,1,0,28.83,14.06,13.14
$GC,13410,0.56,181.9,966.2,6.6,559,13414,0.00,1.88,0.00,0.000,4,0.000,0.053,2389,2454,2312,0,0,0,0,0,0,28.83,14.24,28.83
$GC,13456,0.50,181.9,963.0,6.8,561,13460,0.20,1.95,0.00,0.000,6,0.269,0.070,2356,1399,2311,0,0,0,0,0,0,13.85,14.16,28.83
$GC,13776,0.47,181.9,942.5,6.7,572,13782,0.00,1.98,0.00,0.000,4,0.000,0.094,2362,338,2313,0,0,0,0,0,0,28.83,14.06,28.83
$GC,13831,0.44,181.9,938.0,7.1,574,13835,0.00,1.88,0.00,0.000,6,0.000,0.044,2362,1412,2310,0,0,0,0,0,0,28.83,14.22,28.83
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$STATE,25515,end climb,SURFACE_DEPTH_REACHED
$STATE,25515,begin surface coast
$FINISH,-0.1,1.025728
$STATE,25532,end surface coast,CONTROL_FINISHED_OK
$STATE,25532,begin surface
$SM_CCo,25614,0.00,0.000,0,0,1300,432.22
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$IRIDIUM_FIX,2420.48,-3808.90,240313,090950
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.26
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,24.90
$XPDR_PINGS,15
$SC_FREEKB,7549152
$24V_AH,13.0,264.653
$10V_AH,10.5,0.000
$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,21.075,168.850,720.225,0.000,0.000,0.000,0.000,309.950,3.750,0.000,16.139,3024.080,19339.932,1000.406,2133.478,701.728,0.000,2265.148,0.000,1752.204,0.000,0.549,0.000
$DEVICE_MAMPS,404.685,104.040,1815.345,0.000,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12981.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.860,0.000,0.000,0.000
$MEM,345352
$DATA_FILE_SIZE,39985,1061
$CAP_FILE_SIZE,212813,0
$CFSIZE,260034560,182390784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.028,196.1,1
$GPS,250313,005530,2430.732,-3816.343,41,0.8,42,-14.1