version: 66.11
glider: 191
mission: 5
dive: 579
start: 3 25 113 16 38 29
data:
$ID,191
$MISSION,5
$DIVE,579
$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,-5333.2617
$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,22
$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
$GPS1,250313,162734,2430.603,-3822.034,40,0.8,41,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.4
$GPS2,250313,163759,2430.569,-3822.018,15,1.7,15,-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,315.4,34639,-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,18,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.50,0.000,6,0.000,0.000,152,1502,3460,0,0,0,0,0,0,28.83,28.83,14.51
$GC,87,-0.60,-97.3,4.6,-10.1,4,101,9.85,1.90,0.00,0.000,4,0.407,0.073,1996,456,3462,1,0,0,0,0,0,13.49,14.23,28.83
$GC,239,-0.58,-97.3,22.4,-8.2,14,248,0.00,1.85,0.00,0.000,6,0.000,0.038,1990,1528,3464,0,0,0,0,0,0,28.83,14.24,28.83
$GC,550,-0.58,-97.3,45.9,-6.9,35,553,0.00,2.00,0.00,0.000,4,0.000,0.081,1990,460,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,611,-0.56,-97.3,50.4,-7.6,39,615,0.00,1.83,0.00,0.000,6,0.000,0.038,1982,1519,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,910,-0.54,-97.3,72.8,-8.0,59,914,0.12,2.00,0.00,0.000,4,0.248,0.081,2008,464,3465,0,0,0,0,0,0,13.96,13.98,28.83
$GC,956,-0.54,-97.3,76.3,-7.7,62,960,0.00,1.83,0.00,0.000,6,0.000,0.038,2002,1525,3465,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1256,-0.59,-97.3,101.9,-9.3,82,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-0.63,-97.3,129.8,-9.0,102,1559,0.00,2.00,0.00,0.000,4,0.000,0.080,2003,463,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1676,-0.65,-97.3,140.5,-8.6,110,1679,0.00,1.83,0.00,0.000,6,0.000,0.037,1995,1522,3465,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1976,-0.69,-97.3,163.7,-7.8,130,1980,0.00,1.85,0.00,0.000,4,0.000,0.050,1988,2573,3467,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2020,-0.73,-97.3,166.8,-7.2,133,2024,0.00,1.92,0.00,0.000,6,0.000,0.060,1988,1516,3466,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2320,-0.77,-97.3,188.5,-7.3,153,2325,0.15,1.98,0.00,0.000,4,0.117,0.081,1930,462,3466,0,0,0,0,0,0,14.28,13.95,28.83
$GC,2474,-0.71,-97.3,202.2,-9.4,163,2484,0.17,1.83,0.00,0.000,6,0.239,0.038,1957,1523,3466,0,0,0,0,0,0,13.59,14.11,28.83
$GC,2786,-0.69,-97.3,225.5,-7.4,184,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,-0.67,-97.3,247.9,-7.8,204,3089,0.00,2.00,0.00,0.000,4,0.000,0.080,1958,461,3466,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3145,-0.64,-97.3,251.6,-8.3,207,3150,0.12,1.83,0.00,0.000,6,0.242,0.038,1977,1523,3466,0,0,0,0,0,0,13.71,14.13,28.83
$GC,3446,-0.64,-97.3,274.6,-7.2,217,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.64,-97.3,295.1,-6.6,227,3749,0.00,2.00,0.00,0.000,4,0.000,0.080,1977,463,3465,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3821,-0.63,-97.3,300.5,-7.2,230,3825,0.00,1.83,0.00,0.000,6,0.000,0.037,1972,1524,3465,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4135,-0.63,-97.3,321.2,-6.4,241,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4437,-0.66,-97.3,343.3,-7.7,251,4441,0.00,2.00,0.00,0.000,4,0.000,0.080,1972,465,3464,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4540,-0.67,-97.3,352.3,-8.6,255,4544,0.00,1.83,0.00,0.000,6,0.000,0.037,1964,1527,3464,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4858,-0.66,-97.3,379.5,-8.8,266,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1528,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.66,-97.3,403.8,-7.8,276,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,-0.66,-97.3,425.9,-7.2,286,5459,0.00,2.03,0.00,0.000,4,0.000,0.082,1964,460,3462,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5531,-0.64,-97.3,431.9,-7.7,289,5535,0.00,1.83,0.00,0.000,6,0.000,0.038,1956,1517,3462,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5848,-0.62,-97.3,455.9,-7.8,300,5856,0.12,2.00,0.00,0.000,4,0.243,0.081,1982,465,3460,0,0,0,0,0,0,13.96,13.89,28.83
$GC,5920,-0.61,-97.3,460.5,-7.6,302,5924,0.00,1.83,0.00,0.000,6,0.000,0.037,1976,1526,3460,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6221,-0.62,-97.3,480.9,-6.1,312,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1523,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6522,-0.66,-97.3,497.1,-5.2,322,6526,0.00,2.00,0.00,0.000,4,0.000,0.081,1976,467,3459,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6596,-0.69,-97.3,501.3,-5.5,325,6600,0.00,1.83,0.00,0.000,6,0.000,0.038,1970,1519,3459,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6914,-0.72,-97.3,522.4,-7.4,336,6922,0.00,1.98,0.00,0.000,4,0.000,0.082,1970,471,3458,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6956,-0.75,-97.3,524.6,-7.6,337,6959,0.00,1.83,0.00,0.000,6,0.000,0.040,1962,1520,3458,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7255,-0.75,-97.3,552.5,-9.3,347,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.75,-97.3,582.0,-9.8,357,7560,0.00,2.00,0.00,0.000,4,0.000,0.083,1962,468,3456,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7645,-0.73,-97.3,589.8,-10.2,360,7649,0.00,1.85,0.00,0.000,6,0.000,0.039,1953,1530,3457,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7947,-0.71,-97.3,619.2,-9.1,370,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1530,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,-0.69,-97.3,645.7,-8.8,380,8250,0.00,2.03,0.00,0.000,4,0.000,0.083,1954,468,3454,0,0,0,0,0,0,28.83,13.77,28.83
$GC,8365,-0.66,-97.3,655.9,-9.6,384,8369,0.00,1.83,0.00,0.000,6,0.000,0.040,1946,1517,3453,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8667,-0.64,-97.3,683.9,-8.6,394,8672,0.15,1.92,0.00,0.000,4,0.239,0.051,1972,2576,3452,0,0,0,0,0,0,13.79,13.87,28.83
$GC,8725,-0.63,-97.3,687.4,-8.2,396,8729,0.00,1.95,0.00,0.000,6,0.000,0.062,1972,1522,3452,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9028,-0.67,-97.3,711.7,-7.8,406,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,-0.71,-97.3,735.0,-7.8,416,9330,0.00,2.03,0.00,0.000,4,0.000,0.085,1971,463,3451,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9371,-0.74,-97.3,738.7,-7.9,418,9375,0.00,1.85,0.00,0.000,6,0.000,0.040,1965,1521,3450,0,0,0,0,0,0,28.83,13.99,28.83
$GC,9691,-0.78,-97.3,762.9,-7.7,429,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.81,-97.3,783.8,-6.6,439,9991,0.12,1.90,0.00,0.000,4,0.137,0.052,1912,2571,3448,0,0,0,0,0,0,14.33,13.83,28.83
$GC,10062,-0.81,-97.3,789.5,-7.3,442,10066,0.00,1.98,0.00,0.000,6,0.000,0.064,1912,1517,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10379,-0.76,-97.3,814.9,-8.1,453,10386,0.00,2.03,0.00,0.000,4,0.000,0.086,1913,461,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10437,-0.71,-97.3,820.2,-8.3,455,10442,0.22,1.88,0.00,0.000,6,0.252,0.041,1953,1524,3447,0,0,0,0,0,0,13.54,13.90,28.83
$GC,10754,-0.71,-97.3,842.2,-7.0,466,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1526,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,-0.70,-97.3,862.8,-6.5,476,11057,0.00,2.05,0.00,0.000,4,0.000,0.086,1953,463,3445,0,0,0,0,0,0,28.83,13.86,28.83
$GC,11127,-0.68,-97.3,868.3,-7.2,479,11131,0.00,1.88,0.00,0.000,6,0.000,0.041,1947,1522,3444,0,0,0,0,0,0,28.83,13.96,28.83
$GC,11445,-0.66,-97.3,890.6,-7.3,490,11453,0.12,1.92,0.00,0.000,4,0.249,0.053,1966,2580,3443,0,0,0,0,0,0,13.83,13.87,28.83
$GC,11503,-0.66,-97.3,894.8,-7.2,492,11506,0.00,1.98,0.00,0.000,6,0.000,0.064,1967,1520,3443,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11819,-0.70,-97.3,918.6,-7.7,503,11823,0.00,1.92,0.00,0.000,4,0.000,0.054,1960,2576,3443,0,0,0,0,0,0,28.83,13.99,28.83
$GC,11894,-0.74,-97.3,924.3,-7.7,506,11897,0.00,1.98,0.00,0.000,6,0.000,0.066,1960,1520,3442,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12210,-0.77,-97.3,948.1,-7.4,517,12214,0.00,1.92,0.00,0.000,4,0.000,0.054,1954,2575,3440,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12285,-0.81,-97.3,953.6,-7.3,520,12288,0.00,2.00,0.00,0.000,6,0.000,0.067,1953,1514,3441,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12601,-0.84,-97.3,975.2,-6.6,531,12609,0.12,2.03,0.00,0.000,4,0.140,0.087,1910,462,3440,0,0,0,0,0,0,14.19,13.91,28.83
$STATE,12685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12685,begin apogee
$GC,12697,-0.18,0.0,982.3,-7.5,534,12821,0.88,0.00,114.97,1.818,6,0.228,0.000,2122,1409,3062,0,0,0,0,1,0,13.85,28.83,13.05
$STATE,12822,end apogee,CONTROL_FINISHED_OK
$STATE,12822,begin climb
$GC,12826,0.60,97.3,986.6,0.0,538,12959,0.85,0.00,124.53,1.811,6,0.098,0.000,2386,1409,2666,0,0,0,0,1,0,13.88,28.83,13.02
$GC,13259,0.59,160.0,981.4,3.4,553,13352,0.00,0.00,85.78,1.719,6,0.000,0.000,2385,1409,2408,0,0,0,0,1,0,28.83,28.83,13.19
$GC,13652,0.54,172.8,961.3,5.5,566,13689,0.00,0.00,30.15,1.106,6,0.000,0.000,2385,1409,2356,0,0,0,0,1,0,28.83,28.83,13.34
$GC,13983,0.48,172.8,941.1,6.3,577,13990,0.17,2.00,0.00,0.000,4,0.267,0.093,2356,346,2355,0,0,0,0,0,0,13.86,14.09,28.83
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$STATE,27523,end climb,SURFACE_DEPTH_REACHED
$STATE,27523,begin surface coast
$FINISH,0.7,1.025817
$STATE,27542,end surface coast,CONTROL_FINISHED_OK
$STATE,27543,begin surface
$SM_CCo,27564,23.85,0.708,0,0,1756,320.12
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$TT8_MAMPS,0.02247,0.02247
$HUMID,60.23
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.80
$XPDR_PINGS,10
$SC_FREEKB,7548000
$24V_AH,13.0,265.877
$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,21.225,207.625,603.675,23.850,0.000,0.000,0.000,328.325,2.500,0.000,16.235,3312.327,20669.453,991.494,2378.652,846.832,0.000,2371.057,0.000,1994.330,0.000,0.548,0.000
$DEVICE_MAMPS,406.980,97.920,1891.845,707.625,0.000,0.000,0.000,166.005,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27602.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.284,0.000,0.000,0.000
$MEM,345320
$DATA_FILE_SIZE,43342,1142
$CAP_FILE_SIZE,262543,0
$CFSIZE,260034560,182001664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.040,200.0,1
$GPS,260313,001935,2430.805,-3824.592,27,1.0,27,-14.1