version: 66.11
glider: 191
mission: 5
dive: 581
start: 3 26 113 8 25 6
data:
$ID,191
$MISSION,5
$DIVE,581
$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,-5335.7783
$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,51
$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
$GPS1,260313,081428,2430.527,-3827.258,38,0.8,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.7
$GPS2,260313,082435,2430.476,-3827.306,18,1.7,18,-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,320.6,26126,-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,22,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.45,0.000,6,0.000,0.000,162,1517,3460,0,0,0,0,0,0,28.83,28.83,14.51
$GC,87,-0.60,-97.3,4.3,-9.2,4,103,9.95,1.90,0.00,0.000,4,0.414,0.071,1997,461,3463,1,0,0,0,0,0,13.49,14.25,28.83
$GC,176,-0.57,-97.3,17.6,-8.7,10,180,0.00,1.80,0.00,0.000,6,0.000,0.038,1992,1516,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,475,-0.57,-97.3,41.0,-7.8,30,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1517,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-0.57,-97.3,64.7,-8.0,50,779,0.00,1.98,0.00,0.000,4,0.000,0.081,1991,463,3465,0,0,0,0,0,0,28.83,14.04,28.83
$GC,820,-0.56,-97.3,68.5,-8.3,53,824,0.00,1.83,0.00,0.000,6,0.000,0.038,1983,1524,3465,0,0,0,0,0,0,28.83,14.22,28.83
$GC,1120,-0.55,-97.3,92.5,-7.8,73,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-0.55,-97.3,116.2,-8.3,93,1423,0.00,2.00,0.00,0.000,4,0.000,0.080,1983,461,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1466,-0.53,-97.3,120.4,-9.1,96,1471,0.17,1.83,0.00,0.000,6,0.223,0.038,2013,1520,3465,0,0,0,0,0,0,13.71,14.15,28.83
$GC,1766,-0.59,-97.3,145.1,-8.8,116,1770,0.00,1.85,0.00,0.000,4,0.000,0.050,2011,2570,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1841,-0.65,-97.3,151.8,-9.1,121,1844,0.00,1.92,0.00,0.000,6,0.000,0.060,2011,1516,3466,0,0,0,0,0,0,28.83,14.03,28.83
$GC,2141,-0.71,-97.3,176.9,-8.1,141,2146,0.15,1.88,0.00,0.000,4,0.118,0.050,1945,2573,3465,0,0,0,0,0,0,14.28,14.00,28.83
$GC,2230,-0.71,-97.3,185.0,-9.2,147,2234,0.00,1.92,0.00,0.000,6,0.000,0.060,1945,1521,3466,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2530,-0.68,-97.3,213.4,-9.8,167,2534,0.00,1.98,0.00,0.000,4,0.000,0.081,1945,465,3465,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2590,-0.63,-97.3,219.4,-10.2,171,2595,0.20,1.83,0.00,0.000,6,0.238,0.038,1980,1527,3465,0,0,0,0,0,0,13.59,14.12,28.83
$GC,2890,-0.66,-97.3,244.9,-8.0,191,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1528,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.69,-97.3,268.2,-7.0,204,3215,0.00,1.85,0.00,0.000,4,0.000,0.050,1975,2572,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,3251,-0.73,-97.3,270.2,-6.9,205,3254,0.00,1.92,0.00,0.000,6,0.000,0.060,1975,1518,3466,0,0,0,0,0,0,28.83,13.99,28.83
$GC,3550,-0.76,-97.3,290.9,-6.6,215,3555,0.10,1.98,0.00,0.000,4,0.155,0.080,1934,465,3465,0,0,0,0,0,0,14.38,13.82,28.83
$GC,3627,-0.75,-97.3,296.8,-7.7,218,3631,0.00,1.83,0.00,0.000,6,0.000,0.038,1926,1523,3465,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3944,-0.71,-97.3,324.0,-8.8,229,3952,0.15,2.00,0.00,0.000,4,0.243,0.079,1957,468,3464,0,0,0,0,0,0,13.82,13.82,28.83
$GC,4000,-0.67,-97.3,329.1,-8.6,231,4004,0.00,1.83,0.00,0.000,6,0.000,0.037,1952,1529,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4320,-0.65,-97.3,353.6,-7.7,242,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1530,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-0.63,-97.3,377.1,-7.7,252,4618,0.15,0.00,0.00,0.000,6,0.239,0.000,1984,1531,3463,0,0,0,0,0,0,13.89,28.83,28.83
$GC,4917,-0.67,-97.3,400.4,-8.4,262,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1531,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,-0.72,-97.3,427.6,-9.2,272,5220,0.00,1.85,0.00,0.000,4,0.000,0.050,1981,2577,3462,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5278,-0.77,-97.3,431.5,-9.0,274,5282,0.12,1.95,0.00,0.000,6,0.132,0.060,1935,1518,3461,0,0,0,0,0,0,13.88,13.88,28.83
$GC,5578,-0.74,-97.3,460.3,-8.9,284,5582,0.00,2.00,0.00,0.000,4,0.000,0.080,1935,467,3460,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5697,-0.69,-97.3,469.4,-8.6,288,5701,0.17,1.83,0.00,0.000,6,0.244,0.038,1962,1520,3460,0,0,0,0,0,0,13.55,14.11,28.83
$GC,6000,-0.69,-97.3,488.6,-5.6,298,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6297,-0.69,-97.3,506.3,-6.3,308,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6597,-0.70,-97.3,530.3,-8.6,318,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6897,-0.73,-97.3,560.3,-10.3,328,6900,0.00,2.00,0.00,0.000,4,0.000,0.082,1962,467,3455,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6957,-0.75,-97.3,565.3,-10.6,330,6960,0.00,1.83,0.00,0.000,6,0.000,0.039,1958,1520,3459,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7257,-0.75,-97.3,596.2,-9.4,340,7261,0.00,2.00,0.00,0.000,4,0.000,0.083,1957,469,3456,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7301,-0.74,-97.3,600.4,-9.3,342,7305,0.00,1.83,0.00,0.000,6,0.000,0.041,1950,1519,3457,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7620,-0.73,-97.3,626.3,-7.9,353,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7917,-0.72,-97.3,649.5,-7.6,363,7921,0.00,2.00,0.00,0.000,4,0.000,0.083,1950,466,3455,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7977,-0.70,-97.3,653.3,-8.2,365,7981,0.00,1.85,0.00,0.000,6,0.000,0.042,1942,1522,3454,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8277,-0.67,-97.3,678.8,-8.2,375,8279,0.12,0.00,0.00,0.000,6,0.249,0.000,1967,1523,3453,0,0,0,0,0,0,13.94,28.83,28.83
$GC,8579,-0.70,-97.3,700.2,-7.0,385,8583,0.00,2.03,0.00,0.000,4,0.000,0.084,1968,464,3452,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8652,-0.73,-97.3,705.7,-7.3,388,8656,0.00,1.85,0.00,0.000,6,0.000,0.041,1963,1523,3452,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8972,-0.76,-97.3,727.8,-7.1,399,8978,0.00,1.88,0.00,0.000,4,0.000,0.054,1956,2570,3451,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9028,-0.79,-97.3,732.0,-7.1,401,9032,0.00,1.95,0.00,0.000,6,0.000,0.064,1956,1523,3451,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9345,-0.81,-97.3,755.8,-7.7,412,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9643,-0.84,-97.3,780.3,-8.4,422,9648,0.12,1.92,0.00,0.000,4,0.141,0.053,1904,2579,3449,0,0,0,0,0,0,14.24,13.84,28.83
$GC,9731,-0.84,-97.3,787.1,-8.9,425,9735,0.00,1.98,0.00,0.000,6,0.000,0.065,1904,1521,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10034,-0.79,-97.3,816.0,-8.7,435,10038,0.12,2.05,0.00,0.000,4,0.286,0.086,1930,465,3448,0,0,0,0,0,0,13.78,13.84,28.83
$GC,10110,-0.74,-97.3,821.9,-8.1,438,10113,0.00,1.85,0.00,0.000,6,0.000,0.041,1924,1519,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10427,-0.70,-97.3,843.2,-6.5,449,10435,0.15,1.90,0.00,0.000,4,0.250,0.054,1949,2566,3446,0,0,0,0,0,0,13.68,13.80,28.83
$GC,10483,-0.68,-97.3,846.5,-6.0,451,10487,0.00,1.98,0.00,0.000,6,0.000,0.066,1949,1510,3446,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10803,-0.67,-97.3,865.3,-6.5,462,10809,0.00,2.00,0.00,0.000,4,0.000,0.087,1950,462,3445,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10888,-0.64,-97.3,872.1,-7.4,465,10893,0.17,1.88,0.00,0.000,6,0.233,0.042,1977,1522,3444,0,0,0,0,0,0,13.60,14.02,28.83
$GC,11208,-0.70,-97.3,895.4,-8.0,476,11214,0.00,2.03,0.00,0.000,4,0.000,0.086,1978,466,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11309,-0.73,-97.3,903.6,-8.9,479,11313,0.00,1.88,0.00,0.000,6,0.000,0.043,1974,1520,3444,0,0,0,0,0,0,28.83,14.02,28.83
$GC,11611,-0.78,-97.3,933.3,-9.5,489,11619,0.12,1.92,0.00,0.000,4,0.142,0.054,1923,2581,3442,0,0,0,0,0,0,14.21,13.90,28.83
$GC,11819,-0.78,-97.3,953.9,-9.8,496,11823,0.00,1.98,0.00,0.000,6,0.000,0.065,1923,1521,3442,0,0,0,0,0,0,28.83,14.03,28.83
$STATE,12132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12132,begin apogee
$GC,12141,-0.18,0.0,981.7,-8.2,507,12265,0.80,0.00,114.70,1.805,6,0.226,0.000,2123,1392,3062,0,0,0,0,1,0,13.81,28.83,13.05
$STATE,12267,end apogee,CONTROL_FINISHED_OK
$STATE,12267,begin climb
$GC,12272,0.60,97.3,987.2,0.0,511,12408,0.82,1.95,124.72,1.796,4,0.092,0.052,2382,2461,2665,0,0,0,0,1,0,13.89,13.97,13.04
$GC,12629,0.57,145.1,984.7,4.0,524,12708,0.00,1.98,68.68,1.620,6,0.000,0.069,2390,1401,2470,0,0,0,0,1,0,28.83,14.04,13.24
$GC,13003,0.50,145.1,961.6,6.4,536,13005,0.17,0.00,0.00,0.000,6,0.278,0.000,2355,1400,2466,0,0,0,0,0,0,13.88,28.83,28.83
$GC,13308,0.48,162.2,945.0,5.3,546,13352,0.00,2.00,34.53,1.217,4,0.000,0.096,2361,342,2400,0,0,0,0,1,0,28.83,14.31,13.41
$GC,13471,0.44,167.6,935.6,5.8,551,13481,0.00,1.85,5.28,1.932,6,0.000,0.044,2361,1411,2378,0,0,0,0,0,0,28.83,14.31,13.43
$GC,13802,0.43,185.5,918.1,5.3,562,13847,0.12,0.00,36.50,1.259,6,0.274,0.000,2335,1412,2304,0,0,0,0,1,0,13.95,28.83,13.40
$GC,14131,0.43,185.5,899.0,6.2,573,14138,0.00,1.83,0.00,0.000,4,0.000,0.052,2334,2445,2302,0,0,0,0,0,0,28.83,14.23,28.83
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$STATE,25845,end climb,SURFACE_DEPTH_REACHED
$STATE,25846,begin surface coast
$FINISH,1.0,1.025677
$STATE,25861,end surface coast,CONTROL_FINISHED_OK
$STATE,25861,begin surface
$SM_CCo,25942,0.00,0.000,0,0,1723,328.21
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$IRIDIUM_FIX,2425.21,-3834.04,260313,000014
$TT8_MAMPS,0.023219,0.023219
$HUMID,61.77
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,24.50
$XPDR_PINGS,6
$SC_FREEKB,7547232
$24V_AH,13.0,266.684
$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,21.550,181.100,654.975,0.000,0.000,0.000,0.000,303.975,1.500,0.000,19.705,3098.783,19432.754,975.336,2218.481,801.894,0.000,2259.142,0.000,1851.109,0.000,0.549,0.000
$DEVICE_MAMPS,413.865,102.510,1931.625,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.259,0.000,0.000,0.000
$MEM,345324
$DATA_FILE_SIZE,40007,1076
$CAP_FILE_SIZE,244800,0
$CFSIZE,260034560,181792768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.051,185.1,1
$GPS,260313,153853,2430.919,-3829.460,42,0.8,43,-14.2