version: 66.11
glider: 191
mission: 5
dive: 582
start: 3 26 113 15 49 41
data:
$ID,191
$MISSION,5
$DIVE,582
$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,-5337.0352
$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,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
$GPS1,260313,153853,2430.919,-3829.460,42,0.8,43,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-61.4
$GPS2,260313,154910,2430.854,-3829.478,22,1.0,22,-14.2
$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,319.9,22444,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-58.20,0.000,6,0.000,0.000,160,1523,3460,0,0,0,0,0,0,28.83,28.83,14.52
$GC,87,-0.60,-97.3,4.1,-8.6,4,100,9.77,0.00,0.00,0.000,6,0.405,0.000,1988,1522,3463,1,0,0,0,0,0,13.49,28.83,28.83
$GC,400,-0.58,-97.3,35.0,-8.0,25,404,0.00,1.98,0.00,0.000,4,0.000,0.082,1987,463,3465,0,0,0,0,0,0,28.83,14.06,28.83
$GC,476,-0.56,-97.3,41.5,-8.7,30,479,0.00,1.80,0.00,0.000,6,0.000,0.038,1983,1511,3465,0,0,0,0,0,0,28.83,14.21,28.83
$GC,776,-0.55,-97.3,65.3,-7.8,50,777,0.12,0.00,0.00,0.000,6,0.246,0.000,2008,1509,3465,0,0,0,0,0,0,13.95,28.83,28.83
$GC,1077,-0.56,-97.3,86.4,-6.7,70,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1376,-0.61,-97.3,107.7,-7.5,90,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-0.66,-97.3,131.9,-8.5,110,1679,0.00,1.98,0.00,0.000,4,0.000,0.081,2004,460,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1810,-0.70,-97.3,143.2,-8.2,119,1815,0.12,1.83,0.00,0.000,6,0.131,0.039,1955,1519,3466,0,0,0,0,0,0,14.02,14.12,28.83
$GC,2110,-0.70,-97.3,168.5,-8.4,139,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-0.70,-97.3,195.4,-9.1,159,2413,0.00,1.98,0.00,0.000,4,0.000,0.081,1955,463,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2500,-0.66,-97.3,204.5,-10.2,165,2504,0.00,1.83,0.00,0.000,6,0.000,0.038,1948,1522,3466,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2800,-0.63,-97.3,232.3,-9.0,185,2804,0.15,1.85,0.00,0.000,4,0.231,0.050,1975,2571,3467,0,0,0,0,0,0,13.89,13.98,28.83
$GC,2905,-0.64,-97.3,240.7,-7.9,192,2909,0.00,1.92,0.00,0.000,6,0.000,0.060,1975,1517,3466,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3220,-0.67,-97.3,262.5,-6.1,207,3224,0.00,1.98,0.00,0.000,4,0.000,0.080,1975,464,3467,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3369,-0.68,-97.3,270.3,-5.8,212,3373,0.00,1.83,0.00,0.000,6,0.000,0.038,1968,1524,3466,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3671,-0.71,-97.3,289.3,-6.7,222,3675,0.00,2.00,0.00,0.000,4,0.000,0.080,1967,462,3466,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3745,-0.72,-97.3,295.2,-7.7,225,3749,0.00,1.83,0.00,0.000,6,0.000,0.038,1960,1522,3465,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4065,-0.74,-97.3,325.3,-10.6,236,4071,0.00,1.98,0.00,0.000,4,0.000,0.080,1960,470,3465,0,0,0,0,0,0,28.83,13.76,28.83
$GC,4134,-0.74,-97.3,332.1,-11.1,238,4138,0.00,1.83,0.00,0.000,6,0.000,0.039,1952,1526,3465,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4437,-0.71,-97.3,367.7,-11.3,248,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1527,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4735,-0.69,-97.3,399.0,-9.9,258,4739,0.00,1.85,0.00,0.000,4,0.000,0.050,1944,2574,3464,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4810,-0.68,-97.3,405.6,-9.1,261,4814,0.00,1.92,0.00,0.000,6,0.000,0.060,1944,1520,3464,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5129,-0.65,-97.3,429.6,-6.7,272,5137,0.15,2.00,0.00,0.000,4,0.231,0.081,1977,465,3463,0,0,0,0,0,0,13.88,13.75,28.83
$GC,5199,-0.63,-97.3,433.2,-6.4,274,5203,0.00,1.83,0.00,0.000,6,0.000,0.039,1972,1523,3462,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5505,-0.66,-97.3,450.7,-5.5,284,5511,0.00,1.98,0.00,0.000,4,0.000,0.083,1972,474,3462,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5575,-0.68,-97.3,454.1,-5.6,286,5579,0.00,1.80,0.00,0.000,6,0.000,0.040,1964,1517,3462,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5877,-0.71,-97.3,474.2,-6.7,296,5881,0.00,2.00,0.00,0.000,4,0.000,0.083,1964,463,3461,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5935,-0.73,-97.3,477.4,-6.9,298,5939,0.00,1.83,0.00,0.000,6,0.000,0.039,1957,1521,3461,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6236,-0.72,-97.3,499.6,-7.1,308,6240,0.00,1.88,0.00,0.000,4,0.000,0.051,1949,2575,3460,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6312,-0.71,-97.3,505.1,-7.3,311,6315,0.00,1.95,0.00,0.000,6,0.000,0.061,1948,1520,3460,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6628,-0.69,-97.3,530.7,-8.8,322,6635,0.00,2.00,0.00,0.000,4,0.000,0.083,1949,465,3459,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6699,-0.67,-97.3,536.2,-9.0,324,6704,0.15,1.83,0.00,0.000,6,0.229,0.040,1972,1521,3459,0,0,0,0,0,0,13.64,14.11,28.83
$GC,7002,-0.67,-97.3,561.0,-7.6,334,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-0.71,-97.3,582.4,-6.9,344,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7602,-0.75,-97.3,602.5,-6.7,354,7605,0.00,2.03,0.00,0.000,4,0.000,0.084,1972,463,3456,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7661,-0.78,-97.3,605.8,-6.8,356,7664,0.00,1.85,0.00,0.000,6,0.000,0.040,1967,1523,3457,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7962,-0.81,-97.3,627.6,-7.0,366,7967,0.12,1.88,0.00,0.000,4,0.135,0.051,1914,2571,3455,0,0,0,0,0,0,14.31,13.88,28.83
$GC,8037,-0.81,-97.3,633.4,-7.6,369,8040,0.00,1.95,0.00,0.000,6,0.000,0.063,1915,1521,3455,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8356,-0.76,-97.3,660.0,-8.4,380,8363,0.00,2.00,0.00,0.000,4,0.000,0.085,1915,465,3454,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8426,-0.71,-97.3,665.7,-8.9,382,8430,0.22,1.85,0.00,0.000,6,0.248,0.041,1954,1522,3454,0,0,0,0,0,0,13.54,14.04,28.83
$GC,8730,-0.70,-97.3,690.0,-7.8,392,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1523,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,-0.70,-97.3,713.5,-7.9,402,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1523,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,-0.70,-97.3,738.0,-8.2,412,9330,0.00,2.03,0.00,0.000,4,0.000,0.085,1954,468,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9387,-0.69,-97.3,742.1,-8.7,414,9390,0.00,1.85,0.00,0.000,6,0.000,0.042,1949,1519,3451,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9687,-0.70,-97.3,769.4,-8.4,424,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.72,-97.3,793.6,-8.0,434,9990,0.00,2.03,0.00,0.000,4,0.000,0.086,1949,466,3449,0,0,0,0,0,0,28.83,13.82,28.83
$GC,10153,-0.69,-97.3,806.7,-7.8,440,10157,0.00,1.88,0.00,0.000,6,0.000,0.041,1941,1524,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10470,-0.67,-97.3,828.0,-6.5,451,10472,0.12,0.00,0.00,0.000,6,0.251,0.000,1966,1526,3447,0,0,0,0,0,0,13.84,28.83,28.83
$GC,10771,-0.69,-97.3,844.6,-5.6,461,10777,0.00,2.03,0.00,0.000,4,0.000,0.086,1966,470,3446,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10870,-0.69,-97.3,849.8,-5.7,464,10874,0.00,1.88,0.00,0.000,6,0.000,0.043,1961,1526,3445,0,0,0,0,0,0,28.83,13.99,28.83
$GC,11173,-0.71,-97.3,868.3,-6.3,474,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1527,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11471,-0.74,-97.3,890.0,-8.0,484,11475,0.00,2.05,0.00,0.000,4,0.000,0.087,1961,468,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11621,-0.74,-97.3,902.0,-9.1,489,11625,0.00,1.88,0.00,0.000,6,0.000,0.044,1953,1520,3444,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11921,-0.74,-97.3,931.4,-9.6,499,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1521,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12222,-0.74,-97.3,960.0,-9.4,509,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12458,begin apogee
$GC,12466,-0.18,0.0,981.4,-8.8,517,12594,0.68,0.00,115.30,1.813,6,0.200,0.000,2125,1397,3062,0,0,0,0,1,0,13.74,28.83,13.03
$STATE,12596,end apogee,CONTROL_FINISHED_OK
$STATE,12596,begin climb
$GC,12599,0.60,97.3,989.0,0.0,521,12736,0.82,1.95,125.25,1.805,4,0.098,0.054,2380,2459,2665,0,0,0,0,1,0,13.89,13.95,13.00
$GC,12957,0.64,195.6,994.6,1.9,534,13090,0.00,1.98,123.60,1.811,6,0.000,0.070,2387,1399,2264,0,0,0,0,1,0,28.83,14.05,13.09
$GC,13392,0.58,195.6,971.3,6.2,548,13396,0.00,2.00,0.00,0.000,4,0.000,0.093,2394,350,2258,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13451,0.52,195.6,968.2,6.4,550,13456,0.17,1.85,0.00,0.000,6,0.253,0.044,2360,1411,2257,0,0,0,0,0,0,13.78,14.23,28.83
$GC,13757,0.50,209.4,950.4,5.5,560,13794,0.00,0.00,29.95,1.097,6,0.000,0.000,2360,1412,2207,0,0,0,0,1,0,28.83,28.83,13.41
$GC,14084,0.49,209.4,929.8,6.7,571,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1412,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14382,0.49,209.4,908.0,7.6,581,14386,0.00,1.85,0.00,0.000,4,0.000,0.052,2360,2452,2207,0,0,0,0,0,0,28.83,14.13,28.83
$GC,14517,0.47,209.4,897.8,7.5,586,14521,0.00,1.98,0.00,0.000,6,0.000,0.071,2365,1395,2207,0,0,0,0,0,0,28.83,14.05,28.83
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$STATE,26673,end climb,SURFACE_DEPTH_REACHED
$STATE,26674,begin surface coast
$FINISH,0.8,1.025639
$STATE,26689,end surface coast,CONTROL_FINISHED_OK
$STATE,26689,begin surface
$SM_CCo,26711,24.10,0.709,0,0,1756,320.12
$SM_GC,0.73,6.95,0.15,24.10,0.085,0.100,0.709,160,1521,1756,-6.29,-1.61,320.12,0,0,0,0,0,0,14.20,14.28,13.90
$IRIDIUM_FIX,2422.84,-3823.67,260313,080823
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.67
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.70
$XPDR_PINGS,9
$SC_FREEKB,7546848
$24V_AH,13.0,267.079
$10V_AH,12.9,0.000
$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
$DEVICE_SECS,20.975,193.200,535.425,24.100,0.000,0.000,0.000,315.325,2.250,0.000,23.962,3217.317,20116.418,885.581,2304.748,813.943,0.000,2201.947,0.000,1917.976,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26746.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.331,0.000,0.000,0.000
$MEM,345356
$DATA_FILE_SIZE,43311,1101
$CAP_FILE_SIZE,250328,0
$CFSIZE,260034560,181669888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.046,192.6,1
$GPS,260313,231634,2431.212,-3831.715,29,1.1,29,-14.2