version: 66.11
glider: 191
mission: 5
dive: 583
start: 3 26 113 23 26 55
data:
$ID,191
$MISSION,5
$DIVE,583
$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,-5338.2939
$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,25
$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
$GPS1,260313,231634,2431.212,-3831.715,29,1.1,29,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.6
$GPS2,260313,232624,2431.175,-3831.772,17,1.3,17,-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,321.0,18626,-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,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.08,0.000,6,0.000,0.000,159,1522,3459,0,0,0,0,0,0,28.83,28.83,14.50
$GC,87,-0.60,-97.3,4.5,-9.6,4,101,9.80,1.83,0.00,0.000,4,0.405,0.048,1985,2562,3461,1,0,0,0,0,0,13.47,14.31,28.83
$GC,205,-0.60,-97.3,19.5,-8.2,12,208,0.00,1.90,0.00,0.000,6,0.000,0.061,1985,1520,3463,0,0,0,0,0,0,28.83,14.08,28.83
$GC,505,-0.58,-97.3,44.1,-8.2,32,509,0.00,1.98,0.00,0.000,4,0.000,0.081,1985,461,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,597,-0.56,-97.3,52.4,-9.3,38,601,0.12,1.80,0.00,0.000,6,0.247,0.039,2003,1510,3463,0,0,0,0,0,0,13.70,14.17,28.83
$GC,897,-0.57,-97.3,77.0,-8.2,58,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1196,-0.61,-97.3,101.1,-7.7,78,1200,0.00,1.88,0.00,0.000,4,0.000,0.050,1998,2574,3464,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1286,-0.65,-97.3,107.9,-7.5,84,1290,0.00,1.95,0.00,0.000,6,0.000,0.060,1998,1511,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1586,-0.70,-97.3,127.0,-6.2,104,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1886,-0.74,-97.3,147.3,-7.5,124,1890,0.15,1.95,0.00,0.000,4,0.119,0.080,1939,467,3464,0,0,0,0,0,0,14.28,13.95,28.83
$GC,1961,-0.69,-97.3,154.3,-9.6,129,1965,0.15,1.83,0.00,0.000,6,0.243,0.038,1960,1523,3464,0,0,0,0,0,0,13.67,14.13,28.83
$GC,2261,-0.67,-97.3,181.0,-9.1,149,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1525,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.65,-97.3,207.1,-8.3,169,2566,0.00,2.00,0.00,0.000,4,0.000,0.080,1961,460,3464,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2651,-0.62,-97.3,214.7,-8.3,175,2656,0.15,1.83,0.00,0.000,6,0.233,0.038,1986,1519,3464,0,0,0,0,0,0,13.64,14.11,28.83
$GC,2951,-0.66,-97.3,234.0,-6.2,195,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.71,-97.3,254.7,-6.8,214,3271,0.00,1.98,0.00,0.000,4,0.000,0.082,1986,467,3464,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3327,-0.74,-97.3,258.0,-7.0,216,3330,0.00,1.83,0.00,0.000,6,0.000,0.039,1981,1529,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3626,-0.78,-97.3,281.9,-8.0,226,3630,0.15,1.85,0.00,0.000,4,0.119,0.050,1917,2579,3464,0,0,0,0,0,0,14.33,14.00,28.83
$GC,3702,-0.78,-97.3,288.8,-8.8,229,3705,0.00,1.95,0.00,0.000,6,0.000,0.060,1917,1515,3464,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4019,-0.72,-97.3,320.2,-10.0,240,4027,0.15,1.98,0.00,0.000,4,0.256,0.080,1949,467,3464,0,0,0,0,0,0,13.82,13.77,28.83
$GC,4108,-0.68,-97.3,328.8,-9.7,243,4111,0.00,1.83,0.00,0.000,6,0.000,0.038,1943,1520,3463,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4424,-0.65,-97.3,355.2,-8.2,254,4426,0.15,0.00,0.00,0.000,6,0.239,0.000,1975,1521,3463,0,0,0,0,0,0,13.88,28.83,28.83
$GC,4721,-0.65,-97.3,377.8,-7.7,264,4724,0.00,2.00,0.00,0.000,4,0.000,0.080,1975,465,3463,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4781,-0.65,-97.3,381.5,-8.0,266,4785,0.00,1.83,0.00,0.000,6,0.000,0.039,1970,1522,3462,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5080,-0.65,-97.3,408.2,-9.0,276,5084,0.00,1.88,0.00,0.000,4,0.000,0.050,1962,2574,3462,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5125,-0.65,-97.3,412.2,-9.0,278,5129,0.00,1.92,0.00,0.000,6,0.000,0.060,1962,1523,3462,0,0,0,0,0,0,28.83,13.97,28.83
$GC,5445,-0.67,-97.3,439.1,-8.1,289,5452,0.00,1.98,0.00,0.000,4,0.000,0.082,1962,467,3460,0,0,0,0,0,0,28.83,13.73,28.83
$GC,5545,-0.67,-97.3,446.3,-8.0,292,5549,0.00,1.83,0.00,0.000,6,0.000,0.039,1954,1525,3461,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5851,-0.65,-97.3,466.2,-5.8,302,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1526,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6147,-0.64,-97.3,481.9,-5.4,312,6151,0.00,2.03,0.00,0.000,4,0.000,0.082,1955,460,3459,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6252,-0.61,-97.3,488.8,-6.5,316,6257,0.20,1.85,0.00,0.000,6,0.233,0.040,1989,1522,3459,0,0,0,0,0,0,13.53,14.06,28.83
$GC,6569,-0.67,-97.3,508.8,-7.0,327,6573,0.00,2.03,0.00,0.000,4,0.000,0.082,1989,461,3458,0,0,0,0,0,0,28.83,13.87,28.83
$GC,6628,-0.71,-97.3,512.3,-7.4,329,6632,0.00,1.85,0.00,0.000,6,0.000,0.040,1985,1523,3458,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6928,-0.76,-97.3,538.0,-8.3,339,6932,0.15,1.90,0.00,0.000,4,0.122,0.051,1923,2579,3457,0,0,0,0,0,0,14.26,13.93,28.83
$GC,7063,-0.76,-97.3,550.7,-9.5,344,7067,0.00,1.98,0.00,0.000,6,0.000,0.062,1923,1512,3457,0,0,0,0,0,0,28.83,13.92,28.83
$GC,7381,-0.72,-97.3,582.7,-10.3,355,7389,0.15,2.00,0.00,0.000,4,0.255,0.083,1953,461,3456,0,0,0,0,0,0,13.76,13.81,28.83
$GC,7511,-0.69,-97.3,594.6,-9.9,359,7515,0.00,1.85,0.00,0.000,6,0.000,0.040,1948,1523,3456,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7814,-0.67,-97.3,620.9,-7.9,369,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1525,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.66,-97.3,641.9,-6.7,379,8116,0.00,2.03,0.00,0.000,4,0.000,0.083,1948,463,3454,0,0,0,0,0,0,28.83,13.76,28.83
$GC,8203,-0.63,-97.3,647.1,-6.9,382,8207,0.17,1.85,0.00,0.000,6,0.239,0.041,1976,1520,3454,0,0,0,0,0,0,13.52,14.02,28.83
$GC,8505,-0.68,-97.3,667.4,-6.6,392,8509,0.00,1.90,0.00,0.000,4,0.000,0.052,1971,2580,3453,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8564,-0.72,-97.3,670.5,-6.8,394,8568,0.00,1.98,0.00,0.000,6,0.000,0.063,1970,1514,3453,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8864,-0.76,-97.3,693.8,-7.5,404,8867,0.00,1.90,0.00,0.000,4,0.000,0.052,1963,2574,3452,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8939,-0.80,-97.3,699.9,-7.9,407,8943,0.00,1.95,0.00,0.000,6,0.000,0.064,1963,1522,3451,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9258,-0.83,-97.3,726.1,-8.3,418,9260,0.12,0.00,0.00,0.000,6,0.140,0.000,1918,1521,3451,0,0,0,0,0,0,14.25,28.83,28.83
$GC,9554,-0.83,-97.3,753.0,-8.8,428,9557,0.00,2.03,0.00,0.000,4,0.000,0.086,1918,462,3450,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9645,-0.80,-97.3,760.1,-9.2,431,9649,0.00,1.85,0.00,0.000,6,0.000,0.041,1909,1520,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9944,-0.75,-97.3,786.4,-8.0,441,9948,0.17,1.90,0.00,0.000,4,0.252,0.052,1941,2573,3448,0,0,0,0,0,0,13.59,13.88,28.83
$GC,10020,-0.72,-97.3,791.6,-7.1,444,10023,0.00,1.98,0.00,0.000,6,0.000,0.064,1941,1516,3448,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10336,-0.70,-97.3,812.6,-6.7,455,10344,0.00,2.03,0.00,0.000,4,0.000,0.086,1941,463,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10407,-0.67,-97.3,816.9,-6.8,457,10412,0.17,1.88,0.00,0.000,6,0.245,0.041,1968,1525,3447,0,0,0,0,0,0,13.52,13.87,28.83
$GC,10714,-0.71,-97.3,837.1,-6.6,467,10719,0.00,1.88,0.00,0.000,4,0.000,0.054,1963,2570,3445,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10799,-0.75,-97.3,843.4,-6.9,470,10803,0.00,1.98,0.00,0.000,6,0.000,0.065,1963,1513,3446,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11118,-0.79,-97.3,867.3,-7.7,481,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11414,-0.82,-97.3,893.1,-8.8,491,11418,0.12,1.95,0.00,0.000,4,0.141,0.053,1911,2580,3443,0,0,0,0,0,0,14.24,13.83,28.83
$GC,11533,-0.82,-97.3,903.5,-10.0,495,11537,0.00,2.00,0.00,0.000,6,0.000,0.064,1911,1513,3443,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11834,-0.78,-97.3,935.5,-10.1,505,11837,0.00,2.03,0.00,0.000,4,0.000,0.086,1911,463,3442,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11894,-0.73,-97.3,940.1,-9.9,507,11899,0.22,1.88,0.00,0.000,6,0.263,0.042,1954,1521,3442,0,0,0,0,0,0,13.51,13.96,28.83
$GC,12196,-0.73,-97.3,964.8,-7.4,517,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1523,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12399,begin apogee
$GC,12410,-0.18,0.0,980.4,-7.4,524,12535,0.68,0.00,114.65,1.799,6,0.213,0.000,2122,1397,3063,0,0,0,0,1,0,13.75,28.83,13.05
$STATE,12537,end apogee,CONTROL_FINISHED_OK
$STATE,12537,begin climb
$GC,12541,0.60,97.3,986.1,0.0,528,12677,0.85,1.95,124.45,1.808,4,0.104,0.054,2383,2463,2666,0,0,0,0,1,0,13.90,13.95,13.00
$GC,12899,0.58,146.2,984.4,4.0,541,12979,0.00,1.98,70.07,1.624,6,0.000,0.069,2391,1400,2466,0,0,0,0,1,0,28.83,14.04,13.24
$GC,13273,0.50,146.2,958.0,7.8,553,13278,0.17,2.03,0.00,0.000,4,0.272,0.093,2361,340,2463,0,0,0,0,0,0,13.90,14.16,28.83
$GC,13364,0.44,146.2,952.4,7.6,556,13368,0.00,1.85,0.00,0.000,6,0.000,0.044,2360,1410,2461,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13666,0.40,146.2,928.7,7.4,566,13675,0.17,1.83,0.00,0.000,4,0.261,0.053,2321,2444,2460,0,0,0,0,0,0,13.81,14.22,28.83
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$STATE,25948,end climb,SURFACE_DEPTH_REACHED
$STATE,25948,begin surface coast
$FINISH,0.6,1.025758
$STATE,25965,end surface coast,CONTROL_FINISHED_OK
$STATE,25965,begin surface
$SM_CCo,26046,0.00,0.000,0,0,1720,329.19
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$IRIDIUM_FIX,2422.84,-3830.71,260313,151537
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.02
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.80
$XPDR_PINGS,7
$SC_FREEKB,7546464
$24V_AH,13.0,267.487
$10V_AH,11.2,0.000
$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
$DEVICE_SECS,22.450,196.650,621.150,0.000,0.000,0.000,0.000,293.125,1.750,0.000,19.004,3154.055,19429.752,953.211,2246.400,835.081,0.000,2248.139,0.000,1886.118,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26022.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.242,0.000,0.000,0.000
$MEM,345380
$DATA_FILE_SIZE,39924,1078
$CAP_FILE_SIZE,250177,0
$CFSIZE,260034560,181559296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.092,195.8,1
$GPS,270313,064222,2431.404,-3834.140,36,0.8,37,-14.2