version: 66.11
glider: 191
mission: 5
dive: 585
start: 3 27 113 14 9 30
data:
$ID,191
$MISSION,5
$DIVE,585
$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,-5340.812
$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,52
$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
$GPS1,270313,135904,2432.628,-3835.834,25,0.8,26,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-58.8
$GPS2,270313,140859,2432.615,-3835.867,17,1.2,17,-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,324.4,11233,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-60.20,0.000,2,0.000,0.000,157,1522,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.4,-6.9,4,105,9.85,1.98,-1.92,0.000,4,0.406,0.104,1998,460,3461,1,0,0,0,0,0,13.48,14.19,14.62
$GC,265,-0.58,-97.3,23.1,-8.6,16,269,0.00,1.83,0.00,0.000,6,0.000,0.040,1993,1517,3463,0,0,0,0,0,0,28.83,14.16,28.83
$GC,565,-0.58,-97.3,47.6,-8.1,36,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-0.58,-97.3,72.3,-8.2,56,869,0.00,1.98,0.00,0.000,4,0.000,0.082,1992,464,3463,0,0,0,0,0,0,28.83,14.03,28.83
$GC,925,-0.56,-97.3,77.7,-9.1,60,929,0.00,1.83,0.00,0.000,6,0.000,0.039,1984,1523,3463,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1225,-0.55,-97.3,104.5,-9.1,80,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.54,-97.3,130.6,-8.2,100,1528,0.12,0.00,0.00,0.000,6,0.254,0.000,2010,1524,3464,0,0,0,0,0,0,13.93,28.83,28.83
$GC,1825,-0.55,-97.3,154.2,-7.9,120,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1525,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-0.61,-97.3,175.7,-6.3,140,2129,0.00,2.00,0.00,0.000,4,0.000,0.081,2016,460,3464,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2200,-0.65,-97.3,180.0,-5.7,145,2204,0.00,1.83,0.00,0.000,6,0.000,0.038,2005,1520,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2501,-0.70,-97.3,193.6,-4.0,165,2503,0.12,0.00,0.00,0.000,6,0.127,0.000,1955,1521,3464,0,0,0,0,0,0,14.38,28.83,28.83
$GC,2800,-0.70,-97.3,210.2,-6.4,185,2803,0.00,2.00,0.00,0.000,4,0.000,0.082,1955,460,3464,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2890,-0.66,-97.3,216.8,-7.7,191,2894,0.00,1.83,0.00,0.000,6,0.000,0.039,1947,1519,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3190,-0.63,-97.3,243.3,-10.1,211,3192,0.15,0.00,0.00,0.000,6,0.245,0.000,1978,1521,3463,0,0,0,0,0,0,13.86,28.83,28.83
$GC,3511,-0.67,-97.3,273.9,-9.6,224,3516,0.00,1.95,0.00,0.000,4,0.000,0.082,1978,461,3463,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3579,-0.69,-97.3,279.4,-9.3,226,3583,0.00,1.83,0.00,0.000,6,0.000,0.039,1974,1520,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3880,-0.73,-97.3,303.4,-6.9,236,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-0.76,-97.3,324.0,-6.9,246,4185,0.00,2.00,0.00,0.000,4,0.000,0.081,1973,461,3463,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4256,-0.78,-97.3,329.4,-7.2,249,4259,0.00,1.83,0.00,0.000,6,0.000,0.038,1966,1520,3464,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4574,-0.80,-97.3,351.4,-7.2,260,4583,0.12,1.98,0.00,0.000,4,0.135,0.081,1919,464,3462,0,0,0,0,0,0,14.35,13.76,28.83
$GC,4614,-0.80,-97.3,353.9,-7.4,261,4618,0.00,1.83,0.00,0.000,6,0.000,0.039,1911,1521,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4916,-0.74,-97.3,382.4,-9.1,271,4920,0.15,1.88,0.00,0.000,4,0.262,0.049,1936,2581,3463,0,0,0,0,0,0,13.83,14.01,28.83
$GC,4991,-0.71,-97.3,388.8,-8.7,274,4995,0.00,1.95,0.00,0.000,6,0.000,0.060,1937,1515,3462,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5308,-0.67,-97.3,416.9,-9.2,285,5316,0.15,2.00,0.00,0.000,4,0.255,0.082,1967,461,3462,0,0,0,0,0,0,13.80,13.87,28.83
$GC,5396,-0.65,-97.3,425.4,-9.5,288,5400,0.00,1.83,0.00,0.000,6,0.000,0.038,1962,1520,3463,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5713,-0.63,-97.3,453.9,-9.0,299,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,-0.62,-97.3,481.8,-9.6,309,6015,0.00,2.00,0.00,0.000,4,0.000,0.081,1962,464,3461,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6099,-0.60,-97.3,489.7,-10.4,312,6104,0.17,1.83,0.00,0.000,6,0.236,0.038,1991,1520,3460,0,0,0,0,0,0,13.56,14.10,28.83
$GC,6404,-0.66,-97.3,518.7,-8.9,322,6412,0.00,1.98,0.00,0.000,4,0.000,0.082,1990,469,3460,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6504,-0.70,-97.3,525.8,-8.1,325,6508,0.00,1.83,0.00,0.000,6,0.000,0.040,1987,1524,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6809,-0.75,-97.3,545.1,-5.7,335,6817,0.12,1.98,0.00,0.000,4,0.132,0.082,1941,473,3458,0,0,0,0,0,0,14.32,13.78,28.83
$GC,6956,-0.71,-97.3,554.9,-6.8,340,6960,0.00,1.83,0.00,0.000,6,0.000,0.039,1934,1523,3458,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7273,-0.68,-97.3,576.4,-7.3,351,7277,0.15,1.88,0.00,0.000,4,0.252,0.050,1958,2578,3457,0,0,0,0,0,0,13.81,13.96,28.83
$GC,7331,-0.66,-97.3,579.8,-7.4,353,7335,0.00,1.95,0.00,0.000,6,0.000,0.061,1958,1521,3457,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7631,-0.66,-97.3,604.8,-8.3,363,7635,0.00,2.00,0.00,0.000,4,0.000,0.083,1959,465,3456,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7722,-0.64,-97.3,611.7,-8.9,366,7727,0.15,1.83,0.00,0.000,6,0.239,0.040,1981,1521,3456,0,0,0,0,0,0,13.57,14.09,28.83
$GC,8025,-0.69,-97.3,636.7,-7.9,376,8033,0.00,2.03,0.00,0.000,4,0.000,0.084,1981,460,3454,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8097,-0.72,-97.3,641.2,-7.6,378,8100,0.00,1.85,0.00,0.000,6,0.000,0.040,1977,1526,3455,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8399,-0.77,-97.3,662.9,-6.5,388,8402,0.00,1.90,0.00,0.000,4,0.000,0.052,1969,2580,3454,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8502,-0.81,-97.3,669.5,-6.3,392,8507,0.15,1.98,0.00,0.000,6,0.125,0.063,1917,1515,3453,0,0,0,0,0,0,13.93,13.93,28.83
$GC,8823,-0.80,-97.3,693.3,-7.7,403,8828,0.00,1.95,0.00,0.000,4,0.000,0.085,1917,468,3452,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8878,-0.76,-97.3,698.3,-8.0,405,8882,0.15,1.85,0.00,0.000,6,0.260,0.041,1937,1523,3452,0,0,0,0,0,0,13.48,13.92,28.83
$GC,9196,-0.74,-97.3,721.0,-7.2,416,9204,0.00,1.85,0.00,0.000,4,0.000,0.052,1932,2569,3451,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9312,-0.72,-97.3,729.7,-7.2,420,9316,0.00,1.95,0.00,0.000,6,0.000,0.064,1932,1523,3450,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9631,-0.69,-97.3,754.8,-8.2,431,9639,0.15,2.00,0.00,0.000,4,0.259,0.085,1962,473,3449,0,0,0,0,0,0,13.70,13.78,28.83
$GC,9717,-0.67,-97.3,762.0,-8.1,434,9721,0.00,1.85,0.00,0.000,6,0.000,0.041,1957,1526,3448,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10036,-0.69,-97.3,786.3,-7.9,445,10044,0.00,2.03,0.00,0.000,4,0.000,0.086,1957,467,3449,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10092,-0.70,-97.3,791.4,-8.2,447,10096,0.00,1.85,0.00,0.000,6,0.000,0.041,1949,1525,3447,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10407,-0.70,-97.3,821.9,-10.3,458,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1526,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10708,-0.70,-97.3,854.0,-10.8,468,10712,0.00,2.05,0.00,0.000,4,0.000,0.086,1949,463,3446,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10812,-0.68,-97.3,865.6,-11.1,472,10816,0.00,1.88,0.00,0.000,6,0.000,0.042,1941,1524,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11131,-0.66,-97.3,895.6,-8.9,483,11133,0.15,0.00,0.00,0.000,6,0.246,0.000,1972,1524,3444,0,0,0,0,0,0,13.76,28.83,28.83
$GC,11428,-0.71,-97.3,917.3,-6.8,493,11432,0.00,1.90,0.00,0.000,4,0.000,0.055,1967,2572,3444,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11516,-0.75,-97.3,922.0,-6.4,496,11520,0.00,1.98,0.00,0.000,6,0.000,0.066,1964,1519,3443,0,0,0,0,0,0,28.83,13.91,28.83
$GC,11822,-0.80,-97.3,939.2,-5.0,506,11824,0.12,0.00,0.00,0.000,6,0.145,0.000,1924,1518,3442,0,0,0,0,0,0,14.22,28.83,28.83
$GC,12119,-0.80,-97.3,955.4,-5.5,516,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1518,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12417,-0.80,-97.3,973.8,-6.5,526,12421,0.00,2.05,0.00,0.000,4,0.000,0.089,1924,461,3440,0,0,0,0,0,0,28.83,13.77,28.83
$STATE,12518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12518,begin apogee
$GC,12528,-0.18,0.0,981.9,-7.8,530,12654,0.82,0.00,114.62,1.802,6,0.230,0.000,2121,1408,3063,0,0,0,0,1,0,13.79,28.83,13.05
$STATE,12656,end apogee,CONTROL_FINISHED_OK
$STATE,12656,begin climb
$GC,12661,0.60,97.3,987.1,0.0,534,12798,0.85,1.90,125.68,1.802,4,0.099,0.052,2383,2452,2665,0,0,0,0,1,0,13.88,13.93,12.99
$GC,13020,0.64,202.7,991.1,1.6,547,13166,0.00,1.98,131.18,1.815,6,0.000,0.070,2391,1392,2235,0,0,0,0,1,0,28.83,14.04,13.07
$GC,13468,0.59,206.4,968.8,5.9,562,13472,0.00,1.88,0.00,0.000,4,0.000,0.051,2390,2452,2228,0,0,0,0,0,0,28.83,14.21,28.83
$GC,13530,0.54,211.0,965.9,5.9,564,13544,0.17,1.95,6.93,1.747,6,0.271,0.070,2364,1399,2203,0,0,0,0,0,0,13.79,14.12,14.08
$GC,13846,0.53,226.8,948.0,5.4,575,13891,0.00,2.00,34.92,1.229,4,0.000,0.096,2370,342,2138,0,0,0,0,1,0,28.83,14.32,13.42
$GC,14042,0.49,226.8,935.4,6.8,581,14050,0.00,1.85,0.00,0.000,6,0.000,0.044,2369,1408,2137,0,0,0,0,0,0,28.83,14.31,28.83
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$STATE,26367,end climb,SURFACE_DEPTH_REACHED
$STATE,26368,begin surface coast
$FINISH,0.1,1.025708
$STATE,26384,end surface coast,CONTROL_FINISHED_OK
$STATE,26384,begin surface
$SM_CCo,26469,0.00,0.000,0,0,1684,338.02
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$TT8_MAMPS,0.023219,0.023219
$HUMID,61.06
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.90
$XPDR_PINGS,12
$SC_FREEKB,7545696
$24V_AH,13.0,268.324
$10V_AH,11.4,0.000
$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
$DEVICE_SECS,21.575,191.675,613.200,0.000,0.000,0.000,0.000,298.950,3.000,0.000,18.405,3223.877,19711.564,945.821,2322.183,842.768,0.000,2277.078,0.000,1972.922,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.337,0.000,0.000,0.000
$MEM,345328
$DATA_FILE_SIZE,43335,1104
$CAP_FILE_SIZE,250326,0
$CFSIZE,260034560,181334016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.088,190.3,1
$GPS,270313,213204,2432.521,-3838.238,40,0.9,40,-14.2