version: 66.11
glider: 191
mission: 5
dive: 587
start: 3 28 113 5 2 48
data:
$ID,191
$MISSION,5
$DIVE,587
$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,-5343.3301
$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,55
$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
$GPS1,280313,045234,2433.405,-3839.919,30,0.8,31,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.9
$GPS2,280313,050217,2433.284,-3839.925,14,1.1,14,-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,350.7,4725,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-58.65,0.000,6,0.000,0.000,158,1521,3459,0,0,0,0,0,0,28.83,28.83,14.51
$GC,89,-0.60,-97.3,4.4,-9.2,4,104,9.93,1.90,0.00,0.000,4,0.410,0.069,1994,459,3462,1,0,0,0,0,0,13.47,14.23,28.83
$GC,192,-0.58,-97.3,19.3,-8.9,11,196,0.00,1.80,0.00,0.000,6,0.000,0.038,1990,1510,3464,0,0,0,0,0,0,28.83,14.25,28.83
$GC,492,-0.58,-97.3,42.5,-7.2,31,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.58,-97.3,62.7,-6.8,51,795,0.00,1.98,0.00,0.000,4,0.000,0.081,1990,460,3464,0,0,0,0,0,0,28.83,14.00,28.83
$GC,838,-0.56,-97.3,66.1,-7.2,54,842,0.00,1.83,0.00,0.000,6,0.000,0.038,1982,1519,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1138,-0.55,-97.3,87.6,-7.2,74,1140,0.12,0.00,0.00,0.000,6,0.248,0.000,2007,1520,3463,0,0,0,0,0,0,13.94,28.83,28.83
$GC,1439,-0.56,-97.3,107.8,-6.6,94,1443,0.00,2.00,0.00,0.000,4,0.000,0.082,2007,463,3465,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1512,-0.56,-97.3,113.1,-7.3,99,1515,0.00,1.83,0.00,0.000,6,0.000,0.039,2002,1520,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1813,-0.56,-97.3,133.4,-6.6,119,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-0.61,-97.3,154.3,-7.6,139,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.65,-97.3,178.4,-8.3,159,2416,0.00,1.85,0.00,0.000,4,0.000,0.049,1994,2576,3466,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2532,-0.71,-97.3,188.6,-8.8,167,2536,0.00,1.95,0.00,0.000,6,0.000,0.060,1994,1509,3466,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2832,-0.75,-97.3,212.6,-7.2,187,2837,0.15,1.95,0.00,0.000,4,0.119,0.081,1937,468,3465,0,0,0,0,0,0,14.31,13.87,28.83
$GC,3057,-0.70,-97.3,231.5,-8.4,202,3062,0.15,1.83,0.00,0.000,6,0.246,0.039,1958,1528,3465,0,0,0,0,0,0,13.59,14.13,28.83
$GC,3373,-0.69,-97.3,252.9,-6.8,222,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1529,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-0.67,-97.3,275.5,-7.8,232,3677,0.00,2.00,0.00,0.000,4,0.000,0.080,1954,467,3465,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3777,-0.64,-97.3,284.4,-8.5,236,3781,0.00,1.80,0.00,0.000,6,0.000,0.038,1953,1520,3466,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4097,-0.62,-97.3,309.9,-8.2,247,4104,0.15,1.98,0.00,0.000,4,0.245,0.080,1984,471,3465,0,0,0,0,0,0,13.75,13.81,28.83
$GC,4153,-0.61,-97.3,314.7,-8.1,249,4156,0.00,1.80,0.00,0.000,6,0.000,0.038,1979,1520,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4472,-0.64,-97.3,338.7,-7.7,260,4479,0.00,1.98,0.00,0.000,4,0.000,0.082,1979,466,3464,0,0,0,0,0,0,28.83,13.74,28.83
$GC,4542,-0.66,-97.3,343.5,-7.9,262,4546,0.00,1.83,0.00,0.000,6,0.000,0.039,1971,1525,3464,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4842,-0.70,-97.3,366.9,-7.2,272,4846,0.00,2.00,0.00,0.000,4,0.000,0.080,1971,464,3464,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4888,-0.72,-97.3,370.2,-7.2,274,4892,0.00,1.83,0.00,0.000,6,0.000,0.039,1963,1522,3464,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5206,-0.75,-97.3,392.4,-7.2,285,5213,0.00,1.98,0.00,0.000,4,0.000,0.081,1963,472,3463,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5264,-0.75,-97.3,397.2,-7.7,287,5267,0.00,1.83,0.00,0.000,6,0.000,0.039,1956,1520,3463,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5580,-0.73,-97.3,424.2,-9.0,298,5584,0.00,2.00,0.00,0.000,4,0.000,0.082,1956,463,3462,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5637,-0.71,-97.3,428.7,-9.3,300,5641,0.00,1.83,0.00,0.000,6,0.000,0.039,1948,1519,3462,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5940,-0.68,-97.3,458.2,-9.2,310,5944,0.00,2.00,0.00,0.000,4,0.000,0.083,1948,462,3461,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6013,-0.65,-97.3,465.3,-9.3,313,6018,0.17,1.83,0.00,0.000,6,0.245,0.040,1976,1521,3461,0,0,0,0,0,0,13.54,14.12,28.83
$GC,6332,-0.69,-97.3,488.0,-7.0,324,6339,0.00,1.98,0.00,0.000,4,0.000,0.083,1976,473,3460,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6388,-0.72,-97.3,492.2,-7.0,326,6392,0.00,1.83,0.00,0.000,6,0.000,0.040,1972,1525,3460,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6708,-0.75,-97.3,512.0,-6.1,337,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1526,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,-0.79,-97.3,532.6,-7.1,347,7008,0.12,2.03,0.00,0.000,4,0.136,0.082,1926,463,3458,0,0,0,0,0,0,14.33,13.74,28.83
$GC,7093,-0.78,-97.3,538.9,-8.1,350,7097,0.00,1.85,0.00,0.000,6,0.000,0.041,1917,1526,3458,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7395,-0.73,-97.3,566.3,-8.8,360,7397,0.15,0.00,0.00,0.000,6,0.259,0.000,1947,1533,3458,0,0,0,0,0,0,13.76,28.83,28.83
$GC,7694,-0.71,-97.3,589.6,-7.6,370,7698,0.00,2.03,0.00,0.000,4,0.000,0.083,1947,465,3456,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7785,-0.68,-97.3,595.7,-7.9,373,7789,0.00,1.85,0.00,0.000,6,0.000,0.040,1942,1523,3456,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8084,-0.66,-97.3,617.8,-6.7,383,8086,0.15,0.00,0.00,0.000,6,0.250,0.000,1972,1523,3455,0,0,0,0,0,0,13.81,28.83,28.83
$GC,8388,-0.70,-97.3,635.2,-5.9,393,8394,0.00,2.00,0.00,0.000,4,0.000,0.083,1972,467,3455,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8517,-0.72,-97.3,643.0,-6.5,397,8521,0.00,1.83,0.00,0.000,6,0.000,0.040,1968,1520,3454,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8820,-0.76,-97.3,666.3,-7.9,407,8823,0.00,2.03,0.00,0.000,4,0.000,0.084,1968,463,3453,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8924,-0.78,-97.3,675.4,-8.7,411,8928,0.00,1.85,0.00,0.000,6,0.000,0.040,1961,1520,3451,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9243,-0.81,-97.3,703.7,-9.1,422,9250,0.00,2.00,0.00,0.000,4,0.000,0.084,1961,467,3451,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9358,-0.81,-97.3,715.5,-9.8,426,9361,0.00,1.85,0.00,0.000,6,0.000,0.040,1954,1527,3451,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9673,-0.81,-97.3,743.7,-8.5,437,9677,0.00,2.05,0.00,0.000,4,0.000,0.085,1954,463,3450,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9734,-0.80,-97.3,747.5,-8.4,439,9738,0.00,1.85,0.00,0.000,6,0.000,0.040,1946,1519,3450,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10034,-0.78,-97.3,771.8,-7.5,449,10037,0.00,1.90,0.00,0.000,4,0.000,0.052,1938,2578,3449,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10093,-0.76,-97.3,775.0,-7.4,451,10097,0.00,1.98,0.00,0.000,6,0.000,0.063,1938,1519,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10398,-0.74,-97.3,797.9,-7.1,461,10404,0.00,2.03,0.00,0.000,4,0.000,0.086,1938,461,3448,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10453,-0.71,-97.3,802.5,-7.4,463,10457,0.00,1.85,0.00,0.000,6,0.000,0.041,1931,1527,3447,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10772,-0.68,-97.3,825.9,-7.5,474,10774,0.17,0.00,0.00,0.000,6,0.247,0.000,1967,1523,3446,0,0,0,0,0,0,13.59,28.83,28.83
$GC,11068,-0.72,-97.3,846.8,-7.6,484,11072,0.00,2.05,0.00,0.000,4,0.000,0.086,1967,461,3446,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11159,-0.74,-97.3,852.6,-7.7,487,11162,0.00,1.85,0.00,0.000,6,0.000,0.041,1962,1513,3445,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11461,-0.78,-97.3,880.7,-9.5,497,11465,0.00,1.92,0.00,0.000,4,0.000,0.054,1955,2574,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11566,-0.81,-97.3,891.1,-9.9,501,11569,0.00,1.98,0.00,0.000,6,0.000,0.065,1955,1519,3444,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11882,-0.84,-97.3,923.2,-10.0,512,11890,0.12,2.03,0.00,0.000,4,0.141,0.088,1912,469,3443,0,0,0,0,0,0,14.20,13.84,28.83
$GC,12108,-0.79,-97.3,945.7,-10.7,519,12117,0.15,1.88,0.00,0.000,6,0.269,0.043,1931,1526,3442,0,0,0,0,0,0,13.47,13.97,28.83
$GC,12422,-0.76,-97.3,973.0,-7.7,530,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1526,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12536,begin apogee
$GC,12546,-0.18,0.0,981.3,-6.9,534,12672,0.75,0.00,114.55,1.794,6,0.223,0.000,2121,1397,3062,0,0,0,0,1,0,13.78,28.83,13.04
$STATE,12674,end apogee,CONTROL_FINISHED_OK
$STATE,12674,begin climb
$GC,12678,0.60,97.3,984.6,0.0,538,12814,0.85,1.95,124.65,1.781,4,0.095,0.053,2385,2462,2665,0,0,0,0,1,0,13.90,13.93,12.99
$GC,13034,0.51,97.3,972.2,7.0,551,13039,0.17,1.98,0.00,0.000,6,0.287,0.068,2361,1401,2662,0,0,0,0,0,0,13.66,14.05,28.83
$GC,13352,0.45,97.3,950.6,6.5,562,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1401,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13651,0.43,130.1,934.8,4.7,572,13713,0.12,2.00,51.33,1.473,4,0.287,0.096,2340,349,2531,0,0,0,0,1,0,13.83,14.28,13.39
$GC,13849,0.43,165.5,926.5,4.6,579,13916,0.00,1.83,55.58,1.505,6,0.000,0.044,2340,1408,2387,0,0,0,0,1,0,28.83,14.21,13.31
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$STATE,26022,end climb,SURFACE_DEPTH_REACHED
$STATE,26022,begin surface coast
$FINISH,0.2,1.025740
$STATE,26037,end surface coast,CONTROL_FINISHED_OK
$STATE,26037,begin surface
$SM_CCo,26059,6.03,0.757,0,0,1755,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,62.01
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.80
$XPDR_PINGS,13
$SC_FREEKB,7544928
$24V_AH,13.0,269.126
$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
$DEVICE_SECS,21.600,196.350,570.600,6.025,0.000,0.000,0.000,287.550,3.250,0.000,16.221,3179.915,19449.475,918.971,2264.367,820.512,0.000,2218.387,0.000,1925.481,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.386,0.000,0.000,0.000
$MEM,345324
$DATA_FILE_SIZE,43255,1089
$CAP_FILE_SIZE,249381,0
$CFSIZE,260034560,181112832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.068,219.3,1
$GPS,280313,121834,2434.272,-3841.872,32,0.8,33,-14.2