version: 66.11
glider: 191
mission: 5
dive: 589
start: 3 28 113 19 37 48
data:
$ID,191
$MISSION,5
$DIVE,589
$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,-5345.8452
$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,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
$GPS1,280313,192728,2433.202,-3841.153,36,0.8,37,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-51.9
$GPS2,280313,193718,2433.232,-3841.154,15,1.0,15,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,114.2,96719,-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,-97.3,0.0,0.0,0,98,0.00,0.00,-74.50,0.000,2,0.000,0.000,161,1520,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.60,-97.3,3.8,-6.5,5,119,9.82,1.85,-0.85,0.000,4,0.409,0.079,1982,2575,3460,1,0,0,0,0,0,13.47,14.32,14.61
$GC,340,-0.60,-97.3,28.5,-8.7,21,343,0.00,1.95,0.00,0.000,6,0.000,0.063,1987,1510,3463,0,0,0,0,0,0,28.83,14.12,28.83
$GC,641,-0.58,-97.3,53.6,-8.1,41,644,0.00,1.95,0.00,0.000,4,0.000,0.082,1981,466,3463,0,0,0,0,0,0,28.83,13.94,28.83
$GC,746,-0.55,-97.3,63.0,-9.0,48,751,0.15,1.80,0.00,0.000,6,0.233,0.038,2006,1511,3462,0,0,0,0,0,0,13.76,14.19,28.83
$GC,1046,-0.55,-97.3,86.3,-7.8,68,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-0.56,-97.3,111.1,-8.5,88,1349,0.00,1.98,0.00,0.000,4,0.000,0.081,2006,463,3462,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1451,-0.56,-97.3,120.9,-9.6,95,1455,0.00,1.83,0.00,0.000,6,0.000,0.039,2000,1521,3462,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1750,-0.56,-97.3,147.9,-8.3,115,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-0.60,-97.3,168.2,-5.6,135,2054,0.00,1.98,0.00,0.000,4,0.000,0.080,2000,466,3463,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2141,-0.61,-97.3,173.0,-5.2,141,2144,0.00,1.83,0.00,0.000,6,0.000,0.038,1993,1529,3463,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2441,-0.63,-97.3,185.8,-4.6,161,2444,0.00,2.00,0.00,0.000,4,0.000,0.080,1993,463,3463,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2500,-0.63,-97.3,189.3,-5.8,165,2504,0.00,1.83,0.00,0.000,6,0.000,0.038,1985,1525,3463,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2800,-0.63,-97.3,208.1,-6.8,185,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.63,-97.3,231.4,-8.1,205,3104,0.00,2.00,0.00,0.000,4,0.000,0.080,1988,461,3463,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3190,-0.62,-97.3,239.4,-8.8,211,3194,0.00,1.83,0.00,0.000,6,0.000,0.038,1977,1522,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3510,-0.62,-97.3,264.4,-7.8,226,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3805,-0.62,-97.3,286.2,-7.2,236,3809,0.00,2.00,0.00,0.000,4,0.000,0.082,1977,460,3463,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3912,-0.60,-97.3,294.5,-7.9,240,3915,0.00,1.83,0.00,0.000,6,0.000,0.038,1970,1520,3462,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4225,-0.60,-97.3,317.6,-7.4,251,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.60,-97.3,339.5,-7.3,261,4529,0.00,2.00,0.00,0.000,4,0.000,0.081,1970,462,3461,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4602,-0.59,-97.3,345.6,-7.9,264,4606,0.15,1.83,0.00,0.000,6,0.239,0.038,1993,1523,3460,0,0,0,0,0,0,13.66,14.16,28.83
$GC,4919,-0.64,-97.3,366.9,-7.2,275,4926,0.00,2.00,0.00,0.000,4,0.000,0.080,1993,463,3458,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5008,-0.68,-97.3,373.9,-7.6,278,5011,0.00,1.83,0.00,0.000,6,0.000,0.038,1989,1522,3460,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5324,-0.72,-97.3,399.2,-8.3,289,5332,0.00,2.00,0.00,0.000,4,0.000,0.081,1989,467,3459,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5397,-0.76,-97.3,404.5,-8.7,291,5402,0.12,1.83,0.00,0.000,6,0.132,0.039,1938,1525,3459,0,0,0,0,0,0,14.02,14.14,28.83
$GC,5699,-0.72,-97.3,435.8,-9.9,301,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1526,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-0.69,-97.3,461.0,-7.9,311,6000,0.00,2.00,0.00,0.000,4,0.000,0.081,1938,465,3458,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6072,-0.65,-97.3,467.1,-7.9,314,6077,0.20,1.83,0.00,0.000,6,0.244,0.039,1972,1522,3458,0,0,0,0,0,0,13.49,14.16,28.83
$GC,6390,-0.65,-97.3,485.2,-5.8,325,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.65,-97.3,506.2,-7.9,335,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,-0.68,-97.3,533.1,-9.5,345,6991,0.00,2.00,0.00,0.000,4,0.000,0.082,1972,465,3455,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7092,-0.70,-97.3,543.2,-9.6,349,7096,0.00,1.83,0.00,0.000,6,0.000,0.039,1967,1520,3453,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7409,-0.73,-97.3,570.4,-8.1,360,7416,0.00,2.00,0.00,0.000,4,0.000,0.082,1967,464,3454,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7556,-0.73,-97.3,581.3,-7.2,365,7560,0.00,1.83,0.00,0.000,6,0.000,0.040,1960,1519,3453,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7875,-0.76,-97.3,601.3,-6.2,376,7883,0.00,2.00,0.00,0.000,4,0.000,0.084,1960,463,3453,0,0,0,0,0,0,28.83,13.73,28.83
$GC,7991,-0.76,-97.3,609.3,-6.7,380,7994,0.00,1.85,0.00,0.000,6,0.000,0.040,1953,1526,3452,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8310,-0.74,-97.3,629.0,-6.3,391,8317,0.00,2.00,0.00,0.000,4,0.000,0.083,1953,470,3451,0,0,0,0,0,0,28.83,13.72,28.83
$GC,8366,-0.72,-97.3,633.3,-6.8,393,8370,0.00,1.83,0.00,0.000,6,0.000,0.041,1945,1520,3451,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8686,-0.70,-97.3,656.8,-7.8,404,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,-0.68,-97.3,682.7,-8.8,414,8985,0.00,2.03,0.00,0.000,4,0.000,0.084,1951,462,3449,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9086,-0.64,-97.3,693.0,-9.9,418,9090,0.17,1.85,0.00,0.000,6,0.244,0.041,1975,1519,3449,0,0,0,0,0,0,13.52,14.04,28.83
$GC,9405,-0.66,-97.3,719.1,-7.9,429,9412,0.00,2.00,0.00,0.000,4,0.000,0.085,1974,469,3448,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9461,-0.68,-97.3,724.0,-8.0,431,9465,0.00,1.85,0.00,0.000,6,0.000,0.041,1971,1527,3447,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9782,-0.73,-97.3,744.7,-5.9,442,9787,0.00,1.98,0.00,0.000,4,0.000,0.086,1971,465,3446,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9866,-0.75,-97.3,749.9,-5.8,445,9870,0.00,1.85,0.00,0.000,6,0.000,0.041,1964,1522,3446,0,0,0,0,0,0,28.83,14.04,28.83
$GC,10182,-0.75,-97.3,767.7,-6.1,456,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1523,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10481,-0.78,-97.3,791.3,-8.8,466,10485,0.00,2.03,0.00,0.000,4,0.000,0.085,1964,469,3444,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10557,-0.79,-97.3,798.6,-9.7,469,10560,0.00,1.85,0.00,0.000,6,0.000,0.041,1956,1520,3443,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10872,-0.79,-97.3,832.2,-11.1,480,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11171,-0.79,-97.3,863.9,-10.3,490,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11472,-0.78,-97.3,892.5,-9.1,500,11476,0.00,2.03,0.00,0.000,4,0.000,0.086,1956,468,3440,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11547,-0.76,-97.3,899.3,-9.0,503,11551,0.00,1.88,0.00,0.000,6,0.000,0.042,1948,1525,3440,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11865,-0.75,-97.3,922.6,-6.8,514,11873,0.00,2.03,0.00,0.000,4,0.000,0.086,1948,469,3439,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11936,-0.73,-97.3,927.0,-6.8,516,11939,0.00,1.88,0.00,0.000,6,0.000,0.043,1941,1529,3439,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12238,-0.71,-97.3,946.5,-6.1,526,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1530,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12537,-0.68,-97.3,965.9,-6.6,536,12541,0.00,2.08,0.00,0.000,4,0.000,0.090,1941,463,3438,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12611,-0.66,-97.3,971.5,-7.3,539,12616,0.20,1.88,0.00,0.000,6,0.243,0.044,1975,1520,3437,0,0,0,0,0,0,13.49,13.98,28.83
$STATE,12742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12742,begin apogee
$GC,12752,-0.18,0.0,980.0,-6.0,544,12878,0.55,0.00,114.60,1.803,6,0.193,0.000,2121,1396,3062,0,0,0,0,1,0,13.72,28.83,13.04
$STATE,12880,end apogee,CONTROL_FINISHED_OK
$STATE,12880,begin climb
$GC,12884,0.60,97.3,985.4,0.0,548,13022,0.85,2.05,126.47,1.798,4,0.111,0.093,2386,349,2666,0,0,0,0,1,0,13.83,13.81,12.93
$GC,13242,0.60,180.2,987.7,2.5,561,13360,0.00,1.85,107.72,1.769,6,0.000,0.043,2386,1412,2325,0,0,0,0,1,0,28.83,14.20,13.09
$GC,13662,0.55,183.7,965.8,5.9,575,13665,0.00,2.03,0.00,0.000,4,0.000,0.092,2391,347,2318,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13889,0.47,183.7,950.9,6.8,583,13897,0.20,1.83,0.00,0.000,6,0.252,0.044,2349,1405,2318,0,0,0,0,0,0,13.81,14.26,28.83
$GC,14221,0.46,196.1,932.7,5.5,594,14262,0.00,2.00,31.02,1.131,4,0.000,0.096,2354,345,2264,0,0,0,0,1,0,28.83,14.37,13.45
$GC,14415,0.43,196.1,920.4,6.6,600,14424,0.00,1.83,0.00,0.000,6,0.000,0.044,2354,1393,2263,0,0,0,0,0,0,28.83,14.28,28.83
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$STATE,27296,end climb,SURFACE_DEPTH_REACHED
$STATE,27297,begin surface coast
$FINISH,0.8,1.025684
$STATE,27316,end surface coast,CONTROL_FINISHED_OK
$STATE,27316,begin surface
$SM_CCo,27397,0.00,0.000,0,0,1739,324.53
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$IRIDIUM_FIX,2422.84,-3844.03,280313,121219
$TT8_MAMPS,0.023219,0.023219
$HUMID,61.14
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.80
$XPDR_PINGS,8
$SC_FREEKB,7544160
$24V_AH,12.9,269.996
$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,20.575,192.525,589.200,0.000,0.000,0.000,0.000,297.850,2.000,0.000,16.988,3276.134,20570.604,934.259,2348.427,838.448,0.000,2277.139,0.000,1996.350,0.000,0.548,0.000
$DEVICE_MAMPS,408.510,103.275,1803.105,0.000,0.000,0.000,0.000,167.535,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.283,0.000,0.000,0.000
$MEM,345356
$DATA_FILE_SIZE,43299,1135
$CAP_FILE_SIZE,253506,0
$CFSIZE,260034560,180887552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.120,257.4,1
$GPS,290313,031534,2432.812,-3840.539,25,0.8,26,-14.2