version: 66.11
glider: 191
mission: 5
dive: 431
start: 2 5 113 8 3 29
data:
$ID,191
$MISSION,5
$DIVE,431
$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,-5147.0474
$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,48
$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
$GPS1,050213,075328,2510.712,-3803.034,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.2
$GPS2,050213,080259,2510.761,-3803.091,16,1.1,16,-13.9
$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,204.3,93168,-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,19,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.30,0.000,6,0.000,0.000,155,1520,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,88,-0.60,-97.3,4.0,-8.1,4,102,10.00,1.92,0.00,0.000,4,0.412,0.076,1995,462,3465,1,0,0,0,0,0,13.65,14.46,28.83
$GC,325,-0.57,-97.3,32.0,-12.4,20,329,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1518,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,626,-0.55,-97.3,64.1,-9.4,40,629,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,456,3465,0,0,0,0,0,0,28.83,14.31,28.83
$GC,702,-0.52,-97.3,71.9,-11.1,45,707,0.15,1.83,0.00,0.000,6,0.229,0.043,2016,1524,3465,0,0,0,0,0,0,14.14,14.50,28.83
$GC,1002,-0.53,-97.3,93.0,-7.4,65,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-0.54,-97.3,114.5,-6.9,85,1304,0.00,1.95,0.00,0.000,4,0.000,0.083,2016,461,3466,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1421,-0.54,-97.3,123.6,-8.1,93,1425,0.00,1.80,0.00,0.000,6,0.000,0.041,2010,1526,3466,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1720,-0.54,-97.3,147.2,-8.0,113,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1528,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.54,-97.3,167.1,-6.0,133,2024,0.00,1.95,0.00,0.000,4,0.000,0.083,2007,466,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2156,-0.54,-97.3,175.2,-6.1,142,2159,0.00,1.80,0.00,0.000,6,0.000,0.041,2003,1524,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2456,-0.54,-97.3,193.6,-6.9,162,2459,0.00,1.95,0.00,0.000,4,0.000,0.083,2003,458,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2516,-0.54,-97.3,198.4,-7.9,166,2520,0.00,1.80,0.00,0.000,6,0.000,0.041,1993,1524,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2816,-0.54,-97.3,220.8,-7.0,186,2819,0.00,1.95,0.00,0.000,4,0.000,0.083,1995,456,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2907,-0.53,-97.3,227.9,-7.8,192,2911,0.12,1.80,0.00,0.000,6,0.241,0.043,2012,1520,3466,0,0,0,0,0,0,14.19,14.55,28.83
$GC,3206,-0.55,-97.3,248.0,-6.6,212,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.61,-97.3,269.8,-7.0,224,3525,0.00,1.92,0.00,0.000,4,0.000,0.083,2013,462,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3640,-0.65,-97.3,277.2,-7.1,228,3643,0.00,1.80,0.00,0.000,6,0.000,0.041,2008,1527,3466,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3942,-0.70,-97.3,297.9,-6.5,238,3947,0.15,1.95,0.00,0.000,4,0.119,0.083,1950,458,3465,0,0,0,0,0,0,14.62,14.34,28.83
$GC,4121,-0.65,-97.3,311.9,-8.7,244,4125,0.15,1.80,0.00,0.000,6,0.260,0.043,1972,1518,3465,0,0,0,0,0,0,14.09,14.55,28.83
$GC,4424,-0.64,-97.3,335.9,-7.6,254,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,-0.63,-97.3,360.7,-8.5,264,4725,0.00,1.92,0.00,0.000,4,0.000,0.084,1973,463,3463,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4810,-0.61,-97.3,367.5,-9.0,267,4814,0.00,1.80,0.00,0.000,6,0.000,0.042,1967,1524,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5111,-0.60,-97.3,394.2,-8.4,277,5116,0.12,1.80,0.00,0.000,4,0.252,0.054,1988,2573,3462,0,0,0,0,0,0,14.35,14.50,28.83
$GC,5170,-0.60,-97.3,397.7,-8.1,279,5174,0.00,1.88,0.00,0.000,6,0.000,0.063,1989,1516,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5471,-0.60,-97.3,422.2,-7.9,289,5475,0.00,1.92,0.00,0.000,4,0.000,0.086,1988,462,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5605,-0.60,-97.3,434.1,-9.0,294,5609,0.00,1.80,0.00,0.000,6,0.000,0.043,1980,1523,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5921,-0.60,-97.3,459.4,-7.8,305,5925,0.00,1.83,0.00,0.000,4,0.000,0.054,1972,2580,3460,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5979,-0.60,-97.3,462.7,-7.5,307,5983,0.00,1.90,0.00,0.000,6,0.000,0.064,1972,1520,3460,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6281,-0.60,-97.3,485.7,-7.0,317,6285,0.00,1.92,0.00,0.000,4,0.000,0.086,1972,466,3459,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6401,-0.58,-97.3,493.4,-7.4,321,6406,0.15,1.80,0.00,0.000,6,0.237,0.043,1996,1521,3459,0,0,0,0,0,0,14.11,14.52,28.83
$GC,6704,-0.59,-97.3,511.8,-5.8,331,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,-0.61,-97.3,529.3,-5.8,341,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7302,-0.66,-97.3,547.7,-6.1,351,7306,0.00,1.95,0.00,0.000,4,0.000,0.086,1997,464,3457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7511,-0.68,-97.3,560.3,-6.5,358,7515,0.00,1.80,0.00,0.000,6,0.000,0.044,1992,1521,3457,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7814,-0.73,-97.3,578.6,-5.8,368,7818,0.12,1.95,0.00,0.000,4,0.135,0.086,1944,464,3455,0,0,0,0,0,0,14.60,14.26,28.83
$GC,8011,-0.68,-97.3,593.9,-7.9,375,8016,0.12,1.83,0.00,0.000,6,0.271,0.045,1962,1522,3455,0,0,0,0,0,0,14.04,14.48,28.83
$GC,8327,-0.67,-97.3,616.6,-7.5,386,8331,0.00,1.85,0.00,0.000,4,0.000,0.056,1956,2582,3454,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8385,-0.66,-97.3,620.1,-7.6,388,8389,0.00,1.90,0.00,0.000,6,0.000,0.066,1960,1522,3454,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8686,-0.64,-97.3,645.2,-7.8,398,8689,0.00,1.95,0.00,0.000,4,0.000,0.088,1957,464,3453,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8791,-0.61,-97.3,653.9,-8.4,402,8795,0.17,1.83,0.00,0.000,6,0.246,0.044,1986,1523,3452,0,0,0,0,0,0,13.98,14.47,28.83
$GC,9107,-0.61,-97.3,673.3,-5.9,413,9111,0.00,1.85,0.00,0.000,4,0.000,0.057,1986,2580,3451,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9150,-0.61,-97.3,675.9,-5.7,415,9154,0.00,1.92,0.00,0.000,6,0.000,0.067,1981,1517,3451,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9466,-0.61,-97.3,697.1,-7.1,426,9470,0.00,1.95,0.00,0.000,4,0.000,0.089,1981,464,3450,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9570,-0.61,-97.3,705.8,-8.4,430,9573,0.00,1.85,0.00,0.000,6,0.000,0.046,1973,1528,3450,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9886,-0.61,-97.3,732.3,-8.6,441,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1530,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10185,-0.61,-97.3,756.7,-7.9,451,10189,0.00,1.98,0.00,0.000,4,0.000,0.090,1973,465,3448,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10306,-0.60,-97.3,765.0,-7.9,455,10310,0.12,1.83,0.00,0.000,6,0.252,0.046,1990,1521,3447,0,0,0,0,0,0,14.03,14.42,28.83
$GC,10608,-0.65,-97.3,784.6,-6.0,465,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1523,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10907,-0.71,-97.3,802.9,-6.3,475,10910,0.00,1.85,0.00,0.000,4,0.000,0.058,1985,2577,3447,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10965,-0.76,-97.3,805.9,-6.4,477,10969,0.12,1.92,0.00,0.000,6,0.144,0.068,1941,1520,3444,0,0,0,0,0,0,14.26,14.28,28.83
$GC,11268,-0.73,-97.3,830.4,-8.2,487,11272,0.00,1.98,0.00,0.000,4,0.000,0.090,1941,463,3444,0,0,0,0,0,0,28.83,14.15,28.83
$GC,11386,-0.69,-97.3,840.0,-9.1,491,11390,0.15,1.85,0.00,0.000,6,0.266,0.047,1962,1524,3444,0,0,0,0,0,0,13.88,14.39,28.83
$GC,11688,-0.69,-97.3,864.3,-7.6,501,11692,0.00,1.85,0.00,0.000,4,0.000,0.059,1957,2576,3443,0,0,0,0,0,0,28.83,14.30,28.83
$GC,11762,-0.69,-97.3,870.0,-7.6,504,11766,0.00,1.95,0.00,0.000,6,0.000,0.069,1957,1509,3443,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12079,-0.68,-97.3,895.7,-8.1,515,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1508,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12378,-0.67,-97.3,919.2,-7.6,525,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1508,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12677,-0.66,-97.3,939.8,-6.6,535,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1508,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12978,-0.65,-97.3,956.9,-5.5,545,12981,0.00,1.98,0.00,0.000,4,0.000,0.093,1957,464,3439,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13081,-0.63,-97.3,963.1,-6.0,549,13086,0.15,1.85,0.00,0.000,6,0.246,0.049,1981,1519,3439,0,0,0,0,0,0,13.88,14.35,28.83
$GC,13401,-0.67,-97.3,978.1,-5.1,560,13408,0.00,2.00,0.00,0.000,4,0.000,0.093,1981,462,3438,0,0,0,0,0,0,28.83,13.92,28.83
$STATE,13453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13453,begin apogee
$GC,13462,-0.18,0.0,981.4,-5.5,562,13588,0.55,0.00,115.28,1.850,6,0.209,0.000,2123,1413,3063,0,0,0,0,1,0,13.68,28.83,12.90
$STATE,13590,end apogee,CONTROL_FINISHED_OK
$STATE,13590,begin climb
$GC,13593,0.60,97.3,985.7,0.0,566,13731,0.82,1.88,126.62,1.851,4,0.110,0.058,2381,2450,2663,0,0,0,0,1,0,14.20,14.18,12.95
$GC,13951,0.60,164.3,983.2,3.2,579,14055,0.00,1.92,91.47,1.754,6,0.000,0.075,2388,1395,2393,0,0,0,0,1,0,28.83,14.42,13.04
$GC,14371,0.58,193.9,963.9,4.8,593,14429,0.00,0.00,47.67,1.468,6,0.000,0.000,2388,1395,2273,0,0,0,0,1,0,28.83,28.83,13.15
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$STATE,28260,end climb,SURFACE_DEPTH_REACHED
$STATE,28260,begin surface coast
$FINISH,0.3,1.025577
$STATE,28276,end surface coast,CONTROL_FINISHED_OK
$STATE,28276,begin surface
$SM_CCo,28299,21.33,0.690,0,0,1756,320.12
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$IRIDIUM_FIX,2503.20,-3803.15,050213,000056
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.53
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.60
$XPDR_PINGS,3
$SC_FREEKB,7604608
$24V_AH,12.9,203.671
$10V_AH,10.7,0.000
$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
$DEVICE_SECS,21.750,196.375,597.075,21.325,0.000,0.000,0.000,305.325,0.750,0.000,17.277,3387.710,21430.119,955.583,2377.849,726.879,0.000,2300.150,0.000,1988.997,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28331.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.173,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43264,1182
$CAP_FILE_SIZE,265206,0
$CFSIZE,260034560,199368704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.094,341.0,1
$GPS,050213,155652,2509.463,-3803.895,36,0.9,36,-13.9