version: 66.11
glider: 191
mission: 5
dive: 567
start: 3 21 113 20 11 50
data:
$ID,191
$MISSION,5
$DIVE,567
$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,-5318.1592
$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
$GPS1,210313,200005,2431.852,-3748.111,30,1.1,30,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-52.8
$GPS2,210313,201117,2431.865,-3748.204,13,1.3,13,-14.0
$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,266.2,90786,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-58.10,0.000,6,0.000,0.000,156,1520,3461,0,0,0,0,0,0,28.83,28.83,14.54
$GC,87,-0.60,-97.3,4.4,-8.9,4,102,9.93,1.83,0.00,0.000,4,0.412,0.051,1981,2569,3463,1,0,0,0,0,0,13.50,14.31,28.83
$GC,324,-0.60,-97.3,29.2,-7.7,20,328,0.00,1.92,0.00,0.000,6,0.000,0.061,1981,1511,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,626,-0.58,-97.3,54.3,-8.9,40,630,0.00,1.95,0.00,0.000,4,0.000,0.081,1982,464,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,700,-0.55,-97.3,61.1,-9.2,45,705,0.15,1.83,0.00,0.000,6,0.238,0.038,2005,1523,3465,0,0,0,0,0,0,13.81,14.22,28.83
$GC,1001,-0.55,-97.3,84.2,-7.8,65,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.55,-97.3,106.1,-7.9,85,1303,0.00,1.98,0.00,0.000,4,0.000,0.080,2005,465,3466,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1451,-0.55,-97.3,114.4,-4.8,95,1455,0.00,1.83,0.00,0.000,6,0.000,0.038,1999,1522,3466,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1750,-0.55,-97.3,123.7,-1.3,115,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1523,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.59,-97.3,142.3,-6.9,135,2054,0.00,1.98,0.00,0.000,4,0.000,0.080,2000,464,3467,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2157,-0.62,-97.3,149.8,-7.2,142,2160,0.00,1.83,0.00,0.000,6,0.000,0.037,1993,1524,3466,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2456,-0.66,-97.3,173.5,-8.5,162,2459,0.00,2.00,0.00,0.000,4,0.000,0.079,1993,461,3467,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2591,-0.68,-97.3,185.2,-8.8,171,2595,0.00,1.83,0.00,0.000,6,0.000,0.037,1986,1526,3467,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2890,-0.72,-97.3,211.2,-8.9,191,2894,0.00,1.98,0.00,0.000,4,0.000,0.079,1986,465,3467,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2997,-0.74,-97.3,220.5,-9.0,198,3001,0.00,1.80,0.00,0.000,6,0.000,0.037,1978,1517,3467,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3297,-0.78,-97.3,245.1,-8.3,218,3301,0.12,1.98,0.00,0.000,4,0.136,0.080,1929,464,3467,0,0,0,0,0,0,14.40,13.88,28.83
$GC,3478,-0.72,-97.3,261.6,-10.2,226,3483,0.15,1.83,0.00,0.000,6,0.248,0.038,1950,1521,3467,0,0,0,0,0,0,13.59,14.12,28.83
$GC,3780,-0.70,-97.3,289.7,-8.8,236,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.67,-97.3,315.8,-8.5,246,4080,0.00,1.98,0.00,0.000,4,0.000,0.080,1951,468,3466,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4166,-0.64,-97.3,322.3,-8.7,249,4170,0.15,1.83,0.00,0.000,6,0.243,0.039,1976,1524,3466,0,0,0,0,0,0,13.62,14.00,28.83
$GC,4470,-0.64,-97.3,342.2,-5.6,259,4477,0.00,2.00,0.00,0.000,4,0.000,0.080,1976,460,3465,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4526,-0.64,-97.3,345.8,-5.8,261,4530,0.00,1.83,0.00,0.000,6,0.000,0.038,1970,1519,3465,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4842,-0.64,-97.3,365.5,-6.7,272,4845,0.00,2.00,0.00,0.000,4,0.000,0.080,1970,461,3464,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4900,-0.63,-97.3,369.2,-7.3,274,4904,0.00,1.83,0.00,0.000,6,0.000,0.038,1962,1521,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5202,-0.61,-97.3,394.6,-8.1,284,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.60,-97.3,418.0,-7.6,294,5505,0.12,2.00,0.00,0.000,4,0.252,0.081,1989,466,3462,0,0,0,0,0,0,13.97,13.82,28.83
$GC,5559,-0.60,-97.3,421.2,-7.5,296,5563,0.00,1.83,0.00,0.000,6,0.000,0.039,1984,1521,3462,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5862,-0.64,-97.3,442.3,-6.6,306,5866,0.00,2.00,0.00,0.000,4,0.000,0.080,1984,463,3462,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5996,-0.67,-97.3,451.4,-6.8,311,5999,0.00,1.83,0.00,0.000,6,0.000,0.038,1976,1521,3464,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6315,-0.71,-97.3,473.7,-7.3,322,6322,0.00,1.98,0.00,0.000,4,0.000,0.082,1977,474,3460,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6401,-0.73,-97.3,480.8,-7.8,325,6405,0.00,1.83,0.00,0.000,6,0.000,0.039,1969,1528,3460,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6720,-0.75,-97.3,504.8,-7.9,336,6727,0.00,2.00,0.00,0.000,4,0.000,0.083,1968,467,3459,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6776,-0.77,-97.3,510.0,-8.2,338,6780,0.00,1.83,0.00,0.000,6,0.000,0.040,1962,1521,3459,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7095,-0.80,-97.3,535.6,-8.3,349,7102,0.00,2.00,0.00,0.000,4,0.000,0.083,1962,464,3459,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7225,-0.79,-97.3,546.0,-8.6,353,7229,0.00,1.85,0.00,0.000,6,0.000,0.040,1954,1527,3459,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7526,-0.77,-97.3,570.8,-7.7,363,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1529,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7827,-0.75,-97.3,594.6,-8.1,373,7831,0.00,2.03,0.00,0.000,4,0.000,0.084,1954,468,3457,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7886,-0.73,-97.3,598.5,-8.3,375,7890,0.00,1.85,0.00,0.000,6,0.000,0.041,1946,1526,3457,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8187,-0.71,-97.3,622.6,-7.3,385,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1527,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,-0.68,-97.3,643.5,-6.9,395,8490,0.00,2.03,0.00,0.000,4,0.000,0.083,1946,467,3454,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8575,-0.65,-97.3,648.7,-7.0,398,8580,0.17,1.85,0.00,0.000,6,0.239,0.041,1974,1527,3454,0,0,0,0,0,0,13.54,14.06,28.83
$GC,8880,-0.68,-97.3,665.2,-5.2,408,8887,0.00,2.00,0.00,0.000,4,0.000,0.083,1974,471,3453,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8950,-0.70,-97.3,668.7,-5.6,410,8954,0.00,1.83,0.00,0.000,6,0.000,0.041,1970,1518,3453,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9252,-0.74,-97.3,688.5,-6.7,420,9256,0.00,2.03,0.00,0.000,4,0.000,0.083,1970,463,3452,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9297,-0.78,-97.3,692.0,-7.3,422,9300,0.00,1.85,0.00,0.000,6,0.000,0.041,1963,1522,3452,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9611,-0.78,-97.3,718.8,-9.1,433,9614,0.00,2.03,0.00,0.000,4,0.000,0.083,1963,465,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9669,-0.78,-97.3,723.5,-9.6,435,9673,0.00,1.85,0.00,0.000,6,0.000,0.040,1955,1521,3450,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9971,-0.76,-97.3,754.6,-9.8,445,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,-0.76,-97.3,780.5,-8.1,455,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10570,-0.76,-97.3,802.3,-6.9,465,10574,0.00,2.03,0.00,0.000,4,0.000,0.084,1955,466,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10647,-0.75,-97.3,807.6,-7.0,468,10651,0.00,1.85,0.00,0.000,6,0.000,0.041,1947,1521,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10964,-0.73,-97.3,827.4,-6.2,479,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11262,-0.71,-97.3,847.2,-6.7,489,11266,0.00,1.90,0.00,0.000,4,0.000,0.054,1940,2574,3446,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11320,-0.69,-97.3,850.4,-7.0,491,11324,0.00,1.98,0.00,0.000,6,0.000,0.064,1940,1518,3445,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11624,-0.67,-97.3,873.7,-7.5,501,11626,0.15,0.00,0.00,0.000,6,0.251,0.000,1970,1518,3445,0,0,0,0,0,0,13.74,28.83,28.83
$GC,11922,-0.69,-97.3,893.1,-6.3,511,11926,0.00,2.03,0.00,0.000,4,0.000,0.087,1971,465,3445,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12026,-0.72,-97.3,900.0,-6.5,515,12029,0.00,1.88,0.00,0.000,6,0.000,0.041,1966,1524,3444,0,0,0,0,0,0,28.83,13.96,28.83
$GC,12345,-0.76,-97.3,918.2,-5.5,526,12352,0.00,2.03,0.00,0.000,4,0.000,0.086,1966,464,3443,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12506,-0.77,-97.3,927.1,-6.0,531,12510,0.00,1.88,0.00,0.000,6,0.000,0.043,1960,1520,3442,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12807,-0.81,-97.3,946.1,-6.4,541,12811,0.00,2.03,0.00,0.000,4,0.000,0.086,1960,466,3441,0,0,0,0,0,0,28.83,13.94,28.83
$GC,12925,-0.82,-97.3,953.7,-7.2,545,12929,0.00,1.88,0.00,0.000,6,0.000,0.042,1953,1521,3441,0,0,0,0,0,0,28.83,13.98,28.83
$GC,13228,-0.85,-97.3,978.5,-8.3,555,13232,0.12,2.05,0.00,0.000,4,0.143,0.086,1910,459,3440,0,0,0,0,0,0,14.17,13.95,28.83
$STATE,13268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13268,begin apogee
$GC,13278,-0.18,0.0,983.0,-8.9,557,13404,0.88,0.00,115.85,1.827,6,0.235,0.000,2121,1411,3062,0,0,0,0,1,0,13.88,28.83,13.07
$STATE,13406,end apogee,CONTROL_FINISHED_OK
$STATE,13406,begin climb
$GC,13411,0.60,97.3,990.3,0.0,561,13548,0.85,2.08,125.47,1.817,4,0.113,0.093,2385,340,2665,0,0,0,0,1,0,13.84,14.00,13.07
$GC,13769,0.63,205.9,997.0,1.5,574,13916,0.00,1.85,135.52,1.834,6,0.000,0.043,2386,1409,2222,0,0,0,0,1,0,28.83,14.24,13.12
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$STATE,27841,end climb,SURFACE_DEPTH_REACHED
$STATE,27841,begin surface coast
$FINISH,0.0,1.025832
$STATE,27858,end surface coast,CONTROL_FINISHED_OK
$STATE,27858,begin surface
$SM_CCo,27941,0.00,0.000,0,0,1752,321.34
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$IRIDIUM_FIX,2422.84,-3750.01,210313,121259
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.78
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.80
$XPDR_PINGS,3
$SC_FREEKB,7552480
$24V_AH,13.1,260.966
$10V_AH,11.6,0.000
$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
$DEVICE_SECS,21.150,207.275,615.975,0.000,0.000,0.000,0.000,382.875,0.750,0.000,15.174,3375.977,20928.064,958.961,2451.840,881.690,0.000,2411.842,0.000,2036.411,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.240,0.000,0.000,0.000
$MEM,345424
$DATA_FILE_SIZE,43286,1155
$CAP_FILE_SIZE,263377,0
$CFSIZE,260034560,183402496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.077,344.2,1
$GPS,220313,035852,2431.858,-3750.642,37,0.8,37,-14.0