version: 66.11
glider: 191
mission: 5
dive: 503
start: 3 1 113 4 15 24
data:
$ID,191
$MISSION,5
$DIVE,503
$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,-5237.6353
$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,25
$R_STBD_OVSHOOT,50
$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
$GPS1,010313,040504,2408.301,-3751.103,40,0.7,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.7
$GPS2,010313,041454,2408.321,-3751.135,17,0.9,17,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,69.0,74533,-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,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.75,0.000,6,0.000,0.000,159,1517,3460,0,0,0,0,0,0,28.83,28.83,14.65
$GC,87,-0.60,-97.3,4.3,-8.8,4,102,10.00,1.90,0.00,0.000,4,0.412,0.073,1995,463,3462,1,0,0,0,0,0,13.52,14.37,28.83
$GC,283,-0.58,-97.3,28.8,-9.5,17,287,0.00,1.80,0.00,0.000,6,0.000,0.040,1990,1509,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,581,-0.57,-97.3,54.1,-7.6,37,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,881,-0.56,-97.3,75.4,-6.9,57,882,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.56,-97.3,96.4,-6.7,77,1184,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,463,3465,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1257,-0.53,-97.3,102.0,-7.7,82,1261,0.15,1.83,0.00,0.000,6,0.229,0.040,2014,1531,3464,0,0,0,0,0,0,13.89,14.33,28.83
$GC,1558,-0.55,-97.3,119.7,-6.0,102,1562,0.00,2.00,0.00,0.000,4,0.000,0.081,2015,462,3466,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1645,-0.55,-97.3,125.4,-6.5,108,1649,0.00,1.83,0.00,0.000,6,0.000,0.039,2009,1526,3466,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1946,-0.56,-97.3,144.6,-6.5,128,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.58,-97.3,166.0,-7.4,148,2251,0.00,1.98,0.00,0.000,4,0.000,0.082,2009,464,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2320,-0.58,-97.3,172.0,-8.2,153,2324,0.00,1.80,0.00,0.000,6,0.000,0.040,2002,1519,3465,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2622,-0.60,-97.3,195.3,-8.0,173,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,-0.65,-97.3,220.3,-8.2,193,2925,0.00,1.95,0.00,0.000,4,0.000,0.082,2002,464,3465,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3090,-0.68,-97.3,234.1,-8.4,204,3099,0.00,1.80,0.00,0.000,6,0.000,0.040,1997,1523,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3416,-0.73,-97.3,259.0,-7.3,222,3421,0.12,1.95,0.00,0.000,4,0.133,0.081,1945,464,3465,0,0,0,0,0,0,14.50,14.06,28.83
$GC,3582,-0.68,-97.3,273.6,-9.1,228,3587,0.15,1.80,0.00,0.000,6,0.249,0.041,1967,1517,3465,0,0,0,0,0,0,13.71,14.33,28.83
$GC,3900,-0.67,-97.3,296.9,-7.6,239,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4197,-0.65,-97.3,320.3,-7.9,249,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,-0.64,-97.3,343.2,-7.5,259,4500,0.00,1.95,0.00,0.000,4,0.000,0.083,1968,466,3463,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4616,-0.62,-97.3,351.1,-7.5,263,4620,0.00,1.80,0.00,0.000,6,0.000,0.040,1962,1521,3464,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4917,-0.60,-97.3,372.6,-6.7,273,4918,0.12,0.00,0.00,0.000,6,0.250,0.000,1990,1522,3463,0,0,0,0,0,0,14.13,28.83,28.83
$GC,5217,-0.60,-97.3,389.5,-5.7,283,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-0.60,-97.3,407.1,-5.9,293,5520,0.00,1.98,0.00,0.000,4,0.000,0.083,1989,459,3461,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5591,-0.60,-97.3,412.0,-6.4,296,5594,0.00,1.83,0.00,0.000,6,0.000,0.041,1983,1526,3462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5911,-0.64,-97.3,432.5,-6.8,307,5918,0.00,1.95,0.00,0.000,4,0.000,0.083,1984,469,3460,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5996,-0.65,-97.3,439.2,-7.2,310,6000,0.00,1.80,0.00,0.000,6,0.000,0.041,1976,1522,3460,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6312,-0.65,-97.3,463.7,-8.5,321,6316,0.00,1.98,0.00,0.000,4,0.000,0.084,1975,460,3460,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6386,-0.64,-97.3,471.2,-9.6,324,6390,0.00,1.83,0.00,0.000,6,0.000,0.041,1968,1525,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6705,-0.62,-97.3,502.9,-10.1,335,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7001,-0.61,-97.3,530.8,-8.9,345,7005,0.00,1.98,0.00,0.000,4,0.000,0.083,1968,464,3458,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7106,-0.59,-97.3,540.3,-9.1,349,7111,0.15,1.83,0.00,0.000,6,0.239,0.041,1991,1525,3458,0,0,0,0,0,0,13.83,14.31,28.83
$GC,7425,-0.64,-97.3,560.7,-6.1,360,7432,0.00,2.00,0.00,0.000,4,0.000,0.083,1991,458,3457,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7511,-0.67,-97.3,566.1,-6.0,363,7515,0.00,1.83,0.00,0.000,6,0.000,0.041,1987,1522,3457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7830,-0.72,-97.3,584.3,-6.1,374,7837,0.00,1.98,0.00,0.000,4,0.000,0.083,1987,468,3456,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7990,-0.73,-97.3,594.1,-6.8,379,7994,0.00,1.83,0.00,0.000,6,0.000,0.042,1978,1522,3456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8292,-0.78,-97.3,616.2,-7.6,389,8297,0.12,1.98,0.00,0.000,4,0.137,0.083,1935,464,3454,0,0,0,0,0,0,14.50,14.00,28.83
$GC,8456,-0.73,-97.3,631.6,-9.4,395,8460,0.00,1.83,0.00,0.000,6,0.000,0.043,1927,1518,3454,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8775,-0.68,-97.3,657.3,-7.8,406,8777,0.17,0.00,0.00,0.000,6,0.246,0.000,1964,1520,3453,0,0,0,0,0,0,13.91,28.83,28.83
$GC,9071,-0.68,-97.3,674.6,-5.3,416,9075,0.00,1.98,0.00,0.000,4,0.000,0.085,1965,466,3452,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9132,-0.67,-97.3,677.2,-5.4,418,9135,0.00,1.83,0.00,0.000,6,0.000,0.043,1959,1520,3451,0,0,0,0,0,0,28.83,14.25,28.83
$GC,9434,-0.66,-97.3,693.5,-5.2,428,9438,0.00,2.00,0.00,0.000,4,0.000,0.086,1959,459,3451,0,0,0,0,0,0,28.83,13.93,28.83
$GC,9507,-0.63,-97.3,698.3,-6.2,431,9512,0.15,1.85,0.00,0.000,6,0.249,0.043,1982,1523,3450,0,0,0,0,0,0,13.73,14.24,28.83
$GC,9826,-0.67,-97.3,716.4,-6.2,442,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1524,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10122,-0.72,-97.3,736.6,-7.1,452,10126,0.00,1.88,0.00,0.000,4,0.000,0.055,1977,2579,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10199,-0.76,-97.3,742.3,-7.6,455,10203,0.00,1.95,0.00,0.000,6,0.000,0.065,1977,1517,3449,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10515,-0.80,-97.3,768.1,-8.7,466,10517,0.15,0.00,0.00,0.000,6,0.126,0.000,1924,1516,3448,0,0,0,0,0,0,14.38,28.83,28.83
$GC,10813,-0.76,-97.3,797.3,-10.1,476,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1516,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11112,-0.72,-97.3,827.3,-10.0,486,11114,0.15,0.00,0.00,0.000,6,0.253,0.000,1955,1516,3446,0,0,0,0,0,0,13.93,28.83,28.83
$GC,11413,-0.71,-97.3,851.5,-7.6,496,11417,0.00,2.00,0.00,0.000,4,0.000,0.088,1955,464,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11501,-0.69,-97.3,857.2,-7.6,499,11505,0.00,1.85,0.00,0.000,6,0.000,0.044,1950,1520,3445,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11803,-0.67,-97.3,878.7,-6.6,509,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1522,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12103,-0.66,-97.3,895.8,-5.5,519,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12404,-0.64,-97.3,911.0,-4.8,529,12408,0.12,2.03,0.00,0.000,4,0.259,0.087,1975,468,3442,0,0,0,0,0,0,14.02,13.86,28.83
$GC,12462,-0.63,-97.3,913.2,-4.9,531,12466,0.00,1.85,0.00,0.000,6,0.000,0.045,1970,1519,3443,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12763,-0.63,-97.3,928.6,-5.3,541,12766,0.00,2.03,0.00,0.000,4,0.000,0.088,1970,467,3441,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12868,-0.63,-97.3,935.3,-6.4,545,12872,0.00,1.85,0.00,0.000,6,0.000,0.046,1962,1519,3440,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13182,-0.63,-97.3,957.8,-7.5,556,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13449,begin apogee
$GC,13458,-0.18,0.0,980.5,-8.9,565,13585,0.65,0.00,115.68,1.850,6,0.210,0.000,2126,1395,3062,0,0,0,0,1,0,13.74,28.83,13.00
$STATE,13586,end apogee,CONTROL_FINISHED_OK
$STATE,13586,begin climb
$GC,13590,0.60,97.3,988.4,0.0,569,13727,0.82,1.92,126.43,1.827,4,0.110,0.056,2379,2456,2664,0,0,0,0,1,0,14.03,14.13,13.00
$GC,13932,0.68,225.1,998.0,0.7,581,14100,0.00,1.95,157.90,1.871,6,0.000,0.071,2386,1392,2145,0,0,0,0,1,0,28.83,14.31,13.01
$GC,14413,0.63,225.1,974.4,6.4,598,14417,0.00,1.98,0.00,0.000,4,0.000,0.095,2395,346,2138,0,0,0,0,0,0,28.83,14.25,28.83
$GC,14488,0.58,225.1,968.5,7.5,601,14491,0.00,1.85,0.00,0.000,6,0.000,0.047,2395,1409,2137,0,0,0,0,0,0,28.83,14.42,28.83
$GC,14808,0.53,225.1,944.8,7.7,612,14815,0.15,2.00,0.00,0.000,4,0.269,0.096,2371,352,2135,0,0,0,0,0,0,14.03,14.13,28.83
$GC,14907,0.48,225.1,937.7,7.9,615,14910,0.00,1.83,0.00,0.000,6,0.000,0.045,2371,1405,2135,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,27161,end climb,SURFACE_DEPTH_REACHED
$STATE,27161,begin surface coast
$FINISH,0.7,1.025718
$STATE,27177,end surface coast,CONTROL_FINISHED_OK
$STATE,27178,begin surface
$SM_CCo,27258,0.00,0.000,0,0,1634,350.29
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$IRIDIUM_FIX,2356.84,-3753.12,280213,202004
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.84
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7577088
$24V_AH,13.0,233.915
$10V_AH,12.3,0.000
$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,21.000,168.300,612.700,0.000,0.000,0.000,0.000,307.575,0.250,0.000,18.741,3204.710,20689.479,903.213,2305.234,728.071,0.000,2216.401,0.000,1924.681,0.000,0.549,0.000
$DEVICE_MAMPS,411.570,104.805,1884.960,0.000,0.000,0.000,0.000,168.300,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.276,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43313,1128
$CAP_FILE_SIZE,246245,0
$CFSIZE,260034560,190840832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.074,251.4,1
$GPS,010313,115104,2409.652,-3750.169,39,1.0,39,-14.0