version: 66.11
glider: 191
mission: 5
dive: 529
start: 3 9 113 12 34 49
data:
$ID,191
$MISSION,5
$DIVE,529
$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,-5270.356
$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,26
$R_STBD_OVSHOOT,54
$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
$GPS1,090313,122434,2434.042,-3724.250,28,0.8,28,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-55.4
$GPS2,090313,123417,2434.014,-3724.315,18,0.8,18,-13.8
$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,95.2,10792,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-60.70,0.000,2,0.000,0.000,159,1527,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.4,-6.6,4,105,9.95,1.83,-1.67,0.000,4,0.412,0.080,1982,2569,3461,1,0,0,0,0,0,13.54,14.43,14.71
$GC,240,-0.60,-97.3,19.3,-7.7,14,248,0.00,1.88,0.00,0.000,6,0.000,0.061,1982,1527,3463,0,0,0,0,0,0,28.83,14.11,28.83
$GC,550,-0.57,-97.3,43.6,-8.1,35,554,0.00,1.98,0.00,0.000,4,0.000,0.080,1982,460,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,671,-0.54,-97.3,53.8,-8.7,43,676,0.15,1.80,0.00,0.000,6,0.238,0.038,2007,1510,3463,0,0,0,0,0,0,13.87,14.29,28.83
$GC,969,-0.54,-97.3,77.3,-7.9,63,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-0.54,-97.3,102.1,-8.6,83,1273,0.00,1.95,0.00,0.000,4,0.000,0.080,2007,463,3463,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1359,-0.54,-97.3,110.8,-9.7,89,1363,0.00,1.83,0.00,0.000,6,0.000,0.037,2002,1529,3464,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1659,-0.54,-97.3,139.3,-9.1,109,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1531,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.54,-97.3,159.8,-5.6,129,1964,0.00,2.00,0.00,0.000,4,0.000,0.081,2002,460,3464,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2065,-0.54,-97.3,165.9,-5.9,136,2068,0.00,1.83,0.00,0.000,6,0.000,0.039,1994,1524,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2364,-0.54,-97.3,183.5,-6.8,156,2368,0.00,1.98,0.00,0.000,4,0.000,0.080,1994,462,3464,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2455,-0.54,-97.3,190.8,-8.5,162,2459,0.00,1.80,0.00,0.000,6,0.000,0.039,1986,1518,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2755,-0.54,-97.3,216.7,-8.6,182,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-0.54,-97.3,239.2,-6.7,202,3060,0.00,1.98,0.00,0.000,4,0.000,0.081,1986,458,3465,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3190,-0.53,-97.3,249.1,-7.3,211,3194,0.15,1.83,0.00,0.000,6,0.234,0.038,2010,1525,3464,0,0,0,0,0,0,13.84,14.31,28.83
$GC,3510,-0.59,-97.3,271.1,-7.6,222,3516,0.00,1.83,0.00,0.000,4,0.000,0.050,2005,2579,3464,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3549,-0.65,-97.3,273.5,-7.7,223,3553,0.00,1.92,0.00,0.000,6,0.000,0.059,2005,1512,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3850,-0.70,-97.3,298.4,-7.6,233,3855,0.12,1.95,0.00,0.000,4,0.132,0.080,1956,462,3464,0,0,0,0,0,0,14.43,13.97,28.83
$GC,4000,-0.67,-97.3,309.5,-8.3,238,4004,0.00,1.83,0.00,0.000,6,0.000,0.039,1947,1531,3464,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4300,-0.64,-97.3,331.3,-6.7,248,4302,0.15,0.00,0.00,0.000,6,0.246,0.000,1980,1527,3464,0,0,0,0,0,0,14.02,28.83,28.83
$GC,4601,-0.64,-97.3,350.6,-6.8,258,4604,0.00,1.98,0.00,0.000,4,0.000,0.082,1980,467,3464,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4705,-0.63,-97.3,358.6,-7.6,262,4709,0.00,1.80,0.00,0.000,6,0.000,0.040,1975,1519,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5021,-0.63,-97.3,379.4,-6.2,273,5024,0.00,1.98,0.00,0.000,4,0.000,0.081,1974,461,3463,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5065,-0.62,-97.3,382.5,-6.4,275,5069,0.00,1.83,0.00,0.000,6,0.000,0.040,1967,1526,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5383,-0.61,-97.3,404.1,-6.9,286,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1527,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.60,-97.3,424.9,-6.8,296,5686,0.12,1.98,0.00,0.000,4,0.249,0.081,1992,468,3462,0,0,0,0,0,0,14.09,13.95,28.83
$GC,5799,-0.60,-97.3,431.8,-6.5,300,5802,0.00,1.80,0.00,0.000,6,0.000,0.041,1987,1518,3461,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6101,-0.64,-97.3,451.8,-6.4,310,6105,0.00,1.98,0.00,0.000,4,0.000,0.081,1987,463,3461,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6219,-0.67,-97.3,459.1,-7.0,314,6223,0.00,1.83,0.00,0.000,6,0.000,0.040,1980,1526,3461,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6522,-0.71,-97.3,479.7,-6.5,324,6526,0.00,1.98,0.00,0.000,4,0.000,0.082,1980,468,3460,0,0,0,0,0,0,28.83,13.93,28.83
$GC,6595,-0.74,-97.3,484.7,-6.6,327,6599,0.00,1.83,0.00,0.000,6,0.000,0.041,1973,1524,3460,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6910,-0.74,-97.3,504.4,-6.3,338,6913,0.00,2.00,0.00,0.000,4,0.000,0.083,1973,469,3459,0,0,0,0,0,0,28.83,13.91,28.83
$GC,7017,-0.72,-97.3,512.3,-7.5,342,7020,0.00,1.83,0.00,0.000,6,0.000,0.041,1965,1523,3459,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7333,-0.71,-97.3,537.5,-8.5,353,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1527,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,-0.71,-97.3,563.9,-8.6,363,7635,0.00,2.00,0.00,0.000,4,0.000,0.083,1965,465,3456,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7839,-0.69,-97.3,580.2,-8.1,370,7843,0.00,1.85,0.00,0.000,6,0.000,0.041,1957,1529,3456,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8145,-0.67,-97.3,599.5,-5.6,380,8151,0.00,2.00,0.00,0.000,4,0.000,0.084,1957,465,3455,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8215,-0.65,-97.3,602.6,-5.2,382,8219,0.12,1.83,0.00,0.000,6,0.262,0.041,1973,1521,3455,0,0,0,0,0,0,13.75,14.23,28.83
$GC,8520,-0.68,-97.3,615.3,-3.7,392,8527,0.00,1.98,0.00,0.000,4,0.000,0.083,1973,469,3454,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8576,-0.70,-97.3,617.7,-3.8,394,8580,0.00,1.83,0.00,0.000,6,0.000,0.041,1968,1522,3454,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8890,-0.70,-97.3,630.0,-4.4,405,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1523,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9191,-0.70,-97.3,647.7,-6.5,415,9195,0.00,2.00,0.00,0.000,4,0.000,0.084,1968,467,3452,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9265,-0.69,-97.3,653.6,-7.7,418,9269,0.00,1.83,0.00,0.000,6,0.000,0.042,1960,1518,3452,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9584,-0.67,-97.3,680.5,-8.8,429,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,-0.66,-97.3,705.6,-8.1,439,9884,0.00,2.00,0.00,0.000,4,0.000,0.086,1960,470,3450,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9970,-0.64,-97.3,711.9,-8.1,442,9975,0.12,1.85,0.00,0.000,6,0.256,0.042,1975,1524,3449,0,0,0,0,0,0,13.66,14.12,28.83
$GC,10273,-0.69,-97.3,733.3,-6.8,452,10277,0.00,2.00,0.00,0.000,4,0.000,0.085,1976,470,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10330,-0.72,-97.3,736.6,-6.7,454,10333,0.00,1.85,0.00,0.000,6,0.000,0.044,1971,1523,3447,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10632,-0.76,-97.3,757.3,-6.6,464,10636,0.00,2.03,0.00,0.000,4,0.000,0.085,1971,464,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10737,-0.78,-97.3,764.5,-6.9,468,10740,0.00,1.85,0.00,0.000,6,0.000,0.042,1963,1522,3447,0,0,0,0,0,0,28.83,14.11,28.83
$GC,11052,-0.78,-97.3,784.9,-6.3,479,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11351,-0.78,-97.3,805.9,-7.0,489,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11652,-0.78,-97.3,826.9,-7.0,499,11655,0.00,2.03,0.00,0.000,4,0.000,0.086,1963,465,3444,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11756,-0.76,-97.3,835.2,-7.9,503,11760,0.00,1.85,0.00,0.000,6,0.000,0.044,1956,1518,3443,0,0,0,0,0,0,28.83,14.06,28.83
$GC,12075,-0.75,-97.3,860.0,-8.5,514,12082,0.00,2.03,0.00,0.000,4,0.000,0.087,1955,467,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12145,-0.74,-97.3,865.8,-9.0,516,12148,0.00,1.85,0.00,0.000,6,0.000,0.044,1948,1520,3442,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12447,-0.72,-97.3,894.7,-9.1,526,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12747,-0.70,-97.3,921.1,-8.7,536,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13046,-0.69,-97.3,943.3,-6.8,546,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13347,-0.67,-97.3,961.8,-6.0,556,13351,0.00,2.03,0.00,0.000,4,0.000,0.088,1948,470,3439,0,0,0,0,0,0,28.83,13.79,28.83
$GC,13435,-0.65,-97.3,966.7,-6.4,559,13440,0.17,1.88,0.00,0.000,6,0.250,0.045,1976,1521,3439,0,0,0,0,0,0,13.51,14.00,28.83
$STATE,13673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13673,begin apogee
$GC,13683,-0.18,0.0,980.7,-5.4,567,13808,0.52,0.00,114.57,1.814,6,0.184,0.000,2120,1397,3062,0,0,0,0,1,0,13.76,28.83,13.09
$STATE,13810,end apogee,CONTROL_FINISHED_OK
$STATE,13810,begin climb
$GC,13813,0.60,97.3,985.0,0.0,571,13949,0.82,1.92,123.97,1.805,4,0.094,0.054,2381,2460,2667,0,0,0,0,1,0,14.04,14.14,13.09
$GC,14171,0.57,137.2,980.0,4.4,584,14243,0.00,1.95,60.80,1.565,6,0.000,0.070,2389,1400,2503,0,0,0,0,1,0,28.83,14.25,13.19
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$STATE,28619,end climb,SURFACE_DEPTH_REACHED
$STATE,28619,begin surface coast
$FINISH,-0.0,1.024243
$STATE,28636,end surface coast,CONTROL_FINISHED_OK
$STATE,28636,begin surface
$SM_CCo,28659,14.27,0.712,0,0,1755,320.12
$SM_GC,1.41,6.80,1.67,14.27,0.069,0.064,0.712,157,1521,1755,-6.29,0.82,320.12,0,0,0,0,0,0,14.26,14.19,13.88
$IRIDIUM_FIX,2422.84,-3724.87,090313,040434
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.56
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.10
$XPDR_PINGS,3
$SC_FREEKB,7567072
$24V_AH,13.1,245.093
$10V_AH,11.2,0.000
$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,20.000,194.525,611.225,14.275,0.000,0.000,0.000,296.125,0.750,0.000,19.520,3414.659,21637.439,971.780,2413.667,804.354,0.000,2336.624,0.000,2044.504,0.000,0.549,0.000
$DEVICE_MAMPS,412.335,101.745,1953.045,712.215,0.000,0.000,0.000,169.065,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28690.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.317,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43282,1189
$CAP_FILE_SIZE,263791,0
$CFSIZE,260034560,187834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,0,0
$CURRENT,0.087,261.2,1
$GPS,090313,203404,2434.760,-3723.185,33,0.9,33,-13.8