version: 66.11
glider: 191
mission: 5
dive: 531
start: 3 10 113 4 36 54
data:
$ID,191
$MISSION,5
$DIVE,531
$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,-5272.8726
$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,55
$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
$GPS1,100313,042634,2435.783,-3721.954,28,0.9,28,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.6
$GPS2,100313,043623,2435.831,-3721.979,18,0.8,18,-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,118.7,6877,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-57.40,0.000,6,0.000,0.000,159,1520,3460,0,0,0,0,0,0,28.83,28.83,14.61
$GC,88,-0.60,-97.3,4.5,-9.3,4,103,10.12,1.80,0.00,0.000,4,0.420,0.046,1981,2576,3462,1,0,0,0,0,0,13.52,14.42,28.83
$GC,237,-0.60,-97.3,23.1,-7.8,14,241,0.00,1.92,0.00,0.000,6,0.000,0.062,1981,1519,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,536,-0.57,-97.3,47.2,-7.6,34,540,0.00,1.95,0.00,0.000,4,0.000,0.083,1982,461,3465,0,0,0,0,0,0,28.83,14.08,28.83
$GC,658,-0.54,-97.3,57.9,-8.8,42,662,0.17,1.80,0.00,0.000,6,0.226,0.039,2012,1514,3465,0,0,0,0,0,0,13.83,14.21,28.83
$GC,957,-0.54,-97.3,78.1,-6.5,62,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1515,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.55,-97.3,97.0,-6.4,82,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-0.60,-97.3,118.1,-7.3,102,1561,0.00,1.98,0.00,0.000,4,0.000,0.082,2013,458,3466,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1631,-0.63,-97.3,123.4,-7.4,107,1635,0.00,1.83,0.00,0.000,6,0.000,0.038,2007,1531,3466,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1932,-0.68,-97.3,142.9,-6.6,127,1936,0.12,2.00,0.00,0.000,4,0.135,0.080,1958,460,3465,0,0,0,0,0,0,14.45,13.98,28.83
$GC,2037,-0.63,-97.3,151.7,-8.7,134,2042,0.15,1.80,0.00,0.000,6,0.244,0.039,1984,1518,3466,0,0,0,0,0,0,13.78,14.28,28.83
$GC,2336,-0.63,-97.3,174.7,-7.8,154,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1518,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2636,-0.63,-97.3,196.6,-7.0,174,2640,0.00,1.98,0.00,0.000,4,0.000,0.081,1980,459,3466,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2741,-0.62,-97.3,204.8,-7.8,181,2745,0.00,1.80,0.00,0.000,6,0.000,0.038,1975,1521,3466,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3041,-0.62,-97.3,225.9,-7.1,201,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,-0.62,-97.3,246.4,-6.7,221,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3642,-0.62,-97.3,268.3,-7.7,233,3646,0.00,1.98,0.00,0.000,4,0.000,0.081,1975,461,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3717,-0.60,-97.3,274.8,-8.4,236,3721,0.00,1.80,0.00,0.000,6,0.000,0.038,1967,1519,3466,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4035,-0.59,-97.3,300.1,-8.0,247,4037,0.12,0.00,0.00,0.000,6,0.250,0.000,1992,1521,3466,0,0,0,0,0,0,14.06,28.83,28.83
$GC,4331,-0.61,-97.3,321.8,-7.2,257,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.66,-97.3,344.4,-7.3,267,4637,0.00,1.98,0.00,0.000,4,0.000,0.083,1993,463,3464,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4707,-0.70,-97.3,349.9,-7.3,270,4711,0.00,1.83,0.00,0.000,6,0.000,0.039,1988,1529,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5026,-0.74,-97.3,371.8,-7.0,281,5034,0.12,1.98,0.00,0.000,4,0.134,0.083,1941,462,3463,0,0,0,0,0,0,14.41,13.87,28.83
$GC,5125,-0.74,-97.3,379.1,-7.8,284,5129,0.00,1.83,0.00,0.000,6,0.000,0.040,1933,1525,3463,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5428,-0.70,-97.3,404.5,-7.8,294,5429,0.12,0.00,0.00,0.000,6,0.265,0.000,1957,1529,3462,0,0,0,0,0,0,14.04,28.83,28.83
$GC,5728,-0.68,-97.3,427.0,-7.9,304,5731,0.00,2.00,0.00,0.000,4,0.000,0.082,1957,460,3462,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5801,-0.66,-97.3,433.5,-8.4,307,5805,0.00,1.83,0.00,0.000,6,0.000,0.040,1952,1522,3461,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6120,-0.63,-97.3,459.3,-8.1,318,6128,0.12,1.88,0.00,0.000,4,0.256,0.050,1972,2577,3461,0,0,0,0,0,0,14.04,14.12,28.83
$GC,6190,-0.62,-97.3,463.7,-7.8,320,6194,0.00,1.92,0.00,0.000,6,0.000,0.061,1972,1515,3460,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6492,-0.62,-97.3,486.8,-7.3,330,6496,0.00,1.98,0.00,0.000,4,0.000,0.083,1972,463,3459,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6610,-0.61,-97.3,495.1,-7.9,334,6615,0.12,1.83,0.00,0.000,6,0.243,0.039,1989,1524,3459,0,0,0,0,0,0,13.78,14.22,28.83
$GC,6914,-0.66,-97.3,515.8,-6.3,344,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,-0.71,-97.3,533.8,-5.9,354,7216,0.00,2.00,0.00,0.000,4,0.000,0.083,1989,463,3458,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7257,-0.75,-97.3,536.7,-6.1,356,7261,0.12,1.83,0.00,0.000,6,0.138,0.040,1941,1522,3458,0,0,0,0,0,0,14.09,14.21,28.83
$GC,7575,-0.75,-97.3,559.4,-7.5,367,7583,0.00,1.85,0.00,0.000,4,0.000,0.053,1933,2572,3457,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7647,-0.75,-97.3,564.0,-7.7,369,7651,0.00,1.92,0.00,0.000,6,0.000,0.063,1933,1522,3457,0,0,0,0,0,0,28.83,14.03,28.83
$GC,7948,-0.72,-97.3,589.4,-8.1,379,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,-0.68,-97.3,614.3,-8.2,389,8251,0.15,2.00,0.00,0.000,4,0.263,0.084,1970,465,3455,0,0,0,0,0,0,13.86,13.83,28.83
$GC,8306,-0.65,-97.3,617.8,-7.9,391,8310,0.00,1.83,0.00,0.000,6,0.000,0.041,1958,1520,3455,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8608,-0.64,-97.3,640.2,-7.0,401,8612,0.00,2.00,0.00,0.000,4,0.000,0.084,1958,463,3454,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8665,-0.62,-97.3,643.5,-7.1,403,8670,0.15,1.85,0.00,0.000,6,0.253,0.040,1982,1529,3453,0,0,0,0,0,0,13.65,14.16,28.83
$GC,8972,-0.67,-97.3,663.3,-6.3,413,8978,0.00,2.00,0.00,0.000,4,0.000,0.085,1982,469,3453,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9056,-0.70,-97.3,669.3,-6.5,416,9060,0.00,1.83,0.00,0.000,6,0.000,0.041,1978,1520,3453,0,0,0,0,0,0,28.83,14.15,28.83
$GC,9375,-0.75,-97.3,691.5,-7.3,427,9383,0.00,2.00,0.00,0.000,4,0.000,0.084,1978,465,3452,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9506,-0.77,-97.3,701.0,-8.0,431,9509,0.00,1.85,0.00,0.000,6,0.000,0.041,1972,1526,3451,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9807,-0.81,-97.3,726.2,-8.2,441,9812,0.15,2.03,0.00,0.000,4,0.131,0.084,1918,461,3450,0,0,0,0,0,0,14.36,13.81,28.83
$GC,9927,-0.78,-97.3,737.0,-10.3,445,9931,0.00,1.85,0.00,0.000,6,0.000,0.041,1910,1520,3449,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10226,-0.73,-97.3,766.7,-9.1,455,10231,0.20,1.90,0.00,0.000,4,0.263,0.052,1946,2581,3449,0,0,0,0,0,0,13.60,13.97,28.83
$GC,10287,-0.69,-97.3,770.4,-8.6,457,10291,0.00,1.98,0.00,0.000,6,0.000,0.064,1946,1513,3448,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10590,-0.67,-97.3,794.3,-7.3,467,10597,0.00,2.00,0.00,0.000,4,0.000,0.086,1946,466,3448,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10648,-0.64,-97.3,798.9,-7.3,469,10653,0.17,1.85,0.00,0.000,6,0.249,0.042,1974,1524,3447,0,0,0,0,0,0,13.57,14.14,28.83
$GC,10965,-0.69,-97.3,819.3,-6.7,480,10969,0.00,2.05,0.00,0.000,4,0.000,0.086,1974,461,3446,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11039,-0.72,-97.3,824.5,-6.7,483,11042,0.00,1.85,0.00,0.000,6,0.000,0.042,1970,1521,3446,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11357,-0.76,-97.3,847.3,-7.4,494,11365,0.00,2.03,0.00,0.000,4,0.000,0.086,1970,466,3445,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11473,-0.78,-97.3,856.7,-7.8,498,11476,0.00,1.85,0.00,0.000,6,0.000,0.043,1962,1519,3447,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11792,-0.82,-97.3,882.2,-8.5,509,11800,0.12,2.03,0.00,0.000,4,0.143,0.087,1919,466,3443,0,0,0,0,0,0,14.35,13.81,28.83
$GC,11952,-0.76,-97.3,897.6,-10.5,514,11956,0.15,1.88,0.00,0.000,6,0.275,0.044,1939,1526,3442,0,0,0,0,0,0,13.49,14.03,28.83
$GC,12257,-0.74,-97.3,926.6,-9.1,524,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1527,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12553,-0.72,-97.3,953.7,-9.1,534,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1527,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12849,begin apogee
$GC,12859,-0.18,0.0,980.5,-8.9,544,12985,0.73,0.00,114.90,1.817,6,0.224,0.000,2124,1399,3063,0,0,0,0,1,0,13.76,28.83,13.09
$STATE,12987,end apogee,CONTROL_FINISHED_OK
$STATE,12987,begin climb
$GC,12990,0.60,97.3,987.1,0.0,548,13127,0.82,1.92,124.85,1.806,4,0.108,0.054,2378,2463,2665,0,0,0,0,1,0,13.99,14.14,13.12
$GC,13348,0.63,182.4,989.9,2.5,561,13468,0.00,1.95,110.40,1.786,6,0.000,0.070,2386,1401,2318,0,0,0,0,1,0,28.83,14.24,13.17
$GC,13783,0.57,182.4,964.4,6.8,576,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1401,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14083,0.51,182.4,943.2,7.2,586,14088,0.15,2.00,0.00,0.000,4,0.285,0.094,2362,349,2309,0,0,0,0,0,0,13.97,14.17,28.83
$GC,14173,0.46,182.4,937.7,7.3,589,14177,0.00,1.85,0.00,0.000,6,0.000,0.044,2362,1414,2308,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,27332,end climb,SURFACE_DEPTH_REACHED
$STATE,27332,begin surface coast
$FINISH,0.1,1.011203
$STATE,27348,end surface coast,CONTROL_FINISHED_OK
$STATE,27348,begin surface
$SM_CCo,27431,0.00,0.000,0,0,1610,356.18
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$IRIDIUM_FIX,2425.21,-3722.99,090313,202042
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.05
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.20
$XPDR_PINGS,6
$SC_FREEKB,7566304
$24V_AH,13.1,245.934
$10V_AH,11.0,0.000
$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,22.275,195.350,653.825,0.000,0.000,0.000,0.000,300.325,1.500,0.000,19.478,3289.724,20565.936,1008.291,2340.298,795.556,0.000,2351.116,0.000,1975.151,0.000,0.550,0.000
$DEVICE_MAMPS,419.985,114.750,1951.515,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27403.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.312,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43359,1137
$CAP_FILE_SIZE,259296,0
$CFSIZE,260034560,187592704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,0,0
$CURRENT,0.121,286.4,1
$GPS,100313,121528,2436.176,-3721.291,39,0.9,39,-13.8