version: 66.11
glider: 191
mission: 5
dive: 542
start: 3 13 113 17 51 37
data:
$ID,191
$MISSION,5
$DIVE,542
$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,-5286.707
$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,24
$R_STBD_OVSHOOT,51
$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
$GPS1,130313,174104,2444.802,-3729.448,33,0.8,33,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-46.9
$GPS2,130313,175107,2444.872,-3729.437,18,1.9,18,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$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,333.5,73049,-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,-97.3,0.0,0.0,0,85,0.00,0.00,-60.92,0.000,2,0.000,0.000,155,1525,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,4.0,-8.8,4,105,9.85,1.95,-0.68,0.000,4,0.410,0.099,1995,457,3461,1,0,0,0,0,0,13.54,14.27,14.59
$GC,296,-0.58,-97.3,34.4,-9.3,18,300,0.00,1.83,0.00,0.000,6,0.000,0.040,1989,1519,3463,0,0,0,0,0,0,28.83,14.30,28.83
$GC,596,-0.57,-97.3,59.8,-8.4,38,600,0.00,1.98,0.00,0.000,4,0.000,0.081,1989,461,3463,0,0,0,0,0,0,28.83,14.07,28.83
$GC,672,-0.54,-97.3,65.9,-8.1,43,676,0.15,1.83,0.00,0.000,6,0.238,0.040,2013,1522,3463,0,0,0,0,0,0,13.87,14.28,28.83
$GC,971,-0.56,-97.3,88.5,-7.2,63,975,0.00,1.98,0.00,0.000,4,0.000,0.081,2014,464,3463,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1032,-0.56,-97.3,93.3,-8.0,67,1035,0.00,1.83,0.00,0.000,6,0.000,0.039,2008,1525,3463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1332,-0.58,-97.3,119.4,-9.1,87,1336,0.00,1.98,0.00,0.000,4,0.000,0.080,2008,464,3463,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1391,-0.59,-97.3,125.0,-9.4,91,1394,0.00,1.83,0.00,0.000,6,0.000,0.039,2000,1528,3461,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1692,-0.63,-97.3,148.8,-7.6,111,1696,0.00,2.00,0.00,0.000,4,0.000,0.082,2000,459,3463,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1766,-0.64,-97.3,154.7,-7.9,116,1770,0.00,1.83,0.00,0.000,6,0.000,0.038,1993,1525,3463,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2067,-0.64,-97.3,172.4,-4.0,136,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.64,-97.3,181.4,-3.6,156,2370,0.00,1.98,0.00,0.000,4,0.000,0.080,1993,464,3464,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2472,-0.64,-97.3,186.7,-5.5,163,2476,0.00,1.80,0.00,0.000,6,0.000,0.039,1985,1518,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2771,-0.64,-97.3,205.9,-6.8,183,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.64,-97.3,229.9,-8.3,203,3074,0.00,1.98,0.00,0.000,4,0.000,0.081,1985,464,3464,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3178,-0.63,-97.3,239.2,-9.0,210,3181,0.00,1.83,0.00,0.000,6,0.000,0.039,1977,1527,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3493,-0.63,-97.3,264.1,-7.5,225,3497,0.00,2.00,0.00,0.000,4,0.000,0.081,1977,459,3467,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3550,-0.62,-97.3,267.7,-7.5,227,3554,0.00,1.83,0.00,0.000,6,0.000,0.040,1969,1519,3464,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3853,-0.61,-97.3,289.6,-6.8,237,3856,0.00,1.98,0.00,0.000,4,0.000,0.080,1969,464,3464,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3910,-0.59,-97.3,292.9,-7.0,239,3915,0.15,1.83,0.00,0.000,6,0.240,0.039,1993,1522,3461,0,0,0,0,0,0,13.74,14.21,28.83
$GC,4215,-0.63,-97.3,313.8,-6.9,249,4223,0.00,1.98,0.00,0.000,4,0.000,0.081,1994,463,3464,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4301,-0.66,-97.3,320.2,-7.2,252,4305,0.00,1.83,0.00,0.000,6,0.000,0.039,1990,1526,3464,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4621,-0.71,-97.3,343.6,-7.5,263,4627,0.00,1.98,0.00,0.000,4,0.000,0.081,1989,467,3462,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4690,-0.74,-97.3,348.4,-7.8,265,4694,0.00,1.83,0.00,0.000,6,0.000,0.039,1983,1532,3462,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4991,-0.79,-97.3,372.3,-7.4,275,4993,0.15,0.00,0.00,0.000,6,0.122,0.000,1926,1533,3462,0,0,0,0,0,0,14.36,28.83,28.83
$GC,5292,-0.74,-97.3,397.1,-8.5,285,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1533,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,-0.70,-97.3,423.5,-8.7,295,5596,0.15,2.03,0.00,0.000,4,0.243,0.082,1958,460,3460,0,0,0,0,0,0,13.89,13.87,28.83
$GC,5681,-0.66,-97.3,430.0,-8.7,298,5685,0.00,1.83,0.00,0.000,6,0.000,0.039,1953,1521,3460,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5981,-0.64,-97.3,454.8,-7.7,308,5983,0.12,0.00,0.00,0.000,6,0.254,0.000,1978,1522,3459,0,0,0,0,0,0,14.07,28.83,28.83
$GC,6282,-0.64,-97.3,475.2,-6.7,318,6286,0.00,2.00,0.00,0.000,4,0.000,0.083,1979,460,3459,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6400,-0.64,-97.3,483.0,-7.4,322,6403,0.00,1.83,0.00,0.000,6,0.000,0.040,1974,1520,3459,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6701,-0.64,-97.3,504.6,-6.9,332,6705,0.00,2.00,0.00,0.000,4,0.000,0.082,1974,461,3458,0,0,0,0,0,0,28.83,13.84,28.83
$GC,6791,-0.62,-97.3,510.2,-7.4,335,6795,0.00,1.83,0.00,0.000,6,0.000,0.040,1966,1521,3457,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7091,-0.62,-97.3,533.6,-7.5,345,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,-0.62,-97.3,555.1,-7.2,355,7396,0.00,2.00,0.00,0.000,4,0.000,0.083,1966,462,3455,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7466,-0.61,-97.3,560.9,-7.6,358,7471,0.15,1.83,0.00,0.000,6,0.244,0.041,1989,1521,3455,0,0,0,0,0,0,13.65,14.15,28.83
$GC,7786,-0.66,-97.3,580.6,-6.2,369,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,-0.71,-97.3,598.2,-5.9,379,8086,0.00,2.00,0.00,0.000,4,0.000,0.083,1989,462,3454,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8170,-0.75,-97.3,602.9,-6.2,382,8175,0.12,1.85,0.00,0.000,6,0.138,0.041,1943,1528,3453,0,0,0,0,0,0,14.00,14.12,28.83
$GC,8475,-0.72,-97.3,627.0,-7.9,392,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1530,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,-0.69,-97.3,649.9,-7.6,402,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1530,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.66,-97.3,672.7,-7.7,412,9077,0.15,2.03,0.00,0.000,4,0.247,0.084,1974,466,3450,0,0,0,0,0,0,13.84,13.82,28.83
$GC,9161,-0.64,-97.3,678.2,-7.4,415,9164,0.00,1.85,0.00,0.000,6,0.000,0.042,1969,1524,3450,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9463,-0.67,-97.3,699.9,-7.0,425,9467,0.00,2.03,0.00,0.000,4,0.000,0.085,1969,463,3447,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9537,-0.70,-97.3,705.3,-7.2,428,9541,0.00,1.85,0.00,0.000,6,0.000,0.041,1959,1517,3448,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9856,-0.72,-97.3,727.5,-7.1,439,9864,0.00,2.03,0.00,0.000,4,0.000,0.085,1962,460,3448,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9926,-0.73,-97.3,732.3,-7.7,441,9930,0.00,1.88,0.00,0.000,6,0.000,0.041,1954,1528,3447,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10227,-0.71,-97.3,757.0,-7.8,451,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1529,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10528,-0.70,-97.3,781.3,-8.1,461,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1527,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10827,-0.68,-97.3,803.6,-7.2,471,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1529,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11128,-0.67,-97.3,823.9,-6.7,481,11132,0.00,2.05,0.00,0.000,4,0.000,0.089,1954,464,3444,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11246,-0.64,-97.3,831.5,-7.2,485,11251,0.15,1.88,0.00,0.000,6,0.256,0.044,1975,1524,3444,0,0,0,0,0,0,13.53,14.03,28.83
$GC,11551,-0.66,-97.3,851.8,-6.5,495,11558,0.00,2.03,0.00,0.000,4,0.000,0.086,1976,465,3442,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11606,-0.68,-97.3,856.2,-6.9,497,11610,0.00,1.88,0.00,0.000,6,0.000,0.044,1972,1524,3441,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11926,-0.72,-97.3,879.0,-7.3,508,11933,0.00,2.00,0.00,0.000,4,0.000,0.087,1972,474,3441,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12056,-0.74,-97.3,888.1,-7.7,512,12059,0.00,1.85,0.00,0.000,6,0.000,0.044,1964,1521,3440,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12358,-0.77,-97.3,911.1,-7.2,522,12361,0.00,2.05,0.00,0.000,4,0.000,0.088,1965,461,3437,0,0,0,0,0,0,28.83,13.79,28.83
$GC,12477,-0.79,-97.3,919.1,-7.6,526,12481,0.00,1.88,0.00,0.000,6,0.000,0.044,1958,1521,3439,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12777,-0.82,-97.3,942.6,-7.3,536,12780,0.00,2.05,0.00,0.000,4,0.000,0.089,1958,461,3438,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12896,-0.82,-97.3,950.4,-7.4,540,12900,0.00,1.90,0.00,0.000,6,0.000,0.044,1950,1526,3438,0,0,0,0,0,0,28.83,13.99,28.83
$GC,13197,-0.80,-97.3,971.3,-6.4,550,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1527,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13343,begin apogee
$GC,13353,-0.18,0.0,980.3,-6.0,555,13479,0.65,0.00,114.20,1.817,6,0.219,0.000,2119,1389,3062,0,0,0,0,1,0,13.83,28.83,13.09
$STATE,13480,end apogee,CONTROL_FINISHED_OK
$STATE,13481,begin climb
$GC,13484,0.60,97.3,984.2,0.0,559,13620,0.85,2.00,124.30,1.807,4,0.118,0.094,2385,349,2664,0,0,0,0,1,0,13.95,14.07,13.11
$GC,13842,0.56,145.0,979.7,4.0,572,13921,0.00,1.85,68.85,1.620,6,0.000,0.043,2385,1415,2470,0,0,0,0,1,0,28.83,14.34,13.17
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$STATE,27809,end climb,SURFACE_DEPTH_REACHED
$STATE,27810,begin surface coast
$FINISH,0.6,1.025713
$STATE,27826,end surface coast,CONTROL_FINISHED_OK
$STATE,27826,begin surface
$SM_CCo,27913,0.00,0.000,0,0,1701,333.85
$SM_GC,0.65,6.97,2.00,0.00,0.089,0.038,0.000,166,1512,1701,-6.29,-1.64,333.85,0,0,0,0,0,0,14.15,14.30,28.83
$IRIDIUM_FIX,2434.69,-3727.32,130313,101042
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.12
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,25.10
$XPDR_PINGS,5
$SC_FREEKB,7562080
$24V_AH,13.1,250.600
$10V_AH,11.3,0.000
$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,21.425,203.175,605.300,0.000,0.000,0.000,0.000,314.650,1.250,0.000,19.980,3353.955,20986.975,945.460,2396.859,813.327,0.000,2316.887,0.000,2008.670,0.000,0.549,0.000
$DEVICE_MAMPS,410.040,100.215,1816.875,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27880.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.316,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43349,1149
$CAP_FILE_SIZE,263205,0
$CFSIZE,260034560,186318848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,9,0,0
$CURRENT,0.036, 50.3,1
$GPS,140313,013830,2446.746,-3730.854,56,0.8,56,-13.8