version: 66.11
glider: 191
mission: 5
dive: 546
start: 3 15 113 1 2 17
data:
$ID,191
$MISSION,5
$DIVE,546
$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,-5291.7412
$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,56
$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
$GPS1,150313,005158,2449.706,-3735.897,35,0.9,35,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-53.7
$GPS2,150313,010147,2449.708,-3735.860,17,1.1,17,-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,328.9,59134,-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,-58.10,0.000,6,0.000,0.000,156,1525,3461,0,0,0,0,0,0,28.83,28.83,14.64
$GC,88,-0.60,-97.3,4.3,-9.0,4,100,9.93,0.00,0.00,0.000,6,0.411,0.000,1987,1525,3463,1,0,0,0,0,0,13.52,28.83,28.83
$GC,400,-0.60,-97.3,34.7,-8.2,25,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,701,-0.60,-97.3,59.5,-8.4,45,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.60,-97.3,87.1,-8.5,65,1004,0.00,2.00,0.00,0.000,4,0.000,0.082,1987,459,3465,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1106,-0.58,-97.3,96.6,-8.8,72,1110,0.00,1.80,0.00,0.000,6,0.000,0.037,1981,1512,3465,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1406,-0.56,-97.3,119.7,-7.8,92,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1513,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1706,-0.55,-97.3,144.7,-8.8,112,1710,0.12,1.98,0.00,0.000,4,0.250,0.080,2008,457,3465,0,0,0,0,0,0,13.98,13.98,28.83
$GC,1751,-0.55,-97.3,148.7,-8.7,115,1754,0.00,1.83,0.00,0.000,6,0.000,0.037,2003,1520,3466,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2051,-0.56,-97.3,172.0,-7.4,135,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.61,-97.3,193.5,-7.0,155,2356,0.00,1.98,0.00,0.000,4,0.000,0.079,2003,461,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2397,-0.64,-97.3,196.6,-7.0,158,2400,0.00,1.83,0.00,0.000,6,0.000,0.038,1995,1528,3466,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2697,-0.69,-97.3,217.9,-7.0,178,2700,0.00,2.00,0.00,0.000,4,0.000,0.081,1995,461,3466,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2786,-0.70,-97.3,224.4,-7.2,184,2790,0.00,1.83,0.00,0.000,6,0.000,0.039,1987,1524,3466,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3087,-0.74,-97.3,245.6,-7.3,204,3092,0.12,1.98,0.00,0.000,4,0.136,0.079,1940,464,3466,0,0,0,0,0,0,14.40,13.91,28.83
$GC,3221,-0.69,-97.3,257.8,-9.2,211,3225,0.15,1.83,0.00,0.000,6,0.258,0.040,1961,1523,3465,0,0,0,0,0,0,13.64,14.19,28.83
$GC,3540,-0.67,-97.3,282.0,-7.5,222,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.65,-97.3,303.2,-7.1,232,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4137,-0.63,-97.3,325.2,-7.5,242,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4437,-0.61,-97.3,348.8,-8.2,252,4438,0.12,0.00,0.00,0.000,6,0.252,0.000,1989,1524,3464,0,0,0,0,0,0,14.05,28.83,28.83
$GC,4737,-0.63,-97.3,372.4,-8.0,262,4741,0.00,2.00,0.00,0.000,4,0.000,0.080,1989,458,3464,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4855,-0.63,-97.3,381.4,-8.5,266,4858,0.00,1.83,0.00,0.000,6,0.000,0.039,1983,1521,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5156,-0.63,-97.3,406.4,-7.9,276,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,-0.63,-97.3,428.4,-7.2,286,5461,0.00,1.98,0.00,0.000,4,0.000,0.081,1983,464,3462,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5515,-0.63,-97.3,431.9,-7.4,288,5518,0.00,1.83,0.00,0.000,6,0.000,0.040,1975,1524,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5818,-0.63,-97.3,454.7,-7.1,298,5822,0.00,2.00,0.00,0.000,4,0.000,0.081,1976,463,3461,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5875,-0.63,-97.3,458.0,-7.1,300,5879,0.00,1.83,0.00,0.000,6,0.000,0.039,1968,1521,3461,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6176,-0.63,-97.3,479.7,-6.8,310,6179,0.00,1.85,0.00,0.000,4,0.000,0.051,1960,2576,3460,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6237,-0.63,-97.3,482.8,-6.8,312,6241,0.00,1.92,0.00,0.000,6,0.000,0.061,1960,1519,3459,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6537,-0.61,-97.3,506.9,-7.8,322,6541,0.12,2.00,0.00,0.000,4,0.256,0.083,1987,458,3458,0,0,0,0,0,0,14.01,13.85,28.83
$GC,6611,-0.61,-97.3,513.0,-8.1,325,6614,0.00,1.85,0.00,0.000,6,0.000,0.039,1981,1530,3459,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6931,-0.63,-97.3,536.4,-7.3,336,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1531,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7226,-0.67,-97.3,557.3,-6.7,346,7230,0.00,2.03,0.00,0.000,4,0.000,0.083,1981,462,3458,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7393,-0.69,-97.3,568.2,-6.5,352,7397,0.00,1.85,0.00,0.000,6,0.000,0.040,1974,1527,3457,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7710,-0.73,-97.3,586.6,-5.7,363,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1528,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8007,-0.77,-97.3,604.7,-6.4,373,8011,0.00,2.03,0.00,0.000,4,0.000,0.082,1974,464,3456,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8171,-0.77,-97.3,616.4,-7.1,379,8175,0.00,1.85,0.00,0.000,6,0.000,0.040,1968,1527,3455,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8491,-0.80,-97.3,641.5,-8.2,390,8498,0.12,2.00,0.00,0.000,4,0.138,0.083,1923,471,3454,0,0,0,0,0,0,14.37,13.78,28.83
$GC,8607,-0.76,-97.3,653.9,-10.4,394,8611,0.00,1.83,0.00,0.000,6,0.000,0.041,1915,1518,3454,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8926,-0.71,-97.3,684.0,-9.3,405,8928,0.17,0.00,0.00,0.000,6,0.255,0.000,1951,1520,3453,0,0,0,0,0,0,13.67,28.83,28.83
$GC,9222,-0.70,-97.3,705.9,-6.8,415,9225,0.00,2.00,0.00,0.000,4,0.000,0.084,1952,465,3452,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9280,-0.67,-97.3,709.1,-6.8,417,9284,0.00,1.85,0.00,0.000,6,0.000,0.041,1945,1523,3452,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9583,-0.65,-97.3,730.5,-6.8,427,9587,0.15,1.90,0.00,0.000,4,0.248,0.053,1972,2580,3450,0,0,0,0,0,0,13.86,13.93,28.83
$GC,9657,-0.65,-97.3,735.0,-6.2,430,9661,0.00,1.98,0.00,0.000,6,0.000,0.062,1972,1511,3450,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9976,-0.69,-97.3,755.7,-6.9,441,9984,0.00,1.98,0.00,0.000,4,0.000,0.084,1972,463,3450,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10166,-0.71,-97.3,769.9,-8.0,447,10170,0.00,1.85,0.00,0.000,6,0.000,0.041,1964,1521,3449,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10468,-0.75,-97.3,794.8,-8.1,457,10472,0.00,2.03,0.00,0.000,4,0.000,0.083,1964,462,3448,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10571,-0.75,-97.3,803.2,-8.1,461,10575,0.00,1.88,0.00,0.000,6,0.000,0.041,1957,1526,3448,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10891,-0.73,-97.3,825.4,-6.7,472,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1526,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11187,-0.75,-97.3,841.7,-5.1,482,11191,0.00,2.05,0.00,0.000,4,0.000,0.085,1957,461,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11292,-0.75,-97.3,847.3,-5.3,486,11295,0.00,1.88,0.00,0.000,6,0.000,0.042,1949,1524,3445,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11612,-0.74,-97.3,863.2,-5.2,497,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1525,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11907,-0.72,-97.3,880.9,-6.3,507,11910,0.00,2.03,0.00,0.000,4,0.000,0.085,1949,467,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11967,-0.70,-97.3,884.2,-6.7,509,11971,0.00,1.88,0.00,0.000,6,0.000,0.043,1942,1522,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12270,-0.68,-97.3,906.8,-7.1,519,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1524,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12568,-0.66,-97.3,929.1,-7.7,529,12573,0.15,2.05,0.00,0.000,4,0.249,0.086,1972,462,3441,0,0,0,0,0,0,13.77,13.88,28.83
$GC,12642,-0.64,-97.3,935.0,-7.9,532,12646,0.00,1.88,0.00,0.000,6,0.000,0.043,1967,1521,3441,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12961,-0.68,-97.3,960.0,-8.2,543,12968,0.00,2.05,0.00,0.000,4,0.000,0.087,1967,459,3440,0,0,0,0,0,0,28.83,13.90,28.83
$GC,13048,-0.70,-97.3,968.0,-8.7,546,13052,0.00,1.88,0.00,0.000,6,0.000,0.044,1960,1518,3440,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,13208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13208,begin apogee
$GC,13218,-0.18,0.0,981.0,-7.9,552,13344,0.62,0.00,115.43,1.815,6,0.203,0.000,2124,1395,3061,0,0,0,0,1,0,13.85,28.83,13.09
$STATE,13345,end apogee,CONTROL_FINISHED_OK
$STATE,13345,begin climb
$GC,13349,0.60,97.3,987.5,0.0,556,13483,0.85,0.00,124.55,1.805,6,0.113,0.000,2382,1395,2664,0,0,0,0,1,0,13.93,28.83,13.11
$GC,13784,0.61,168.8,986.4,3.0,571,13887,0.00,0.00,95.45,1.730,6,0.000,0.000,2382,1395,2372,0,0,0,0,1,0,28.83,28.83,13.16
$GC,14175,0.57,188.4,966.7,5.2,584,14219,0.00,0.00,36.72,1.268,6,0.000,0.000,2382,1395,2294,0,0,0,0,1,0,28.83,28.83,13.28
$GC,14507,0.57,229.1,951.5,4.3,595,14578,0.00,2.00,61.38,1.572,4,0.000,0.096,2390,349,2128,0,0,0,0,1,0,28.83,14.22,13.23
$GC,14700,0.51,233.5,940.8,5.9,601,14710,0.15,1.85,3.83,1.923,6,0.248,0.044,2359,1418,2110,0,0,0,0,0,0,14.03,14.38,13.29
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$STATE,26979,end climb,SURFACE_DEPTH_REACHED
$STATE,26979,begin surface coast
$FINISH,0.1,1.025893
$STATE,26995,end surface coast,CONTROL_FINISHED_OK
$STATE,26995,begin surface
$SM_CCo,27018,5.72,0.769,0,0,1757,320.12
$SM_GC,1.37,6.72,0.15,5.72,0.062,0.099,0.769,160,1526,1757,-6.29,-1.55,320.12,0,0,0,0,0,0,14.12,14.35,13.85
$IRIDIUM_FIX,2437.06,-3733.97,140313,171726
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.15
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,9
$SC_FREEKB,7560544
$24V_AH,13.1,252.265
$10V_AH,11.5,0.000
$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,20.875,181.500,591.850,5.725,0.000,0.000,0.000,297.750,2.250,0.000,18.657,3233.992,20351.516,913.056,2297.722,800.776,0.000,2218.793,0.000,1932.175,0.000,0.549,0.000
$DEVICE_MAMPS,410.805,101.745,1923.210,768.825,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.299,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43264,1117
$CAP_FILE_SIZE,251514,0
$CFSIZE,260034560,185868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,0,0
$CURRENT,0.044,127.1,1
$GPS,150313,083405,2450.754,-3737.228,37,1.0,37,-13.8