version: 66.11
glider: 191
mission: 5
dive: 556
start: 3 18 113 6 55 41
data:
$ID,191
$MISSION,5
$DIVE,556
$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,-5304.3179
$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
$GPS1,180313,064523,2445.234,-3745.268,35,0.8,35,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.1
$GPS2,180313,065511,2445.196,-3745.316,17,0.9,17,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,188.7,26805,-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,-58.58,0.000,6,0.000,0.000,160,1518,3460,0,0,0,0,0,0,28.83,28.83,14.59
$GC,88,-0.60,-97.3,4.2,-9.1,4,103,9.95,1.92,0.00,0.000,4,0.411,0.071,1995,454,3462,1,0,0,0,0,0,13.50,14.26,28.83
$GC,326,-0.58,-97.3,28.1,-8.0,20,330,0.00,1.83,0.00,0.000,6,0.000,0.039,1989,1517,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,626,-0.58,-97.3,50.9,-7.5,40,629,0.00,1.98,0.00,0.000,4,0.000,0.081,1989,461,3464,0,0,0,0,0,0,28.83,13.98,28.83
$GC,718,-0.56,-97.3,58.2,-8.2,46,721,0.00,1.83,0.00,0.000,6,0.000,0.037,1981,1522,3465,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1016,-0.54,-97.3,84.7,-8.9,66,1018,0.12,0.00,0.00,0.000,6,0.246,0.000,2007,1524,3464,0,0,0,0,0,0,14.01,28.83,28.83
$GC,1317,-0.56,-97.3,102.1,-5.1,86,1321,0.00,1.98,0.00,0.000,4,0.000,0.080,2006,465,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1422,-0.56,-97.3,108.4,-6.2,93,1425,0.00,1.83,0.00,0.000,6,0.000,0.038,2002,1526,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1721,-0.56,-97.3,126.4,-7.7,113,1724,0.00,1.85,0.00,0.000,4,0.000,0.050,1994,2579,3464,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1812,-0.57,-97.3,134.0,-8.8,119,1816,0.00,1.92,0.00,0.000,6,0.000,0.059,1994,1516,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2111,-0.61,-97.3,163.8,-10.0,139,2115,0.00,1.95,0.00,0.000,4,0.000,0.080,1994,469,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2247,-0.63,-97.3,176.8,-9.4,148,2251,0.00,1.80,0.00,0.000,6,0.000,0.038,1988,1520,3468,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2547,-0.67,-97.3,199.6,-6.6,168,2551,0.00,1.98,0.00,0.000,4,0.000,0.079,1988,463,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2666,-0.69,-97.3,207.8,-7.2,176,2670,0.00,1.83,0.00,0.000,6,0.000,0.037,1980,1526,3465,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2966,-0.72,-97.3,226.1,-6.4,196,2970,0.00,1.98,0.00,0.000,4,0.000,0.079,1980,467,3465,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3056,-0.72,-97.3,232.1,-6.9,202,3060,0.00,1.80,0.00,0.000,6,0.000,0.038,1973,1519,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3371,-0.75,-97.3,255.4,-8.1,221,3375,0.00,1.98,0.00,0.000,4,0.000,0.080,1973,464,3465,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3446,-0.75,-97.3,262.1,-8.7,224,3450,0.00,1.83,0.00,0.000,6,0.000,0.037,1965,1524,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3765,-0.73,-97.3,291.4,-9.6,235,3773,0.00,1.98,0.00,0.000,4,0.000,0.080,1966,466,3465,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3836,-0.72,-97.3,297.5,-9.9,237,3839,0.00,1.83,0.00,0.000,6,0.000,0.039,1958,1525,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4136,-0.70,-97.3,329.0,-9.7,247,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4438,-0.67,-97.3,354.5,-7.8,257,4442,0.00,2.00,0.00,0.000,4,0.000,0.080,1958,463,3464,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4525,-0.64,-97.3,360.5,-7.9,260,4529,0.12,1.83,0.00,0.000,6,0.253,0.038,1973,1521,3464,0,0,0,0,0,0,13.69,14.15,28.83
$GC,4827,-0.64,-97.3,382.1,-6.8,270,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5126,-0.64,-97.3,403.6,-7.4,280,5129,0.00,2.00,0.00,0.000,4,0.000,0.080,1974,461,3463,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5201,-0.63,-97.3,409.7,-7.9,283,5205,0.00,1.83,0.00,0.000,6,0.000,0.038,1968,1521,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5517,-0.63,-97.3,433.6,-7.9,294,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.63,-97.3,458.7,-8.5,304,5820,0.00,2.00,0.00,0.000,4,0.000,0.081,1969,462,3461,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5922,-0.61,-97.3,468.4,-9.3,308,5927,0.12,1.83,0.00,0.000,6,0.245,0.038,1985,1520,3461,0,0,0,0,0,0,13.68,14.12,28.83
$GC,6239,-0.66,-97.3,493.8,-8.1,319,6243,0.00,2.00,0.00,0.000,4,0.000,0.080,1985,463,3460,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6357,-0.68,-97.3,502.4,-8.1,323,6361,0.00,1.83,0.00,0.000,6,0.000,0.038,1980,1523,3459,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6658,-0.72,-97.3,525.8,-7.3,333,6662,0.00,2.00,0.00,0.000,4,0.000,0.081,1980,464,3459,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6717,-0.76,-97.3,529.1,-7.1,335,6721,0.00,1.83,0.00,0.000,6,0.000,0.039,1973,1518,3459,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7018,-0.80,-97.3,549.2,-6.1,345,7023,0.12,2.00,0.00,0.000,4,0.136,0.081,1928,464,3458,0,0,0,0,0,0,14.34,13.83,28.83
$GC,7169,-0.75,-97.3,560.1,-8.2,350,7172,0.00,1.83,0.00,0.000,6,0.000,0.039,1920,1518,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7469,-0.70,-97.3,586.4,-8.7,360,7471,0.17,0.00,0.00,0.000,6,0.244,0.000,1957,1519,3457,0,0,0,0,0,0,13.74,28.83,28.83
$GC,7768,-0.69,-97.3,611.1,-8.3,370,7772,0.00,2.00,0.00,0.000,4,0.000,0.083,1957,465,3456,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7873,-0.67,-97.3,620.2,-8.7,374,7877,0.00,1.85,0.00,0.000,6,0.000,0.040,1952,1526,3456,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8190,-0.65,-97.3,643.3,-6.9,385,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1527,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8489,-0.63,-97.3,663.4,-6.8,395,8494,0.15,2.03,0.00,0.000,4,0.246,0.083,1983,467,3454,0,0,0,0,0,0,13.82,13.83,28.83
$GC,8548,-0.61,-97.3,666.3,-6.7,397,8551,0.00,1.85,0.00,0.000,6,0.000,0.040,1978,1527,3453,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8850,-0.66,-97.3,687.7,-7.0,407,8854,0.00,2.03,0.00,0.000,4,0.000,0.083,1978,467,3453,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8907,-0.69,-97.3,691.1,-7.3,409,8911,0.00,1.85,0.00,0.000,6,0.000,0.041,1972,1524,3452,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9209,-0.73,-97.3,714.5,-7.5,419,9213,0.00,2.03,0.00,0.000,4,0.000,0.083,1972,466,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9314,-0.75,-97.3,722.7,-7.9,423,9318,0.00,1.85,0.00,0.000,6,0.000,0.041,1964,1520,3453,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9628,-0.75,-97.3,746.0,-7.4,434,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9929,-0.75,-97.3,766.6,-6.5,444,9933,0.00,2.03,0.00,0.000,4,0.000,0.085,1964,464,3449,0,0,0,0,0,0,28.83,13.80,28.83
$GC,10003,-0.75,-97.3,771.7,-6.7,447,10006,0.00,1.85,0.00,0.000,6,0.000,0.041,1957,1521,3449,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10323,-0.74,-97.3,789.5,-5.5,458,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10619,-0.73,-97.3,806.2,-5.5,468,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10919,-0.72,-97.3,825.2,-6.9,478,10923,0.00,2.03,0.00,0.000,4,0.000,0.085,1957,467,3446,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11008,-0.70,-97.3,831.5,-8.0,481,11012,0.00,1.88,0.00,0.000,6,0.000,0.041,1949,1524,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11311,-0.68,-97.3,858.4,-8.8,491,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1525,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11609,-0.66,-97.3,884.2,-8.6,501,11613,0.00,1.90,0.00,0.000,4,0.000,0.054,1941,2574,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11683,-0.65,-97.3,890.9,-8.8,504,11688,0.17,1.98,0.00,0.000,6,0.236,0.066,1976,1521,3443,0,0,0,0,0,0,13.58,13.85,28.83
$GC,12003,-0.70,-97.3,916.7,-8.2,515,12009,0.00,2.03,0.00,0.000,4,0.000,0.088,1977,462,3443,0,0,0,0,0,0,28.83,13.89,28.83
$GC,12132,-0.73,-97.3,926.6,-8.2,519,12136,0.00,1.88,0.00,0.000,6,0.000,0.042,1974,1521,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12435,-0.77,-97.3,951.4,-7.7,529,12438,0.00,1.90,0.00,0.000,4,0.000,0.054,1967,2574,3441,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12599,-0.82,-97.3,964.4,-7.9,535,12603,0.15,1.98,0.00,0.000,6,0.132,0.066,1917,1518,3441,0,0,0,0,0,0,13.97,13.97,28.83
$STATE,12789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12789,begin apogee
$GC,12799,-0.18,0.0,982.0,-9.1,542,12925,0.82,0.00,115.05,1.818,6,0.232,0.000,2122,1391,3063,0,0,0,0,1,0,13.86,28.83,13.07
$STATE,12927,end apogee,CONTROL_FINISHED_OK
$STATE,12927,begin climb
$GC,12931,0.60,97.3,988.3,0.0,546,13067,0.85,2.03,124.90,1.812,4,0.111,0.093,2387,341,2665,0,0,0,0,1,0,13.90,14.05,13.12
$GC,13289,0.61,185.2,991.5,2.3,559,13412,0.00,1.85,112.88,1.778,6,0.000,0.043,2387,1411,2305,0,0,0,0,1,0,28.83,14.29,13.16
$GC,13725,0.56,192.9,969.8,5.7,574,13736,0.00,1.95,5.70,1.937,4,0.000,0.091,2393,340,2275,0,0,0,0,0,0,28.83,14.26,13.35
$GC,13966,0.50,192.9,952.6,7.5,582,13970,0.17,1.85,0.00,0.000,6,0.248,0.044,2356,1407,2274,0,0,0,0,0,0,13.93,14.35,28.83
$GC,14284,0.47,192.9,933.2,6.1,593,14285,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1408,2270,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27090,end climb,SURFACE_DEPTH_REACHED
$STATE,27090,begin surface coast
$FINISH,0.0,1.025810
$STATE,27122,end surface coast,CONTROL_FINISHED_OK
$STATE,27122,begin surface
$SM_CCo,27145,26.60,0.710,0,0,1756,320.12
$SM_GC,0.95,6.95,0.17,26.60,0.082,0.084,0.710,162,1526,1756,-6.28,-1.53,320.12,0,0,0,0,0,0,14.17,14.35,13.86
$IRIDIUM_FIX,2439.44,-3745.84,170313,232314
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.27
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.90
$XPDR_PINGS,10
$SC_FREEKB,7556704
$24V_AH,13.1,256.462
$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,21.150,196.275,533.575,26.600,0.000,0.000,0.000,296.550,2.500,0.000,18.810,3315.751,20394.945,889.205,2352.826,790.904,0.000,2217.561,0.000,1987.426,0.000,0.549,0.000
$DEVICE_MAMPS,410.805,103.275,1936.980,709.920,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27177.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.434,0.000,0.000,0.000
$MEM,345356
$DATA_FILE_SIZE,43348,1145
$CAP_FILE_SIZE,256193,0
$CFSIZE,260034560,184717312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,0,0
$CURRENT,0.077,309.3,1
$GPS,180313,142959,2443.837,-3745.619,39,0.8,39,-13.9