version: 66.11
glider: 191
mission: 5
dive: 558
start: 3 18 113 22 47 24
data:
$ID,191
$MISSION,5
$DIVE,558
$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,-5306.8335
$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,27
$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
$GPS1,180313,223635,2442.297,-3745.410,33,0.9,33,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-57.0
$GPS2,180313,224654,2442.278,-3745.434,18,1.2,18,-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,190.8,21471,-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,-57.30,0.000,6,0.000,0.000,161,1523,3460,0,0,0,0,0,0,28.83,28.83,14.57
$GC,88,-0.60,-97.3,4.6,-10.0,4,102,9.93,1.90,0.00,0.000,4,0.409,0.068,1997,464,3462,1,0,0,0,0,0,13.50,14.27,28.83
$GC,326,-0.58,-97.3,31.2,-8.9,20,330,0.00,1.80,0.00,0.000,6,0.000,0.038,1992,1514,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,626,-0.58,-97.3,53.9,-7.4,40,629,0.00,1.95,0.00,0.000,4,0.000,0.081,1992,467,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,718,-0.56,-97.3,61.5,-8.6,46,721,0.00,1.80,0.00,0.000,6,0.000,0.039,1984,1517,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1017,-0.55,-97.3,87.7,-8.8,66,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.54,-97.3,112.6,-8.1,86,1318,0.12,0.00,0.00,0.000,6,0.246,0.000,2010,1518,3464,0,0,0,0,0,0,14.01,28.83,28.83
$GC,1617,-0.58,-97.3,131.0,-5.3,106,1621,0.00,1.98,0.00,0.000,4,0.000,0.080,2010,463,3464,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1691,-0.62,-97.3,134.6,-4.9,111,1695,0.00,1.83,0.00,0.000,6,0.000,0.038,2005,1524,3464,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1991,-0.66,-97.3,151.4,-6.9,131,1995,0.00,1.98,0.00,0.000,4,0.000,0.080,2005,466,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2111,-0.70,-97.3,161.3,-8.5,139,2116,0.12,1.80,0.00,0.000,6,0.130,0.037,1952,1522,3465,0,0,0,0,0,0,14.09,14.21,28.83
$GC,2411,-0.67,-97.3,189.7,-9.1,159,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2711,-0.64,-97.3,217.2,-9.0,179,2716,0.12,1.98,0.00,0.000,4,0.246,0.079,1978,468,3464,0,0,0,0,0,0,14.02,13.90,28.83
$GC,2786,-0.63,-97.3,223.9,-9.2,184,2790,0.00,1.80,0.00,0.000,6,0.000,0.037,1972,1520,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3086,-0.63,-97.3,246.0,-6.6,204,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,-0.63,-97.3,266.6,-7.0,216,3389,0.00,1.98,0.00,0.000,4,0.000,0.080,1972,465,3464,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3477,-0.61,-97.3,272.5,-7.6,219,3481,0.00,1.80,0.00,0.000,6,0.000,0.037,1964,1518,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3777,-0.60,-97.3,296.3,-7.6,229,3781,0.12,1.98,0.00,0.000,4,0.248,0.080,1991,467,3464,0,0,0,0,0,0,14.04,13.84,28.83
$GC,3836,-0.60,-97.3,299.4,-7.3,231,3840,0.00,1.83,0.00,0.000,6,0.000,0.037,1985,1531,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4137,-0.63,-97.3,321.3,-7.2,241,4141,0.00,2.00,0.00,0.000,4,0.000,0.080,1985,465,3463,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4257,-0.66,-97.3,329.0,-7.4,245,4261,0.00,1.80,0.00,0.000,6,0.000,0.037,1978,1518,3463,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4556,-0.68,-97.3,351.6,-7.2,255,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.71,-97.3,372.0,-6.7,265,4861,0.00,1.98,0.00,0.000,4,0.000,0.080,1978,467,3462,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5051,-0.73,-97.3,386.1,-7.4,272,5055,0.00,1.80,0.00,0.000,6,0.000,0.038,1971,1518,3462,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5371,-0.76,-97.3,410.4,-8.1,283,5377,0.00,1.98,0.00,0.000,4,0.000,0.082,1971,463,3461,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5516,-0.76,-97.3,423.0,-8.3,288,5519,0.00,1.83,0.00,0.000,6,0.000,0.037,1963,1524,3460,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5834,-0.78,-97.3,445.6,-6.7,299,5838,0.00,2.00,0.00,0.000,4,0.000,0.081,1963,468,3459,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5922,-0.78,-97.3,450.7,-6.6,302,5926,0.00,1.83,0.00,0.000,6,0.000,0.039,1955,1525,3459,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6222,-0.76,-97.3,469.6,-6.4,312,6226,0.00,2.00,0.00,0.000,4,0.000,0.081,1955,467,3458,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6342,-0.73,-97.3,477.9,-7.9,316,6346,0.00,1.83,0.00,0.000,6,0.000,0.039,1947,1525,3458,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6642,-0.70,-97.3,505.9,-9.4,326,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1526,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6943,-0.67,-97.3,535.5,-9.9,336,6947,0.00,2.00,0.00,0.000,4,0.000,0.082,1953,468,3456,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7031,-0.64,-97.3,543.1,-10.1,339,7035,0.17,1.83,0.00,0.000,6,0.243,0.039,1975,1523,3457,0,0,0,0,0,0,13.56,14.09,28.83
$GC,7335,-0.67,-97.3,567.9,-7.4,349,7342,0.00,2.00,0.00,0.000,4,0.000,0.081,1975,468,3456,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7409,-0.70,-97.3,572.2,-7.3,351,7413,0.00,1.83,0.00,0.000,6,0.000,0.041,1971,1520,3456,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7707,-0.73,-97.3,593.0,-6.2,361,7711,0.00,2.00,0.00,0.000,4,0.000,0.082,1971,467,3455,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7843,-0.74,-97.3,602.4,-7.0,366,7847,0.00,1.85,0.00,0.000,6,0.000,0.038,1960,1529,3455,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8161,-0.77,-97.3,625.5,-7.4,377,8168,0.00,2.03,0.00,0.000,4,0.000,0.083,1964,463,3453,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8247,-0.79,-97.3,632.6,-7.8,380,8251,0.00,1.85,0.00,0.000,6,0.000,0.039,1956,1526,3453,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8566,-0.81,-97.3,657.4,-7.8,391,8573,0.00,2.03,0.00,0.000,4,0.000,0.083,1956,460,3452,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8696,-0.80,-97.3,667.7,-8.6,395,8700,0.00,1.85,0.00,0.000,6,0.000,0.039,1948,1517,3452,0,0,0,0,0,0,28.83,14.05,28.83
$GC,8999,-0.78,-97.3,692.9,-7.9,405,9003,0.00,2.00,0.00,0.000,4,0.000,0.083,1949,468,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9072,-0.75,-97.3,699.0,-8.0,408,9076,0.00,1.85,0.00,0.000,6,0.000,0.040,1941,1527,3450,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9392,-0.72,-97.3,721.9,-7.3,419,9399,0.00,2.00,0.00,0.000,4,0.000,0.083,1941,471,3450,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9491,-0.69,-97.3,729.1,-7.8,422,9496,0.15,1.85,0.00,0.000,6,0.252,0.041,1962,1526,3449,0,0,0,0,0,0,13.57,14.04,28.83
$GC,9796,-0.69,-97.3,751.2,-7.4,432,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1528,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10092,-0.72,-97.3,776.5,-8.7,442,10096,0.00,2.03,0.00,0.000,4,0.000,0.083,1962,469,3448,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10183,-0.73,-97.3,783.4,-9.1,445,10186,0.00,1.85,0.00,0.000,6,0.000,0.041,1958,1523,3447,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10483,-0.76,-97.3,810.8,-8.5,455,10487,0.00,2.03,0.00,0.000,4,0.000,0.083,1958,467,3446,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10601,-0.76,-97.3,819.8,-8.6,459,10604,0.00,1.85,0.00,0.000,6,0.000,0.041,1949,1523,3446,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10906,-0.74,-97.3,843.1,-7.3,469,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1524,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11202,-0.73,-97.3,864.6,-6.9,479,11206,0.00,2.03,0.00,0.000,4,0.000,0.085,1949,470,3444,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11279,-0.70,-97.3,870.5,-7.7,482,11283,0.00,1.85,0.00,0.000,6,0.000,0.041,1942,1520,3443,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11595,-0.68,-97.3,895.1,-7.9,493,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11894,-0.66,-97.3,917.4,-7.1,503,11898,0.15,2.03,0.00,0.000,4,0.246,0.086,1973,462,3442,0,0,0,0,0,0,13.72,14.05,28.83
$GC,11968,-0.65,-97.3,922.2,-6.5,506,11972,0.00,1.88,0.00,0.000,6,0.000,0.041,1968,1526,3442,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12286,-0.68,-97.3,939.6,-5.6,517,12294,0.00,2.03,0.00,0.000,4,0.000,0.086,1968,469,3440,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12389,-0.70,-97.3,945.3,-6.1,520,12393,0.00,1.88,0.00,0.000,6,0.000,0.043,1960,1523,3440,0,0,0,0,0,0,28.83,13.98,28.83
$GC,12691,-0.72,-97.3,966.5,-7.2,530,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12865,begin apogee
$GC,12874,-0.18,0.0,980.5,-7.8,536,13000,0.62,0.00,114.68,1.815,6,0.190,0.000,2125,1398,3062,0,0,0,0,1,0,13.81,28.83,13.07
$STATE,13001,end apogee,CONTROL_FINISHED_OK
$STATE,13001,begin climb
$GC,13005,0.60,97.3,988.1,0.0,540,13140,0.82,1.92,124.00,1.808,4,0.104,0.054,2378,2462,2667,0,0,0,0,1,0,13.92,14.09,13.09
$GC,13363,0.65,205.6,993.5,1.5,553,13511,0.00,1.95,134.95,1.825,6,0.000,0.068,2386,1401,2223,0,0,0,0,1,0,28.83,14.16,13.14
$GC,13813,0.60,205.6,967.8,7.2,568,13817,0.00,2.00,0.00,0.000,4,0.000,0.093,2394,347,2216,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13918,0.54,205.6,959.3,8.2,572,13922,0.00,1.85,0.00,0.000,6,0.000,0.044,2394,1410,2215,0,0,0,0,0,0,28.83,14.27,28.83
$GC,14237,0.48,205.6,935.0,7.6,583,14245,0.20,2.03,0.00,0.000,4,0.256,0.092,2358,350,2213,0,0,0,0,0,0,13.76,14.00,28.83
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$STATE,26865,end climb,SURFACE_DEPTH_REACHED
$STATE,26865,begin surface coast
$FINISH,0.2,1.025969
$STATE,26881,end surface coast,CONTROL_FINISHED_OK
$STATE,26886,begin surface
$SM_CCo,26967,0.00,0.000,0,0,1653,345.87
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$IRIDIUM_FIX,2434.69,-3747.71,180313,141441
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.80
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7555936
$24V_AH,13.1,257.286
$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
$DEVICE_SECS,20.900,203.450,655.525,0.000,0.000,0.000,0.000,322.275,0.000,0.000,19.830,3263.297,20131.439,1012.116,2357.912,800.310,0.000,2374.575,0.000,1969.920,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.425,0.000,0.000,0.000
$MEM,345320
$DATA_FILE_SIZE,43351,1109
$CAP_FILE_SIZE,256258,0
$CFSIZE,260034560,184483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.073,292.2,1
$GPS,190313,061805,2440.692,-3745.794,31,0.9,31,-13.9