version: 66.11
glider: 191
mission: 5
dive: 559
start: 3 19 113 6 28 36
data:
$ID,191
$MISSION,5
$DIVE,559
$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,-5308.0938
$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,52
$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
$GPS1,190313,061805,2440.692,-3745.794,31,0.9,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.2
$GPS2,190313,062806,2440.650,-3745.805,12,0.7,13,-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,183.6,18393,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.20,0.000,2,0.000,0.000,155,1522,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.9,-8.1,4,105,10.68,1.95,-0.62,0.000,4,0.440,0.100,1995,461,3461,1,0,0,0,0,0,13.51,14.23,14.62
$GC,295,-0.58,-97.3,29.5,-9.4,18,299,0.00,1.80,0.00,0.000,6,0.000,0.038,1989,1513,3462,0,0,0,0,0,0,28.83,14.27,28.83
$GC,596,-0.57,-97.3,52.5,-8.3,38,597,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1514,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.57,-97.3,78.4,-9.0,58,899,0.00,1.95,0.00,0.000,4,0.000,0.080,1990,464,3462,0,0,0,0,0,0,28.83,14.01,28.83
$GC,985,-0.55,-97.3,87.1,-9.7,64,989,0.12,1.80,0.00,0.000,6,0.256,0.038,2006,1518,3462,0,0,0,0,0,0,13.78,14.22,28.83
$GC,1285,-0.55,-97.3,108.8,-6.2,84,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.56,-97.3,124.6,-4.7,104,1589,0.00,1.98,0.00,0.000,4,0.000,0.080,2007,462,3464,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1690,-0.56,-97.3,130.2,-5.3,111,1694,0.00,1.83,0.00,0.000,6,0.000,0.037,1997,1524,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1990,-0.59,-97.3,147.7,-6.9,131,1994,0.00,2.00,0.00,0.000,4,0.000,0.079,2001,459,3463,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2065,-0.60,-97.3,153.1,-7.4,136,2069,0.00,1.83,0.00,0.000,6,0.000,0.038,1993,1524,3467,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2365,-0.64,-97.3,174.9,-7.2,156,2369,0.00,1.98,0.00,0.000,4,0.000,0.078,1993,464,3464,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2486,-0.66,-97.3,183.2,-6.9,164,2490,0.00,1.83,0.00,0.000,6,0.000,0.037,1986,1525,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2785,-0.66,-97.3,201.4,-5.9,184,2789,0.00,2.00,0.00,0.000,4,0.000,0.080,1986,459,3463,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2846,-0.65,-97.3,205.1,-6.2,188,2850,0.00,1.83,0.00,0.000,6,0.000,0.038,1978,1517,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3145,-0.65,-97.3,222.6,-6.6,208,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.65,-97.3,242.5,-6.6,228,3448,0.00,1.98,0.00,0.000,4,0.000,0.080,1978,465,3464,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3520,-0.63,-97.3,248.1,-7.5,233,3524,0.00,1.83,0.00,0.000,6,0.000,0.038,1970,1524,3463,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3821,-0.63,-97.3,269.5,-7.2,244,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1527,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-0.63,-97.3,290.8,-7.2,254,4124,0.00,2.00,0.00,0.000,4,0.000,0.081,1970,461,3463,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4196,-0.62,-97.3,296.5,-7.5,257,4200,0.00,1.83,0.00,0.000,6,0.000,0.038,1962,1523,3463,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4514,-0.60,-97.3,320.0,-7.4,268,4515,0.15,0.00,0.00,0.000,6,0.246,0.000,1994,1524,3462,0,0,0,0,0,0,13.87,28.83,28.83
$GC,4811,-0.65,-97.3,339.4,-6.5,278,4815,0.00,2.00,0.00,0.000,4,0.000,0.080,1994,461,3462,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4945,-0.68,-97.3,348.2,-6.6,283,4949,0.00,1.83,0.00,0.000,6,0.000,0.037,1990,1523,3462,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5263,-0.72,-97.3,369.5,-6.9,294,5267,0.00,2.00,0.00,0.000,4,0.000,0.080,1989,461,3461,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5321,-0.76,-97.3,372.8,-6.9,296,5326,0.12,1.83,0.00,0.000,6,0.132,0.038,1940,1525,3461,0,0,0,0,0,0,14.05,14.18,28.83
$GC,5624,-0.72,-97.3,401.7,-9.6,306,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1527,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5922,-0.69,-97.3,431.8,-10.0,316,5926,0.00,2.00,0.00,0.000,4,0.000,0.081,1939,464,3460,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6010,-0.65,-97.3,439.9,-10.7,319,6015,0.20,1.83,0.00,0.000,6,0.246,0.039,1973,1523,3460,0,0,0,0,0,0,13.56,14.16,28.83
$GC,6312,-0.65,-97.3,467.5,-8.3,329,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1524,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6611,-0.68,-97.3,488.9,-6.5,339,6615,0.00,2.00,0.00,0.000,4,0.000,0.081,1973,464,3459,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6760,-0.70,-97.3,497.9,-6.7,344,6764,0.00,1.83,0.00,0.000,6,0.000,0.037,1968,1521,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7062,-0.70,-97.3,518.1,-6.6,354,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,-0.73,-97.3,539.1,-7.1,364,7365,0.00,2.00,0.00,0.000,4,0.000,0.081,1968,470,3456,0,0,0,0,0,0,28.83,13.77,28.83
$GC,7467,-0.74,-97.3,546.7,-7.3,368,7471,0.00,1.83,0.00,0.000,6,0.000,0.039,1961,1519,3456,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7784,-0.76,-97.3,567.6,-6.5,379,7791,0.00,2.00,0.00,0.000,4,0.000,0.083,1961,464,3456,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7872,-0.76,-97.3,574.2,-7.1,382,7875,0.00,1.83,0.00,0.000,6,0.000,0.039,1954,1519,3455,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8189,-0.75,-97.3,597.4,-7.5,393,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8487,-0.74,-97.3,621.7,-8.5,403,8491,0.00,2.00,0.00,0.000,4,0.000,0.083,1954,468,3453,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8545,-0.72,-97.3,625.9,-8.7,405,8549,0.00,1.83,0.00,0.000,6,0.000,0.040,1946,1518,3453,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8847,-0.70,-97.3,653.3,-8.7,415,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.67,-97.3,679.0,-8.4,425,9151,0.00,2.03,0.00,0.000,4,0.000,0.084,1946,461,3450,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9235,-0.64,-97.3,685.7,-8.9,428,9239,0.20,1.85,0.00,0.000,6,0.235,0.041,1980,1520,3451,0,0,0,0,0,0,13.53,14.04,28.83
$GC,9539,-0.69,-97.3,708.3,-7.0,438,9543,0.00,1.90,0.00,0.000,4,0.000,0.052,1975,2580,3450,0,0,0,0,0,0,28.83,13.90,28.83
$GC,9612,-0.73,-97.3,713.4,-6.8,441,9616,0.00,1.98,0.00,0.000,6,0.000,0.062,1975,1515,3449,0,0,0,0,0,0,28.83,13.86,28.83
$GC,9931,-0.78,-97.3,735.9,-7.3,452,9933,0.12,0.00,0.00,0.000,6,0.138,0.000,1932,1515,3448,0,0,0,0,0,0,14.26,28.83,28.83
$GC,10227,-0.78,-97.3,758.7,-7.4,462,10230,0.00,2.00,0.00,0.000,4,0.000,0.084,1932,465,3447,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10316,-0.75,-97.3,764.6,-7.7,465,10320,0.00,1.85,0.00,0.000,6,0.000,0.041,1924,1521,3446,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10618,-0.71,-97.3,786.9,-6.7,475,10620,0.15,0.00,0.00,0.000,6,0.261,0.000,1953,1522,3446,0,0,0,0,0,0,13.75,28.83,28.83
$GC,10917,-0.71,-97.3,805.1,-6.4,485,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11218,-0.71,-97.3,828.5,-8.3,495,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1527,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11517,-0.71,-97.3,854.4,-8.6,505,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1523,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11818,-0.71,-97.3,878.6,-7.6,515,11822,0.00,2.03,0.00,0.000,4,0.000,0.086,1953,466,3442,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11876,-0.70,-97.3,882.0,-7.4,517,11880,0.00,1.85,0.00,0.000,6,0.000,0.041,1948,1520,3442,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12177,-0.68,-97.3,904.6,-7.2,527,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12478,-0.67,-97.3,928.9,-8.5,537,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12777,-0.66,-97.3,953.7,-8.2,547,12781,0.00,2.05,0.00,0.000,4,0.000,0.087,1948,461,3439,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12823,-0.64,-97.3,957.6,-8.2,549,12828,0.17,1.88,0.00,0.000,6,0.240,0.042,1976,1518,3439,0,0,0,0,0,0,13.54,13.97,28.83
$STATE,13137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13137,begin apogee
$GC,13145,-0.18,0.0,980.4,-7.2,560,13270,0.55,0.00,114.50,1.819,6,0.182,0.000,2125,1394,3062,0,0,0,0,1,0,13.77,28.83,13.08
$STATE,13271,end apogee,CONTROL_FINISHED_OK
$STATE,13271,begin climb
$GC,13276,0.60,97.3,987.3,0.0,564,13412,0.82,2.03,124.38,1.805,4,0.096,0.093,2391,346,2665,0,0,0,0,1,0,13.93,14.04,13.12
$GC,13512,0.62,212.9,993.0,1.2,573,13665,0.00,1.85,142.05,1.831,6,0.000,0.043,2390,1410,2193,0,0,0,0,1,0,28.83,14.22,13.15
$GC,13977,0.56,212.9,962.8,7.4,589,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1410,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14279,0.51,212.9,939.4,8.0,599,14284,0.15,2.03,0.00,0.000,4,0.270,0.093,2366,351,2185,0,0,0,0,0,0,13.89,14.07,28.83
$GC,14383,0.47,212.9,931.2,7.8,603,14387,0.00,1.83,0.00,0.000,6,0.000,0.043,2366,1400,2184,0,0,0,0,0,0,28.83,14.23,28.83
$GC,14702,0.44,212.9,908.9,6.8,614,14710,0.15,2.03,0.00,0.000,4,0.256,0.093,2342,350,2183,0,0,0,0,0,0,13.82,13.93,28.83
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$STATE,27192,end climb,SURFACE_DEPTH_REACHED
$STATE,27192,begin surface coast
$FINISH,0.2,1.025777
$STATE,27208,end surface coast,CONTROL_FINISHED_OK
$STATE,27208,begin surface
$SM_CCo,27231,5.15,0.777,0,0,1756,320.12
$SM_GC,2.00,6.82,1.70,5.15,0.076,0.075,0.777,155,1527,1756,-6.30,0.85,320.12,0,0,0,0,0,0,14.20,14.02,13.88
$IRIDIUM_FIX,2432.32,-3746.26,180313,222213
$TT8_MAMPS,0.023219,0.023219
$HUMID,61.02
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.90
$XPDR_PINGS,14
$SC_FREEKB,7555552
$24V_AH,13.1,257.688
$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,21.675,187.575,570.750,5.150,0.000,0.000,0.000,312.975,3.500,0.000,15.159,3296.360,20487.922,892.288,2359.386,786.743,0.000,2235.739,0.000,1986.768,0.000,0.548,0.000
$DEVICE_MAMPS,439.875,101.745,1946.160,777.240,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27265.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.269,0.000,0.000,0.000
$MEM,345328
$DATA_FILE_SIZE,43320,1144
$CAP_FILE_SIZE,253414,0
$CFSIZE,260034560,184369152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.096,298.0,1
$GPS,190313,140359,2439.208,-3746.392,38,0.8,38,-13.9