version: 66.11
glider: 191
mission: 5
dive: 560
start: 3 19 113 14 14 43
data:
$ID,191
$MISSION,5
$DIVE,560
$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,-5309.3501
$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,19
$R_STBD_OVSHOOT,58
$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
$GPS1,190313,140359,2439.208,-3746.392,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.2
$GPS2,190313,141413,2439.171,-3746.526,14,1.0,14,-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,174.4,15461,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-57.40,0.000,6,0.000,0.000,156,1524,3460,0,0,0,0,0,0,28.83,28.83,14.54
$GC,87,-0.60,-97.3,4.3,-9.3,4,103,10.25,1.92,0.00,0.000,4,0.424,0.068,1995,454,3463,1,0,0,0,0,0,13.47,14.26,28.83
$GC,310,-0.58,-97.3,29.2,-8.5,19,314,0.00,1.80,0.00,0.000,6,0.000,0.038,1990,1508,3465,0,0,0,0,0,0,28.83,14.29,28.83
$GC,610,-0.57,-97.3,51.1,-7.1,39,614,0.00,1.98,0.00,0.000,4,0.000,0.081,1990,455,3465,0,0,0,0,0,0,28.83,14.04,28.83
$GC,657,-0.55,-97.3,54.6,-7.4,42,661,0.00,1.83,0.00,0.000,6,0.000,0.039,1983,1516,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,955,-0.54,-97.3,75.7,-7.0,62,957,0.15,0.00,0.00,0.000,6,0.237,0.000,2013,1522,3465,0,0,0,0,0,0,13.84,28.83,28.83
$GC,1256,-0.57,-97.3,95.6,-6.6,82,1259,0.00,2.00,0.00,0.000,4,0.000,0.081,2014,454,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1361,-0.61,-97.3,103.8,-8.0,89,1365,0.00,1.85,0.00,0.000,6,0.000,0.038,2009,1530,3465,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1660,-0.63,-97.3,126.7,-8.1,109,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1531,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.69,-97.3,154.1,-9.4,129,1962,0.12,0.00,0.00,0.000,6,0.129,0.000,1959,1531,3466,0,0,0,0,0,0,14.42,28.83,28.83
$GC,2262,-0.70,-97.3,179.4,-7.2,149,2265,0.00,2.00,0.00,0.000,4,0.000,0.080,1959,460,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2365,-0.67,-97.3,187.5,-8.0,156,2369,0.00,1.83,0.00,0.000,6,0.000,0.037,1951,1519,3466,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2665,-0.64,-97.3,209.8,-7.2,176,2667,0.12,0.00,0.00,0.000,6,0.252,0.000,1977,1520,3466,0,0,0,0,0,0,13.97,28.83,28.83
$GC,2966,-0.64,-97.3,233.7,-8.4,196,2970,0.00,2.00,0.00,0.000,4,0.000,0.080,1977,456,3466,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3070,-0.62,-97.3,242.8,-8.8,203,3074,0.00,1.83,0.00,0.000,6,0.000,0.038,1972,1518,3466,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3373,-0.62,-97.3,266.5,-7.9,216,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3671,-0.62,-97.3,291.0,-8.2,226,3675,0.00,2.00,0.00,0.000,4,0.000,0.080,1971,454,3469,0,0,0,0,0,0,28.83,13.84,28.83
$GC,3759,-0.61,-97.3,297.6,-8.6,229,3763,0.00,1.85,0.00,0.000,6,0.000,0.038,1962,1525,3465,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4065,-0.60,-97.3,318.6,-5.5,239,4067,0.12,0.00,0.00,0.000,6,0.245,0.000,1989,1526,3465,0,0,0,0,0,0,14.00,28.83,28.83
$GC,4363,-0.65,-97.3,329.7,-3.8,249,4371,0.00,2.00,0.00,0.000,4,0.000,0.080,1989,461,3464,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4496,-0.68,-97.3,335.5,-4.8,253,4500,0.00,1.83,0.00,0.000,6,0.000,0.038,1985,1521,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4797,-0.72,-97.3,359.4,-8.8,263,4800,0.00,2.00,0.00,0.000,4,0.000,0.080,1984,459,3463,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4915,-0.75,-97.3,370.0,-10.1,267,4919,0.00,1.83,0.00,0.000,6,0.000,0.038,1977,1521,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5215,-0.78,-97.3,405.1,-11.4,277,5220,0.12,2.00,0.00,0.000,4,0.132,0.080,1930,461,3463,0,0,0,0,0,0,14.45,13.83,28.83
$GC,5334,-0.75,-97.3,418.1,-12.4,281,5338,0.00,1.83,0.00,0.000,6,0.000,0.038,1922,1521,3462,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5636,-0.71,-97.3,446.9,-7.7,291,5638,0.17,0.00,0.00,0.000,6,0.249,0.000,1959,1525,3461,0,0,0,0,0,0,13.74,28.83,28.83
$GC,5935,-0.71,-97.3,462.8,-5.4,301,5939,0.00,2.00,0.00,0.000,4,0.000,0.080,1959,461,3461,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6012,-0.69,-97.3,468.0,-6.5,304,6015,0.00,1.83,0.00,0.000,6,0.000,0.038,1954,1521,3461,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6328,-0.67,-97.3,494.0,-9.3,315,6332,0.00,2.03,0.00,0.000,4,0.000,0.080,1955,457,3459,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6403,-0.64,-97.3,501.9,-10.2,318,6407,0.15,1.85,0.00,0.000,6,0.247,0.039,1976,1523,3459,0,0,0,0,0,0,13.61,14.11,28.83
$GC,6720,-0.65,-97.3,529.3,-8.1,329,6723,0.00,2.03,0.00,0.000,4,0.000,0.080,1976,455,3458,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6776,-0.65,-97.3,533.0,-8.0,331,6780,0.00,1.85,0.00,0.000,6,0.000,0.039,1967,1525,3459,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7079,-0.69,-97.3,556.5,-7.2,341,7083,0.00,2.03,0.00,0.000,4,0.000,0.082,1971,461,3458,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7184,-0.71,-97.3,564.2,-7.5,345,7187,0.00,1.83,0.00,0.000,6,0.000,0.038,1963,1521,3458,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7502,-0.74,-97.3,585.4,-6.2,356,7510,0.00,2.00,0.00,0.000,4,0.000,0.081,1963,461,3457,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7573,-0.75,-97.3,589.1,-6.1,358,7576,0.00,1.85,0.00,0.000,6,0.000,0.039,1956,1526,3457,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7877,-0.78,-97.3,605.2,-5.1,368,7884,0.00,2.00,0.00,0.000,4,0.000,0.083,1956,467,3456,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7963,-0.78,-97.3,610.3,-5.6,371,7967,0.00,1.83,0.00,0.000,6,0.000,0.039,1948,1520,3456,0,0,0,0,0,0,28.83,14.08,28.83
$GC,8282,-0.76,-97.3,628.9,-6.5,382,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,-0.74,-97.3,652.7,-8.4,392,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,-0.72,-97.3,681.1,-9.7,402,8882,0.00,2.03,0.00,0.000,4,0.000,0.083,1947,461,3452,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8998,-0.68,-97.3,692.5,-10.8,406,9002,0.00,1.85,0.00,0.000,6,0.000,0.039,1946,1517,3452,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9298,-0.66,-97.3,720.9,-8.3,416,9300,0.15,0.00,0.00,0.000,6,0.248,0.000,1971,1521,3450,0,0,0,0,0,0,13.78,28.83,28.83
$GC,9599,-0.70,-97.3,740.0,-6.1,426,9603,0.00,2.05,0.00,0.000,4,0.000,0.084,1971,454,3451,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9687,-0.72,-97.3,744.8,-6.2,429,9691,0.00,1.88,0.00,0.000,6,0.000,0.041,1966,1523,3450,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9989,-0.76,-97.3,765.4,-7.1,439,9993,0.00,1.90,0.00,0.000,4,0.000,0.053,1958,2572,3449,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10107,-0.80,-97.3,773.7,-7.9,443,10111,0.00,1.98,0.00,0.000,6,0.000,0.063,1959,1511,3449,0,0,0,0,0,0,28.83,13.93,28.83
$GC,10412,-0.83,-97.3,802.0,-9.5,453,10419,0.12,1.98,0.00,0.000,4,0.142,0.084,1914,471,3448,0,0,0,0,0,0,14.27,13.83,28.83
$GC,10498,-0.81,-97.3,811.7,-10.5,456,10501,0.00,1.85,0.00,0.000,6,0.000,0.042,1906,1519,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10816,-0.75,-97.3,844.0,-9.7,467,10818,0.17,0.00,0.00,0.000,6,0.258,0.000,1941,1521,3447,0,0,0,0,0,0,13.55,28.83,28.83
$GC,11114,-0.73,-97.3,867.2,-7.6,477,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11413,-0.71,-97.3,889.4,-7.1,487,11417,0.00,2.03,0.00,0.000,4,0.000,0.086,1942,466,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11504,-0.69,-97.3,895.3,-7.6,490,11508,0.12,1.88,0.00,0.000,6,0.258,0.041,1960,1525,3444,0,0,0,0,0,0,13.52,13.97,28.83
$GC,11805,-0.69,-97.3,915.3,-6.1,500,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1525,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12104,-0.72,-97.3,934.6,-6.4,510,12108,0.00,1.90,0.00,0.000,4,0.000,0.054,1955,2575,3443,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12192,-0.75,-97.3,939.4,-6.4,513,12195,0.00,1.98,0.00,0.000,6,0.000,0.065,1955,1521,3442,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12495,-0.78,-97.3,960.4,-6.8,523,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12789,begin apogee
$GC,12798,-0.18,0.0,980.8,-6.9,533,12925,0.65,0.00,115.18,1.812,6,0.194,0.000,2125,1392,3066,0,0,0,0,1,0,13.77,28.83,13.05
$STATE,12926,end apogee,CONTROL_FINISHED_OK
$STATE,12926,begin climb
$GC,12931,0.60,97.3,986.9,0.0,537,13067,0.82,1.92,124.25,1.806,4,0.095,0.052,2386,2457,2665,0,0,0,0,1,0,13.89,14.07,13.11
$GC,13288,0.64,198.9,990.3,1.8,550,13425,0.00,1.95,127.05,1.812,6,0.000,0.069,2394,1402,2250,0,0,0,0,1,0,28.83,14.14,13.14
$GC,13723,0.60,217.5,969.8,5.3,564,13769,0.00,1.88,35.92,1.252,4,0.000,0.054,2394,2455,2176,0,0,0,0,1,0,28.83,14.32,13.30
$GC,13813,0.56,231.8,965.6,5.4,566,13857,0.00,1.95,33.28,1.187,6,0.000,0.070,2401,1402,2116,0,0,0,0,1,0,28.83,14.18,13.24
$GC,14158,0.51,231.8,941.7,7.0,578,14162,0.20,2.00,0.00,0.000,4,0.267,0.093,2365,339,2115,0,0,0,0,0,0,13.93,14.22,28.83
$GC,14295,0.48,231.8,932.1,7.2,583,14299,0.00,1.85,0.00,0.000,6,0.000,0.044,2364,1409,2113,0,0,0,0,0,0,28.83,14.35,28.83
$GC,14611,0.46,231.8,908.2,7.9,594,14615,0.00,2.03,0.00,0.000,4,0.000,0.093,2373,347,2112,0,0,0,0,0,0,28.83,14.09,28.83
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$STATE,26373,end climb,SURFACE_DEPTH_REACHED
$STATE,26373,begin surface coast
$FINISH,0.1,1.025745
$STATE,26390,end surface coast,CONTROL_FINISHED_OK
$STATE,26390,begin surface
$SM_CCo,26473,0.00,0.000,0,0,1696,335.08
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$IRIDIUM_FIX,2432.32,-3742.93,190313,060642
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.75
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.80
$XPDR_PINGS,12
$SC_FREEKB,7555168
$24V_AH,13.1,258.100
$10V_AH,12.6,0.000
$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,22.125,192.150,612.975,0.000,0.000,0.000,0.000,321.075,3.000,0.000,15.851,3190.465,19826.785,948.231,2303.044,798.075,0.000,2278.523,0.000,1922.914,0.000,0.549,0.000
$DEVICE_MAMPS,423.810,103.275,1811.520,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26449.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.295,0.000,0.000,0.000
$MEM,345352
$DATA_FILE_SIZE,43298,1098
$CAP_FILE_SIZE,251743,0
$CFSIZE,260034560,184250368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.072,304.1,1
$GPS,190313,213704,2437.792,-3746.510,25,0.8,25,-13.9