version: 66.11
glider: 191
mission: 5
dive: 561
start: 3 19 113 21 47 17
data:
$ID,191
$MISSION,5
$DIVE,561
$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,-5310.6094
$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,21
$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
$GPS1,190313,213704,2437.792,-3746.510,25,0.8,25,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.4
$GPS2,190313,214647,2437.830,-3746.588,15,1.3,15,-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,184.6,13008,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-59.28,0.000,6,0.000,0.000,156,1521,3462,0,0,0,0,0,0,28.83,28.83,14.56
$GC,87,-0.60,-97.3,4.1,-8.8,4,102,10.05,1.95,0.00,0.000,4,0.421,0.070,1996,451,3462,1,0,0,0,0,0,13.50,14.26,28.83
$GC,269,-0.58,-97.3,25.0,-7.9,16,277,0.00,1.83,0.00,0.000,6,0.000,0.037,1990,1512,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,580,-0.58,-97.3,50.8,-8.5,37,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.58,-97.3,77.1,-8.4,57,883,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,454,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,940,-0.56,-97.3,82.4,-8.8,61,944,0.00,1.83,0.00,0.000,6,0.000,0.039,1982,1518,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1240,-0.55,-97.3,101.8,-6.2,81,1242,0.12,0.00,0.00,0.000,6,0.249,0.000,2009,1519,3465,0,0,0,0,0,0,13.98,28.83,28.83
$GC,1541,-0.60,-97.3,118.4,-6.2,101,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.66,-97.3,138.2,-7.4,121,1844,0.00,1.85,0.00,0.000,4,0.000,0.049,2003,2574,3465,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1901,-0.71,-97.3,143.0,-7.9,125,1906,0.15,1.92,0.00,0.000,6,0.118,0.059,1945,1512,3465,0,0,0,0,0,0,14.07,14.07,28.83
$GC,2201,-0.67,-97.3,171.1,-8.9,145,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.64,-97.3,195.0,-7.2,165,2505,0.15,1.95,0.00,0.000,4,0.237,0.079,1977,465,3465,0,0,0,0,0,0,13.87,13.98,28.83
$GC,2591,-0.62,-97.3,201.0,-6.6,171,2595,0.00,1.80,0.00,0.000,6,0.000,0.037,1972,1522,3466,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2890,-0.61,-97.3,221.1,-7.0,191,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,-0.61,-97.3,243.4,-7.6,211,3193,0.00,1.98,0.00,0.000,4,0.000,0.079,1972,467,3465,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3250,-0.59,-97.3,248.1,-8.1,215,3254,0.15,1.80,0.00,0.000,6,0.242,0.037,1995,1520,3465,0,0,0,0,0,0,13.68,14.16,28.83
$GC,3555,-0.64,-97.3,267.6,-6.2,226,3561,0.00,1.98,0.00,0.000,4,0.000,0.080,1996,465,3465,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3611,-0.68,-97.3,271.3,-6.2,228,3615,0.00,1.80,0.00,0.000,6,0.000,0.037,1991,1520,3465,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3929,-0.73,-97.3,290.5,-6.2,239,3938,0.12,1.88,0.00,0.000,4,0.133,0.050,1936,2577,3465,0,0,0,0,0,0,14.35,13.95,28.83
$GC,4075,-0.73,-97.3,301.5,-7.4,244,4079,0.00,1.92,0.00,0.000,6,0.000,0.060,1936,1523,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4395,-0.69,-97.3,326.1,-7.9,255,4402,0.12,1.98,0.00,0.000,4,0.260,0.080,1960,467,3464,0,0,0,0,0,0,13.93,13.79,28.83
$GC,4480,-0.66,-97.3,333.0,-7.7,258,4484,0.00,1.80,0.00,0.000,6,0.000,0.037,1954,1520,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4799,-0.64,-97.3,355.7,-7.3,269,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5095,-0.62,-97.3,380.0,-8.6,279,5097,0.15,0.00,0.00,0.000,6,0.240,0.000,1987,1521,3463,0,0,0,0,0,0,13.94,28.83,28.83
$GC,5395,-0.65,-97.3,403.8,-7.9,289,5399,0.00,2.00,0.00,0.000,4,0.000,0.081,1987,462,3463,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5502,-0.68,-97.3,412.3,-8.1,293,5506,0.00,1.83,0.00,0.000,6,0.000,0.037,1982,1527,3462,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5818,-0.72,-97.3,434.8,-6.8,304,5822,0.00,1.85,0.00,0.000,4,0.000,0.050,1974,2575,3461,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5893,-0.75,-97.3,440.1,-6.7,307,5897,0.00,1.95,0.00,0.000,6,0.000,0.060,1975,1511,3462,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6209,-0.79,-97.3,462.0,-6.9,318,6213,0.12,1.98,0.00,0.000,4,0.136,0.081,1928,465,3460,0,0,0,0,0,0,14.32,13.82,28.83
$GC,6345,-0.74,-97.3,473.9,-9.0,323,6349,0.12,1.83,0.00,0.000,6,0.262,0.037,1943,1521,3459,0,0,0,0,0,0,13.59,14.09,28.83
$GC,6661,-0.72,-97.3,496.7,-7.0,334,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1522,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6960,-0.69,-97.3,518.4,-7.4,344,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1524,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,-0.66,-97.3,543.9,-9.0,354,7263,0.15,2.03,0.00,0.000,4,0.250,0.082,1976,463,3458,0,0,0,0,0,0,13.86,13.93,28.83
$GC,7365,-0.65,-97.3,553.1,-8.7,358,7368,0.00,1.85,0.00,0.000,6,0.000,0.038,1972,1528,3458,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7681,-0.67,-97.3,579.4,-8.3,369,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1530,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,-0.71,-97.3,602.2,-7.3,379,7984,0.00,2.03,0.00,0.000,4,0.000,0.083,1975,468,3456,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8055,-0.73,-97.3,607.6,-7.4,382,8059,0.00,1.83,0.00,0.000,6,0.000,0.040,1964,1520,3456,0,0,0,0,0,0,28.83,14.06,28.83
$GC,8372,-0.76,-97.3,629.2,-7.1,393,8376,0.00,2.00,0.00,0.000,4,0.000,0.083,1963,469,3454,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8461,-0.78,-97.3,635.0,-7.4,396,8465,0.00,1.85,0.00,0.000,6,0.000,0.040,1957,1526,3454,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8761,-0.77,-97.3,661.9,-8.9,406,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1527,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9061,-0.77,-97.3,688.0,-8.4,416,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1527,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9361,-0.76,-97.3,710.8,-7.2,426,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1527,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9661,-0.76,-97.3,731.2,-6.8,436,9665,0.00,2.03,0.00,0.000,4,0.000,0.083,1957,468,3451,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9719,-0.76,-97.3,734.5,-6.9,438,9723,0.00,1.85,0.00,0.000,6,0.000,0.040,1949,1520,3450,0,0,0,0,0,0,28.83,14.09,28.83
$GC,10021,-0.74,-97.3,758.1,-7.9,448,10025,0.00,1.90,0.00,0.000,4,0.000,0.052,1941,2578,3450,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10097,-0.72,-97.3,764.6,-8.5,451,10101,0.00,1.98,0.00,0.000,6,0.000,0.063,1942,1517,3449,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10414,-0.70,-97.3,795.3,-10.3,462,10417,0.00,2.03,0.00,0.000,4,0.000,0.086,1941,460,3449,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10489,-0.67,-97.3,804.0,-11.3,465,10493,0.17,1.88,0.00,0.000,6,0.240,0.041,1970,1524,3448,0,0,0,0,0,0,13.54,14.00,28.83
$GC,10805,-0.70,-97.3,834.3,-9.2,476,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1525,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11104,-0.74,-97.3,857.4,-7.2,486,11108,0.00,2.05,0.00,0.000,4,0.000,0.086,1970,460,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11252,-0.77,-97.3,866.4,-6.7,491,11255,0.00,1.88,0.00,0.000,6,0.000,0.041,1965,1523,3446,0,0,0,0,0,0,28.83,13.96,28.83
$GC,11557,-0.80,-97.3,883.7,-5.4,501,11564,0.00,2.03,0.00,0.000,4,0.000,0.086,1965,463,3445,0,0,0,0,0,0,28.83,13.90,28.83
$GC,11687,-0.82,-97.3,890.7,-5.8,505,11691,0.00,1.88,0.00,0.000,6,0.000,0.041,1958,1525,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11991,-0.85,-97.3,911.2,-7.1,515,11999,0.12,2.05,0.00,0.000,4,0.138,0.086,1915,461,3441,0,0,0,0,0,0,14.22,13.93,28.83
$GC,12079,-0.83,-97.3,919.2,-8.5,518,12083,0.00,1.88,0.00,0.000,6,0.000,0.042,1908,1519,3443,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12395,-0.78,-97.3,948.8,-9.8,529,12400,0.12,1.92,0.00,0.000,4,0.275,0.053,1925,2580,3442,0,0,0,0,0,0,13.76,13.99,28.83
$GC,12455,-0.74,-97.3,953.1,-9.5,531,12458,0.00,2.00,0.00,0.000,6,0.000,0.065,1925,1512,3440,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,12751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12751,begin apogee
$GC,12759,-0.18,0.0,981.2,-9.0,541,12887,0.80,0.00,115.70,1.811,6,0.230,0.000,2122,1394,3062,0,0,0,0,1,0,13.84,28.83,13.05
$STATE,12888,end apogee,CONTROL_FINISHED_OK
$STATE,12889,begin climb
$GC,12893,0.60,97.3,988.2,0.0,545,13029,0.85,2.03,123.95,1.800,4,0.112,0.093,2387,346,2665,0,0,0,0,1,0,13.83,14.04,13.11
$GC,13251,0.60,175.7,990.5,2.7,558,13369,0.00,1.85,102.30,1.756,6,0.000,0.043,2387,1410,2348,0,0,0,0,1,0,28.83,14.26,13.16
$GC,13669,0.54,175.7,966.3,6.6,572,13673,0.00,2.00,0.00,0.000,4,0.000,0.091,2395,350,2340,0,0,0,0,0,0,28.83,14.17,28.83
$GC,13806,0.47,175.7,956.9,7.0,577,13810,0.22,1.83,0.00,0.000,6,0.249,0.043,2346,1408,2339,0,0,0,0,0,0,13.90,14.33,28.83
$GC,14123,0.47,194.9,940.0,5.2,588,14166,0.00,0.00,36.03,1.258,6,0.000,0.000,2346,1409,2267,0,0,0,0,1,0,28.83,28.83,13.35
$GC,14454,0.47,210.8,922.4,5.4,599,14498,0.00,1.83,34.80,1.229,4,0.000,0.054,2345,2443,2201,0,0,0,0,1,0,28.83,14.36,13.33
$GC,14569,0.48,224.4,916.7,5.5,602,14614,0.00,1.92,32.28,1.158,6,0.000,0.070,2351,1401,2147,0,0,0,0,1,0,28.83,14.26,13.25
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$STATE,27058,end climb,SURFACE_DEPTH_REACHED
$STATE,27058,begin surface coast
$FINISH,0.3,1.025803
$STATE,27069,end surface coast,CONTROL_FINISHED_OK
$STATE,27069,begin surface
$SM_CCo,27090,24.60,0.700,0,0,1756,320.12
$SM_GC,0.56,6.90,0.15,24.60,0.083,0.096,0.700,159,1520,1756,-6.29,-1.70,320.12,0,0,0,0,0,0,14.19,14.38,13.86
$IRIDIUM_FIX,2429.95,-3746.26,190313,141445
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.76
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,17
$SC_FREEKB,7554784
$24V_AH,13.1,258.508
$10V_AH,12.7,0.000
$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,21.650,188.475,623.325,24.600,0.000,0.000,0.000,292.700,4.250,0.000,16.650,3277.552,20291.383,984.073,2320.598,809.871,0.000,2303.575,0.000,1962.911,0.000,0.548,0.000
$DEVICE_MAMPS,420.750,109.395,1810.755,699.975,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27127.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.364,0.000,0.000,0.000
$MEM,345324
$DATA_FILE_SIZE,43372,1139
$CAP_FILE_SIZE,256681,0
$CFSIZE,260034560,184131584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.096,302.2,1
$GPS,200313,052034,2436.573,-3747.283,34,0.9,34,-13.9