version: 66.11
glider: 191
mission: 5
dive: 574
start: 3 24 113 2 24 29
data:
$ID,191
$MISSION,5
$DIVE,574
$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,-5326.9717
$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
$GPS1,240313,021404,2430.966,-3807.410,32,0.8,33,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.0
$GPS2,240313,022359,2430.932,-3807.470,13,1.3,13,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,291.0,58638,-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,-58.97,0.000,6,0.000,0.000,158,1510,3458,0,0,0,0,0,0,28.83,28.83,14.52
$GC,88,-0.60,-97.3,4.3,-9.8,4,103,9.90,1.90,0.00,0.000,4,0.412,0.071,1995,454,3462,1,0,0,0,0,0,13.47,14.26,28.83
$GC,326,-0.58,-97.3,30.0,-7.4,20,330,0.00,1.83,0.00,0.000,6,0.000,0.039,1990,1518,3463,0,0,0,0,0,0,28.83,14.24,28.83
$GC,626,-0.57,-97.3,53.3,-7.5,40,630,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,458,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,688,-0.55,-97.3,58.8,-9.1,44,692,0.10,1.83,0.00,0.000,6,0.259,0.037,2005,1524,3463,0,0,0,0,0,0,13.78,14.20,28.83
$GC,988,-0.56,-97.3,82.9,-7.9,64,992,0.00,2.00,0.00,0.000,4,0.000,0.080,2005,458,3464,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1046,-0.56,-97.3,88.2,-8.9,68,1050,0.00,1.83,0.00,0.000,6,0.000,0.037,2000,1521,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1347,-0.56,-97.3,115.0,-9.3,88,1351,0.00,1.98,0.00,0.000,4,0.000,0.080,2000,464,3464,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1437,-0.56,-97.3,123.9,-9.7,94,1440,0.00,1.80,0.00,0.000,6,0.000,0.037,1992,1519,3464,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1738,-0.56,-97.3,149.4,-7.6,114,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-0.56,-97.3,169.3,-6.2,134,2041,0.00,1.98,0.00,0.000,4,0.000,0.080,1992,463,3464,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2142,-0.56,-97.3,176.3,-6.7,141,2146,0.00,1.83,0.00,0.000,6,0.000,0.037,1984,1527,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2442,-0.59,-97.3,197.5,-7.9,161,2445,0.00,2.00,0.00,0.000,4,0.000,0.080,1984,460,3464,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2503,-0.59,-97.3,202.5,-8.3,165,2506,0.00,1.83,0.00,0.000,6,0.000,0.037,1976,1524,3464,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2801,-0.59,-97.3,226.7,-8.0,185,2805,0.00,2.00,0.00,0.000,4,0.000,0.079,1976,461,3464,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2863,-0.57,-97.3,231.6,-8.2,189,2867,0.15,1.83,0.00,0.000,6,0.231,0.037,1999,1527,3464,0,0,0,0,0,0,13.67,14.14,28.83
$GC,3162,-0.62,-97.3,250.1,-5.5,209,3166,0.00,2.00,0.00,0.000,4,0.000,0.080,1999,464,3464,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3254,-0.66,-97.3,254.3,-5.7,212,3258,0.00,1.83,0.00,0.000,6,0.000,0.037,1997,1527,3464,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3555,-0.71,-97.3,271.6,-5.8,222,3557,0.12,0.00,0.00,0.000,6,0.132,0.000,1946,1529,3464,0,0,0,0,0,0,14.34,28.83,28.83
$GC,3853,-0.71,-97.3,293.7,-7.7,232,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1528,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.71,-97.3,318.5,-8.5,242,4155,0.00,2.00,0.00,0.000,4,0.000,0.080,1946,464,3463,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4258,-0.68,-97.3,328.0,-9.1,246,4262,0.12,1.83,0.00,0.000,6,0.252,0.038,1962,1527,3463,0,0,0,0,0,0,13.64,14.12,28.83
$GC,4575,-0.67,-97.3,351.4,-7.0,257,4578,0.00,2.00,0.00,0.000,4,0.000,0.080,1962,463,3462,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4648,-0.65,-97.3,356.8,-7.0,260,4652,0.00,1.83,0.00,0.000,6,0.000,0.038,1957,1527,3462,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4967,-0.64,-97.3,377.5,-6.9,271,4974,0.00,1.98,0.00,0.000,4,0.000,0.080,1957,468,3461,0,0,0,0,0,0,28.83,13.77,28.83
$GC,5067,-0.61,-97.3,384.9,-8.0,274,5072,0.17,1.80,0.00,0.000,6,0.231,0.039,1986,1520,3461,0,0,0,0,0,0,13.54,14.13,28.83
$GC,5373,-0.66,-97.3,411.6,-8.9,284,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5669,-0.70,-97.3,437.4,-8.3,294,5672,0.00,2.00,0.00,0.000,4,0.000,0.081,1986,464,3459,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5744,-0.73,-97.3,443.5,-8.1,297,5748,0.00,1.83,0.00,0.000,6,0.000,0.037,1981,1523,3459,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6062,-0.78,-97.3,464.8,-6.1,308,6069,0.15,2.00,0.00,0.000,4,0.121,0.080,1926,464,3459,0,0,0,0,0,0,14.26,13.82,28.83
$GC,6102,-0.81,-97.3,466.8,-6.2,309,6106,0.00,1.83,0.00,0.000,6,0.000,0.039,1918,1521,3458,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6404,-0.75,-97.3,489.0,-7.1,319,6406,0.12,0.00,0.00,0.000,6,0.268,0.000,1941,1522,3458,0,0,0,0,0,0,13.88,28.83,28.83
$GC,6703,-0.72,-97.3,508.2,-6.6,329,6707,0.00,2.00,0.00,0.000,4,0.000,0.081,1941,464,3457,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6780,-0.69,-97.3,514.0,-7.4,332,6784,0.15,1.83,0.00,0.000,6,0.248,0.039,1966,1519,3456,0,0,0,0,0,0,13.57,14.04,28.83
$GC,7097,-0.69,-97.3,535.2,-6.9,343,7100,0.00,2.00,0.00,0.000,4,0.000,0.081,1966,462,3457,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7185,-0.69,-97.3,541.1,-7.6,346,7188,0.00,1.83,0.00,0.000,6,0.000,0.039,1961,1518,3456,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7485,-0.67,-97.3,567.4,-8.6,356,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7786,-0.67,-97.3,594.3,-9.2,366,7789,0.00,2.00,0.00,0.000,4,0.000,0.083,1961,465,3455,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7860,-0.66,-97.3,601.3,-9.4,369,7863,0.00,1.83,0.00,0.000,6,0.000,0.039,1953,1521,3454,0,0,0,0,0,0,28.83,14.03,28.83
$GC,8178,-0.64,-97.3,629.4,-8.6,380,8186,0.12,2.03,0.00,0.000,4,0.247,0.083,1977,462,3453,0,0,0,0,0,0,13.91,13.83,28.83
$GC,8236,-0.63,-97.3,634.1,-8.2,382,8240,0.00,1.85,0.00,0.000,6,0.000,0.040,1973,1524,3453,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8553,-0.64,-97.3,655.5,-6.3,393,8560,0.00,2.03,0.00,0.000,4,0.000,0.082,1973,462,3452,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8612,-0.66,-97.3,659.6,-6.7,395,8615,0.00,1.85,0.00,0.000,6,0.000,0.040,1965,1524,3451,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8925,-0.66,-97.3,679.6,-6.6,406,8929,0.00,2.03,0.00,0.000,4,0.000,0.083,1965,461,3451,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8983,-0.66,-97.3,683.0,-7.1,408,8987,0.00,1.85,0.00,0.000,6,0.000,0.041,1957,1521,3451,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9286,-0.66,-97.3,707.8,-8.0,418,9289,0.00,2.03,0.00,0.000,4,0.000,0.083,1957,460,3449,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9360,-0.64,-97.3,714.7,-8.8,421,9364,0.15,1.85,0.00,0.000,6,0.239,0.041,1978,1520,3449,0,0,0,0,0,0,13.54,13.99,28.83
$GC,9679,-0.69,-97.3,740.3,-8.3,432,9686,0.00,2.00,0.00,0.000,4,0.000,0.085,1980,471,3449,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9825,-0.71,-97.3,753.5,-8.8,437,9828,0.00,1.85,0.00,0.000,6,0.000,0.041,1975,1528,3448,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10144,-0.76,-97.3,778.8,-7.9,448,10151,0.00,2.03,0.00,0.000,4,0.000,0.084,1975,462,3447,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10244,-0.79,-97.3,785.8,-7.8,451,10247,0.00,1.85,0.00,0.000,6,0.000,0.041,1968,1521,3447,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10545,-0.83,-97.3,809.0,-7.4,461,10549,0.15,1.90,0.00,0.000,4,0.125,0.053,1909,2575,3446,0,0,0,0,0,0,14.21,13.86,28.83
$GC,10665,-0.82,-97.3,817.7,-8.3,465,10669,0.00,1.98,0.00,0.000,6,0.000,0.064,1909,1518,3445,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10965,-0.77,-97.3,846.5,-9.4,475,10970,0.15,2.03,0.00,0.000,4,0.272,0.085,1935,461,3444,0,0,0,0,0,0,13.60,13.91,28.83
$GC,11055,-0.73,-97.3,853.7,-9.5,478,11059,0.00,1.85,0.00,0.000,6,0.000,0.041,1932,1518,3444,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11358,-0.69,-97.3,883.0,-9.3,488,11360,0.15,0.00,0.00,0.000,6,0.252,0.000,1962,1520,3443,0,0,0,0,0,0,13.66,28.83,28.83
$GC,11656,-0.72,-97.3,908.0,-8.2,498,11660,0.00,2.03,0.00,0.000,4,0.000,0.086,1963,465,3442,0,0,0,0,0,0,28.83,13.89,28.83
$GC,11730,-0.75,-97.3,913.9,-7.9,501,11734,0.00,1.88,0.00,0.000,6,0.000,0.043,1958,1526,3442,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12050,-0.79,-97.3,934.3,-5.9,512,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1527,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12345,-0.82,-97.3,947.9,-4.2,522,12349,0.00,2.05,0.00,0.000,4,0.000,0.086,1958,464,3440,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12512,-0.82,-97.3,955.6,-4.7,528,12516,0.00,1.88,0.00,0.000,6,0.000,0.044,1951,1518,3439,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12828,-0.85,-97.3,973.9,-6.7,539,12838,0.12,2.05,0.00,0.000,4,0.144,0.088,1908,466,3438,0,0,0,0,0,0,14.16,13.93,28.83
$STATE,12911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12911,begin apogee
$GC,12923,-0.18,0.0,982.1,-8.6,542,13047,0.90,0.00,115.57,1.829,6,0.242,0.000,2121,1407,3062,0,0,0,0,1,0,13.86,28.83,13.04
$STATE,13049,end apogee,CONTROL_FINISHED_OK
$STATE,13049,begin climb
$GC,13053,0.60,97.3,988.4,0.0,546,13190,0.85,2.08,125.22,1.821,4,0.112,0.093,2385,342,2665,0,0,0,0,1,0,13.85,13.95,13.04
$GC,13410,0.68,240.5,998.2,0.0,559,13594,0.00,1.85,173.32,1.893,6,0.000,0.044,2386,1406,2081,0,0,0,0,1,0,28.83,14.20,13.05
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$STATE,26385,end climb,SURFACE_DEPTH_REACHED
$STATE,26386,begin surface coast
$FINISH,0.0,1.018517
$STATE,26403,end surface coast,CONTROL_FINISHED_OK
$STATE,26403,begin surface
$SM_CCo,26484,0.00,0.000,0,0,1516,379.23
$SM_GC,1.05,6.82,0.17,0.00,0.070,0.095,0.000,162,1521,1516,-6.28,-1.50,379.23,0,0,0,0,0,0,14.20,14.31,28.83
$IRIDIUM_FIX,2420.48,-3807.04,230313,181811
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.71
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,24.90
$XPDR_PINGS,9
$SC_FREEKB,7549792
$24V_AH,13.0,263.837
$10V_AH,11.6,0.000
$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,22.100,199.925,655.975,0.000,0.000,0.000,0.000,300.275,2.250,0.000,14.565,3209.753,19746.781,987.210,2293.600,819.726,0.000,2308.270,0.000,1916.434,0.000,0.548,0.000
$DEVICE_MAMPS,411.570,97.155,1892.610,0.000,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26460.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.296,0.000,0.000,0.000
$MEM,345320
$DATA_FILE_SIZE,40065,1095
$CAP_FILE_SIZE,252534,0
$CFSIZE,260034560,182591488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.033,289.2,1
$GPS,240313,094705,2430.995,-3810.464,29,1.0,29,-14.1