version: 66.11
glider: 191
mission: 5
dive: 575
start: 3 24 113 9 57 49
data:
$ID,191
$MISSION,5
$DIVE,575
$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,-5328.2261
$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,26
$R_STBD_OVSHOOT,50
$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
$GPS1,240313,094705,2430.995,-3810.464,29,1.0,29,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.0
$GPS2,240313,095717,2431.022,-3810.523,18,1.0,18,-14.1
$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,289.9,53522,-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,-60.53,0.000,2,0.000,0.000,163,1522,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.3,-6.9,4,107,9.75,1.98,-4.22,0.000,4,0.405,0.107,1997,462,3461,1,0,0,0,0,0,13.50,14.05,14.60
$GC,297,-0.58,-97.3,23.6,-7.5,18,301,0.00,1.80,0.00,0.000,6,0.000,0.037,1992,1515,3462,0,0,0,0,0,0,28.83,14.17,28.83
$GC,597,-0.57,-97.3,47.4,-9.8,38,601,0.00,1.98,0.00,0.000,4,0.000,0.080,1992,460,3462,0,0,0,0,0,0,28.83,13.96,28.83
$GC,673,-0.55,-97.3,54.0,-9.1,43,677,0.00,1.83,0.00,0.000,6,0.000,0.038,1984,1518,3462,0,0,0,0,0,0,28.83,14.08,28.83
$GC,972,-0.53,-97.3,78.6,-7.8,63,977,0.15,2.00,0.00,0.000,4,0.237,0.080,2016,464,3462,0,0,0,0,0,0,13.81,13.94,28.83
$GC,1047,-0.53,-97.3,84.4,-7.7,68,1051,0.00,1.83,0.00,0.000,6,0.000,0.038,2011,1523,3462,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1348,-0.57,-97.3,105.5,-6.8,88,1352,0.00,2.00,0.00,0.000,4,0.000,0.080,2010,460,3463,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1437,-0.59,-97.3,112.3,-7.5,94,1441,0.00,1.83,0.00,0.000,6,0.000,0.038,2004,1520,3463,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1739,-0.64,-97.3,132.6,-6.5,114,1742,0.00,1.98,0.00,0.000,4,0.000,0.080,2004,464,3463,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1827,-0.66,-97.3,139.3,-7.6,120,1830,0.00,1.83,0.00,0.000,6,0.000,0.038,1997,1524,3463,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2127,-0.71,-97.3,159.0,-6.9,140,2131,0.12,2.00,0.00,0.000,4,0.129,0.079,1949,457,3463,0,0,0,0,0,0,14.31,13.94,28.83
$GC,2247,-0.66,-97.3,169.7,-9.6,148,2251,0.15,1.83,0.00,0.000,6,0.243,0.039,1970,1518,3463,0,0,0,0,0,0,13.59,14.13,28.83
$GC,2546,-0.66,-97.3,193.8,-8.0,168,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-0.65,-97.3,217.6,-8.0,188,2850,0.00,1.98,0.00,0.000,4,0.000,0.080,1970,466,3463,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2922,-0.63,-97.3,223.9,-8.5,193,2926,0.00,1.83,0.00,0.000,6,0.000,0.038,1965,1528,3463,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3222,-0.61,-97.3,246.0,-6.9,213,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1529,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.60,-97.3,266.5,-6.6,226,3548,0.12,2.00,0.00,0.000,4,0.249,0.080,1990,467,3463,0,0,0,0,0,0,13.98,13.84,28.83
$GC,3612,-0.60,-97.3,270.4,-6.6,228,3615,0.00,1.83,0.00,0.000,6,0.000,0.038,1985,1526,3463,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3912,-0.61,-97.3,292.9,-7.9,238,3916,0.00,2.00,0.00,0.000,4,0.000,0.081,1985,465,3463,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3970,-0.61,-97.3,297.0,-8.6,240,3974,0.00,1.83,0.00,0.000,6,0.000,0.038,1977,1521,3463,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4273,-0.61,-97.3,328.1,-10.1,250,4276,0.00,2.00,0.00,0.000,4,0.000,0.080,1977,461,3463,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4330,-0.61,-97.3,332.7,-10.1,252,4334,0.00,1.83,0.00,0.000,6,0.000,0.039,1969,1521,3463,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4633,-0.61,-97.3,359.2,-7.4,262,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.61,-97.3,374.9,-4.7,272,4936,0.00,2.00,0.00,0.000,4,0.000,0.080,1969,464,3463,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4991,-0.61,-97.3,377.2,-4.7,274,4996,0.12,1.83,0.00,0.000,6,0.241,0.038,1986,1522,3462,0,0,0,0,0,0,13.69,14.12,28.83
$GC,5296,-0.65,-97.3,391.4,-5.0,284,5305,0.00,1.98,0.00,0.000,4,0.000,0.081,1983,469,3462,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5382,-0.69,-97.3,396.7,-5.8,287,5386,0.00,1.83,0.00,0.000,6,0.000,0.037,1981,1530,3462,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5702,-0.73,-97.3,419.5,-7.9,298,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1531,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5997,-0.77,-97.3,444.3,-8.3,308,6001,0.12,1.85,0.00,0.000,4,0.134,0.051,1927,2572,3461,0,0,0,0,0,0,14.40,13.85,28.83
$GC,6103,-0.77,-97.3,454.1,-9.3,312,6106,0.00,1.95,0.00,0.000,6,0.000,0.061,1927,1512,3460,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6421,-0.73,-97.3,484.8,-9.7,323,6428,0.00,1.98,0.00,0.000,4,0.000,0.081,1927,467,3459,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6508,-0.68,-97.3,494.1,-10.1,326,6513,0.22,1.83,0.00,0.000,6,0.242,0.039,1967,1521,3459,0,0,0,0,0,0,13.54,14.08,28.83
$GC,6825,-0.68,-97.3,520.0,-8.0,337,6832,0.00,2.00,0.00,0.000,4,0.000,0.081,1967,465,3458,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6896,-0.68,-97.3,524.9,-8.1,339,6900,0.00,1.83,0.00,0.000,6,0.000,0.038,1962,1522,3457,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7199,-0.68,-97.3,547.5,-6.6,349,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,-0.68,-97.3,567.1,-6.7,359,7501,0.00,2.00,0.00,0.000,4,0.000,0.082,1962,467,3456,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7617,-0.66,-97.3,575.1,-7.7,363,7621,0.00,1.85,0.00,0.000,6,0.000,0.040,1954,1524,3456,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7918,-0.64,-97.3,601.2,-8.6,373,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1526,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8218,-0.63,-97.3,628.1,-9.0,383,8223,0.12,2.03,0.00,0.000,4,0.248,0.081,1979,467,3454,0,0,0,0,0,0,13.95,13.93,28.83
$GC,8292,-0.63,-97.3,634.2,-8.4,386,8296,0.00,1.85,0.00,0.000,6,0.000,0.040,1974,1526,3454,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8610,-0.67,-97.3,657.1,-7.0,397,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1527,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,-0.71,-97.3,676.9,-6.6,407,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9208,-0.75,-97.3,698.6,-7.8,417,9211,0.00,1.88,0.00,0.000,4,0.000,0.054,1967,2573,3451,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9238,-0.79,-97.3,699.7,-7.8,418,9242,0.00,1.98,0.00,0.000,6,0.000,0.062,1967,1512,3450,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9538,-0.83,-97.3,727.0,-8.8,428,9542,0.15,2.00,0.00,0.000,4,0.127,0.084,1913,466,3450,0,0,0,0,0,0,14.29,13.92,28.83
$GC,9643,-0.79,-97.3,738.0,-10.5,432,9647,0.12,1.85,0.00,0.000,6,0.275,0.041,1927,1520,3448,0,0,0,0,0,0,13.50,13.99,28.83
$GC,9962,-0.75,-97.3,766.2,-8.6,443,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10258,-0.72,-97.3,788.8,-7.1,453,10263,0.12,2.03,0.00,0.000,4,0.271,0.084,1954,467,3450,0,0,0,0,0,0,13.83,13.95,28.83
$GC,10408,-0.69,-97.3,797.4,-6.3,458,10412,0.00,1.85,0.00,0.000,6,0.000,0.041,1948,1520,3446,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10712,-0.68,-97.3,813.0,-4.6,468,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1527,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11008,-0.66,-97.3,826.7,-4.6,478,11012,0.00,2.03,0.00,0.000,4,0.000,0.085,1948,467,3444,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11097,-0.64,-97.3,831.1,-5.7,481,11101,0.17,1.85,0.00,0.000,6,0.240,0.042,1976,1520,3444,0,0,0,0,0,0,13.47,13.88,28.83
$GC,11403,-0.68,-97.3,850.8,-6.9,491,11408,0.00,1.90,0.00,0.000,4,0.000,0.054,1971,2572,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11471,-0.72,-97.3,855.3,-7.3,493,11475,0.00,1.98,0.00,0.000,6,0.000,0.063,1971,1514,3443,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11774,-0.77,-97.3,883.7,-9.5,503,11778,0.00,2.03,0.00,0.000,4,0.000,0.087,1971,461,3442,0,0,0,0,0,0,28.83,13.92,28.83
$GC,11878,-0.80,-97.3,894.2,-10.1,507,11881,0.00,1.88,0.00,0.000,6,0.000,0.041,1965,1519,3442,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12197,-0.84,-97.3,923.7,-9.0,518,12204,0.15,2.03,0.00,0.000,4,0.127,0.086,1914,463,3441,0,0,0,0,0,0,14.17,13.86,28.83
$GC,12357,-0.78,-97.3,939.1,-10.5,523,12362,0.15,1.88,0.00,0.000,6,0.269,0.044,1933,1517,3440,0,0,0,0,0,0,13.50,13.87,28.83
$GC,12662,-0.75,-97.3,964.7,-7.7,533,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12864,begin apogee
$GC,12872,-0.18,0.0,980.9,-7.7,540,12999,0.77,0.00,115.00,1.825,6,0.224,0.000,2127,1394,3062,0,0,0,0,1,0,13.83,28.83,13.05
$STATE,13001,end apogee,CONTROL_FINISHED_OK
$STATE,13001,begin climb
$GC,13006,0.60,97.3,986.2,0.0,544,13141,0.82,1.95,124.20,1.815,4,0.101,0.054,2380,2464,2666,0,0,0,0,1,0,13.87,14.00,13.05
$GC,13363,0.62,177.1,987.1,2.7,557,13481,0.00,1.98,104.18,1.769,6,0.000,0.069,2388,1401,2340,0,0,0,0,1,0,28.83,14.06,13.14
$GC,13783,0.57,185.7,964.9,5.7,571,13818,0.00,1.88,25.58,0.955,4,0.000,0.054,2388,2455,2303,0,0,0,0,1,0,28.83,14.32,13.33
$GC,13873,0.51,190.2,960.5,5.9,574,13887,0.17,1.95,3.80,1.939,6,0.275,0.070,2362,1402,2286,0,0,0,0,0,0,13.80,14.15,13.35
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$STATE,27387,end climb,SURFACE_DEPTH_REACHED
$STATE,27387,begin surface coast
$FINISH,0.6,1.025613
$STATE,27404,end surface coast,CONTROL_FINISHED_OK
$STATE,27404,begin surface
$SM_CCo,27425,18.67,0.718,0,0,1756,320.12
$SM_GC,1.03,6.80,0.15,18.67,0.067,0.097,0.718,157,1524,1756,-6.30,-1.53,320.12,0,0,0,0,0,0,14.15,14.30,13.91
$IRIDIUM_FIX,2420.48,-3808.90,240313,020249
$TT8_MAMPS,0.023968,0.023968
$HUMID,61.22
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.60
$XPDR_PINGS,6
$SC_FREEKB,7549408
$24V_AH,13.0,264.239
$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,21.450,203.875,572.775,18.675,0.000,0.000,0.000,314.125,1.500,0.000,19.575,3311.113,20589.678,943.732,2355.735,841.300,0.000,2293.673,0.000,1982.815,0.000,0.549,0.000
$DEVICE_MAMPS,404.685,107.100,1939.275,717.570,0.000,0.000,0.000,168.300,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27461.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.311,0.000,0.000,0.000
$MEM,345328
$DATA_FILE_SIZE,43350,1134
$CAP_FILE_SIZE,261076,0
$CFSIZE,260034560,182456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.025,245.7,1
$GPS,240313,173634,2430.652,-3813.367,32,0.9,32,-14.1