version: 66.11
glider: 191
mission: 5
dive: 577
start: 3 25 113 1 8 24
data:
$ID,191
$MISSION,5
$DIVE,577
$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,-5330.7432
$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,25
$R_STBD_OVSHOOT,53
$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
$GPS1,250313,005530,2430.732,-3816.343,41,0.8,42,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-54.4
$GPS2,250313,010754,2430.677,-3816.380,15,1.6,15,-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,303.6,43884,-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,-97.3,0.0,0.0,0,99,0.00,0.00,-73.72,0.000,6,0.000,0.000,156,1516,3460,0,0,0,0,0,0,28.83,28.83,14.56
$GC,103,-0.60,-97.3,4.3,-7.0,5,117,9.85,1.90,0.00,0.000,4,0.409,0.071,1996,461,3462,1,0,0,0,0,0,13.50,14.22,28.83
$GC,222,-0.57,-97.3,20.2,-8.7,13,225,0.00,1.80,0.00,0.000,6,0.000,0.037,1990,1523,3464,0,0,0,0,0,0,28.83,14.22,28.83
$GC,522,-0.57,-97.3,43.6,-7.8,33,526,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,463,3464,0,0,0,0,0,0,28.83,14.06,28.83
$GC,611,-0.55,-97.3,50.9,-8.1,39,615,0.00,1.80,0.00,0.000,6,0.000,0.039,1985,1511,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,912,-0.54,-97.3,73.4,-7.6,59,917,0.12,1.98,0.00,0.000,4,0.248,0.080,2010,458,3465,0,0,0,0,0,0,13.99,14.03,28.83
$GC,986,-0.54,-97.3,79.2,-7.6,64,989,0.00,1.83,0.00,0.000,6,0.000,0.038,2005,1522,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1286,-0.55,-97.3,103.6,-8.5,84,1290,0.00,1.98,0.00,0.000,4,0.000,0.080,2005,464,3464,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1346,-0.55,-97.3,109.1,-9.1,88,1349,0.00,1.83,0.00,0.000,6,0.000,0.039,1997,1527,3464,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1646,-0.55,-97.3,135.4,-8.2,108,1649,0.00,1.85,0.00,0.000,4,0.000,0.050,1989,2579,3464,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1721,-0.56,-97.3,141.4,-7.9,113,1725,0.00,1.92,0.00,0.000,6,0.000,0.059,1989,1519,3464,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2021,-0.60,-97.3,162.5,-6.5,133,2025,0.00,1.98,0.00,0.000,4,0.000,0.080,1989,462,3465,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2141,-0.60,-97.3,170.7,-7.0,141,2144,0.00,1.83,0.00,0.000,6,0.000,0.037,1981,1529,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2441,-0.63,-97.3,192.1,-7.7,161,2445,0.00,2.00,0.00,0.000,4,0.000,0.080,1981,463,3465,0,0,0,0,0,0,28.83,13.94,28.83
$GC,2502,-0.64,-97.3,197.0,-8.1,165,2505,0.00,1.80,0.00,0.000,6,0.000,0.037,1974,1521,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2801,-0.67,-97.3,221.3,-7.8,185,2805,0.00,1.98,0.00,0.000,4,0.000,0.080,1973,463,3464,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2846,-0.67,-97.3,224.8,-7.8,188,2849,0.00,1.80,0.00,0.000,6,0.000,0.037,1963,1518,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3146,-0.69,-97.3,246.4,-6.8,208,3150,0.00,1.98,0.00,0.000,4,0.000,0.080,1966,464,3465,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3236,-0.68,-97.3,251.7,-6.9,213,3240,0.00,1.80,0.00,0.000,6,0.000,0.039,1959,1520,3465,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3538,-0.66,-97.3,272.6,-7.0,223,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.64,-97.3,296.9,-8.8,233,3840,0.00,1.98,0.00,0.000,4,0.000,0.080,1959,465,3464,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3926,-0.62,-97.3,304.4,-9.8,236,3931,0.17,1.83,0.00,0.000,6,0.228,0.038,1985,1525,3467,0,0,0,0,0,0,13.62,14.13,28.83
$GC,4230,-0.66,-97.3,332.8,-9.0,246,4237,0.00,2.00,0.00,0.000,4,0.000,0.080,1988,464,3464,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4271,-0.70,-97.3,335.6,-8.9,247,4275,0.00,1.83,0.00,0.000,6,0.000,0.038,1984,1529,3464,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4571,-0.74,-97.3,360.0,-7.1,257,4575,0.00,1.85,0.00,0.000,4,0.000,0.050,1976,2578,3463,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4630,-0.78,-97.3,362.9,-6.8,259,4635,0.12,1.92,0.00,0.000,6,0.128,0.060,1928,1520,3463,0,0,0,0,0,0,14.00,14.01,28.83
$GC,4936,-0.73,-97.3,386.4,-7.7,269,4943,0.00,1.98,0.00,0.000,4,0.000,0.081,1929,463,3462,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5021,-0.68,-97.3,394.3,-8.6,272,5026,0.20,1.83,0.00,0.000,6,0.236,0.038,1963,1527,3462,0,0,0,0,0,0,13.59,14.15,28.83
$GC,5342,-0.68,-97.3,419.3,-8.5,283,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1528,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5636,-0.71,-97.3,447.1,-9.3,293,5640,0.00,2.00,0.00,0.000,4,0.000,0.081,1963,466,3461,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5697,-0.73,-97.3,451.4,-9.5,295,5700,0.00,1.83,0.00,0.000,6,0.000,0.039,1958,1523,3460,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5997,-0.72,-97.3,477.9,-7.9,305,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1524,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-0.70,-97.3,499.6,-7.1,315,6300,0.00,2.00,0.00,0.000,4,0.000,0.081,1958,465,3458,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6417,-0.67,-97.3,508.2,-8.2,319,6420,0.00,1.83,0.00,0.000,6,0.000,0.039,1950,1520,3458,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6717,-0.65,-97.3,535.7,-9.0,329,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-0.63,-97.3,562.0,-8.4,339,7019,0.15,0.00,0.00,0.000,6,0.239,0.000,1982,1521,3457,0,0,0,0,0,0,13.85,28.83,28.83
$GC,7319,-0.68,-97.3,584.0,-7.1,349,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1527,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,-0.73,-97.3,603.1,-5.9,359,7621,0.00,1.88,0.00,0.000,4,0.000,0.050,1977,2577,3456,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7721,-0.77,-97.3,609.1,-5.8,363,7725,0.00,1.95,0.00,0.000,6,0.000,0.061,1977,1520,3455,0,0,0,0,0,0,28.83,13.93,28.83
$GC,8042,-0.81,-97.3,626.7,-5.4,374,8043,0.17,0.00,0.00,0.000,6,0.111,0.000,1911,1520,3454,0,0,0,0,0,0,14.21,28.83,28.83
$GC,8336,-0.77,-97.3,649.8,-8.3,384,8338,0.12,0.00,0.00,0.000,6,0.251,0.000,1936,1520,3453,0,0,0,0,0,0,13.92,28.83,28.83
$GC,8638,-0.74,-97.3,675.1,-8.7,394,8642,0.00,2.03,0.00,0.000,4,0.000,0.084,1937,460,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8696,-0.71,-97.3,679.5,-9.3,396,8700,0.12,1.85,0.00,0.000,6,0.254,0.040,1955,1523,3452,0,0,0,0,0,0,13.60,14.07,28.83
$GC,9000,-0.69,-97.3,708.8,-9.5,406,9007,0.00,2.03,0.00,0.000,4,0.000,0.083,1955,463,3450,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9088,-0.68,-97.3,718.2,-10.2,409,9092,0.00,1.85,0.00,0.000,6,0.000,0.040,1950,1521,3450,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9404,-0.66,-97.3,749.2,-9.6,420,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9702,-0.66,-97.3,775.8,-8.5,430,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10001,-0.65,-97.3,800.4,-8.1,440,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,-0.64,-97.3,822.7,-7.0,450,10305,0.15,0.00,0.00,0.000,6,0.238,0.000,1982,1522,3444,0,0,0,0,0,0,13.82,28.83,28.83
$GC,10605,-0.69,-97.3,840.8,-5.8,460,10613,0.00,1.90,0.00,0.000,4,0.000,0.052,1976,2575,3445,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10693,-0.74,-97.3,845.9,-5.6,463,10697,0.00,1.98,0.00,0.000,6,0.000,0.065,1977,1518,3445,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11010,-0.79,-97.3,863.3,-5.5,474,11018,0.15,1.92,0.00,0.000,4,0.125,0.052,1916,2578,3444,0,0,0,0,0,0,14.15,14.00,28.83
$GC,11081,-0.82,-97.3,867.1,-6.0,476,11085,0.00,1.98,0.00,0.000,6,0.000,0.065,1916,1521,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11386,-0.77,-97.3,891.4,-8.1,486,11393,0.00,2.00,0.00,0.000,4,0.000,0.087,1916,468,3443,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11456,-0.73,-97.3,897.1,-8.8,488,11461,0.20,1.85,0.00,0.000,6,0.251,0.042,1953,1519,3442,0,0,0,0,0,0,13.56,14.00,28.83
$GC,11761,-0.71,-97.3,923.0,-8.2,498,11768,0.00,2.03,0.00,0.000,4,0.000,0.086,1948,461,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,11847,-0.69,-97.3,930.9,-8.6,501,11851,0.00,1.88,0.00,0.000,6,0.000,0.042,1943,1523,3441,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12166,-0.68,-97.3,956.7,-8.0,512,12168,0.12,0.00,0.00,0.000,6,0.254,0.000,1967,1524,3440,0,0,0,0,0,0,13.79,28.83,28.83
$GC,12461,-0.72,-97.3,978.6,-7.5,522,12465,0.00,2.05,0.00,0.000,4,0.000,0.087,1968,463,3439,0,0,0,0,0,0,28.83,13.87,28.83
$STATE,12503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12503,begin apogee
$GC,12514,-0.18,0.0,982.0,-7.6,524,12638,0.60,0.00,114.40,1.818,6,0.206,0.000,2120,1407,3063,0,0,0,0,1,0,13.81,28.83,13.07
$STATE,12640,end apogee,CONTROL_FINISHED_OK
$STATE,12640,begin climb
$GC,12644,0.60,97.3,988.9,0.0,528,12780,0.85,1.90,125.00,1.812,4,0.098,0.053,2384,2455,2665,0,0,0,0,1,0,13.89,14.00,13.05
$GC,13002,0.63,194.8,993.5,1.9,541,13134,0.00,1.95,122.30,1.805,6,0.000,0.069,2391,1398,2266,0,0,0,0,1,0,28.83,14.12,13.13
$GC,13438,0.58,194.8,969.6,6.5,555,13441,0.00,1.88,0.00,0.000,4,0.000,0.052,2391,2457,2259,0,0,0,0,0,0,28.83,14.25,28.83
$GC,13525,0.52,194.8,964.5,6.7,558,13530,0.17,1.95,0.00,0.000,6,0.275,0.070,2364,1401,2258,0,0,0,0,0,0,13.88,14.17,28.83
$GC,13831,0.49,194.8,944.1,6.6,568,13837,0.00,2.00,0.00,0.000,4,0.000,0.095,2369,351,2256,0,0,0,0,0,0,28.83,14.02,28.83
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$STATE,27223,end climb,SURFACE_DEPTH_REACHED
$STATE,27223,begin surface coast
$FINISH,0.5,1.025768
$STATE,27239,end surface coast,CONTROL_FINISHED_OK
$STATE,27240,begin surface
$SM_CCo,27321,0.00,0.000,0,0,1552,370.40
$SM_GC,0.81,6.90,0.15,0.00,0.078,0.093,0.000,153,1517,1552,-6.29,-1.58,370.40,0,0,0,0,0,0,14.32,14.45,28.83
$IRIDIUM_FIX,2422.84,-3815.55,250313,000039
$TT8_MAMPS,0.023219,0.023219
$HUMID,61.02
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,24.70
$XPDR_PINGS,8
$SC_FREEKB,7548768
$24V_AH,13.1,265.075
$10V_AH,11.5,0.000
$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,21.575,207.050,655.475,0.000,0.000,0.000,0.000,420.775,2.000,0.000,16.689,3287.365,20464.004,1029.023,2429.998,839.270,0.000,2501.779,0.000,1985.041,0.000,0.549,0.000
$DEVICE_MAMPS,408.510,97.155,1923.210,0.000,0.000,0.000,0.000,162.180,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27269.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.308,0.000,0.000,0.000
$MEM,345316
$DATA_FILE_SIZE,43371,1132
$CAP_FILE_SIZE,262445,0
$CFSIZE,260034560,182239232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.047,222.0,1
$GPS,250313,084505,2430.713,-3819.336,34,0.9,34,-14.1