version: 66.11
glider: 191
mission: 5
dive: 457
start: 2 14 113 0 26 42
data:
$ID,191
$MISSION,5
$DIVE,457
$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,-5179.7598
$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,51
$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
$GPS1,140213,001636,2445.117,-3829.546,35,0.8,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-59.0
$GPS2,140213,002612,2445.185,-3829.579,17,0.9,17,-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,206.7,28167,-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,-56.85,0.000,6,0.000,0.000,156,1524,3460,0,0,0,0,0,0,28.83,28.83,14.72
$GC,87,-0.60,-97.3,4.7,-9.3,4,101,9.85,1.88,0.00,0.000,4,0.405,0.070,1996,462,3463,1,0,0,0,0,0,13.57,14.42,28.83
$GC,283,-0.57,-97.3,27.2,-8.9,17,287,0.00,1.77,0.00,0.000,6,0.000,0.040,1990,1512,3464,0,0,0,0,0,0,28.83,14.34,28.83
$GC,580,-0.55,-97.3,50.7,-7.7,37,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.53,-97.3,73.5,-7.6,57,884,0.00,1.92,0.00,0.000,4,0.000,0.082,1990,460,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,956,-0.50,-97.3,80.3,-9.0,62,960,0.17,1.80,0.00,0.000,6,0.228,0.041,2022,1528,3465,0,0,0,0,0,0,14.05,14.49,28.83
$GC,1256,-0.52,-97.3,101.9,-7.3,82,1260,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,460,3465,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1330,-0.52,-97.3,107.9,-8.2,87,1334,0.00,1.80,0.00,0.000,6,0.000,0.041,2017,1526,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1631,-0.53,-97.3,130.3,-7.5,107,1634,0.00,1.95,0.00,0.000,4,0.000,0.083,2017,457,3465,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1736,-0.53,-97.3,139.7,-9.3,114,1740,0.00,1.80,0.00,0.000,6,0.000,0.041,2009,1525,3469,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2036,-0.54,-97.3,166.7,-8.4,134,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1532,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.55,-97.3,188.0,-6.0,154,2340,0.00,1.92,0.00,0.000,4,0.000,0.082,2009,464,3466,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2485,-0.55,-97.3,197.0,-5.9,164,2489,0.00,1.77,0.00,0.000,6,0.000,0.041,2001,1522,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2786,-0.55,-97.3,213.6,-5.7,184,2789,0.00,1.92,0.00,0.000,4,0.000,0.082,2001,462,3466,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2846,-0.55,-97.3,217.4,-6.5,188,2849,0.00,1.77,0.00,0.000,6,0.000,0.040,1994,1520,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3145,-0.55,-97.3,236.8,-6.6,208,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.55,-97.3,256.3,-6.6,225,3449,0.00,1.92,0.00,0.000,4,0.000,0.082,1993,462,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3564,-0.55,-97.3,264.0,-7.3,229,3568,0.00,1.77,0.00,0.000,6,0.000,0.041,1986,1522,3466,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3866,-0.55,-97.3,285.1,-6.6,239,3870,0.00,1.92,0.00,0.000,4,0.000,0.082,1985,461,3465,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3940,-0.54,-97.3,290.8,-7.3,242,3945,0.15,1.77,0.00,0.000,6,0.230,0.041,2011,1520,3465,0,0,0,0,0,0,14.12,14.52,28.83
$GC,4259,-0.56,-97.3,310.3,-6.4,253,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.62,-97.3,331.6,-7.2,263,4559,0.00,1.92,0.00,0.000,4,0.000,0.083,2011,461,3463,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4751,-0.66,-97.3,345.1,-6.8,270,4754,0.00,1.77,0.00,0.000,6,0.000,0.041,2007,1520,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5069,-0.71,-97.3,364.6,-6.4,281,5078,0.15,1.95,0.00,0.000,4,0.118,0.083,1948,458,3462,0,0,0,0,0,0,14.61,14.28,28.83
$GC,5278,-0.66,-97.3,382.7,-8.9,288,5282,0.15,1.80,0.00,0.000,6,0.249,0.041,1970,1523,3462,0,0,0,0,0,0,13.98,14.43,28.83
$GC,5595,-0.65,-97.3,405.6,-7.3,299,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1524,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5891,-0.64,-97.3,428.8,-7.8,309,5895,0.00,1.92,0.00,0.000,4,0.000,0.083,1970,464,3460,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6057,-0.62,-97.3,443.2,-8.8,315,6061,0.00,1.80,0.00,0.000,6,0.000,0.041,1965,1528,3459,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6374,-0.60,-97.3,468.5,-8.0,326,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1529,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6672,-0.59,-97.3,491.0,-7.4,336,6677,0.12,1.95,0.00,0.000,4,0.248,0.085,1992,464,3458,0,0,0,0,0,0,14.31,14.26,28.83
$GC,6746,-0.59,-97.3,496.8,-7.5,339,6750,0.00,1.80,0.00,0.000,6,0.000,0.043,1986,1527,3458,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7062,-0.59,-97.3,518.5,-6.9,350,7066,0.00,1.95,0.00,0.000,4,0.000,0.085,1986,464,3458,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7136,-0.59,-97.3,524.1,-7.4,353,7139,0.00,1.80,0.00,0.000,6,0.000,0.041,1979,1525,3458,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7452,-0.59,-97.3,546.6,-7.0,364,7455,0.00,1.95,0.00,0.000,4,0.000,0.085,1979,464,3457,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7510,-0.59,-97.3,549.9,-7.1,366,7513,0.00,1.80,0.00,0.000,6,0.000,0.042,1971,1523,3457,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7811,-0.59,-97.3,572.5,-7.3,376,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1524,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.59,-97.3,595.2,-7.8,386,8116,0.00,1.95,0.00,0.000,4,0.000,0.085,1971,463,3455,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8230,-0.57,-97.3,604.2,-8.7,390,8235,0.17,1.80,0.00,0.000,6,0.230,0.042,2001,1520,3454,0,0,0,0,0,0,13.97,14.45,28.83
$GC,8536,-0.63,-97.3,627.4,-7.2,400,8543,0.00,1.95,0.00,0.000,4,0.000,0.086,2001,462,3453,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8635,-0.67,-97.3,634.3,-7.7,403,8639,0.00,1.80,0.00,0.000,6,0.000,0.043,1997,1521,3453,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8937,-0.72,-97.3,656.7,-6.8,413,8939,0.12,0.00,0.00,0.000,6,0.135,0.000,1949,1522,3451,0,0,0,0,0,0,14.58,28.83,28.83
$GC,9237,-0.73,-97.3,678.8,-7.5,423,9241,0.00,1.95,0.00,0.000,4,0.000,0.086,1949,465,3451,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9402,-0.70,-97.3,692.5,-8.4,429,9405,0.00,1.80,0.00,0.000,6,0.000,0.044,1941,1519,3449,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9719,-0.67,-97.3,719.6,-8.8,440,9723,0.12,1.95,0.00,0.000,4,0.256,0.087,1967,466,3449,0,0,0,0,0,0,14.21,14.16,28.83
$GC,9776,-0.64,-97.3,723.8,-9.1,442,9780,0.00,1.80,0.00,0.000,6,0.000,0.044,1962,1521,3449,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10079,-0.63,-97.3,750.9,-8.4,452,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10378,-0.62,-97.3,774.5,-7.5,462,10381,0.00,1.95,0.00,0.000,4,0.000,0.087,1962,465,3446,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10438,-0.60,-97.3,777.8,-7.3,464,10442,0.17,1.80,0.00,0.000,6,0.234,0.044,1993,1519,3446,0,0,0,0,0,0,13.93,14.42,28.83
$GC,10740,-0.65,-97.3,798.7,-6.7,474,10744,0.00,1.98,0.00,0.000,4,0.000,0.088,1993,461,3446,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10857,-0.69,-97.3,806.1,-7.0,478,10861,0.00,1.83,0.00,0.000,6,0.000,0.044,1989,1521,3445,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11159,-0.74,-97.3,829.6,-7.7,488,11164,0.12,1.98,0.00,0.000,4,0.138,0.088,1943,463,3445,0,0,0,0,0,0,14.52,14.09,28.83
$GC,11293,-0.71,-97.3,842.5,-9.8,493,11297,0.00,1.83,0.00,0.000,6,0.000,0.044,1934,1518,3444,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11612,-0.68,-97.3,871.6,-9.1,504,11614,0.15,0.00,0.00,0.000,6,0.254,0.000,1966,1520,3443,0,0,0,0,0,0,14.05,28.83,28.83
$GC,11908,-0.68,-97.3,893.1,-6.7,514,11911,0.00,1.98,0.00,0.000,4,0.000,0.090,1966,467,3442,0,0,0,0,0,0,28.83,13.91,28.83
$GC,12014,-0.66,-97.3,900.6,-7.2,518,12018,0.00,1.83,0.00,0.000,6,0.000,0.046,1961,1521,3441,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12328,-0.66,-97.3,921.1,-6.5,529,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1522,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12629,-0.66,-97.3,942.3,-7.3,539,12632,0.00,2.00,0.00,0.000,4,0.000,0.090,1961,466,3439,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12687,-0.65,-97.3,946.0,-7.8,541,12691,0.00,1.85,0.00,0.000,6,0.000,0.047,1954,1525,3439,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12992,-0.64,-97.3,971.8,-8.2,551,12994,0.12,0.00,0.00,0.000,6,0.252,0.000,1978,1526,3438,0,0,0,0,0,0,14.14,28.83,28.83
$STATE,13104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13105,begin apogee
$GC,13112,-0.18,0.0,980.3,-7.1,555,13240,0.55,0.00,115.95,1.840,6,0.203,0.000,2123,1399,3063,0,0,0,0,1,0,13.74,28.83,12.93
$STATE,13242,end apogee,CONTROL_FINISHED_OK
$STATE,13242,begin climb
$GC,13245,0.60,97.3,986.5,0.0,559,13383,0.82,1.90,126.35,1.844,4,0.109,0.056,2381,2461,2665,0,0,0,0,1,0,14.21,14.19,12.95
$GC,13604,0.59,151.1,985.4,3.8,572,13692,0.00,1.92,76.25,1.681,6,0.000,0.072,2389,1397,2447,0,0,0,0,1,0,28.83,14.42,13.06
$GC,13994,0.53,151.1,960.5,7.1,585,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1397,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14293,0.46,151.1,939.4,7.2,595,14295,0.20,0.00,0.00,0.000,6,0.272,0.000,2347,1397,2440,0,0,0,0,0,0,14.11,28.83,28.83
$GC,14597,0.45,160.2,921.8,5.7,605,14631,0.00,0.00,26.52,0.995,6,0.000,0.000,2346,1396,2406,0,0,0,0,1,0,28.83,28.83,13.32
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$STATE,26695,end climb,SURFACE_DEPTH_REACHED
$STATE,26696,begin surface coast
$FINISH,0.0,1.011478
$STATE,26712,end surface coast,CONTROL_FINISHED_OK
$STATE,26712,begin surface
$SM_CCo,26795,0.00,0.000,0,0,1536,374.33
$SM_GC,0.96,6.82,0.15,0.00,0.074,0.094,0.000,157,1521,1536,-6.29,-1.47,374.33,0,0,0,0,0,0,14.31,14.58,28.83
$IRIDIUM_FIX,2437.06,-3829.95,130213,161624
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.30
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.30
$XPDR_PINGS,7
$SC_FREEKB,7594624
$24V_AH,12.9,214.527
$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,20.800,158.725,700.625,0.000,0.000,0.000,0.000,299.125,1.750,0.000,17.940,3154.748,20286.674,987.765,2257.911,664.602,0.000,2270.083,0.000,1878.609,0.000,0.549,0.000
$DEVICE_MAMPS,404.685,107.100,1876.545,0.000,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.153,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,39957,1111
$CAP_FILE_SIZE,242923,0
$CFSIZE,260034560,196251648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.113,355.7,1
$GPS,140213,075434,2444.179,-3830.122,35,0.8,35,-14.1