version: 66.11
glider: 191
mission: 5
dive: 466
start: 2 17 113 0 47 35
data:
$ID,191
$MISSION,5
$DIVE,466
$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,-5191.0859
$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,23
$R_STBD_OVSHOOT,49
$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
$GPS1,170213,003734,2437.236,-3837.882,32,0.7,32,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.0
$GPS2,170213,004705,2437.213,-3837.865,17,0.9,17,-14.2
$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,229.6,8081,-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,-97.3,0.0,0.0,0,69,0.00,0.00,-45.90,0.000,2,0.000,0.000,153,1522,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.60,-97.3,3.1,-8.9,3,100,10.02,1.90,-9.00,0.000,4,0.411,0.107,1987,461,3457,1,0,0,0,0,0,13.62,14.34,14.79
$GC,326,-0.57,-97.3,27.6,-8.8,20,329,0.00,1.80,0.00,0.000,6,0.000,0.041,1982,1517,3461,0,0,0,0,0,0,28.83,14.45,28.83
$GC,626,-0.54,-97.3,52.2,-8.1,40,630,0.00,1.95,0.00,0.000,4,0.000,0.083,1982,458,3461,0,0,0,0,0,0,28.83,14.26,28.83
$GC,809,-0.51,-97.3,68.6,-9.1,52,819,0.20,1.83,0.00,0.000,6,0.228,0.041,2020,1522,3461,0,0,0,0,0,0,13.95,14.35,28.83
$GC,1122,-0.52,-97.3,90.2,-6.6,73,1125,0.00,1.95,0.00,0.000,4,0.000,0.083,2017,457,3461,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1196,-0.52,-97.3,95.8,-7.4,78,1199,0.00,1.80,0.00,0.000,6,0.000,0.041,2014,1520,3462,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1496,-0.52,-97.3,114.7,-6.2,98,1500,0.00,1.95,0.00,0.000,4,0.000,0.083,2014,456,3459,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1556,-0.52,-97.3,119.1,-7.5,102,1559,0.00,1.80,0.00,0.000,6,0.000,0.041,2007,1521,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1856,-0.52,-97.3,142.3,-7.7,122,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.52,-97.3,165.6,-7.3,142,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,-0.52,-97.3,185.3,-6.2,162,2460,0.00,1.95,0.00,0.000,4,0.000,0.083,2006,457,3462,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2621,-0.52,-97.3,195.7,-6.1,173,2625,0.00,1.80,0.00,0.000,6,0.000,0.041,1999,1522,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2921,-0.52,-97.3,211.6,-5.4,193,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-0.52,-97.3,228.7,-6.0,213,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1523,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.52,-97.3,249.2,-7.2,233,3525,0.00,1.95,0.00,0.000,4,0.000,0.083,1999,456,3462,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3625,-0.52,-97.3,257.6,-8.0,237,3630,0.12,1.80,0.00,0.000,6,0.246,0.041,2016,1518,3463,0,0,0,0,0,0,14.11,14.50,28.83
$GC,3944,-0.57,-97.3,280.5,-7.4,248,3951,0.00,1.92,0.00,0.000,4,0.000,0.083,2017,464,3462,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4105,-0.62,-97.3,291.3,-7.2,253,4109,0.00,1.80,0.00,0.000,6,0.000,0.041,2013,1530,3462,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4409,-0.67,-97.3,309.8,-5.4,263,4413,0.12,1.95,0.00,0.000,4,0.132,0.082,1960,463,3462,0,0,0,0,0,0,14.61,14.26,28.83
$GC,4606,-0.64,-97.3,323.2,-7.1,270,4615,0.12,1.80,0.00,0.000,6,0.258,0.041,1977,1526,3461,0,0,0,0,0,0,14.07,14.49,28.83
$GC,4935,-0.64,-97.3,343.9,-6.6,281,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5233,-0.64,-97.3,365.9,-7.5,291,5237,0.00,1.95,0.00,0.000,4,0.000,0.083,1977,463,3459,0,0,0,0,0,0,28.83,14.11,28.83
$GC,5351,-0.62,-97.3,375.0,-8.7,295,5355,0.00,1.80,0.00,0.000,6,0.000,0.041,1972,1527,3460,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5653,-0.61,-97.3,398.5,-7.2,305,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1528,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5952,-0.59,-97.3,420.9,-7.6,315,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1528,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.58,-97.3,444.6,-7.9,325,6258,0.12,1.98,0.00,0.000,4,0.259,0.084,1997,461,3457,0,0,0,0,0,0,14.25,14.18,28.83
$GC,6357,-0.58,-97.3,453.0,-8.1,329,6360,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1521,3457,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6673,-0.58,-97.3,475.6,-6.8,340,6677,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,464,3456,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6731,-0.58,-97.3,478.7,-6.8,342,6734,0.00,1.80,0.00,0.000,6,0.000,0.042,1984,1521,3456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7032,-0.58,-97.3,498.0,-5.8,352,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7333,-0.58,-97.3,516.3,-6.2,362,7337,0.00,1.98,0.00,0.000,4,0.000,0.085,1985,458,3454,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7527,-0.57,-97.3,530.5,-7.5,369,7532,0.12,1.83,0.00,0.000,6,0.254,0.042,2001,1528,3454,0,0,0,0,0,0,14.07,14.47,28.83
$GC,7846,-0.62,-97.3,551.4,-6.7,380,7853,0.00,1.98,0.00,0.000,4,0.000,0.085,2001,461,3452,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7962,-0.66,-97.3,559.7,-7.0,384,7966,0.00,1.83,0.00,0.000,6,0.000,0.042,1997,1530,3452,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8282,-0.71,-97.3,581.8,-7.3,395,8289,0.12,1.95,0.00,0.000,4,0.135,0.085,1949,465,3451,0,0,0,0,0,0,14.57,14.10,28.83
$GC,8490,-0.67,-97.3,601.4,-9.7,402,8495,0.12,1.80,0.00,0.000,6,0.266,0.044,1965,1519,3450,0,0,0,0,0,0,13.97,14.42,28.83
$GC,8809,-0.66,-97.3,626.5,-7.7,413,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9103,-0.66,-97.3,647.3,-6.6,423,9107,0.00,1.98,0.00,0.000,4,0.000,0.086,1965,457,3449,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9209,-0.64,-97.3,654.7,-7.1,427,9212,0.00,1.83,0.00,0.000,6,0.000,0.044,1960,1518,3448,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9528,-0.63,-97.3,674.2,-6.2,438,9535,0.00,1.95,0.00,0.000,4,0.000,0.086,1960,464,3446,0,0,0,0,0,0,28.83,14.16,28.83
$GC,9614,-0.60,-97.3,680.5,-6.7,441,9618,0.17,1.83,0.00,0.000,6,0.245,0.044,1990,1520,3446,0,0,0,0,0,0,13.86,14.33,28.83
$GC,9933,-0.62,-97.3,698.7,-5.9,452,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10229,-0.67,-97.3,719.2,-7.0,462,10233,0.00,1.98,0.00,0.000,4,0.000,0.087,1990,464,3445,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10379,-0.70,-97.3,728.8,-7.2,467,10382,0.00,1.83,0.00,0.000,6,0.000,0.044,1985,1522,3444,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10679,-0.74,-97.3,751.3,-7.2,477,10684,0.12,1.98,0.00,0.000,4,0.140,0.088,1940,464,3443,0,0,0,0,0,0,14.52,14.09,28.83
$GC,10845,-0.70,-97.3,766.4,-9.4,483,10849,0.15,1.83,0.00,0.000,6,0.265,0.045,1961,1518,3442,0,0,0,0,0,0,13.83,14.35,28.83
$GC,11161,-0.69,-97.3,792.8,-8.4,494,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11460,-0.69,-97.3,817.1,-7.8,504,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11758,-0.69,-97.3,838.4,-7.1,514,11762,0.00,1.98,0.00,0.000,4,0.000,0.089,1961,464,3440,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11865,-0.67,-97.3,846.2,-7.4,518,11868,0.00,1.85,0.00,0.000,6,0.000,0.046,1956,1527,3440,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12182,-0.65,-97.3,868.1,-6.9,529,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1528,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12480,-0.64,-97.3,889.9,-7.2,539,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1528,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12779,-0.63,-97.3,910.4,-6.7,549,12784,0.12,2.03,0.00,0.000,4,0.265,0.091,1980,462,3437,0,0,0,0,0,0,14.12,13.98,28.83
$GC,12867,-0.63,-97.3,915.5,-6.7,552,12871,0.00,1.85,0.00,0.000,6,0.000,0.046,1975,1520,3436,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13170,-0.63,-97.3,936.5,-6.9,562,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1522,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13468,-0.63,-97.3,957.5,-7.0,572,13472,0.00,2.03,0.00,0.000,4,0.000,0.092,1975,458,3434,0,0,0,0,0,0,28.83,13.95,28.83
$GC,13588,-0.63,-97.3,965.8,-8.0,576,13592,0.00,1.88,0.00,0.000,6,0.000,0.047,1967,1525,3434,0,0,0,0,0,0,28.83,14.25,28.83
$STATE,13765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13766,begin apogee
$GC,13774,-0.18,0.0,980.4,-7.4,582,13896,0.62,0.00,113.68,1.830,6,0.213,0.000,2125,1397,3063,0,0,0,0,1,0,13.69,28.83,12.95
$STATE,13898,end apogee,CONTROL_FINISHED_OK
$STATE,13898,begin climb
$GC,13902,0.60,97.3,986.2,0.0,586,14040,0.80,1.92,125.93,1.831,4,0.110,0.057,2377,2461,2666,0,0,0,0,1,0,14.16,14.19,12.95
$GC,14263,0.62,177.7,987.6,2.7,598,14382,0.00,1.92,106.62,1.799,6,0.000,0.073,2386,1402,2337,0,0,0,0,1,0,28.83,14.40,13.00
$GC,14699,0.56,177.7,963.0,6.1,613,14702,0.00,1.85,0.00,0.000,4,0.000,0.057,2386,2459,2331,0,0,0,0,0,0,28.83,14.48,28.83
$GC,14849,0.51,177.7,954.4,6.1,618,14853,0.17,1.92,0.00,0.000,6,0.278,0.075,2359,1401,2330,0,0,0,0,0,0,14.08,14.43,28.83
$GC,15151,0.48,185.0,937.0,5.7,628,15162,0.00,1.92,4.85,1.978,4,0.000,0.097,2364,339,2309,0,0,0,0,0,0,28.83,14.46,13.36
$GC,15284,0.44,185.0,928.9,6.8,632,15289,0.12,1.85,0.00,0.000,6,0.265,0.049,2339,1412,2308,0,0,0,0,0,0,14.20,14.55,28.83
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$STATE,27941,end climb,SURFACE_DEPTH_REACHED
$STATE,27941,begin surface coast
$FINISH,0.6,1.025594
$STATE,27961,end surface coast,CONTROL_FINISHED_OK
$STATE,27961,begin surface
$SM_CCo,27981,1.77,0.877,0,0,1755,320.12
$SM_GC,1.70,6.85,0.15,1.77,0.078,0.099,0.877,165,1522,1755,-6.29,-1.50,320.12,0,0,0,0,0,0,14.26,14.56,13.71
$IRIDIUM_FIX,2429.95,-3837.00,160213,161658
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.78
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.30
$XPDR_PINGS,6
$SC_FREEKB,7591168
$24V_AH,13.0,218.207
$10V_AH,12.3,0.000
$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,21.900,171.150,616.275,1.775,0.000,0.000,0.000,291.725,1.500,0.000,18.440,3339.209,21176.008,928.411,2374.430,720.708,0.000,2259.076,0.000,2002.586,0.000,0.549,0.000
$DEVICE_MAMPS,410.805,107.865,1978.290,876.690,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28021.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.178,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,43282,1164
$CAP_FILE_SIZE,256436,0
$CFSIZE,260034560,195145728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.110,  5.8,1
$GPS,170213,083523,2436.676,-3838.940,39,0.7,39,-14.2