version: 66.11
glider: 191
mission: 5
dive: 469
start: 2 18 113 0 36 50
data:
$ID,191
$MISSION,5
$DIVE,469
$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,-5194.8613
$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,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
$GPS1,180213,002628,2435.442,-3841.838,36,0.8,36,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.7
$GPS2,180213,003619,2435.527,-3841.938,16,0.9,17,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,172.6,100646,-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,20,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-60.17,0.000,2,0.000,0.000,153,1517,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.60,-97.3,3.5,-6.6,4,104,9.90,1.95,-2.45,0.000,4,0.406,0.109,1993,460,3457,1,0,0,0,0,0,13.59,14.39,14.76
$GC,264,-0.57,-97.3,23.8,-8.0,16,267,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1515,3459,0,0,0,0,0,0,28.83,14.47,28.83
$GC,564,-0.55,-97.3,48.4,-7.5,36,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.54,-97.3,71.2,-7.7,56,868,0.00,1.95,0.00,0.000,4,0.000,0.084,1991,461,3459,0,0,0,0,0,0,28.83,14.13,28.83
$GC,939,-0.51,-97.3,77.2,-8.1,61,943,0.17,1.80,0.00,0.000,6,0.239,0.042,2023,1520,3459,0,0,0,0,0,0,14.00,14.46,28.83
$GC,1239,-0.53,-97.3,96.0,-5.9,81,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1522,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,-0.58,-97.3,118.6,-8.0,101,1542,0.00,1.95,0.00,0.000,4,0.000,0.082,2023,458,3460,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1629,-0.62,-97.3,125.9,-8.3,107,1632,0.00,1.80,0.00,0.000,6,0.000,0.041,2018,1523,3458,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1929,-0.68,-97.3,148.1,-7.2,127,1933,0.15,1.95,0.00,0.000,4,0.120,0.082,1957,457,3460,0,0,0,0,0,0,14.55,14.24,28.83
$GC,2155,-0.63,-97.3,168.8,-9.3,142,2160,0.15,1.80,0.00,0.000,6,0.246,0.041,1981,1517,3460,0,0,0,0,0,0,14.02,14.47,28.83
$GC,2454,-0.63,-97.3,190.5,-7.1,162,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1518,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,-0.63,-97.3,213.0,-7.6,182,2758,0.00,1.92,0.00,0.000,4,0.000,0.082,1981,464,3460,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2874,-0.61,-97.3,222.9,-8.3,190,2878,0.00,1.80,0.00,0.000,6,0.000,0.041,1976,1526,3460,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3174,-0.60,-97.3,243.4,-6.4,210,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1527,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3478,-0.58,-97.3,259.9,-5.1,224,3485,0.00,1.95,0.00,0.000,4,0.000,0.082,1976,461,3459,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3534,-0.56,-97.3,263.3,-5.4,226,3539,0.15,1.80,0.00,0.000,6,0.237,0.041,2001,1526,3460,0,0,0,0,0,0,14.08,14.51,28.83
$GC,3853,-0.57,-97.3,276.0,-4.2,237,3860,0.00,1.95,0.00,0.000,4,0.000,0.083,2001,464,3460,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3909,-0.57,-97.3,279.1,-4.8,239,3912,0.00,1.80,0.00,0.000,6,0.000,0.041,2000,1527,3460,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4224,-0.57,-97.3,298.6,-6.7,250,4228,0.00,1.95,0.00,0.000,4,0.000,0.083,1996,462,3459,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4329,-0.57,-97.3,307.0,-8.0,254,4333,0.00,1.80,0.00,0.000,6,0.000,0.041,1988,1523,3459,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4643,-0.57,-97.3,332.6,-8.3,265,4647,0.00,1.95,0.00,0.000,4,0.000,0.083,1988,461,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4734,-0.57,-97.3,339.5,-9.0,268,4738,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1523,3459,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5033,-0.57,-97.3,365.6,-7.7,278,5037,0.00,1.95,0.00,0.000,4,0.000,0.083,1980,461,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5093,-0.56,-97.3,369.3,-7.9,280,5097,0.15,1.80,0.00,0.000,6,0.243,0.042,2005,1520,3458,0,0,0,0,0,0,14.03,14.47,28.83
$GC,5399,-0.58,-97.3,387.8,-5.5,290,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.64,-97.3,406.4,-6.6,300,5698,0.00,1.95,0.00,0.000,4,0.000,0.083,2005,461,3456,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5860,-0.67,-97.3,418.9,-7.7,306,5864,0.00,1.80,0.00,0.000,6,0.000,0.041,2001,1517,3456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6177,-0.72,-97.3,445.6,-8.8,317,6181,0.15,1.95,0.00,0.000,4,0.123,0.083,1943,462,3455,0,0,0,0,0,0,14.54,14.21,28.83
$GC,6404,-0.67,-97.3,470.0,-11.1,325,6413,0.15,1.80,0.00,0.000,6,0.257,0.042,1966,1523,3454,0,0,0,0,0,0,13.99,14.47,28.83
$GC,6733,-0.66,-97.3,499.0,-8.4,336,6737,0.00,1.98,0.00,0.000,4,0.000,0.084,1966,461,3453,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6808,-0.64,-97.3,505.3,-8.4,339,6811,0.00,1.80,0.00,0.000,6,0.000,0.041,1961,1520,3453,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7123,-0.62,-97.3,528.1,-6.8,350,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.61,-97.3,548.3,-6.7,360,7427,0.12,1.95,0.00,0.000,4,0.256,0.084,1987,464,3452,0,0,0,0,0,0,14.23,14.18,28.83
$GC,7526,-0.61,-97.3,555.0,-6.4,364,7530,0.00,1.80,0.00,0.000,6,0.000,0.043,1982,1520,3451,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7842,-0.61,-97.3,573.4,-5.8,375,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,-0.61,-97.3,590.9,-6.0,385,8145,0.00,1.95,0.00,0.000,4,0.000,0.085,1982,464,3448,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8231,-0.61,-97.3,595.8,-6.4,388,8235,0.00,1.83,0.00,0.000,6,0.000,0.044,1974,1529,3449,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8532,-0.61,-97.3,617.9,-7.2,398,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1526,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,-0.61,-97.3,641.6,-8.2,408,8834,0.00,1.98,0.00,0.000,4,0.000,0.086,1974,463,3447,0,0,0,0,0,0,28.83,14.14,28.83
$GC,8951,-0.59,-97.3,651.5,-9.4,412,8956,0.12,1.83,0.00,0.000,6,0.252,0.044,1992,1524,3446,0,0,0,0,0,0,14.01,14.42,28.83
$GC,9254,-0.60,-97.3,676.5,-7.7,422,9257,0.00,2.00,0.00,0.000,4,0.000,0.086,1991,458,3446,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9310,-0.60,-97.3,680.2,-7.8,424,9314,0.00,1.83,0.00,0.000,6,0.000,0.044,1986,1520,3446,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9613,-0.60,-97.3,702.4,-6.9,434,9616,0.00,1.98,0.00,0.000,4,0.000,0.086,1987,464,3445,0,0,0,0,0,0,28.83,14.06,28.83
$GC,9670,-0.60,-97.3,705.6,-6.9,436,9674,0.00,1.83,0.00,0.000,6,0.000,0.044,1979,1523,3444,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9972,-0.60,-97.3,726.3,-6.4,446,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1524,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10271,-0.60,-97.3,744.8,-6.1,456,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1524,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.60,-97.3,763.1,-6.2,466,10576,0.00,2.00,0.00,0.000,4,0.000,0.088,1979,461,3442,0,0,0,0,0,0,28.83,13.91,28.83
$GC,10660,-0.60,-97.3,768.2,-6.7,469,10664,0.00,1.83,0.00,0.000,6,0.000,0.044,1971,1520,3441,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10961,-0.60,-97.3,789.9,-7.0,479,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1522,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11262,-0.60,-97.3,812.2,-7.5,489,11266,0.00,1.98,0.00,0.000,4,0.000,0.088,1971,466,3439,0,0,0,0,0,0,28.83,14.05,28.83
$GC,11366,-0.59,-97.3,820.7,-8.2,493,11371,0.15,1.83,0.00,0.000,6,0.242,0.045,1995,1519,3438,0,0,0,0,0,0,13.85,14.33,28.83
$GC,11685,-0.65,-97.3,841.8,-6.5,504,11692,0.00,1.98,0.00,0.000,4,0.000,0.089,1995,465,3438,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11816,-0.68,-97.3,848.9,-6.0,508,11819,0.00,1.83,0.00,0.000,6,0.000,0.045,1991,1520,3437,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12121,-0.73,-97.3,865.0,-4.8,518,12128,0.12,1.95,0.00,0.000,4,0.140,0.089,1946,472,3437,0,0,0,0,0,0,14.50,13.95,28.83
$GC,12298,-0.70,-97.3,876.4,-6.6,524,12301,0.00,1.83,0.00,0.000,6,0.000,0.046,1938,1520,3436,0,0,0,0,0,0,28.83,14.32,28.83
$GC,12615,-0.67,-97.3,897.1,-7.0,535,12617,0.15,0.00,0.00,0.000,6,0.259,0.000,1969,1521,3435,0,0,0,0,0,0,14.00,28.83,28.83
$GC,12911,-0.67,-97.3,919.8,-8.2,545,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1522,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13212,-0.67,-97.3,946.6,-9.0,555,13216,0.00,2.03,0.00,0.000,4,0.000,0.091,1969,461,3434,0,0,0,0,0,0,28.83,13.78,28.83
$GC,13287,-0.67,-97.3,953.8,-9.6,558,13290,0.00,1.85,0.00,0.000,6,0.000,0.046,1964,1517,3433,0,0,0,0,0,0,28.83,14.26,28.83
$GC,13601,-0.67,-97.3,980.0,-7.6,569,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1518,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13628,begin apogee
$GC,13637,-0.18,0.0,982.3,-7.5,570,13764,0.60,0.00,114.72,1.842,6,0.216,0.000,2121,1392,3062,0,0,0,0,1,0,13.64,28.83,12.93
$STATE,13765,end apogee,CONTROL_FINISHED_OK
$STATE,13765,begin climb
$GC,13769,0.60,97.3,987.7,0.0,574,13906,0.85,1.92,126.43,1.840,4,0.117,0.057,2382,2461,2665,0,0,0,0,1,0,14.16,14.19,12.95
$GC,14127,0.53,108.7,980.7,5.6,587,14169,0.00,1.95,28.83,1.075,6,0.000,0.073,2391,1394,2618,0,0,0,0,1,0,28.83,14.39,13.19
$GC,14488,0.45,108.7,957.3,6.4,599,14492,0.22,1.88,0.00,0.000,4,0.271,0.057,2340,2465,2616,0,0,0,0,0,0,14.06,14.47,28.83
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$STATE,28080,end climb,SURFACE_DEPTH_REACHED
$STATE,28080,begin surface coast
$FINISH,0.1,1.005730
$STATE,28096,end surface coast,CONTROL_FINISHED_OK
$STATE,28096,begin surface
$SM_CCo,28119,32.78,0.676,0,0,1756,320.12
$SM_GC,0.76,6.88,2.00,32.78,0.079,0.041,0.676,162,1504,1756,-6.28,-1.58,320.12,0,0,0,0,0,0,14.28,14.40,13.78
$IRIDIUM_FIX,2425.21,-3840.70,170213,161625
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.91
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.20
$XPDR_PINGS,4
$SC_FREEKB,7590016
$24V_AH,12.9,219.475
$10V_AH,10.8,0.000
$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,21.250,190.600,548.500,32.775,0.000,0.000,0.000,314.675,1.000,0.000,18.474,3370.631,21315.949,914.710,2390.745,738.113,0.000,2265.485,0.000,2006.067,0.000,0.549,0.000
$DEVICE_MAMPS,406.215,108.630,1842.120,676.260,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28151.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.225,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43351,1174
$CAP_FILE_SIZE,259222,0
$CFSIZE,260034560,194777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.142,341.8,1
$GPS,180213,082728,2435.247,-3841.399,39,0.7,39,-14.2