version: 66.11
glider: 191
mission: 5
dive: 473
start: 2 19 113 8 55 41
data:
$ID,191
$MISSION,5
$DIVE,473
$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,-5199.896
$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,27
$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
$GPS1,190213,084522,2433.642,-3837.921,39,0.8,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-59.8
$GPS2,190213,085511,2433.665,-3837.885,19,0.8,19,-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,172.6,93394,-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,-57.20,0.000,6,0.000,0.000,153,1520,3460,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.6,-9.4,4,102,9.90,1.88,0.00,0.000,4,0.405,0.070,1995,463,3462,1,0,0,0,0,0,13.64,14.40,28.83
$GC,295,-0.56,-97.3,31.3,-10.1,18,299,0.00,1.77,0.00,0.000,6,0.000,0.039,1990,1512,3464,0,0,0,0,0,0,28.83,14.39,28.83
$GC,595,-0.55,-97.3,57.9,-8.7,38,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.53,-97.3,82.8,-7.9,58,899,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,463,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,985,-0.51,-97.3,90.4,-8.9,64,989,0.17,1.80,0.00,0.000,6,0.228,0.041,2023,1527,3464,0,0,0,0,0,0,14.06,14.50,28.83
$GC,1285,-0.56,-97.3,111.4,-7.1,84,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.62,-97.3,133.9,-7.8,104,1588,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,462,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1630,-0.67,-97.3,137.4,-7.9,107,1634,0.15,1.80,0.00,0.000,6,0.119,0.039,1962,1533,3465,0,0,0,0,0,0,14.40,14.50,28.83
$GC,1930,-0.64,-97.3,163.5,-8.4,127,1933,0.00,1.95,0.00,0.000,4,0.000,0.082,1962,465,3463,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2020,-0.60,-97.3,171.5,-8.7,133,2024,0.17,1.77,0.00,0.000,6,0.243,0.040,1993,1519,3465,0,0,0,0,0,0,13.99,14.50,28.83
$GC,2319,-0.60,-97.3,191.8,-6.7,153,2323,0.00,1.92,0.00,0.000,4,0.000,0.082,1993,464,3465,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2364,-0.60,-97.3,195.0,-7.0,156,2368,0.00,1.77,0.00,0.000,6,0.000,0.040,1987,1519,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2664,-0.60,-97.3,216.6,-7.3,176,2668,0.00,1.92,0.00,0.000,4,0.000,0.081,1987,462,3465,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2756,-0.58,-97.3,223.7,-8.0,182,2759,0.00,1.77,0.00,0.000,6,0.000,0.040,1980,1519,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3055,-0.58,-97.3,244.7,-6.7,202,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.58,-97.3,265.1,-6.8,215,3359,0.00,1.92,0.00,0.000,4,0.000,0.082,1980,464,3464,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3444,-0.56,-97.3,270.8,-7.5,218,3448,0.15,1.77,0.00,0.000,6,0.241,0.041,2004,1519,3465,0,0,0,0,0,0,14.06,14.51,28.83
$GC,3748,-0.59,-97.3,293.7,-7.8,228,3755,0.00,1.92,0.00,0.000,4,0.000,0.081,2005,466,3464,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3805,-0.61,-97.3,298.9,-8.3,230,3809,0.00,1.77,0.00,0.000,6,0.000,0.041,1999,1519,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4123,-0.62,-97.3,324.2,-7.9,241,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4421,-0.63,-97.3,345.7,-6.9,251,4425,0.00,1.92,0.00,0.000,4,0.000,0.083,1999,467,3463,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4554,-0.63,-97.3,355.7,-7.3,256,4558,0.00,1.77,0.00,0.000,6,0.000,0.041,1992,1519,3462,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4869,-0.63,-97.3,376.0,-6.4,267,4873,0.00,1.92,0.00,0.000,4,0.000,0.083,1992,466,3461,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4928,-0.63,-97.3,379.2,-6.7,269,4932,0.00,1.77,0.00,0.000,6,0.000,0.041,1984,1517,3461,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5230,-0.63,-97.3,401.4,-7.1,279,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1517,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5530,-0.63,-97.3,422.7,-7.1,289,5534,0.00,1.92,0.00,0.000,4,0.000,0.083,1984,465,3459,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5635,-0.62,-97.3,431.1,-8.0,293,5638,0.00,1.80,0.00,0.000,6,0.000,0.041,1976,1525,3459,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5951,-0.62,-97.3,454.2,-7.2,304,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1524,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6249,-0.62,-97.3,474.2,-6.5,314,6253,0.00,1.95,0.00,0.000,4,0.000,0.083,1976,465,3458,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6386,-0.60,-97.3,483.9,-7.2,319,6389,0.00,1.80,0.00,0.000,6,0.000,0.042,1968,1520,3458,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6703,-0.59,-97.3,503.5,-5.9,330,6707,0.12,1.83,0.00,0.000,4,0.252,0.053,1989,2573,3457,0,0,0,0,0,0,14.24,14.21,28.83
$GC,6760,-0.59,-97.3,505.7,-5.6,332,6764,0.00,1.90,0.00,0.000,6,0.000,0.063,1989,1516,3457,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7063,-0.59,-97.3,521.7,-5.3,342,7067,0.00,1.95,0.00,0.000,4,0.000,0.085,1989,461,3456,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7166,-0.59,-97.3,528.5,-6.5,346,7169,0.00,1.80,0.00,0.000,6,0.000,0.041,1982,1520,3456,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7482,-0.59,-97.3,550.5,-7.5,357,7486,0.00,1.95,0.00,0.000,4,0.000,0.084,1981,467,3455,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7570,-0.59,-97.3,556.8,-8.3,360,7574,0.00,1.80,0.00,0.000,6,0.000,0.042,1974,1519,3455,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7871,-0.59,-97.3,583.1,-8.3,370,7875,0.00,1.95,0.00,0.000,4,0.000,0.085,1974,465,3453,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7978,-0.58,-97.3,592.5,-9.0,374,7982,0.15,1.80,0.00,0.000,6,0.239,0.043,1999,1520,3453,0,0,0,0,0,0,13.97,14.41,28.83
$GC,8296,-0.63,-97.3,613.9,-6.5,385,8303,0.00,1.95,0.00,0.000,4,0.000,0.085,1998,464,3452,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8383,-0.67,-97.3,619.5,-6.3,388,8386,0.00,1.83,0.00,0.000,6,0.000,0.042,1994,1526,3454,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8699,-0.72,-97.3,636.3,-5.3,399,8704,0.12,1.98,0.00,0.000,4,0.136,0.086,1947,463,3451,0,0,0,0,0,0,14.57,14.14,28.83
$GC,8897,-0.68,-97.3,650.1,-7.4,406,8904,0.12,1.83,0.00,0.000,6,0.265,0.043,1962,1525,3450,0,0,0,0,0,0,13.86,14.31,28.83
$GC,9226,-0.67,-97.3,674.8,-8.1,417,9229,0.00,1.98,0.00,0.000,4,0.000,0.086,1962,465,3449,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9299,-0.65,-97.3,681.6,-9.0,420,9303,0.00,1.83,0.00,0.000,6,0.000,0.043,1957,1523,3449,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9616,-0.64,-97.3,711.3,-9.6,431,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1524,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,-0.62,-97.3,739.4,-9.2,441,9920,0.12,1.98,0.00,0.000,4,0.262,0.086,1982,466,3447,0,0,0,0,0,0,14.15,14.08,28.83
$GC,10018,-0.62,-97.3,748.5,-8.6,445,10022,0.00,1.83,0.00,0.000,6,0.000,0.044,1977,1523,3446,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10335,-0.62,-97.3,771.4,-6.9,456,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1525,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10635,-0.62,-97.3,789.4,-5.8,466,10639,0.00,1.98,0.00,0.000,4,0.000,0.087,1977,468,3445,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10799,-0.61,-97.3,799.7,-6.4,472,10802,0.00,1.83,0.00,0.000,6,0.000,0.045,1970,1520,3445,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11115,-0.61,-97.3,819.2,-6.4,483,11118,0.00,1.88,0.00,0.000,4,0.000,0.056,1962,2581,3443,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11172,-0.61,-97.3,822.2,-6.5,485,11176,0.00,1.92,0.00,0.000,6,0.000,0.066,1962,1523,3443,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11475,-0.61,-97.3,844.6,-7.4,495,11479,0.00,2.00,0.00,0.000,4,0.000,0.088,1967,460,3442,0,0,0,0,0,0,28.83,14.01,28.83
$GC,11563,-0.60,-97.3,850.8,-8.0,498,11567,0.17,1.85,0.00,0.000,6,0.238,0.044,1992,1522,3442,0,0,0,0,0,0,13.64,14.16,28.83
$GC,11869,-0.65,-97.3,873.6,-7.5,508,11875,0.00,1.98,0.00,0.000,4,0.000,0.089,1992,470,3441,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11985,-0.69,-97.3,882.9,-7.8,512,11988,0.00,1.83,0.00,0.000,6,0.000,0.045,1988,1520,3440,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12303,-0.75,-97.3,906.5,-7.4,523,12312,0.12,2.00,0.00,0.000,4,0.142,0.089,1944,458,3439,0,0,0,0,0,0,14.47,14.00,28.83
$GC,12525,-0.71,-97.3,924.8,-8.9,530,12529,0.00,1.85,0.00,0.000,6,0.000,0.045,1941,1520,3438,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12826,-0.68,-97.3,948.4,-6.8,540,12828,0.15,0.00,0.00,0.000,6,0.256,0.000,1966,1522,3438,0,0,0,0,0,0,13.97,28.83,28.83
$GC,13124,-0.68,-97.3,963.5,-4.9,550,13128,0.00,2.03,0.00,0.000,4,0.000,0.090,1966,464,3437,0,0,0,0,0,0,28.83,13.92,28.83
$GC,13213,-0.68,-97.3,967.7,-5.6,553,13217,0.00,1.85,0.00,0.000,6,0.000,0.047,1961,1518,3436,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,13420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13420,begin apogee
$GC,13429,-0.18,0.0,980.0,-5.5,560,13556,0.65,0.00,115.03,1.845,6,0.209,0.000,2128,1395,3063,0,0,0,0,1,0,13.71,28.83,12.93
$STATE,13558,end apogee,CONTROL_FINISHED_OK
$STATE,13558,begin climb
$GC,13561,0.60,97.3,983.9,0.0,564,13699,0.82,2.03,125.65,1.823,4,0.119,0.094,2389,341,2667,0,0,0,0,1,0,14.13,14.12,12.95
$GC,13919,0.57,153.1,980.5,3.7,577,14009,0.00,1.85,79.57,1.709,6,0.000,0.047,2389,1412,2437,0,0,0,0,1,0,28.83,14.48,13.00
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$STATE,28458,end climb,SURFACE_DEPTH_REACHED
$STATE,28458,begin surface coast
$FINISH,0.2,1.025348
$STATE,28494,end surface coast,CONTROL_FINISHED_OK
$STATE,28494,begin surface
$SM_CCo,28514,42.92,0.675,0,0,1756,320.12
$SM_GC,1.32,6.78,0.15,42.92,0.080,0.099,0.675,154,1533,1756,-6.30,-1.41,320.12,0,0,0,0,0,0,14.38,14.56,13.78
$IRIDIUM_FIX,2422.84,-3840.70,190213,000048
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.26
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,7588480
$24V_AH,12.9,221.114
$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,20.750,197.150,535.850,42.925,0.000,0.000,0.000,302.825,0.500,0.000,20.304,3451.639,21561.023,916.698,2437.311,762.183,0.000,2280.813,0.000,2061.898,0.000,0.549,0.000
$DEVICE_MAMPS,404.685,104.805,1946.925,675.495,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28551.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.250,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43343,1196
$CAP_FILE_SIZE,266169,0
$CFSIZE,260034560,194281472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.090,343.5,1
$GPS,190213,165304,2432.820,-3836.753,39,1.0,39,-14.2