version: 66.11
glider: 191
mission: 5
dive: 483
start: 2 22 113 16 49 30
data:
$ID,191
$MISSION,5
$DIVE,483
$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,-5212.4717
$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,26
$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
$GPS1,220213,163904,2424.730,-3824.128,38,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-54.5
$GPS2,220213,164900,2424.759,-3824.112,18,1.2,18,-14.1
$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,155.8,65639,-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,-97.3,0.0,0.0,0,68,0.00,0.00,-45.20,0.000,2,0.000,0.000,164,1520,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.60,-97.3,3.0,-8.8,3,98,10.15,0.00,-9.85,0.000,6,0.418,0.000,1990,1522,3460,1,0,0,0,0,0,13.56,28.83,14.76
$GC,400,-0.58,-97.3,30.4,-8.2,25,403,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,466,3461,0,0,0,0,0,0,28.83,14.16,28.83
$GC,490,-0.55,-97.3,38.3,-9.0,31,493,0.00,1.80,0.00,0.000,6,0.000,0.042,1985,1520,3461,0,0,0,0,0,0,28.83,14.40,28.83
$GC,790,-0.54,-97.3,64.1,-8.7,51,792,0.15,0.00,0.00,0.000,6,0.254,0.000,2017,1521,3461,0,0,0,0,0,0,14.07,28.83,28.83
$GC,1090,-0.54,-97.3,87.9,-7.8,71,1094,0.00,1.95,0.00,0.000,4,0.000,0.083,2017,463,3461,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1195,-0.54,-97.3,96.8,-8.4,78,1198,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1521,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1496,-0.54,-97.3,117.0,-6.0,98,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1795,-0.54,-97.3,135.7,-6.7,118,1799,0.00,1.95,0.00,0.000,4,0.000,0.081,2012,458,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1871,-0.54,-97.3,141.3,-7.7,123,1874,0.00,1.80,0.00,0.000,6,0.000,0.040,2004,1519,3462,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2169,-0.54,-97.3,162.0,-6.9,143,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2469,-0.54,-97.3,184.7,-7.4,163,2473,0.00,1.95,0.00,0.000,4,0.000,0.082,2004,458,3462,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2575,-0.54,-97.3,193.1,-8.1,170,2579,0.00,1.80,0.00,0.000,6,0.000,0.041,1996,1523,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2875,-0.54,-97.3,213.6,-6.7,190,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1524,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-0.54,-97.3,234.9,-7.0,210,3179,0.00,1.95,0.00,0.000,4,0.000,0.080,1996,458,3462,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3295,-0.54,-97.3,243.7,-7.3,218,3299,0.00,1.80,0.00,0.000,6,0.000,0.040,1988,1520,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3613,-0.54,-97.3,264.4,-6.2,232,3617,0.00,1.95,0.00,0.000,4,0.000,0.083,1988,460,3462,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3685,-0.54,-97.3,269.5,-6.5,235,3690,0.15,1.80,0.00,0.000,6,0.245,0.041,2011,1524,3462,0,0,0,0,0,0,14.00,14.45,28.83
$GC,4004,-0.60,-97.3,288.2,-6.4,246,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4301,-0.66,-97.3,310.6,-7.9,256,4305,0.00,1.80,0.00,0.000,4,0.000,0.053,2006,2576,3462,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4406,-0.72,-97.3,319.4,-8.4,260,4410,0.15,1.90,0.00,0.000,6,0.117,0.063,1946,1518,3462,0,0,0,0,0,0,14.33,14.33,28.83
$GC,4724,-0.68,-97.3,350.6,-9.7,271,4731,0.00,1.95,0.00,0.000,4,0.000,0.083,1946,458,3462,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4811,-0.64,-97.3,359.8,-10.1,274,4816,0.17,1.80,0.00,0.000,6,0.257,0.041,1974,1520,3462,0,0,0,0,0,0,13.91,14.47,28.83
$GC,5129,-0.64,-97.3,385.7,-8.0,285,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5425,-0.64,-97.3,408.7,-7.5,295,5429,0.00,1.95,0.00,0.000,4,0.000,0.083,1974,461,3460,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5502,-0.63,-97.3,414.6,-7.9,298,5505,0.00,1.80,0.00,0.000,6,0.000,0.041,1969,1520,3460,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5818,-0.62,-97.3,438.1,-7.3,309,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-0.60,-97.3,457.8,-6.3,319,6120,0.00,1.95,0.00,0.000,4,0.000,0.084,1969,462,3458,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6206,-0.58,-97.3,463.0,-6.8,322,6210,0.17,1.80,0.00,0.000,6,0.240,0.041,1999,1519,3458,0,0,0,0,0,0,13.92,14.42,28.83
$GC,6508,-0.62,-97.3,482.0,-6.4,332,6512,0.00,1.95,0.00,0.000,4,0.000,0.085,1999,461,3457,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6552,-0.66,-97.3,485.0,-6.5,334,6556,0.00,1.80,0.00,0.000,6,0.000,0.041,1994,1520,3457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6868,-0.71,-97.3,506.1,-6.9,345,6872,0.00,1.98,0.00,0.000,4,0.000,0.085,1994,456,3456,0,0,0,0,0,0,28.83,14.15,28.83
$GC,6942,-0.74,-97.3,511.5,-7.0,348,6947,0.12,1.83,0.00,0.000,6,0.138,0.042,1945,1521,3456,0,0,0,0,0,0,14.22,14.33,28.83
$GC,7259,-0.71,-97.3,536.6,-8.0,359,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1522,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,-0.68,-97.3,558.4,-7.0,369,7561,0.00,1.95,0.00,0.000,4,0.000,0.085,1945,463,3455,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7615,-0.65,-97.3,562.0,-7.5,371,7620,0.17,1.83,0.00,0.000,6,0.253,0.043,1973,1528,3454,0,0,0,0,0,0,13.88,14.42,28.83
$GC,7916,-0.65,-97.3,582.5,-6.4,381,7920,0.00,1.98,0.00,0.000,4,0.000,0.085,1973,463,3453,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7976,-0.65,-97.3,585.8,-6.8,383,7980,0.00,1.83,0.00,0.000,6,0.000,0.042,1968,1526,3452,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8276,-0.65,-97.3,608.8,-7.7,393,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1527,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8577,-0.65,-97.3,631.9,-7.6,403,8581,0.00,1.98,0.00,0.000,4,0.000,0.086,1968,463,3451,0,0,0,0,0,0,28.83,14.10,28.83
$GC,8711,-0.63,-97.3,643.3,-8.5,408,8715,0.00,1.83,0.00,0.000,6,0.000,0.043,1966,1524,3451,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9029,-0.61,-97.3,666.9,-7.2,419,9034,0.12,2.00,0.00,0.000,4,0.251,0.086,1985,457,3449,0,0,0,0,0,0,14.17,14.07,28.83
$GC,9103,-0.61,-97.3,672.4,-7.3,422,9107,0.00,1.85,0.00,0.000,6,0.000,0.043,1980,1525,3449,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9420,-0.65,-97.3,692.5,-6.4,433,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1526,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9718,-0.69,-97.3,712.6,-6.8,443,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1526,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10018,-0.73,-97.3,733.3,-6.8,453,10021,0.00,1.85,0.00,0.000,4,0.000,0.056,1972,2579,3446,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10124,-0.77,-97.3,740.5,-6.9,457,10128,0.00,1.95,0.00,0.000,6,0.000,0.066,1972,1517,3445,0,0,0,0,0,0,28.83,14.17,28.83
$GC,10441,-0.81,-97.3,760.9,-6.4,468,10445,0.15,1.98,0.00,0.000,4,0.129,0.088,1921,464,3444,0,0,0,0,0,0,14.42,14.02,28.83
$GC,10560,-0.77,-97.3,769.5,-8.2,472,10563,0.00,1.83,0.00,0.000,6,0.000,0.044,1914,1519,3443,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10860,-0.72,-97.3,792.7,-7.2,482,10865,0.20,1.90,0.00,0.000,4,0.256,0.055,1950,2580,3442,0,0,0,0,0,0,13.83,14.21,28.83
$GC,10935,-0.69,-97.3,797.3,-6.3,485,10938,0.00,1.95,0.00,0.000,6,0.000,0.067,1950,1515,3442,0,0,0,0,0,0,28.83,14.15,28.83
$GC,11253,-0.67,-97.3,817.3,-6.6,496,11260,0.00,1.98,0.00,0.000,4,0.000,0.090,1950,467,3441,0,0,0,0,0,0,28.83,13.97,28.83
$GC,11370,-0.64,-97.3,826.4,-7.6,500,11374,0.17,1.83,0.00,0.000,6,0.247,0.045,1978,1519,3441,0,0,0,0,0,0,13.72,14.28,28.83
$GC,11688,-0.64,-97.3,847.1,-6.8,511,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11985,-0.69,-97.3,870.7,-8.1,521,11989,0.00,2.00,0.00,0.000,4,0.000,0.090,1978,464,3439,0,0,0,0,0,0,28.83,13.97,28.83
$GC,12105,-0.71,-97.3,879.8,-8.8,525,12108,0.00,1.85,0.00,0.000,6,0.000,0.046,1974,1519,3439,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12405,-0.75,-97.3,904.8,-7.6,535,12409,0.00,2.00,0.00,0.000,4,0.000,0.090,1974,467,3437,0,0,0,0,0,0,28.83,13.93,28.83
$GC,12451,-0.78,-97.3,908.1,-7.4,537,12455,0.00,1.85,0.00,0.000,6,0.000,0.046,1967,1521,3434,0,0,0,0,0,0,28.83,14.24,28.83
$GC,12768,-0.82,-97.3,929.9,-6.8,548,12770,0.12,0.00,0.00,0.000,6,0.142,0.000,1923,1523,3436,0,0,0,0,0,0,14.42,28.83,28.83
$GC,13066,-0.78,-97.3,950.8,-6.9,558,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1522,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13365,-0.74,-97.3,973.5,-7.9,568,13368,0.00,2.03,0.00,0.000,4,0.000,0.090,1924,463,3434,0,0,0,0,0,0,28.83,13.90,28.83
$STATE,13436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13436,begin apogee
$GC,13446,-0.18,0.0,980.0,-8.4,571,13572,0.82,0.00,113.45,1.834,6,0.239,0.000,2121,1410,3063,0,0,0,0,1,0,13.75,28.83,12.98
$STATE,13574,end apogee,CONTROL_FINISHED_OK
$STATE,13574,begin climb
$GC,13579,0.60,97.3,985.1,0.0,575,13716,0.85,2.05,125.53,1.819,4,0.109,0.096,2394,347,2666,0,0,0,0,1,0,14.16,14.12,12.97
$GC,13937,0.57,158.5,983.8,3.5,588,14032,0.00,1.83,84.72,1.705,6,0.000,0.046,2394,1408,2416,0,0,0,0,1,0,28.83,14.48,13.03
$GC,14342,0.52,173.3,963.3,5.4,602,14385,0.15,2.00,32.08,1.160,4,0.277,0.097,2369,349,2356,0,0,0,0,1,0,14.11,14.40,13.21
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$STATE,28108,end climb,SURFACE_DEPTH_REACHED
$STATE,28109,begin surface coast
$FINISH,0.6,1.025600
$STATE,28130,end surface coast,CONTROL_FINISHED_OK
$STATE,28130,begin surface
$SM_CCo,28150,7.72,0.742,0,0,1755,320.12
$SM_GC,1.72,6.68,0.12,7.72,0.068,0.103,0.742,152,1514,1755,-6.29,-1.72,320.12,0,0,0,0,0,0,14.36,14.57,13.78
$IRIDIUM_FIX,2418.11,-3825.91,220213,090945
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.50
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.50
$XPDR_PINGS,2
$SC_FREEKB,7584768
$24V_AH,13.0,225.284
$10V_AH,11.0,0.000
$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,21.575,189.925,587.625,7.725,0.000,0.000,0.000,319.350,0.500,0.000,19.706,3362.187,21317.092,913.994,2394.847,751.540,0.000,2278.389,0.000,1995.582,0.000,0.548,0.000
$DEVICE_MAMPS,417.690,103.275,1924.740,742.050,0.000,0.000,0.000,166.005,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.339,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43299,1172
$CAP_FILE_SIZE,260707,0
$CFSIZE,260034560,193101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.050,298.4,1
$GPS,230213,004005,2423.228,-3822.764,29,0.8,29,-14.1