version: 66.11
glider: 191
mission: 5
dive: 487
start: 2 24 113 0 30 29
data:
$ID,191
$MISSION,5
$DIVE,487
$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,-5217.502
$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,53
$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
$GPS1,240213,002022,2418.194,-3817.506,38,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-53.1
$GPS2,240213,002959,2418.136,-3817.373,18,1.0,18,-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,147.9,48958,-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,-57.95,0.000,6,0.000,0.000,159,1521,3460,0,0,0,0,0,0,28.83,28.83,14.71
$GC,87,-0.60,-97.3,4.6,-9.8,4,101,10.00,1.80,0.00,0.000,4,0.410,0.048,1982,2566,3463,1,0,0,0,0,0,13.57,14.47,28.83
$GC,324,-0.60,-97.3,32.5,-7.8,20,328,0.00,1.90,0.00,0.000,6,0.000,0.063,1982,1511,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,625,-0.57,-97.3,56.3,-7.6,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.56,-97.3,80.6,-8.1,60,928,0.00,1.92,0.00,0.000,4,0.000,0.082,1982,462,3464,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1015,-0.52,-97.3,88.1,-8.3,66,1020,0.17,1.77,0.00,0.000,6,0.228,0.040,2013,1511,3463,0,0,0,0,0,0,13.94,14.42,28.83
$GC,1315,-0.54,-97.3,107.4,-6.6,86,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1512,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.55,-97.3,130.2,-8.6,106,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1512,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,-0.56,-97.3,157.0,-8.4,126,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,-0.60,-97.3,178.5,-6.7,146,2219,0.00,1.92,0.00,0.000,4,0.000,0.083,2013,462,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2291,-0.63,-97.3,184.0,-7.4,151,2295,0.00,1.80,0.00,0.000,6,0.000,0.039,2009,1528,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2590,-0.68,-97.3,203.5,-6.3,171,2594,0.12,1.95,0.00,0.000,4,0.131,0.083,1957,467,3465,0,0,0,0,0,0,14.55,14.15,28.83
$GC,2666,-0.64,-97.3,209.5,-8.0,176,2670,0.15,1.77,0.00,0.000,6,0.246,0.041,1980,1518,3465,0,0,0,0,0,0,13.95,14.42,28.83
$GC,2966,-0.64,-97.3,231.8,-8.1,196,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.64,-97.3,256.9,-7.7,214,3284,0.00,1.95,0.00,0.000,4,0.000,0.083,1980,460,3465,0,0,0,0,0,0,28.83,14.20,28.83
$GC,3369,-0.62,-97.3,262.3,-7.3,217,3372,0.00,1.80,0.00,0.000,6,0.000,0.040,1974,1523,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3675,-0.61,-97.3,280.0,-4.9,227,3682,0.00,1.77,0.00,0.000,4,0.000,0.052,1967,2565,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3744,-0.61,-97.3,282.8,-4.7,229,3747,0.00,1.88,0.00,0.000,6,0.000,0.063,1967,1515,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4049,-0.60,-97.3,299.4,-5.5,239,4058,0.12,1.95,0.00,0.000,4,0.246,0.082,1993,460,3464,0,0,0,0,0,0,14.12,14.16,28.83
$GC,4120,-0.58,-97.3,303.1,-5.9,241,4123,0.00,1.80,0.00,0.000,6,0.000,0.040,1987,1522,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4421,-0.58,-97.3,325.4,-7.7,251,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,-0.58,-97.3,349.9,-8.2,261,4724,0.00,1.95,0.00,0.000,4,0.000,0.082,1987,465,3463,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4839,-0.57,-97.3,359.0,-8.7,265,4843,0.00,1.80,0.00,0.000,6,0.000,0.040,1979,1523,3462,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5141,-0.57,-97.3,381.4,-6.6,275,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1524,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-0.57,-97.3,401.0,-6.6,285,5444,0.00,1.98,0.00,0.000,4,0.000,0.083,1979,458,3461,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5500,-0.57,-97.3,404.3,-7.0,287,5505,0.12,1.80,0.00,0.000,6,0.249,0.041,1997,1521,3460,0,0,0,0,0,0,14.04,14.45,28.83
$GC,5803,-0.62,-97.3,428.2,-8.1,297,5806,0.00,1.95,0.00,0.000,4,0.000,0.084,1997,465,3460,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5906,-0.66,-97.3,436.9,-8.2,301,5909,0.00,1.80,0.00,0.000,6,0.000,0.041,1993,1525,3460,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6225,-0.71,-97.3,460.0,-6.9,312,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1526,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6521,-0.75,-97.3,479.1,-6.3,322,6522,0.15,0.00,0.00,0.000,6,0.121,0.000,1937,1526,3458,0,0,0,0,0,0,14.47,28.83,28.83
$GC,6822,-0.71,-97.3,502.7,-8.4,332,6826,0.00,1.95,0.00,0.000,4,0.000,0.084,1937,468,3457,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6880,-0.67,-97.3,506.9,-8.8,334,6884,0.17,1.80,0.00,0.000,6,0.258,0.042,1966,1522,3456,0,0,0,0,0,0,13.85,14.42,28.83
$GC,7185,-0.66,-97.3,533.5,-8.5,344,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7481,-0.66,-97.3,557.3,-7.4,354,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,-0.66,-97.3,576.3,-6.0,364,7785,0.00,1.98,0.00,0.000,4,0.000,0.086,1966,463,3455,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7870,-0.64,-97.3,581.2,-6.1,367,7874,0.00,1.80,0.00,0.000,6,0.000,0.041,1961,1519,3455,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8173,-0.63,-97.3,600.0,-6.0,377,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,-0.62,-97.3,620.0,-6.9,387,8474,0.12,0.00,0.00,0.000,6,0.249,0.000,1987,1520,3452,0,0,0,0,0,0,14.19,28.83,28.83
$GC,8773,-0.63,-97.3,637.5,-5.6,397,8777,0.00,1.98,0.00,0.000,4,0.000,0.086,1987,463,3452,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8891,-0.63,-97.3,644.0,-6.1,401,8895,0.00,1.83,0.00,0.000,6,0.000,0.042,1981,1525,3451,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9191,-0.63,-97.3,662.8,-6.1,411,9195,0.00,1.98,0.00,0.000,4,0.000,0.087,1985,468,3451,0,0,0,0,0,0,28.83,14.05,28.83
$GC,9251,-0.63,-97.3,665.9,-6.5,413,9255,0.00,1.83,0.00,0.000,6,0.000,0.044,1973,1525,3450,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9552,-0.63,-97.3,688.2,-7.5,423,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1525,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,-0.63,-97.3,712.3,-8.1,433,9855,0.00,2.00,0.00,0.000,4,0.000,0.087,1973,461,3449,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9912,-0.63,-97.3,716.3,-8.5,435,9915,0.00,1.83,0.00,0.000,6,0.000,0.043,1966,1521,3448,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10211,-0.63,-97.3,741.7,-7.8,445,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1522,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.63,-97.3,761.5,-6.1,455,10516,0.00,2.00,0.00,0.000,4,0.000,0.088,1966,467,3447,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10586,-0.61,-97.3,766.3,-6.2,458,10591,0.15,1.83,0.00,0.000,6,0.245,0.044,1993,1520,3446,0,0,0,0,0,0,13.84,14.33,28.83
$GC,10905,-0.66,-97.3,781.9,-5.0,469,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11202,-0.72,-97.3,800.3,-6.8,479,11206,0.00,1.88,0.00,0.000,4,0.000,0.056,1984,2580,3444,0,0,0,0,0,0,28.83,14.21,28.83
$GC,11291,-0.77,-97.3,805.9,-7.4,482,11295,0.15,1.95,0.00,0.000,6,0.125,0.067,1930,1517,3444,0,0,0,0,0,0,14.12,14.12,28.83
$GC,11595,-0.73,-97.3,836.6,-10.2,492,11602,0.00,1.98,0.00,0.000,4,0.000,0.089,1930,470,3443,0,0,0,0,0,0,28.83,13.94,28.83
$GC,11711,-0.69,-97.3,850.2,-11.4,496,11716,0.20,1.83,0.00,0.000,6,0.249,0.045,1964,1519,3442,0,0,0,0,0,0,13.64,14.25,28.83
$GC,12030,-0.69,-97.3,877.1,-8.0,507,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12327,-0.69,-97.3,896.2,-5.6,517,12330,0.00,2.00,0.00,0.000,4,0.000,0.090,1965,468,3440,0,0,0,0,0,0,28.83,13.92,28.83
$GC,12403,-0.68,-97.3,900.9,-6.2,520,12407,0.00,1.85,0.00,0.000,6,0.000,0.045,1959,1525,3440,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12719,-0.68,-97.3,917.4,-5.5,531,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1526,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13016,-0.68,-97.3,935.4,-6.4,541,13020,0.00,2.03,0.00,0.000,4,0.000,0.091,1959,464,3437,0,0,0,0,0,0,28.83,13.90,28.83
$GC,13076,-0.66,-97.3,938.6,-6.8,543,13080,0.00,1.85,0.00,0.000,6,0.000,0.045,1952,1520,3438,0,0,0,0,0,0,28.83,14.20,28.83
$GC,13376,-0.65,-97.3,961.4,-7.2,553,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13643,begin apogee
$GC,13652,-0.18,0.0,980.4,-7.0,562,13778,0.68,0.00,114.70,1.842,6,0.217,0.000,2123,1395,3063,0,0,0,0,1,0,13.68,28.83,12.96
$STATE,13780,end apogee,CONTROL_FINISHED_OK
$STATE,13780,begin climb
$GC,13783,0.60,97.3,985.4,0.0,566,13918,0.85,0.00,125.72,1.828,6,0.110,0.000,2384,1395,2665,0,0,0,0,1,0,14.06,28.83,12.97
$GC,14217,0.64,193.6,986.0,2.0,581,14350,0.00,1.92,123.28,1.824,4,0.000,0.057,2384,2455,2272,0,0,0,0,1,0,28.83,14.19,13.00
$GC,14385,0.46,233.0,979.2,4.4,586,14456,0.22,1.95,60.00,1.572,6,0.260,0.074,2343,1401,2112,0,0,0,0,1,0,14.03,14.27,13.02
$GC,14756,0.46,233.6,957.7,6.0,598,14760,0.00,2.00,0.00,0.000,4,0.000,0.099,2349,340,2107,0,0,0,0,0,0,28.83,14.32,28.83
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$STATE,28122,end climb,SURFACE_DEPTH_REACHED
$STATE,28122,begin surface coast
$FINISH,0.6,1.025612
$STATE,28138,end surface coast,CONTROL_FINISHED_OK
$STATE,28138,begin surface
$SM_CCo,28158,10.95,0.717,0,0,1756,320.12
$SM_GC,1.72,6.80,0.15,10.95,0.080,0.097,0.717,157,1524,1756,-6.30,-1.50,320.12,0,0,0,0,0,0,14.31,14.55,13.78
$IRIDIUM_FIX,2408.65,-3819.66,230213,161656
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.50
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.40
$XPDR_PINGS,8
$SC_FREEKB,7583232
$24V_AH,13.0,226.956
$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,21.500,167.675,572.100,10.950,0.000,0.000,0.000,300.800,2.000,0.000,19.106,3295.695,21513.133,873.764,2326.782,725.075,0.000,2189.718,0.000,1951.508,0.000,0.548,0.000
$DEVICE_MAMPS,410.040,105.570,1906.380,716.805,0.000,0.000,0.000,168.300,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28189.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.345,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43329,1164
$CAP_FILE_SIZE,254939,0
$CFSIZE,260034560,192638976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.034,208.4,1
$GPS,240213,082128,2415.992,-3815.304,40,0.8,40,-14.1