version: 66.11
glider: 191
mission: 5
dive: 423
start: 2 2 113 15 20 19
data:
$ID,191
$MISSION,5
$DIVE,423
$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,-5136.9932
$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
$GPS1,020213,151034,2459.727,-3745.332,39,0.8,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-59.6
$GPS2,020213,151947,2459.782,-3745.309,18,0.8,18,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,324.9,34715,-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,-97.3,0.0,0.0,0,82,0.00,0.00,-57.47,0.000,6,0.000,0.000,152,1522,3461,0,0,0,0,0,0,28.83,28.83,14.75
$GC,86,-0.60,-97.3,4.5,-9.2,4,101,9.85,1.90,0.00,0.000,4,0.405,0.071,1998,457,3463,1,0,0,0,0,0,13.64,14.47,28.83
$GC,294,-0.57,-97.3,28.7,-9.3,18,298,0.00,1.80,0.00,0.000,6,0.000,0.042,1993,1514,3466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,594,-0.55,-97.3,55.2,-9.1,38,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-0.53,-97.3,82.2,-8.1,58,895,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-0.52,-97.3,105.6,-7.4,78,1198,0.00,1.92,0.00,0.000,4,0.000,0.083,1993,463,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1254,-0.49,-97.3,110.3,-7.9,82,1259,0.17,1.80,0.00,0.000,6,0.236,0.041,2024,1527,3465,0,0,0,0,0,0,14.12,14.54,28.83
$GC,1555,-0.54,-97.3,128.3,-6.5,102,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1528,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.59,-97.3,149.7,-6.9,122,1859,0.00,1.80,0.00,0.000,4,0.000,0.051,2019,2579,3467,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2079,-0.64,-97.3,163.9,-6.5,137,2083,0.12,1.88,0.00,0.000,6,0.129,0.060,1965,1514,3466,0,0,0,0,0,0,14.45,14.46,28.83
$GC,2379,-0.62,-97.3,186.4,-8.1,157,2382,0.00,1.90,0.00,0.000,4,0.000,0.082,1966,466,3466,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2561,-0.58,-97.3,203.5,-9.6,169,2565,0.17,1.77,0.00,0.000,6,0.239,0.041,1996,1518,3466,0,0,0,0,0,0,14.12,14.57,28.83
$GC,2859,-0.58,-97.3,225.6,-7.2,189,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-0.58,-97.3,246.1,-6.8,209,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-0.58,-97.3,266.9,-6.8,221,3463,0.00,1.90,0.00,0.000,4,0.000,0.083,1997,468,3467,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3565,-0.58,-97.3,274.9,-7.7,225,3568,0.00,1.77,0.00,0.000,6,0.000,0.042,1991,1521,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3879,-0.58,-97.3,297.6,-7.2,236,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.58,-97.3,318.4,-6.6,246,4184,0.00,1.92,0.00,0.000,4,0.000,0.083,1991,464,3465,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4255,-0.58,-97.3,323.6,-6.7,249,4258,0.00,1.80,0.00,0.000,6,0.000,0.041,1983,1528,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4569,-0.58,-97.3,343.4,-6.2,260,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4871,-0.58,-97.3,359.9,-5.3,270,4875,0.00,1.95,0.00,0.000,4,0.000,0.085,1983,463,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4945,-0.56,-97.3,364.4,-5.9,273,4949,0.12,1.80,0.00,0.000,6,0.249,0.042,2002,1525,3463,0,0,0,0,0,0,14.19,14.56,28.83
$GC,5263,-0.57,-97.3,379.2,-4.6,284,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5560,-0.59,-97.3,395.2,-5.7,294,5564,0.00,1.95,0.00,0.000,4,0.000,0.085,2002,461,3461,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5618,-0.59,-97.3,398.1,-6.2,296,5622,0.00,1.80,0.00,0.000,6,0.000,0.041,1996,1523,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5920,-0.59,-97.3,421.9,-8.0,306,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1524,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6219,-0.59,-97.3,448.6,-9.1,316,6223,0.00,1.92,0.00,0.000,4,0.000,0.085,1997,469,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6369,-0.59,-97.3,461.5,-9.5,321,6373,0.00,1.80,0.00,0.000,6,0.000,0.044,1989,1524,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6669,-0.59,-97.3,487.9,-8.0,331,6673,0.00,1.95,0.00,0.000,4,0.000,0.086,1989,463,3458,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6728,-0.59,-97.3,491.7,-8.1,333,6732,0.00,1.80,0.00,0.000,6,0.000,0.043,1981,1521,3459,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7030,-0.59,-97.3,515.8,-7.6,343,7034,0.00,1.83,0.00,0.000,4,0.000,0.055,1973,2577,3458,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7134,-0.59,-97.3,523.4,-7.3,347,7138,0.00,1.90,0.00,0.000,6,0.000,0.064,1973,1515,3458,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7449,-0.59,-97.3,546.5,-7.2,358,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1515,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7750,-0.58,-97.3,567.1,-6.6,368,7754,0.12,1.92,0.00,0.000,4,0.255,0.086,1999,467,3456,0,0,0,0,0,0,14.30,14.28,28.83
$GC,7869,-0.58,-97.3,573.9,-6.4,372,7873,0.00,1.80,0.00,0.000,6,0.000,0.044,1994,1520,3456,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8169,-0.58,-97.3,592.4,-6.0,382,8173,0.00,1.95,0.00,0.000,4,0.000,0.087,1993,463,3455,0,0,0,0,0,0,28.83,14.27,28.83
$GC,8228,-0.58,-97.3,595.4,-6.4,384,8232,0.00,1.80,0.00,0.000,6,0.000,0.045,1986,1520,3455,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8530,-0.58,-97.3,618.1,-7.5,394,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8829,-0.58,-97.3,640.5,-7.3,404,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,-0.58,-97.3,662.4,-7.3,414,9134,0.00,1.95,0.00,0.000,4,0.000,0.088,1986,467,3452,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9264,-0.58,-97.3,673.5,-8.3,419,9268,0.00,1.83,0.00,0.000,6,0.000,0.045,1977,1527,3451,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9579,-0.58,-97.3,698.6,-8.1,430,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1529,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,-0.58,-97.3,720.5,-6.9,440,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1528,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10179,-0.58,-97.3,737.3,-5.2,450,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1528,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10480,-0.58,-97.3,750.1,-3.9,460,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1529,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10779,-0.58,-97.3,761.5,-3.9,470,10783,0.00,2.00,0.00,0.000,4,0.000,0.090,1978,460,3446,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10839,-0.58,-97.3,763.8,-4.4,472,10843,0.15,1.83,0.00,0.000,6,0.244,0.046,2001,1518,3446,0,0,0,0,0,0,13.99,14.42,28.83
$GC,11143,-0.63,-97.3,779.3,-5.8,482,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11441,-0.69,-97.3,801.5,-7.9,492,11445,0.12,1.88,0.00,0.000,4,0.139,0.057,1951,2577,3444,0,0,0,0,0,0,14.59,14.36,28.83
$GC,11667,-0.69,-97.3,823.3,-10.0,500,11671,0.00,1.92,0.00,0.000,6,0.000,0.067,1951,1520,3443,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11984,-0.67,-97.3,856.1,-10.2,511,11985,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1518,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12280,-0.65,-97.3,884.8,-9.2,521,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12581,-0.63,-97.3,909.9,-7.9,531,12585,0.15,1.98,0.00,0.000,4,0.258,0.090,1982,464,3440,0,0,0,0,0,0,14.10,14.12,28.83
$GC,12639,-0.62,-97.3,913.3,-7.7,533,12643,0.00,1.85,0.00,0.000,6,0.000,0.047,1977,1522,3441,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12940,-0.62,-97.3,931.4,-5.2,543,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13241,-0.62,-97.3,944.8,-4.4,553,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13540,-0.62,-97.3,957.6,-4.2,563,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13841,-0.62,-97.3,971.8,-5.0,573,13844,0.00,2.00,0.00,0.000,4,0.000,0.090,1978,466,3437,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13915,-0.62,-97.3,976.5,-6.1,576,13918,0.00,1.85,0.00,0.000,6,0.000,0.047,1970,1520,3436,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,13986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13986,begin apogee
$GC,13994,-0.18,0.0,981.1,-6.4,579,14122,0.60,0.00,116.07,1.872,6,0.210,0.000,2123,1395,3063,0,0,0,0,1,0,13.68,28.83,12.89
$STATE,14124,end apogee,CONTROL_FINISHED_OK
$STATE,14124,begin climb
$GC,14128,0.60,97.3,986.0,0.0,583,14266,0.82,2.03,126.20,1.859,4,0.113,0.099,2393,349,2667,0,0,0,0,1,0,14.20,14.12,12.95
$GC,14487,0.59,162.8,985.1,3.3,596,14588,0.00,1.85,89.57,1.766,6,0.000,0.048,2387,1420,2398,0,0,0,0,1,0,28.83,14.53,13.02
$GC,14906,0.55,179.7,964.2,5.3,610,14950,0.00,2.03,34.65,1.245,4,0.000,0.100,2394,351,2330,0,0,0,0,1,0,28.83,14.40,13.19
$GC,15088,0.48,179.7,954.1,6.2,615,15092,0.20,1.83,0.00,0.000,6,0.251,0.048,2349,1404,2328,0,0,0,0,0,0,14.18,14.53,28.83
$GC,15389,0.50,207.2,938.5,4.9,625,15444,0.00,0.00,46.95,1.467,6,0.000,0.000,2349,1407,2217,0,0,0,0,1,0,28.83,28.83,13.19
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$STATE,28810,end climb,SURFACE_DEPTH_REACHED
$STATE,28810,begin surface coast
$FINISH,0.2,1.011094
$STATE,28825,end surface coast,CONTROL_FINISHED_OK
$STATE,28825,begin surface
$SM_CCo,28846,14.52,0.705,0,0,1756,320.12
$SM_GC,1.56,6.80,0.15,14.52,0.080,0.109,0.705,160,1516,1756,-6.29,-1.61,320.12,0,0,0,0,0,0,14.33,14.57,13.78
$IRIDIUM_FIX,2446.56,-3745.41,020213,070752
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.81
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.40
$XPDR_PINGS,8
$SC_FREEKB,7607680
$24V_AH,12.9,200.479
$10V_AH,12.7,0.000
$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,20.175,151.625,638.650,14.525,0.000,0.000,0.000,286.300,2.000,0.000,19.194,3288.989,22203.953,935.634,2317.239,655.975,0.000,2235.264,0.000,1936.970,0.000,0.548,0.000
$DEVICE_MAMPS,404.685,108.630,1871.955,705.330,0.000,0.000,0.000,172.125,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28878.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.081,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43304,1177
$CAP_FILE_SIZE,251167,0
$CFSIZE,260034560,200331264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.038, 18.5,1
$GPS,020213,232235,2502.188,-3747.425,29,1.6,30,-13.9