version: 66.11
glider: 191
mission: 5
dive: 440
start: 2 8 113 8 20 6
data:
$ID,191
$MISSION,5
$DIVE,440
$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,-5158.3662
$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
$GPS1,080213,081004,2500.960,-3812.314,29,0.8,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-55.1
$GPS2,080213,081936,2500.998,-3812.389,21,0.8,21,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,213.1,69319,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-60.92,0.000,2,0.000,0.000,152,1524,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.60,-97.3,3.4,-6.1,4,104,9.93,1.95,-1.58,0.000,4,0.408,0.108,1995,461,3461,1,0,0,0,0,0,13.67,14.42,14.74
$GC,295,-0.57,-97.3,25.7,-8.1,18,299,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1518,3462,0,0,0,0,0,0,28.83,14.42,28.83
$GC,595,-0.56,-97.3,46.2,-6.4,38,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.54,-97.3,67.7,-9.7,58,899,0.00,1.95,0.00,0.000,4,0.000,0.084,1990,458,3463,0,0,0,0,0,0,28.83,14.30,28.83
$GC,999,-0.51,-97.3,79.2,-10.6,65,1004,0.17,1.80,0.00,0.000,6,0.225,0.041,2022,1521,3463,0,0,0,0,0,0,14.12,14.53,28.83
$GC,1300,-0.53,-97.3,102.5,-7.3,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-0.58,-97.3,123.3,-6.3,105,1603,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,456,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1660,-0.62,-97.3,127.3,-6.6,109,1663,0.00,1.80,0.00,0.000,6,0.000,0.041,2017,1521,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1960,-0.67,-97.3,149.3,-7.8,129,1964,0.15,1.92,0.00,0.000,4,0.119,0.083,1957,463,3463,0,0,0,0,0,0,14.54,14.32,28.83
$GC,2143,-0.63,-97.3,167.0,-10.1,141,2147,0.15,1.80,0.00,0.000,6,0.251,0.042,1979,1524,3463,0,0,0,0,0,0,13.93,14.37,28.83
$GC,2441,-0.63,-97.3,189.8,-7.2,161,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,-0.63,-97.3,211.2,-7.6,181,2744,0.00,1.95,0.00,0.000,4,0.000,0.083,1980,458,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2846,-0.61,-97.3,220.1,-8.9,188,2850,0.00,1.80,0.00,0.000,6,0.000,0.041,1974,1522,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3146,-0.59,-97.3,245.0,-8.4,208,3150,0.00,1.80,0.00,0.000,4,0.000,0.053,1967,2577,3463,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3221,-0.59,-97.3,251.2,-8.3,213,3225,0.12,1.88,0.00,0.000,6,0.239,0.063,1992,1516,3463,0,0,0,0,0,0,14.15,14.45,28.83
$GC,3539,-0.59,-97.3,276.5,-7.9,224,3543,0.00,1.92,0.00,0.000,4,0.000,0.083,1992,465,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3686,-0.59,-97.3,287.8,-8.5,229,3690,0.00,1.80,0.00,0.000,6,0.000,0.041,1987,1525,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3988,-0.59,-97.3,308.1,-5.6,239,3991,0.00,1.95,0.00,0.000,4,0.000,0.084,1987,461,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4062,-0.59,-97.3,312.4,-5.5,242,4065,0.00,1.80,0.00,0.000,6,0.000,0.041,1979,1528,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4378,-0.59,-97.3,329.4,-5.8,253,4381,0.00,1.95,0.00,0.000,4,0.000,0.084,1979,465,3462,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4466,-0.58,-97.3,334.9,-6.9,256,4471,0.12,1.80,0.00,0.000,6,0.252,0.041,1996,1526,3462,0,0,0,0,0,0,14.16,14.55,28.83
$GC,4768,-0.58,-97.3,358.9,-8.1,266,4771,0.00,1.95,0.00,0.000,4,0.000,0.085,1997,464,3461,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4856,-0.58,-97.3,365.5,-8.7,269,4859,0.00,1.80,0.00,0.000,6,0.000,0.042,1991,1527,3461,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5156,-0.58,-97.3,391.5,-7.8,279,5160,0.00,1.95,0.00,0.000,4,0.000,0.085,1991,464,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5216,-0.58,-97.3,395.2,-7.9,281,5220,0.00,1.80,0.00,0.000,6,0.000,0.042,1983,1524,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5517,-0.58,-97.3,416.3,-6.1,291,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-0.58,-97.3,434.1,-5.9,301,5820,0.00,1.95,0.00,0.000,4,0.000,0.085,1986,463,3459,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5923,-0.56,-97.3,441.1,-6.7,305,5927,0.12,1.80,0.00,0.000,6,0.252,0.042,2001,1524,3459,0,0,0,0,0,0,14.15,14.53,28.83
$GC,6240,-0.61,-97.3,462.0,-7.4,316,6244,0.00,1.95,0.00,0.000,4,0.000,0.086,2001,463,3458,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6328,-0.65,-97.3,468.2,-8.0,319,6331,0.00,1.80,0.00,0.000,6,0.000,0.043,1996,1520,3458,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6628,-0.70,-97.3,494.1,-8.4,329,6632,0.00,1.95,0.00,0.000,4,0.000,0.086,1996,464,3457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6794,-0.73,-97.3,507.7,-8.2,335,6798,0.10,1.83,0.00,0.000,6,0.156,0.043,1952,1529,3457,0,0,0,0,0,0,14.38,14.47,28.83
$GC,7110,-0.70,-97.3,532.9,-7.8,346,7114,0.00,1.80,0.00,0.000,4,0.000,0.055,1944,2576,3456,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7184,-0.68,-97.3,538.7,-7.8,349,7188,0.00,1.90,0.00,0.000,6,0.000,0.065,1944,1515,3456,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7500,-0.65,-97.3,563.7,-7.7,360,7505,0.15,1.92,0.00,0.000,4,0.262,0.086,1976,464,3455,0,0,0,0,0,0,14.18,14.28,28.83
$GC,7636,-0.63,-97.3,573.9,-7.3,365,7639,0.00,1.80,0.00,0.000,6,0.000,0.044,1971,1520,3454,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7950,-0.63,-97.3,593.2,-5.8,376,7954,0.00,1.95,0.00,0.000,4,0.000,0.086,1970,461,3453,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8009,-0.62,-97.3,595.8,-5.8,378,8013,0.00,1.80,0.00,0.000,6,0.000,0.044,1963,1519,3454,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8314,-0.61,-97.3,613.0,-5.4,388,8322,0.12,1.98,0.00,0.000,4,0.257,0.087,1988,463,3452,0,0,0,0,0,0,14.26,14.24,28.83
$GC,8430,-0.61,-97.3,619.8,-5.7,392,8434,0.00,1.80,0.00,0.000,6,0.000,0.043,1983,1519,3452,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8746,-0.61,-97.3,639.7,-6.7,403,8749,0.00,1.95,0.00,0.000,4,0.000,0.087,1983,467,3451,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8820,-0.61,-97.3,645.4,-7.3,406,8824,0.00,1.80,0.00,0.000,6,0.000,0.044,1975,1519,3451,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9136,-0.61,-97.3,668.5,-7.4,417,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9434,-0.61,-97.3,690.5,-7.2,427,9438,0.00,1.98,0.00,0.000,4,0.000,0.088,1975,462,3449,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9570,-0.59,-97.3,701.0,-7.9,432,9574,0.00,1.83,0.00,0.000,6,0.000,0.044,1967,1523,3448,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9885,-0.59,-97.3,725.8,-8.0,443,9890,0.12,1.98,0.00,0.000,4,0.255,0.089,1993,462,3447,0,0,0,0,0,0,14.27,14.21,28.83
$GC,9944,-0.59,-97.3,729.5,-8.2,445,9947,0.00,1.83,0.00,0.000,6,0.000,0.044,1989,1524,3447,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10246,-0.63,-97.3,754.8,-8.2,455,10250,0.00,1.98,0.00,0.000,4,0.000,0.089,1988,465,3445,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10350,-0.66,-97.3,763.4,-8.3,459,10353,0.00,1.83,0.00,0.000,6,0.000,0.045,1981,1524,3446,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10668,-0.70,-97.3,789.4,-8.4,470,10675,0.00,1.98,0.00,0.000,4,0.000,0.089,1981,468,3448,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10799,-0.72,-97.3,799.7,-8.6,474,10803,0.00,1.83,0.00,0.000,6,0.000,0.046,1974,1523,3444,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11104,-0.76,-97.3,824.1,-7.6,484,11111,0.00,1.98,0.00,0.000,4,0.000,0.090,1974,468,3443,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11220,-0.77,-97.3,833.3,-7.7,488,11224,0.00,1.83,0.00,0.000,6,0.000,0.047,1967,1521,3443,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11537,-0.80,-97.3,855.7,-7.0,499,11542,0.12,1.98,0.00,0.000,4,0.143,0.090,1924,469,3442,0,0,0,0,0,0,14.54,14.03,28.83
$GC,11735,-0.75,-97.3,872.5,-8.6,506,11743,0.15,1.83,0.00,0.000,6,0.280,0.047,1944,1521,3440,0,0,0,0,0,0,13.84,14.40,28.83
$GC,12065,-0.73,-97.3,893.7,-6.1,517,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12361,-0.71,-97.3,912.5,-6.6,527,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12662,-0.69,-97.3,934.0,-7.4,537,12665,0.00,1.98,0.00,0.000,4,0.000,0.090,1944,468,3438,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12737,-0.66,-97.3,940.3,-8.3,540,12741,0.17,1.83,0.00,0.000,6,0.256,0.047,1975,1520,3438,0,0,0,0,0,0,13.71,14.34,28.83
$GC,13054,-0.66,-97.3,963.9,-7.7,551,13057,0.00,1.98,0.00,0.000,4,0.000,0.090,1974,471,3437,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13172,-0.66,-97.3,973.2,-8.9,555,13175,0.00,1.85,0.00,0.000,6,0.000,0.048,1969,1525,3437,0,0,0,0,0,0,28.83,14.32,28.83
$STATE,13258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13258,begin apogee
$GC,13266,-0.18,0.0,982.2,-8.7,558,13393,0.60,0.00,115.43,1.854,6,0.211,0.000,2123,1400,3063,0,0,0,0,1,0,13.74,28.83,12.91
$STATE,13394,end apogee,CONTROL_FINISHED_OK
$STATE,13395,begin climb
$GC,13399,0.60,97.3,989.5,0.0,562,13537,0.82,2.03,126.53,1.855,4,0.114,0.098,2387,349,2667,0,0,0,0,1,0,14.21,14.14,12.95
$GC,13757,0.59,168.3,991.3,3.1,575,13863,0.00,1.83,96.80,1.780,6,0.000,0.047,2386,1410,2374,0,0,0,0,1,0,28.83,14.52,13.02
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$STATE,28803,end climb,SURFACE_DEPTH_REACHED
$STATE,28803,begin surface coast
$FINISH,0.7,1.025619
$STATE,28818,end surface coast,CONTROL_FINISHED_OK
$STATE,28819,begin surface
$SM_CCo,28840,42.90,0.679,0,0,1757,320.12
$SM_GC,1.21,6.62,0.15,42.90,0.070,0.098,0.679,154,1524,1757,-6.30,-1.41,320.12,0,0,0,0,0,0,14.42,14.60,13.83
$IRIDIUM_FIX,2451.31,-3812.10,080213,000049
$TT8_MAMPS,0.023968,0.023968
$HUMID,56.81
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7601152
$24V_AH,12.9,207.406
$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,21.050,201.100,552.325,42.900,0.000,0.000,0.000,296.125,0.000,0.000,21.807,3457.224,21910.535,953.340,2417.412,701.366,0.000,2303.469,0.000,2040.236,0.000,0.548,0.000
$DEVICE_MAMPS,407.745,108.630,1949.985,679.320,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.163,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43333,1200
$CAP_FILE_SIZE,268138,0
$CFSIZE,260034560,198279168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.079,  4.1,1
$GPS,080213,162252,2459.660,-3812.895,37,0.9,37,-14.0