version: 66.11
glider: 191
mission: 5
dive: 443
start: 2 9 113 8 19 11
data:
$ID,191
$MISSION,5
$DIVE,443
$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,-5162.1396
$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,22
$R_STBD_OVSHOOT,48
$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
$GPS1,090213,080904,2457.227,-3815.108,31,1.2,31,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-50.7
$GPS2,090213,081841,2457.216,-3815.146,18,0.9,18,-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,222.9,61140,-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,-97.3,0.0,0.0,0,98,0.00,0.00,-71.88,0.000,6,0.000,0.000,161,1520,3461,0,0,0,0,0,0,28.83,28.83,14.73
$GC,101,-0.60,-97.3,4.7,-7.7,5,116,9.82,1.92,0.00,0.000,4,0.404,0.074,1999,459,3463,1,0,0,0,0,0,13.65,14.45,28.83
$GC,339,-0.57,-97.3,37.0,-9.5,21,343,0.00,1.80,0.00,0.000,6,0.000,0.043,1994,1517,3464,0,0,0,0,0,0,28.83,14.49,28.83
$GC,640,-0.56,-97.3,56.6,-5.1,41,644,0.00,1.95,0.00,0.000,4,0.000,0.084,1994,457,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,716,-0.53,-97.3,61.9,-7.5,46,721,0.12,1.80,0.00,0.000,6,0.250,0.042,2012,1519,3464,0,0,0,0,0,0,14.12,14.51,28.83
$GC,1016,-0.53,-97.3,83.8,-8.7,66,1020,0.00,1.92,0.00,0.000,4,0.000,0.083,2012,462,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1059,-0.53,-97.3,88.7,-10.1,69,1063,0.00,1.80,0.00,0.000,6,0.000,0.041,2006,1530,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1360,-0.53,-97.3,115.3,-9.4,89,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1531,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,-0.53,-97.3,138.6,-7.3,109,1663,0.00,1.95,0.00,0.000,4,0.000,0.083,2006,463,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1765,-0.53,-97.3,147.5,-8.8,116,1769,0.00,1.77,0.00,0.000,6,0.000,0.041,1998,1518,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2065,-0.53,-97.3,167.9,-5.8,136,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.53,-97.3,180.7,-3.8,156,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.53,-97.3,193.3,-5.2,176,2669,0.00,1.92,0.00,0.000,4,0.000,0.083,1998,463,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2739,-0.53,-97.3,198.5,-6.8,181,2743,0.00,1.77,0.00,0.000,6,0.000,0.041,1991,1519,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3042,-0.53,-97.3,225.1,-9.8,201,3045,0.00,1.92,0.00,0.000,4,0.000,0.083,1991,461,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3160,-0.52,-97.3,237.5,-10.3,209,3164,0.15,1.80,0.00,0.000,6,0.233,0.041,2016,1528,3465,0,0,0,0,0,0,14.16,14.56,28.83
$GC,3460,-0.58,-97.3,261.0,-7.1,224,3463,0.00,1.95,0.00,0.000,4,0.000,0.084,2017,460,3465,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3579,-0.62,-97.3,267.9,-6.6,228,3582,0.00,1.80,0.00,0.000,6,0.000,0.041,2013,1529,3464,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3884,-0.68,-97.3,284.9,-5.3,238,3892,0.12,1.92,0.00,0.000,4,0.133,0.083,1961,466,3464,0,0,0,0,0,0,14.63,14.27,28.83
$GC,4060,-0.64,-97.3,297.1,-7.0,244,4064,0.00,1.77,0.00,0.000,6,0.000,0.042,1953,1518,3463,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4378,-0.61,-97.3,318.6,-7.1,255,4380,0.15,0.00,0.00,0.000,6,0.254,0.000,1985,1520,3463,0,0,0,0,0,0,14.22,28.83,28.83
$GC,4674,-0.61,-97.3,338.1,-6.5,265,4678,0.00,1.92,0.00,0.000,4,0.000,0.084,1985,460,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4749,-0.61,-97.3,343.4,-7.0,268,4753,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1528,3462,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5065,-0.61,-97.3,364.2,-6.7,279,5069,0.00,1.95,0.00,0.000,4,0.000,0.085,1980,462,3461,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5170,-0.60,-97.3,372.2,-7.7,283,5174,0.00,1.80,0.00,0.000,6,0.000,0.041,1972,1525,3461,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5488,-0.58,-97.3,394.7,-7.1,294,5492,0.00,1.95,0.00,0.000,4,0.000,0.085,1972,461,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5591,-0.56,-97.3,403.1,-8.0,298,5595,0.17,1.80,0.00,0.000,6,0.245,0.041,2003,1524,3460,0,0,0,0,0,0,14.08,14.54,28.83
$GC,5909,-0.61,-97.3,425.2,-7.5,309,5913,0.00,1.95,0.00,0.000,4,0.000,0.085,2003,461,3459,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5982,-0.65,-97.3,431.4,-8.0,312,5985,0.00,1.80,0.00,0.000,6,0.000,0.042,1999,1523,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6300,-0.70,-97.3,456.1,-7.9,323,6308,0.12,1.95,0.00,0.000,4,0.136,0.084,1950,460,3458,0,0,0,0,0,0,14.62,14.31,28.83
$GC,6539,-0.66,-97.3,479.3,-9.9,331,6543,0.15,1.80,0.00,0.000,6,0.256,0.043,1973,1520,3457,0,0,0,0,0,0,14.09,14.54,28.83
$GC,6856,-0.66,-97.3,504.6,-7.7,342,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,-0.66,-97.3,525.0,-6.3,352,7156,0.00,1.95,0.00,0.000,4,0.000,0.086,1973,461,3456,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7242,-0.65,-97.3,530.1,-6.6,355,7245,0.00,1.80,0.00,0.000,6,0.000,0.043,1968,1519,3456,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7543,-0.64,-97.3,549.2,-6.2,365,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7842,-0.64,-97.3,570.7,-7.6,375,7846,0.00,1.95,0.00,0.000,4,0.000,0.086,1968,463,3455,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7963,-0.62,-97.3,580.2,-9.1,379,7967,0.12,1.80,0.00,0.000,6,0.259,0.043,1985,1519,3454,0,0,0,0,0,0,14.09,14.50,28.83
$GC,8262,-0.62,-97.3,605.7,-7.8,389,8266,0.00,1.95,0.00,0.000,4,0.000,0.087,1985,459,3453,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8338,-0.62,-97.3,611.4,-7.6,392,8341,0.00,1.80,0.00,0.000,6,0.000,0.044,1980,1519,3453,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8652,-0.62,-97.3,631.3,-6.1,403,8656,0.00,1.95,0.00,0.000,4,0.000,0.087,1980,463,3452,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8742,-0.62,-97.3,636.2,-6.4,406,8745,0.00,1.83,0.00,0.000,6,0.000,0.044,1973,1526,3452,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9043,-0.62,-97.3,655.9,-6.6,416,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1528,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,-0.62,-97.3,677.7,-7.5,426,9346,0.00,1.98,0.00,0.000,4,0.000,0.088,1972,463,3449,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9492,-0.60,-97.3,689.3,-8.6,431,9497,0.12,1.83,0.00,0.000,6,0.256,0.044,1990,1524,3449,0,0,0,0,0,0,13.97,14.42,28.83
$GC,9795,-0.65,-97.3,713.0,-7.6,441,9799,0.00,1.98,0.00,0.000,4,0.000,0.088,1990,463,3448,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9883,-0.69,-97.3,718.9,-7.7,444,9887,0.00,1.83,0.00,0.000,6,0.000,0.044,1986,1523,3447,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10184,-0.73,-97.3,741.7,-7.0,454,10188,0.00,1.98,0.00,0.000,4,0.000,0.088,1986,461,3447,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10348,-0.75,-97.3,753.2,-6.9,460,10352,0.00,1.83,0.00,0.000,6,0.000,0.044,1979,1521,3447,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10667,-0.79,-97.3,772.4,-6.2,471,10675,0.12,1.98,0.00,0.000,4,0.139,0.089,1932,463,3445,0,0,0,0,0,0,14.53,14.16,28.83
$GC,10860,-0.74,-97.3,788.0,-9.0,477,10863,0.00,1.83,0.00,0.000,6,0.000,0.045,1924,1519,3444,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11159,-0.70,-97.3,817.7,-9.9,487,11161,0.17,0.00,0.00,0.000,6,0.265,0.000,1960,1520,3443,0,0,0,0,0,0,14.02,28.83,28.83
$GC,11458,-0.70,-97.3,844.3,-8.7,497,11461,0.00,1.98,0.00,0.000,4,0.000,0.090,1960,463,3441,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11625,-0.68,-97.3,859.5,-9.2,503,11628,0.00,1.83,0.00,0.000,6,0.000,0.046,1956,1519,3443,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11941,-0.66,-97.3,884.7,-7.6,514,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12240,-0.65,-97.3,903.9,-6.0,524,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12539,-0.64,-97.3,920.3,-5.4,534,12542,0.00,2.00,0.00,0.000,4,0.000,0.091,1956,460,3439,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12615,-0.62,-97.3,925.0,-6.0,537,12619,0.17,1.85,0.00,0.000,6,0.252,0.047,1984,1518,3438,0,0,0,0,0,0,13.81,14.34,28.83
$GC,12931,-0.67,-97.3,943.5,-6.6,548,12934,0.00,2.00,0.00,0.000,4,0.000,0.091,1985,458,3437,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13035,-0.70,-97.3,951.4,-7.6,552,13039,0.00,1.85,0.00,0.000,6,0.000,0.047,1980,1521,3437,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13351,-0.75,-97.3,976.6,-8.4,563,13354,0.00,2.00,0.00,0.000,4,0.000,0.092,1981,464,3437,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,13390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13390,begin apogee
$GC,13400,-0.18,0.0,980.5,-8.7,565,13526,0.57,0.00,115.25,1.846,6,0.213,0.000,2123,1411,3060,0,0,0,0,1,0,13.69,28.83,12.90
$STATE,13527,end apogee,CONTROL_FINISHED_OK
$STATE,13527,begin climb
$GC,13531,0.60,97.3,987.8,0.0,569,13668,0.82,2.05,125.47,1.840,4,0.101,0.096,2396,346,2665,0,0,0,0,1,0,14.22,14.14,12.95
$GC,13889,0.58,161.6,989.2,3.3,582,13986,0.00,1.83,87.97,1.739,6,0.000,0.047,2393,1409,2403,0,0,0,0,1,0,28.83,14.54,13.02
$GC,14296,0.51,161.6,965.1,6.6,596,14301,0.17,2.00,0.00,0.000,4,0.273,0.096,2363,338,2397,0,0,0,0,0,0,14.16,14.38,28.83
$GC,14523,0.46,161.6,950.3,6.8,604,14527,0.00,1.83,0.00,0.000,6,0.000,0.047,2362,1400,2395,0,0,0,0,0,0,28.83,14.58,28.83
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$STATE,28437,end climb,SURFACE_DEPTH_REACHED
$STATE,28437,begin surface coast
$FINISH,0.4,1.025578
$STATE,28456,end surface coast,CONTROL_FINISHED_OK
$STATE,28456,begin surface
$SM_CCo,28477,27.50,0.683,0,0,1756,320.12
$SM_GC,0.54,6.78,0.15,27.50,0.077,0.102,0.683,153,1519,1756,-6.30,-1.67,320.12,0,0,0,0,0,0,14.39,14.60,13.83
$IRIDIUM_FIX,2448.93,-3817.31,090213,000003
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.69
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.90
$XPDR_PINGS,9
$SC_FREEKB,7600000
$24V_AH,12.9,208.658
$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,21.050,176.900,551.350,27.500,0.000,0.000,0.000,308.375,2.250,0.000,18.737,3403.621,21623.596,905.037,2425.179,711.037,0.000,2268.616,0.000,2037.864,0.000,0.549,0.000
$DEVICE_MAMPS,403.920,101.745,1845.945,683.145,0.000,0.000,0.000,169.065,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28508.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.265,0.000,0.000,0.000
$MEM,345548
$DATA_FILE_SIZE,43338,1193
$CAP_FILE_SIZE,259180,0
$CFSIZE,260034560,197939200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.088, 11.6,1
$GPS,090213,161534,2456.049,-3815.796,32,0.8,32,-14.0