version: 66.11
glider: 191
mission: 5
dive: 452
start: 2 12 113 8 19 30
data:
$ID,191
$MISSION,5
$DIVE,452
$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,-5173.4668
$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
$GPS1,120213,080928,2448.254,-3825.809,40,0.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.4
$GPS2,120213,081900,2448.314,-3825.885,17,1.3,17,-14.1
$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,212.8,36669,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.75,0.000,6,0.000,0.000,154,1519,3461,0,0,0,0,0,0,28.83,28.83,14.75
$GC,87,-0.60,-97.3,4.1,-8.0,4,102,9.95,1.90,0.00,0.000,4,0.408,0.074,1998,461,3464,1,0,0,0,0,0,13.57,14.40,28.83
$GC,309,-0.57,-97.3,27.4,-9.6,19,313,0.00,1.80,0.00,0.000,6,0.000,0.042,1992,1518,3465,0,0,0,0,0,0,28.83,14.39,28.83
$GC,610,-0.56,-97.3,52.8,-8.5,39,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,910,-0.54,-97.3,78.2,-8.8,59,913,0.00,1.92,0.00,0.000,4,0.000,0.084,1993,466,3466,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1000,-0.52,-97.3,87.1,-9.7,65,1004,0.15,1.80,0.00,0.000,6,0.242,0.041,2017,1529,3468,0,0,0,0,0,0,14.09,14.50,28.83
$GC,1300,-0.53,-97.3,107.8,-7.3,85,1304,0.00,1.95,0.00,0.000,4,0.000,0.083,2017,464,3466,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1405,-0.53,-97.3,116.0,-8.1,92,1409,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1527,3466,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1705,-0.54,-97.3,136.2,-6.8,112,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1528,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.59,-97.3,154.9,-5.9,132,2009,0.00,1.95,0.00,0.000,4,0.000,0.083,2012,462,3466,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2171,-0.59,-97.3,164.3,-5.6,143,2174,0.00,1.80,0.00,0.000,6,0.000,0.041,2003,1527,3467,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2470,-0.60,-97.3,181.9,-7.0,163,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1528,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2770,-0.65,-97.3,207.8,-9.4,183,2773,0.00,1.95,0.00,0.000,4,0.000,0.083,2004,460,3467,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2890,-0.67,-97.3,219.4,-9.8,191,2893,0.00,1.80,0.00,0.000,6,0.000,0.041,1997,1528,3467,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3190,-0.71,-97.3,244.3,-7.2,211,3194,0.12,1.95,0.00,0.000,4,0.133,0.083,1947,460,3467,0,0,0,0,0,0,14.62,14.22,28.83
$GC,3359,-0.66,-97.3,257.5,-8.1,219,3366,0.15,1.80,0.00,0.000,6,0.255,0.042,1969,1521,3467,0,0,0,0,0,0,13.93,14.39,28.83
$GC,3688,-0.65,-97.3,273.6,-4.1,230,3695,0.00,1.92,0.00,0.000,4,0.000,0.083,1969,463,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3760,-0.63,-97.3,276.7,-4.5,232,3764,0.00,1.80,0.00,0.000,6,0.000,0.041,1964,1530,3467,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4063,-0.61,-97.3,293.2,-5.8,242,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1531,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-0.59,-97.3,313.5,-7.2,252,4365,0.15,1.95,0.00,0.000,4,0.248,0.083,1997,462,3465,0,0,0,0,0,0,14.23,14.29,28.83
$GC,4448,-0.59,-97.3,319.1,-7.5,255,4452,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1530,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4749,-0.59,-97.3,342.9,-7.7,265,4753,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,463,3464,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4839,-0.59,-97.3,349.4,-8.5,268,4843,0.00,1.80,0.00,0.000,6,0.000,0.042,1984,1527,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5139,-0.59,-97.3,373.5,-7.2,278,5143,0.00,1.95,0.00,0.000,4,0.000,0.084,1984,463,3466,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5198,-0.59,-97.3,376.9,-7.3,280,5202,0.00,1.80,0.00,0.000,6,0.000,0.042,1975,1527,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5501,-0.59,-97.3,396.1,-5.6,290,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1529,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5799,-0.59,-97.3,414.1,-6.4,300,5803,0.00,1.95,0.00,0.000,4,0.000,0.085,1976,463,3461,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5936,-0.57,-97.3,424.8,-8.0,305,5940,0.15,1.80,0.00,0.000,6,0.240,0.042,2000,1525,3461,0,0,0,0,0,0,14.09,14.51,28.83
$GC,6252,-0.61,-97.3,451.0,-9.3,316,6256,0.00,1.95,0.00,0.000,4,0.000,0.085,2000,463,3463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6340,-0.64,-97.3,458.3,-9.4,319,6344,0.00,1.80,0.00,0.000,6,0.000,0.041,1995,1525,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6640,-0.69,-97.3,489.2,-9.8,329,6644,0.00,1.95,0.00,0.000,4,0.000,0.085,1995,463,3459,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6807,-0.71,-97.3,504.8,-9.3,335,6810,0.00,1.80,0.00,0.000,6,0.000,0.042,1988,1523,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7122,-0.76,-97.3,530.2,-7.6,346,7127,0.12,1.95,0.00,0.000,4,0.137,0.085,1942,460,3458,0,0,0,0,0,0,14.59,14.25,28.83
$GC,7288,-0.71,-97.3,545.3,-9.2,352,7291,0.00,1.80,0.00,0.000,6,0.000,0.044,1935,1518,3458,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7604,-0.67,-97.3,568.9,-7.2,363,7608,0.17,1.85,0.00,0.000,4,0.252,0.055,1966,2578,3457,0,0,0,0,0,0,14.10,14.42,28.83
$GC,7661,-0.65,-97.3,571.8,-6.8,365,7665,0.00,1.90,0.00,0.000,6,0.000,0.065,1966,1516,3457,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7963,-0.65,-97.3,592.0,-6.9,375,7967,0.00,1.92,0.00,0.000,4,0.000,0.086,1966,467,3456,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8052,-0.63,-97.3,598.1,-7.9,378,8055,0.00,1.80,0.00,0.000,6,0.000,0.044,1958,1523,3455,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8353,-0.61,-97.3,625.8,-9.1,388,8355,0.15,0.00,0.00,0.000,6,0.249,0.000,1990,1524,3455,0,0,0,0,0,0,14.16,28.83,28.83
$GC,8652,-0.66,-97.3,651.6,-8.7,398,8656,0.00,1.95,0.00,0.000,4,0.000,0.086,1990,466,3454,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8759,-0.69,-97.3,660.9,-8.9,402,8762,0.00,1.83,0.00,0.000,6,0.000,0.044,1986,1525,3453,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9075,-0.73,-97.3,684.3,-6.9,413,9079,0.00,1.95,0.00,0.000,4,0.000,0.086,1986,467,3453,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9223,-0.73,-97.3,693.5,-6.7,418,9226,0.00,1.80,0.00,0.000,6,0.000,0.044,1979,1520,3452,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9526,-0.75,-97.3,711.5,-5.6,428,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,-0.79,-97.3,731.1,-6.9,438,9828,0.15,1.98,0.00,0.000,4,0.128,0.088,1925,461,3450,0,0,0,0,0,0,14.52,14.14,28.83
$GC,10022,-0.73,-97.3,750.3,-10.2,445,10029,0.15,1.83,0.00,0.000,6,0.278,0.045,1945,1519,3449,0,0,0,0,0,0,13.83,14.39,28.83
$GC,10352,-0.71,-97.3,780.0,-9.1,456,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10649,-0.69,-97.3,805.2,-8.2,466,10652,0.00,1.98,0.00,0.000,4,0.000,0.089,1946,460,3447,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10737,-0.66,-97.3,812.0,-8.8,469,10742,0.15,1.83,0.00,0.000,6,0.258,0.046,1970,1519,3447,0,0,0,0,0,0,13.90,14.40,28.83
$GC,11042,-0.66,-97.3,834.5,-6.7,479,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1521,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11338,-0.66,-97.3,851.3,-4.9,489,11342,0.00,1.98,0.00,0.000,4,0.000,0.090,1971,469,3445,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11429,-0.66,-97.3,855.2,-5.2,492,11432,0.00,1.83,0.00,0.000,6,0.000,0.047,1965,1521,3445,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11728,-0.66,-97.3,868.3,-4.0,502,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12030,-0.66,-97.3,882.9,-5.5,512,12034,0.00,1.98,0.00,0.000,4,0.000,0.090,1965,468,3443,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12163,-0.64,-97.3,892.7,-7.4,517,12167,0.00,1.83,0.00,0.000,6,0.000,0.047,1958,1519,3442,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12482,-0.63,-97.3,917.6,-8.2,528,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12779,-0.62,-97.3,942.9,-8.4,538,12783,0.12,2.03,0.00,0.000,4,0.265,0.092,1982,468,3440,0,0,0,0,0,0,14.14,13.97,28.83
$GC,12868,-0.62,-97.3,949.4,-8.6,541,12871,0.00,1.85,0.00,0.000,6,0.000,0.047,1977,1525,3440,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13172,-0.64,-97.3,973.8,-7.5,551,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13254,begin apogee
$GC,13262,-0.18,0.0,980.4,-7.4,554,13391,0.57,0.00,116.07,1.846,6,0.191,0.000,2129,1400,3062,0,0,0,0,1,0,13.75,28.83,12.90
$STATE,13392,end apogee,CONTROL_FINISHED_OK
$STATE,13392,begin climb
$GC,13397,0.60,97.3,986.8,0.0,558,13534,0.80,1.92,126.18,1.832,4,0.109,0.058,2378,2465,2665,0,0,0,0,1,0,14.21,14.19,12.93
$GC,13755,0.56,130.1,982.5,4.7,571,13818,0.00,1.95,53.17,1.516,6,0.000,0.073,2386,1391,2531,0,0,0,0,1,0,28.83,14.42,13.09
$GC,14128,0.49,130.1,959.0,6.6,584,14133,0.17,1.88,0.00,0.000,4,0.282,0.057,2347,2464,2527,0,0,0,0,0,0,14.13,14.48,28.83
$GC,14311,0.46,134.3,949.2,5.9,590,14323,0.00,1.92,2.95,1.958,6,0.000,0.074,2352,1402,2513,0,0,0,0,0,0,28.83,14.42,13.36
$GC,14626,0.46,160.4,931.5,4.9,601,14683,0.00,0.00,46.33,1.443,6,0.000,0.000,2352,1402,2408,0,0,0,0,1,0,28.83,28.83,13.14
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$STATE,28318,end climb,SURFACE_DEPTH_REACHED
$STATE,28318,begin surface coast
$FINISH,0.7,1.025600
$STATE,28334,end surface coast,CONTROL_FINISHED_OK
$STATE,28334,begin surface
$SM_CCo,28357,26.27,0.690,0,0,1756,320.12
$SM_GC,0.68,6.80,2.00,26.27,0.073,0.045,0.690,160,1506,1756,-6.29,-1.67,320.12,0,0,0,0,0,0,14.33,14.45,13.83
$IRIDIUM_FIX,2441.81,-3826.24,120213,000032
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.93
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.30
$XPDR_PINGS,8
$SC_FREEKB,7596544
$24V_AH,12.9,212.430
$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,20.675,196.875,588.450,26.275,0.000,0.000,0.000,297.125,2.000,0.000,17.994,3412.962,21409.607,963.309,2413.865,741.403,0.000,2321.501,0.000,2031.511,0.000,0.549,0.000
$DEVICE_MAMPS,407.745,109.395,1958.400,690.030,0.000,0.000,0.000,171.360,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28387.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.214,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43293,1174
$CAP_FILE_SIZE,264693,0
$CFSIZE,260034560,196837376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.170,342.6,1
$GPS,120213,161358,2448.302,-3827.089,37,0.8,37,-14.1