version: 66.11
glider: 191
mission: 5
dive: 38
start: 9 26 112 16 45 52
data:
$ID,191
$MISSION,5
$DIVE,38
$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,300
$T_MISSION,350
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$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,350
$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,-3847.0686
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,34
$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,12
$MINV_10V,12
$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,3
$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
$GPS1,260912,164123,2432.811,-3801.949,16,1.0,17,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-61.6
$GPS2,260912,164523,2432.799,-3801.967,17,0.9,18,-14.0
$SPEED_LIMITS,0.189,0.220
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$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,344.3,376,-27.4,-10.889,-30.00
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.07,-71.5,0.0,0.0,0,70,0.00,0.00,-46.92,0.000,2,0.000,0.000,153,1495,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.10,-97.3,3.1,-5.4,3,100,8.10,1.80,-12.45,0.000,4,0.416,0.091,1822,2560,3460,0,0,0,0,0,0,14.69,14.92,15.11
$GC,327,-1.06,-97.3,48.6,-22.9,19,334,0.00,1.77,0.00,0.000,6,0.000,0.069,1822,1489,3461,0,0,0,0,0,0,28.83,14.92,28.83
$GC,632,-1.01,-97.3,109.4,-19.1,40,634,0.17,0.00,0.00,0.000,6,0.327,0.000,1864,1488,3461,0,0,0,0,0,0,14.80,28.83,28.83
$GC,932,-1.01,-97.3,159.7,-15.7,60,937,0.00,1.77,0.00,0.000,4,0.000,0.087,1861,437,3461,0,0,0,0,0,0,28.83,14.93,28.83
$GC,949,-1.00,-97.3,162.5,-16.3,61,955,0.00,1.75,0.00,0.000,6,0.000,0.050,1855,1503,3462,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1267,-1.00,-97.3,206.4,-13.0,82,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1505,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-1.00,-97.3,252.0,-15.4,102,1575,0.00,1.80,0.00,0.000,4,0.000,0.090,1855,440,3462,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1617,-1.00,-97.3,257.8,-15.9,103,1622,0.00,1.70,0.00,0.000,6,0.000,0.051,1848,1502,3462,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1934,-1.00,-97.3,312.7,-17.2,114,1939,0.00,1.80,0.00,0.000,4,0.000,0.090,1848,441,3461,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1975,-1.00,-97.3,318.3,-17.1,115,1980,0.00,1.70,0.00,0.000,6,0.000,0.053,1840,1502,3461,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2297,-1.00,-97.3,377.5,-18.2,126,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1503,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-1.00,-97.3,428.4,-16.0,136,2602,0.00,1.80,0.00,0.000,4,0.000,0.091,1840,445,3457,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2758,-0.97,-97.3,455.6,-18.1,141,2763,0.17,1.70,0.00,0.000,6,0.331,0.053,1867,1504,3457,0,0,0,0,0,0,14.83,15.04,28.83
$GC,3082,-0.99,-97.3,506.4,-14.5,152,3087,0.00,1.73,0.00,0.000,4,0.000,0.064,1862,2570,3455,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3199,-1.01,-97.3,519.1,-13.7,155,3206,0.00,1.77,0.00,0.000,6,0.000,0.074,1862,1501,3454,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3504,-1.03,-97.3,567.1,-14.4,166,3509,0.00,1.80,0.00,0.000,4,0.000,0.094,1862,443,3452,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3710,-1.03,-97.3,597.1,-16.7,172,3717,0.00,1.70,0.00,0.000,6,0.000,0.054,1854,1500,3451,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4016,-1.03,-97.3,647.1,-14.8,183,4021,0.00,1.80,0.00,0.000,4,0.000,0.093,1853,446,3446,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4109,-1.03,-97.3,662.0,-15.8,186,4114,0.00,1.75,0.00,0.000,6,0.000,0.054,1846,1502,3447,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4442,-1.03,-97.3,710.4,-14.3,197,4447,0.00,1.83,0.00,0.000,4,0.000,0.095,1846,439,3445,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4498,-1.03,-97.3,715.5,-14.5,198,4505,0.00,1.73,0.00,0.000,6,0.000,0.057,1838,1502,3444,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4804,-1.03,-97.3,762.6,-14.1,209,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1503,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-1.03,-97.3,807.2,-15.1,219,5110,0.00,1.83,0.00,0.000,4,0.000,0.096,1838,443,3440,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5167,-1.03,-97.3,817.6,-16.1,221,5172,0.00,1.73,0.00,0.000,6,0.000,0.057,1830,1506,3440,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5500,-1.03,-97.3,870.9,-16.1,232,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1508,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5799,-1.03,-97.3,920.3,-16.5,242,5804,0.00,1.85,0.00,0.000,4,0.000,0.098,1830,437,3435,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5886,-1.02,-97.3,931.4,-17.1,244,5894,0.17,1.73,0.00,0.000,6,0.330,0.057,1857,1501,3434,0,0,0,0,0,0,14.76,15.00,28.83
$STATE,6191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6191,begin apogee
$GC,6194,-0.18,0.0,980.3,-14.3,255,6312,0.98,0.00,108.45,2.289,6,0.265,0.000,2122,1502,3063,0,0,0,0,1,0,14.79,28.83,13.39
$STATE,6315,end apogee,CONTROL_FINISHED_OK
$STATE,6315,begin climb
$GC,6316,1.10,97.3,985.9,0.0,259,6457,1.35,1.92,123.70,2.316,4,0.138,0.067,2537,2561,2669,0,0,0,0,1,0,14.25,14.16,13.35
$GC,6558,1.05,106.8,972.0,9.9,267,6595,0.00,1.85,27.02,1.077,6,0.000,0.080,2545,1500,2625,0,0,0,0,1,0,28.83,14.57,13.84
$GC,6917,1.00,106.8,925.3,12.8,279,6923,0.12,1.85,0.00,0.000,4,0.369,0.098,2525,443,2623,0,0,0,0,0,0,14.64,14.78,28.83
$GC,7043,0.95,106.8,909.4,13.0,283,7049,0.00,1.75,0.00,0.000,6,0.000,0.060,2525,1500,2622,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7372,0.92,106.8,867.1,13.0,294,7374,0.17,0.00,0.00,0.000,6,0.339,0.000,2489,1502,2620,0,0,0,0,0,0,14.73,28.83,28.83
$GC,7671,0.92,106.8,831.8,11.6,304,7676,0.00,1.75,0.00,0.000,4,0.000,0.070,2488,2560,2618,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7753,0.92,106.8,824.5,11.7,306,7758,0.00,1.80,0.00,0.000,6,0.000,0.083,2494,1500,2618,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8065,0.92,106.8,787.2,11.3,317,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1500,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8365,0.92,106.8,753.0,11.6,327,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1500,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,0.93,108.7,720.3,10.7,337,8671,0.00,1.75,0.00,0.000,4,0.000,0.069,2494,2565,2615,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8772,0.94,116.7,711.1,10.1,340,8782,0.00,1.83,5.95,1.977,6,0.000,0.083,2501,1492,2586,0,0,0,0,0,0,28.83,14.94,14.08
$GC,9089,0.94,116.7,674.2,11.3,351,9094,0.00,1.83,0.00,0.000,4,0.000,0.103,2510,444,2588,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9251,0.90,116.7,655.2,12.7,356,9256,0.00,1.75,0.00,0.000,6,0.000,0.060,2510,1510,2588,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9574,0.89,116.7,616.9,11.6,367,9576,0.15,0.00,0.00,0.000,6,0.334,0.000,2481,1513,2587,0,0,0,0,0,0,14.76,28.83,28.83
$GC,9873,0.90,116.7,583.0,11.4,377,9878,0.00,1.88,0.00,0.000,4,0.000,0.103,2487,438,2587,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9914,0.90,116.7,579.2,11.6,378,9919,0.00,1.75,0.00,0.000,6,0.000,0.059,2487,1506,2587,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10236,0.90,116.7,540.2,11.9,389,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1507,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10536,0.90,116.7,506.5,11.5,399,10541,0.00,1.85,0.00,0.000,4,0.000,0.102,2494,441,2587,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10732,0.89,116.7,483.4,12.7,405,10738,0.00,1.73,0.00,0.000,6,0.000,0.059,2494,1498,2587,0,0,0,0,0,0,28.83,14.96,28.83
$GC,11050,0.89,121.9,448.0,10.4,416,11056,0.00,0.00,4.35,1.570,6,0.000,0.000,2494,1500,2565,0,0,0,0,0,0,28.83,28.83,14.25
$GC,11350,0.89,124.3,415.5,10.6,426,11360,0.00,1.90,2.75,1.506,4,0.000,0.100,2502,443,2554,0,0,0,0,0,0,28.83,14.89,14.31
$GC,11586,0.88,124.3,390.7,11.5,433,11594,0.00,1.73,0.00,0.000,6,0.000,0.057,2502,1506,2553,0,0,0,0,0,0,28.83,14.94,28.83
$GC,11892,0.88,124.3,352.6,12.0,444,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1506,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12192,0.88,124.3,313.7,13.1,454,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1506,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12492,0.88,124.3,278.4,11.2,464,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1506,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12792,0.88,124.3,243.0,11.7,475,12797,0.00,1.85,0.00,0.000,4,0.000,0.099,2511,439,2555,0,0,0,0,0,0,28.83,14.90,28.83
$GC,12878,0.86,124.3,233.1,13.3,480,12885,0.20,1.73,0.00,0.000,6,0.311,0.055,2464,1502,2555,0,0,0,0,0,0,14.74,14.95,28.83
$GC,13184,0.89,124.3,198.0,11.3,501,13190,0.00,1.75,0.00,0.000,4,0.000,0.067,2468,2565,2556,0,0,0,0,0,0,28.83,14.90,28.83
$GC,13372,0.94,136.4,179.3,9.7,513,13414,0.00,1.80,28.50,0.822,6,0.000,0.078,2470,1498,2509,0,0,0,0,1,0,28.83,14.89,14.25
$GC,13713,0.98,140.6,144.8,10.5,536,13723,0.00,1.83,4.20,1.147,4,0.000,0.094,2481,446,2489,0,0,0,0,0,0,28.83,14.80,14.28
$GC,13889,0.99,140.6,124.2,12.3,547,13897,0.00,1.73,0.00,0.000,6,0.000,0.053,2481,1508,2489,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14196,1.04,153.7,89.3,9.6,568,14216,0.12,1.85,13.23,0.910,4,0.161,0.092,2537,444,2432,0,0,0,0,0,0,14.81,14.77,14.40
$GC,14343,1.01,153.7,71.4,13.8,577,14350,0.00,1.75,0.00,0.000,6,0.000,0.054,2537,1492,2430,0,0,0,0,0,0,28.83,14.82,28.83
$GC,14648,1.03,166.9,39.2,9.5,598,14664,0.00,0.00,11.27,0.845,6,0.000,0.000,2542,1492,2380,0,0,0,0,0,0,28.83,28.83,14.43
$GC,14963,1.05,182.1,7.5,9.3,619,14983,0.00,1.83,12.88,0.792,4,0.000,0.063,2537,2557,2318,0,0,0,0,0,0,28.83,14.78,14.42
$STATE,15024,end climb,SURFACE_DEPTH_REACHED
$STATE,15024,begin surface coast
$FINISH,0.7,1.024339
$STATE,15041,end surface coast,CONTROL_FINISHED_OK
$STATE,15041,begin surface
$SM_CCo,15058,144.95,0.783,0,0,1633,350.04
$SM_GC,0.13,7.18,1.85,144.95,0.109,0.073,0.783,161,1502,1633,-6.29,0.79,350.04,0,0,0,0,0,0,14.81,14.81,14.13
$IRIDIUM_FIX,2425.21,-3801.85,260912,161648
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.74
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,27.00
$XPDR_PINGS,448
$SC_FREEKB,7755552
$TM_FREEKB,7567936
$24V_AH,13.3,22.954
$10V_AH,13.2,0.000
$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,18.900,85.675,342.300,144.950,0.000,0.000,0.000,0.000,112.000,0.000,18.448,2312.381,10468.638,593.745,1808.152,106.407,0.000,1536.078,0.000,1726.897,0.000,0.552,0.000
$DEVICE_MAMPS,416.160,103.275,2315.655,782.595,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15004.000,3834.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.291,13.186,0.000,0.000
$MEM,344992
$DATA_FILE_SIZE,23421,624
$CAP_FILE_SIZE,183893,0
$CFSIZE,260034560,252620800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.041, 30.8,1
$GPS,260912,210035,2434.538,-3802.751,39,0.9,39,-14.0