version: 66.11
glider: 191
mission: 5
dive: 39
start: 9 26 112 21 8 53
data:
$ID,191
$MISSION,5
$DIVE,39
$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,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,-3848.3279
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,260912,210035,2434.538,-3802.751,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-59.7
$GPS2,260912,210811,2434.550,-3802.818,16,0.9,17,-14.0
$SPEED_LIMITS,0.105,0.182
$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,184.2,3184,-21.8,-6.049,-25.77
$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,20,-0.83,-42.5,0.0,0.0,0,78,0.00,0.00,-55.25,0.000,6,0.000,0.000,160,1499,3236,0,0,0,0,0,0,28.83,28.83,14.92
$GC,80,-0.83,-42.5,2.2,-6.7,3,96,8.80,1.83,0.00,0.000,4,0.425,0.074,1921,443,3239,0,0,0,0,0,0,14.50,14.71,28.83
$GC,323,-0.75,-42.5,46.7,-18.0,19,330,0.12,1.73,0.00,0.000,6,0.337,0.054,1937,1500,3242,0,0,0,0,0,0,14.64,14.82,28.83
$GC,628,-0.73,-42.5,81.8,-7.2,40,634,0.00,1.83,0.00,0.000,4,0.000,0.094,1937,443,3243,0,0,0,0,0,0,28.83,14.82,28.83
$GC,860,-0.68,-42.5,102.7,-10.4,55,866,0.17,1.73,0.00,0.000,6,0.311,0.052,1967,1511,3244,0,0,0,0,0,0,14.71,14.90,28.83
$GC,1172,-0.68,-42.5,132.9,-10.0,76,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1513,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,-0.68,-42.5,161.4,-8.6,96,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1513,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1772,-0.68,-42.5,182.8,-6.4,116,1777,0.00,1.85,0.00,0.000,4,0.000,0.093,1967,437,3246,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1866,-0.66,-42.5,189.3,-7.4,122,1871,0.00,1.73,0.00,0.000,6,0.000,0.052,1962,1509,3246,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2182,-0.66,-42.5,211.3,-7.0,143,2188,0.00,1.83,0.00,0.000,4,0.000,0.093,1962,443,3246,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2414,-0.65,-42.5,231.5,-9.1,158,2419,0.00,1.73,0.00,0.000,6,0.000,0.053,1954,1509,3246,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2741,-0.65,-42.5,262.1,-9.3,176,2746,0.00,1.85,0.00,0.000,4,0.000,0.094,1954,436,3246,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2812,-0.65,-42.5,268.4,-9.8,178,2818,0.15,1.73,0.00,0.000,6,0.296,0.052,1977,1506,3245,0,0,0,0,0,0,14.79,14.97,28.83
$GC,3136,-0.67,-42.5,294.9,-7.3,189,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1507,3244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-0.70,-42.5,315.3,-6.6,199,3440,0.00,1.83,0.00,0.000,4,0.000,0.096,1977,443,3244,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3517,-0.72,-42.5,320.0,-7.1,201,3522,0.00,1.70,0.00,0.000,6,0.000,0.053,1972,1497,3244,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3830,-0.74,-42.5,343.0,-7.0,212,3835,0.00,1.83,0.00,0.000,4,0.000,0.096,1971,437,3242,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3906,-0.75,-42.5,348.3,-7.7,214,3912,0.00,1.73,0.00,0.000,6,0.000,0.054,1964,1509,3242,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4224,-0.77,-42.5,375.1,-8.3,225,4229,0.00,1.85,0.00,0.000,4,0.000,0.095,1963,436,3240,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4336,-0.77,-42.5,383.9,-9.2,228,4341,0.00,1.73,0.00,0.000,6,0.000,0.054,1956,1506,3240,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4649,-0.78,-42.5,414.4,-9.4,239,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1507,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4948,-0.79,-42.5,443.4,-9.6,249,4953,0.00,1.83,0.00,0.000,4,0.000,0.096,1956,443,3239,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5130,-0.78,-42.5,461.5,-9.7,255,5136,0.00,1.73,0.00,0.000,6,0.000,0.054,1948,1505,3238,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5464,-0.78,-42.5,486.6,-7.6,266,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1506,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5763,-0.78,-42.5,510.4,-8.2,276,5768,0.00,1.85,0.00,0.000,4,0.000,0.097,1948,436,3236,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5919,-0.76,-42.5,525.5,-9.9,281,5925,0.00,1.73,0.00,0.000,6,0.000,0.054,1940,1502,3235,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6247,-0.76,-42.5,553.5,-8.4,292,6252,0.00,1.73,0.00,0.000,4,0.000,0.066,1932,2561,3234,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6343,-0.76,-42.5,560.4,-7.7,295,6348,0.00,1.83,0.00,0.000,6,0.000,0.076,1932,1502,3234,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6671,-0.76,-42.5,587.8,-8.7,306,6676,0.00,1.83,0.00,0.000,4,0.000,0.097,1931,441,3232,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6717,-0.76,-42.5,591.0,-8.9,307,6722,0.00,1.73,0.00,0.000,6,0.000,0.056,1924,1504,3232,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7033,-0.76,-42.5,623.8,-9.9,318,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1506,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,-0.76,-42.5,651.6,-8.8,328,7339,0.00,1.85,0.00,0.000,4,0.000,0.098,1924,439,3230,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7458,-0.74,-42.5,663.0,-9.4,332,7463,0.15,1.73,0.00,0.000,6,0.311,0.057,1946,1501,3230,0,0,0,0,0,0,14.76,14.98,28.83
$GC,7792,-0.75,-45.0,684.0,-5.8,343,7797,0.00,1.85,0.00,0.000,4,0.000,0.099,1946,437,3229,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7898,-0.75,-45.0,690.7,-6.8,346,7903,0.00,1.73,0.00,0.000,6,0.000,0.057,1941,1498,3228,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8215,-0.75,-45.0,714.7,-7.5,357,8220,0.00,1.85,0.00,0.000,4,0.000,0.100,1941,436,3226,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8277,-0.75,-45.0,720.3,-8.3,359,8283,0.00,1.75,0.00,0.000,6,0.000,0.057,1933,1509,3226,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8610,-0.75,-45.0,751.4,-9.6,370,8615,0.00,1.85,0.00,0.000,4,0.000,0.100,1933,444,3225,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8832,-0.73,-45.0,774.6,-10.9,377,8837,0.00,1.73,0.00,0.000,6,0.000,0.057,1925,1501,3224,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9155,-0.73,-45.0,804.2,-8.1,388,9157,0.12,0.00,0.00,0.000,6,0.311,0.000,1949,1503,3223,0,0,0,0,0,0,14.76,28.83,28.83
$GC,9455,-0.75,-48.5,823.0,-5.7,398,9460,0.00,1.85,0.00,0.000,4,0.000,0.102,1949,444,3222,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9561,-0.76,-52.7,828.4,-5.7,401,9567,0.00,1.73,0.00,0.000,6,0.000,0.059,1944,1499,3222,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9880,-0.78,-59.4,845.5,-5.4,412,9885,0.00,1.85,0.00,0.000,4,0.000,0.103,1943,438,3220,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9943,-0.78,-60.9,849.6,-5.9,414,9948,0.00,1.75,0.00,0.000,6,0.000,0.059,1936,1505,3220,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10276,-0.78,-60.9,874.3,-8.1,425,10281,0.00,1.88,0.00,0.000,4,0.000,0.103,1936,439,3219,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10438,-0.77,-60.9,889.1,-9.8,430,10443,0.00,1.75,0.00,0.000,6,0.000,0.060,1928,1500,3218,0,0,0,0,0,0,28.83,14.94,28.83
$GC,10761,-0.77,-60.9,918.3,-9.1,441,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1501,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11060,-0.77,-60.9,944.7,-8.8,451,11065,0.00,1.85,0.00,0.000,4,0.000,0.103,1928,444,3216,0,0,0,0,0,0,28.83,14.86,28.83
$GC,11216,-0.75,-60.9,959.0,-9.4,456,11222,0.00,1.75,0.00,0.000,6,0.000,0.060,1920,1502,3215,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,11483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11483,begin apogee
$GC,11487,-0.18,0.0,981.1,-7.8,465,11550,0.75,0.00,53.25,1.851,6,0.262,0.000,2120,1504,3064,0,0,0,0,1,0,14.67,28.83,13.64
$STATE,11552,end apogee,CONTROL_FINISHED_OK
$STATE,11552,begin climb
$GC,11553,0.85,60.9,982.7,0.0,467,11651,1.08,1.92,85.20,2.229,4,0.148,0.069,2453,2556,2815,0,0,0,0,1,0,14.47,14.13,13.28
$GC,11737,0.75,79.2,976.5,4.3,473,11788,0.00,1.88,36.10,1.437,6,0.000,0.082,2462,1494,2741,0,0,0,0,1,0,28.83,14.47,13.50
$GC,12088,0.71,79.2,943.0,9.8,485,12090,0.20,0.00,0.00,0.000,6,0.314,0.000,2419,1494,2740,0,0,0,0,0,0,14.54,28.83,28.83
$GC,12388,0.69,79.2,916.2,9.1,495,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1494,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12688,0.68,79.2,889.5,8.7,505,12693,0.00,1.85,0.00,0.000,4,0.000,0.107,2425,444,2738,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12846,0.65,79.2,875.8,8.9,510,12851,0.00,1.75,0.00,0.000,6,0.000,0.061,2425,1503,2737,0,0,0,0,0,0,28.83,14.87,28.83
$GC,13174,0.63,79.2,850.3,7.4,521,13181,0.12,1.77,0.00,0.000,4,0.314,0.067,2396,2567,2736,0,0,0,0,0,0,14.69,14.87,28.83
$GC,13252,0.63,79.2,846.0,7.0,523,13257,0.00,1.85,0.00,0.000,6,0.000,0.085,2402,1493,2736,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13569,0.64,84.4,827.0,5.6,534,13575,0.00,0.00,3.70,1.996,6,0.000,0.000,2402,1492,2716,0,0,0,0,0,0,28.83,28.83,14.14
$GC,13869,0.65,93.8,811.5,5.1,544,13908,0.00,1.88,27.60,1.087,4,0.000,0.110,2410,443,2678,0,0,0,0,1,0,28.83,14.72,14.06
$GC,14020,0.64,93.8,802.2,6.1,549,14026,0.00,1.75,0.00,0.000,6,0.000,0.062,2409,1499,2678,0,0,0,0,0,0,28.83,14.79,28.83
$GC,14354,0.64,98.9,783.8,5.6,560,14364,0.00,1.92,4.10,1.951,4,0.000,0.108,2418,446,2658,0,0,0,0,0,0,28.83,14.77,14.08
$GC,14406,0.65,101.6,781.7,5.8,561,14417,0.00,1.75,3.30,1.949,6,0.000,0.061,2418,1503,2645,0,0,0,0,0,0,28.83,14.82,14.08
$GC,14717,0.65,101.6,759.1,7.2,572,14718,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1500,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15016,0.65,101.6,734.9,8.5,582,15022,0.00,1.88,0.00,0.000,4,0.000,0.107,2425,435,2646,0,0,0,0,0,0,28.83,14.82,28.83
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$STATE,25502,end climb,SURFACE_DEPTH_REACHED
$STATE,25502,begin surface coast
$FINISH,0.8,1.024491
$STATE,25519,end surface coast,CONTROL_FINISHED_OK
$STATE,25519,begin surface
$SM_CCo,25537,174.57,0.750,0,0,1634,350.04
$SM_GC,0.80,6.72,1.77,174.57,0.091,0.049,0.750,161,1500,1634,-6.28,-1.19,350.04,0,0,0,0,0,0,14.85,14.88,14.13
$IRIDIUM_FIX,2425.21,-3759.98,260912,161614
$TT8_MAMPS,0.023219,0.023219
$HUMID,41.96
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.20
$XPDR_PINGS,1
$SC_FREEKB,7755168
$TM_FREEKB,7557760
$24V_AH,13.3,23.291
$10V_AH,12.9,0.000
$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,19.000,164.825,256.275,174.575,0.000,0.000,0.000,276.750,0.250,0.000,18.187,4189.686,17556.557,676.492,3539.151,223.500,0.000,2538.570,0.000,3074.658,0.000,0.549,0.000
$DEVICE_MAMPS,424.575,110.160,2229.210,749.700,0.000,0.000,0.000,167.535,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25525.000,6482.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.412,13.139,0.000,0.000
$MEM,344988
$DATA_FILE_SIZE,39998,1056
$CAP_FILE_SIZE,271385,0
$CFSIZE,260034560,252407808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.039, 22.0,1
$GPS,270912,041834,2433.177,-3802.142,29,0.9,29,-14.0