version: 66.11
glider: 191
mission: 5
dive: 32
start: 9 25 112 8 4 13
data:
$ID,191
$MISSION,5
$DIVE,32
$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,-3696.0574
$T_RSLEEP,2
$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,21
$R_STBD_OVSHOOT,32
$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
$GPS1,250912,075404,2435.342,-3802.559,29,1.0,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-62.1
$GPS2,250912,080329,2435.396,-3802.491,18,0.9,19,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$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,180.8,4514,-13.5,-6.049,-18.55
$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,-0.60,-95.1,0.0,0.0,0,85,0.00,0.00,-60.85,0.000,6,0.000,0.000,159,1504,3451,0,0,0,0,0,0,28.83,28.83,14.95
$GC,87,-0.60,-95.1,4.1,-8.9,4,103,9.30,1.85,0.00,0.000,4,0.432,0.077,1992,431,3455,0,0,0,0,0,0,14.52,14.72,28.83
$GC,331,-0.51,-95.1,49.6,-15.3,20,336,0.15,1.75,0.00,0.000,6,0.275,0.053,2017,1504,3456,0,0,0,0,0,0,14.69,14.81,28.83
$GC,649,-0.47,-95.1,80.6,-9.4,41,654,0.00,1.73,0.00,0.000,4,0.000,0.062,2013,2563,3456,0,0,0,0,0,0,28.83,14.85,28.83
$GC,820,-0.44,-95.1,97.1,-9.3,52,827,0.12,1.80,0.00,0.000,6,0.256,0.073,2040,1490,3457,0,0,0,0,0,0,14.78,14.87,28.83
$GC,1134,-0.43,-95.1,123.1,-7.2,73,1139,0.00,1.75,0.00,0.000,4,0.000,0.061,2034,2563,3458,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1206,-0.43,-95.1,127.0,-6.2,77,1214,0.00,1.77,0.00,0.000,6,0.000,0.072,2034,1498,3459,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1512,-0.42,-95.1,147.4,-6.9,98,1517,0.00,1.80,0.00,0.000,4,0.000,0.094,2034,442,3458,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1589,-0.39,-95.1,153.8,-8.3,103,1596,0.08,1.75,0.00,0.000,6,0.230,0.052,2062,1495,3460,0,0,0,0,0,0,14.81,14.92,28.83
$GC,1908,-0.41,-95.1,173.1,-6.1,124,1913,0.00,1.83,0.00,0.000,4,0.000,0.096,2062,437,3459,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2075,-0.41,-95.1,184.8,-6.9,135,2081,0.00,1.73,0.00,0.000,6,0.000,0.052,2056,1511,3458,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2393,-0.42,-95.1,204.9,-7.0,156,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1507,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2693,-0.44,-95.1,229.3,-8.2,176,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1507,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2996,-0.46,-95.8,250.3,-6.0,196,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1507,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3294,-0.48,-97.3,265.2,-4.7,206,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1507,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3593,-0.50,-97.3,279.5,-4.9,216,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1507,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3894,-0.52,-97.3,295.3,-5.4,226,3899,0.00,1.83,0.00,0.000,4,0.000,0.097,2057,443,3454,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3936,-0.53,-97.3,297.4,-5.5,227,3941,0.00,1.70,0.00,0.000,6,0.000,0.055,2049,1497,3454,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4259,-0.55,-97.3,318.2,-6.5,238,4261,0.12,0.00,0.00,0.000,6,0.142,0.000,2001,1497,3455,0,0,0,0,0,0,15.00,28.83,28.83
$GC,4559,-0.52,-97.3,345.1,-9.2,248,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1497,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4859,-0.50,-97.3,370.1,-7.9,258,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1497,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,-0.47,-97.3,392.6,-7.4,268,5161,0.15,0.00,0.00,0.000,6,0.248,0.000,2035,1497,3452,0,0,0,0,0,0,14.91,28.83,28.83
$GC,5458,-0.47,-97.3,411.3,-6.3,278,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1497,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-0.47,-97.3,434.5,-8.3,288,5764,0.00,1.83,0.00,0.000,4,0.000,0.099,2035,440,3449,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5809,-0.47,-97.3,437.6,-8.7,289,5814,0.00,1.73,0.00,0.000,6,0.000,0.056,2030,1506,3449,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6121,-0.47,-97.3,465.6,-8.2,300,6126,0.00,1.73,0.00,0.000,4,0.000,0.067,2023,2565,3448,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6162,-0.47,-97.3,468.2,-8.0,301,6167,0.00,1.80,0.00,0.000,6,0.000,0.078,2023,1492,3447,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6485,-0.47,-97.3,495.0,-8.0,312,6491,0.00,1.80,0.00,0.000,4,0.000,0.099,2022,445,3446,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6612,-0.46,-97.3,505.8,-8.8,316,6617,0.00,1.73,0.00,0.000,6,0.000,0.056,2015,1510,3446,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6940,-0.46,-97.3,530.3,-7.0,327,6945,0.00,1.85,0.00,0.000,4,0.000,0.099,2015,440,3444,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7002,-0.45,-97.3,535.0,-7.1,329,7008,0.15,1.73,0.00,0.000,6,0.252,0.057,2041,1503,3444,0,0,0,0,0,0,14.88,15.01,28.83
$GC,7336,-0.46,-97.3,553.9,-5.6,340,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1504,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7636,-0.48,-97.3,571.8,-6.1,350,7641,0.00,1.85,0.00,0.000,4,0.000,0.101,2041,437,3442,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7687,-0.49,-97.3,573.9,-6.2,351,7692,0.00,1.73,0.00,0.000,6,0.000,0.057,2036,1500,3441,0,0,0,0,0,0,28.83,15.01,28.83
$GC,8001,-0.50,-97.3,593.9,-5.9,362,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1506,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8300,-0.51,-97.3,611.7,-6.0,372,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1501,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8600,-0.53,-97.3,630.5,-6.5,382,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1501,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8900,-0.54,-97.3,650.8,-6.9,392,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1501,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9200,-0.56,-97.3,670.7,-6.5,402,9205,0.00,1.85,0.00,0.000,4,0.000,0.103,2036,439,3437,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9271,-0.56,-97.3,675.1,-6.6,404,9277,0.00,1.77,0.00,0.000,6,0.000,0.059,2029,1498,3436,0,0,0,0,0,0,28.83,14.99,28.83
$GC,9595,-0.56,-97.3,693.7,-5.1,415,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1499,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9894,-0.57,-97.3,707.4,-4.6,425,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1498,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10194,-0.57,-97.3,722.1,-5.2,435,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1504,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10494,-0.57,-97.3,739.0,-5.6,445,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1499,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10794,-0.58,-97.3,758.3,-6.8,455,10800,0.00,1.85,0.00,0.000,4,0.000,0.105,2028,440,3431,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10830,-0.58,-97.3,760.7,-7.0,456,10836,0.00,1.77,0.00,0.000,6,0.000,0.061,2020,1494,3432,0,0,0,0,0,0,28.83,14.97,28.83
$GC,11158,-0.58,-97.3,785.3,-7.7,467,11163,0.00,1.77,0.00,0.000,4,0.000,0.070,2013,2568,3431,0,0,0,0,0,0,28.83,14.91,28.83
$GC,11325,-0.59,-97.3,796.3,-7.2,472,11331,0.00,1.83,0.00,0.000,6,0.000,0.083,2012,1494,3429,0,0,0,0,0,0,28.83,14.94,28.83
$GC,11643,-0.59,-97.3,818.8,-6.5,483,11648,0.00,1.83,0.00,0.000,4,0.000,0.106,2012,446,3429,0,0,0,0,0,0,28.83,14.90,28.83
$GC,11705,-0.59,-97.3,823.2,-6.8,485,11711,0.00,1.73,0.00,0.000,6,0.000,0.061,2005,1502,3428,0,0,0,0,0,0,28.83,14.96,28.83
$GC,12038,-0.59,-97.3,844.9,-6.6,496,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1503,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12337,-0.59,-97.3,865.3,-7.0,506,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1503,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12638,-0.59,-97.3,887.1,-7.6,516,12643,0.00,1.85,0.00,0.000,4,0.000,0.106,2004,447,3426,0,0,0,0,0,0,28.83,14.90,28.83
$GC,12724,-0.58,-97.3,892.6,-8.2,518,12731,0.00,1.77,0.00,0.000,6,0.000,0.063,1997,1495,3425,0,0,0,0,0,0,28.83,14.94,28.83
$GC,13031,-0.56,-97.3,920.2,-8.5,529,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1496,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13331,-0.55,-97.3,944.8,-7.9,539,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1496,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13630,-0.54,-97.3,967.0,-6.9,549,13636,0.00,1.77,0.00,0.000,4,0.000,0.073,1988,2564,3423,0,0,0,0,0,0,28.83,14.93,28.83
$GC,13682,-0.53,-97.3,969.1,-6.9,550,13687,0.00,1.83,0.00,0.000,6,0.000,0.086,1989,1497,3422,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,13842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13842,begin apogee
$GC,13846,-0.18,0.0,980.5,-6.2,556,13966,0.47,0.00,109.95,2.334,6,0.229,0.000,2122,1497,3062,0,0,0,0,1,0,14.77,28.83,13.27
$STATE,13968,end apogee,CONTROL_FINISHED_OK
$STATE,13968,begin climb
$GC,13970,0.60,97.3,982.4,0.0,560,14106,0.88,0.00,127.75,2.400,6,0.152,0.000,2378,1497,2663,0,0,0,0,1,0,14.14,28.83,13.19
$GC,14384,0.55,97.3,956.5,7.6,574,14389,0.00,1.83,0.00,0.000,4,0.000,0.068,2378,2571,2660,0,0,0,0,0,0,28.83,14.64,28.83
$GC,14477,0.50,97.3,949.7,7.4,577,14484,0.15,1.90,0.00,0.000,6,0.295,0.086,2356,1506,2659,0,0,0,0,0,0,14.57,14.67,28.83
$GC,14812,0.48,115.0,930.3,5.3,588,14859,0.00,1.88,33.75,1.416,4,0.000,0.071,2356,2562,2594,0,0,0,0,1,0,28.83,14.59,13.72
$GC,14902,0.47,130.8,925.4,5.4,591,14951,0.00,1.88,35.10,1.468,6,0.000,0.086,2361,1493,2529,0,0,0,0,1,0,28.83,14.62,13.56
$GC,15264,0.44,131.2,904.1,6.0,603,15269,0.00,1.88,0.00,0.000,4,0.000,0.112,2369,444,2526,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,27890,end climb,SURFACE_DEPTH_REACHED
$STATE,27890,begin surface coast
$FINISH,-0.2,1.013719
$STATE,27921,end surface coast,CONTROL_FINISHED_OK
$STATE,27922,begin surface
$SM_CCo,27936,89.20,0.783,0,0,1635,350.04
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$IRIDIUM_FIX,2429.95,-3804.77,250912,000008
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.48
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,27.00
$XPDR_PINGS,4
$SC_FREEKB,7757856
$TM_FREEKB,7615328
$24V_AH,13.2,21.067
$10V_AH,13.1,0.000
$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,18.650,158.325,512.250,89.200,0.000,0.000,0.000,340.150,1.000,0.000,20.073,3818.365,20523.496,856.872,3183.395,213.944,0.000,2629.997,0.000,2640.679,0.000,0.549,0.000
$DEVICE_MAMPS,432.225,112.455,2399.805,783.360,0.000,0.000,0.000,176.715,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27943.000,6335.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,13.101,0.000,0.000
$MEM,344916
$DATA_FILE_SIZE,40018,1131
$CAP_FILE_SIZE,273487,0
$CFSIZE,260034560,253202432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.052, 34.6,1
$GPS,250912,155234,2433.082,-3801.279,36,0.9,36,-14.0