version: 66.11
glider: 191
mission: 5
dive: 33
start: 9 25 112 16 2 30
data:
$ID,191
$MISSION,5
$DIVE,33
$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,-3697.6665
$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,37
$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
$GPS1,250912,155234,2433.082,-3801.279,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.1
$GPS2,250912,160159,2433.039,-3801.268,17,0.9,18,-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,257.8,1236,-26.4,-6.049,-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,20,-0.98,-29.8,0.0,0.0,0,78,0.00,0.00,-53.58,0.000,6,0.000,0.000,155,1498,3185,0,0,0,0,0,0,28.83,28.83,14.93
$GC,80,-0.98,-29.8,2.6,-6.6,3,96,8.62,1.85,0.00,0.000,4,0.426,0.080,1874,441,3187,0,0,0,0,0,0,14.50,14.69,28.83
$GC,322,-0.91,-29.8,51.0,-20.7,19,329,0.00,1.73,0.00,0.000,6,0.000,0.052,1869,1502,3190,0,0,0,0,0,0,28.83,14.81,28.83
$GC,628,-0.87,-29.8,92.0,-8.1,40,634,0.12,1.83,0.00,0.000,4,0.336,0.088,1902,442,3190,0,0,0,0,0,0,14.71,14.83,28.83
$GC,860,-0.83,-29.8,112.0,-7.9,55,866,0.00,1.70,0.00,0.000,6,0.000,0.050,1896,1502,3191,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1173,-0.82,-29.8,140.9,-9.2,76,1178,0.12,1.83,0.00,0.000,4,0.335,0.088,1931,437,3191,0,0,0,0,0,0,14.75,14.88,28.83
$GC,1404,-0.81,-29.8,162.3,-9.1,91,1409,0.00,1.70,0.00,0.000,6,0.000,0.050,1925,1499,3191,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1716,-0.82,-29.8,187.8,-7.8,112,1721,0.00,1.83,0.00,0.000,4,0.000,0.093,1926,436,3192,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1929,-0.81,-29.8,205.2,-7.7,126,1934,0.00,1.73,0.00,0.000,6,0.000,0.051,1918,1510,3191,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2246,-0.82,-29.8,228.9,-8.1,147,2252,0.00,1.83,0.00,0.000,4,0.000,0.092,1918,444,3191,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2430,-0.81,-29.8,245.0,-9.1,159,2436,0.00,1.70,0.00,0.000,6,0.000,0.053,1910,1497,3191,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2763,-0.81,-29.8,275.7,-9.6,172,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1498,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,-0.81,-29.8,304.8,-9.5,182,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1498,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.82,-29.8,331.6,-8.5,192,3368,0.00,1.80,0.00,0.000,4,0.000,0.094,1910,444,3188,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3415,-0.82,-29.8,334.6,-8.6,193,3420,0.00,1.70,0.00,0.000,6,0.000,0.054,1902,1500,3188,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3727,-0.82,-29.8,362.0,-8.1,204,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1501,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4026,-0.82,-29.8,387.6,-8.4,214,4031,0.00,1.83,0.00,0.000,4,0.000,0.095,1902,437,3185,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4179,-0.81,-29.8,403.0,-10.3,219,4185,0.10,1.77,0.00,0.000,6,0.304,0.053,1928,1504,3185,0,0,0,0,0,0,14.83,15.01,28.83
$GC,4514,-0.84,-29.8,430.0,-7.7,230,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1506,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,-0.87,-29.8,449.1,-6.2,240,4818,0.00,1.73,0.00,0.000,4,0.000,0.064,1922,2567,3182,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4966,-0.90,-29.8,459.4,-6.6,245,4971,0.00,1.77,0.00,0.000,6,0.000,0.076,1922,1500,3182,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5299,-0.93,-29.8,485.5,-7.9,256,5304,0.00,1.80,0.00,0.000,4,0.000,0.096,1922,440,3181,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5530,-0.93,-29.8,505.2,-9.6,263,5536,0.00,1.73,0.00,0.000,6,0.000,0.053,1914,1513,3180,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5843,-0.95,-29.8,536.1,-8.9,274,5848,0.00,1.85,0.00,0.000,4,0.000,0.096,1914,437,3178,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5984,-0.95,-29.8,548.5,-10.1,278,5989,0.00,1.73,0.00,0.000,6,0.000,0.055,1906,1506,3178,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6297,-0.97,-29.8,580.2,-9.8,289,6302,0.00,1.83,0.00,0.000,4,0.000,0.097,1906,444,3177,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6523,-0.97,-29.8,603.1,-11.1,296,6529,0.00,1.70,0.00,0.000,6,0.000,0.056,1898,1499,3176,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6842,-0.98,-29.8,635.8,-10.1,307,6847,0.00,1.80,0.00,0.000,4,0.000,0.097,1898,444,3175,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6944,-0.98,-29.8,646.0,-10.6,310,6949,0.00,1.70,0.00,0.000,6,0.000,0.057,1890,1499,3174,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7266,-0.98,-29.8,677.8,-9.5,321,7271,0.00,1.73,0.00,0.000,4,0.000,0.067,1882,2562,3173,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7301,-0.98,-29.8,680.8,-9.6,322,7306,0.00,1.83,0.00,0.000,6,0.000,0.078,1882,1506,3172,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7629,-0.98,-29.8,713.3,-9.6,333,7634,0.00,1.83,0.00,0.000,4,0.000,0.099,1882,442,3170,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7820,-0.96,-29.8,732.8,-10.9,339,7825,0.00,1.73,0.00,0.000,6,0.000,0.057,1874,1507,3170,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8143,-0.96,-29.8,764.3,-9.8,350,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1508,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,-0.96,-29.8,793.6,-9.6,360,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1508,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,-0.96,-29.8,824.4,-10.5,370,8748,0.00,1.85,0.00,0.000,4,0.000,0.099,1874,440,3167,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8909,-0.93,-29.8,841.4,-11.2,375,8914,0.00,1.73,0.00,0.000,6,0.000,0.057,1866,1500,3167,0,0,0,0,0,0,28.83,15.00,28.83
$GC,9226,-0.93,-29.8,871.7,-8.9,386,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1501,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9526,-0.93,-29.8,896.7,-8.5,396,9531,0.00,1.85,0.00,0.000,4,0.000,0.101,1866,436,3164,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9757,-0.90,-29.8,916.7,-9.5,403,9763,0.17,1.75,0.00,0.000,6,0.329,0.058,1893,1507,3163,0,0,0,0,0,0,14.75,14.98,28.83
$GC,10071,-0.92,-29.8,944.0,-8.2,414,10076,0.00,1.73,0.00,0.000,4,0.000,0.070,1888,2558,3161,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10194,-0.94,-29.8,954.2,-8.3,418,10199,0.00,1.80,0.00,0.000,6,0.000,0.082,1889,1495,3161,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,10495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10495,begin apogee
$GC,10499,-0.18,0.0,980.6,-8.8,428,10551,0.90,0.00,40.78,1.610,6,0.284,0.000,2121,1495,3062,0,0,0,0,1,0,14.75,28.83,13.78
$STATE,10553,end apogee,CONTROL_FINISHED_OK
$STATE,10553,begin climb
$GC,10554,0.98,29.8,981.9,0.0,429,10618,1.20,1.92,48.83,1.786,4,0.149,0.103,2505,442,2941,0,0,0,0,1,0,14.61,14.32,13.50
$GC,10743,0.96,56.3,978.4,2.4,436,10801,0.00,1.77,45.58,1.729,6,0.000,0.060,2505,1501,2832,0,0,0,0,1,0,28.83,14.64,13.50
$GC,11100,0.92,56.3,954.3,7.9,448,11105,0.00,1.77,0.00,0.000,4,0.000,0.070,2504,2557,2835,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11307,0.89,56.3,940.0,7.8,454,11314,0.17,1.83,0.00,0.000,6,0.353,0.083,2479,1497,2834,0,0,0,0,0,0,14.62,14.78,28.83
$GC,11614,0.87,56.3,917.6,6.3,465,11619,0.00,1.77,0.00,0.000,4,0.000,0.070,2478,2557,2831,0,0,0,0,0,0,28.83,14.86,28.83
$GC,11845,0.86,61.0,905.6,5.4,472,11857,0.00,1.83,3.50,2.069,6,0.000,0.083,2484,1490,2813,0,0,0,0,0,0,28.83,14.86,14.04
$GC,12157,0.85,68.0,888.7,5.1,483,12166,0.00,0.00,7.32,1.925,6,0.000,0.000,2484,1493,2785,0,0,0,0,0,0,28.83,28.83,14.57
$GC,12457,0.83,68.0,869.5,7.1,493,12462,0.00,1.85,0.00,0.000,4,0.000,0.106,2492,440,2788,0,0,0,0,0,0,28.83,14.83,28.83
$GC,12598,0.79,68.0,859.5,8.2,497,12604,0.20,1.75,0.00,0.000,6,0.334,0.061,2451,1499,2787,0,0,0,0,0,0,14.67,14.85,28.83
$GC,12912,0.79,68.0,833.7,7.9,508,12917,0.00,1.75,0.00,0.000,4,0.000,0.072,2450,2559,2786,0,0,0,0,0,0,28.83,14.90,28.83
$GC,12974,0.79,68.0,828.5,8.1,510,12979,0.00,1.80,0.00,0.000,6,0.000,0.085,2455,1501,2786,0,0,0,0,0,0,28.83,14.88,28.83
$GC,13307,0.79,68.0,802.6,7.5,521,13312,0.00,1.85,0.00,0.000,4,0.000,0.107,2464,447,2786,0,0,0,0,0,0,28.83,14.87,28.83
$GC,13459,0.77,68.0,790.6,7.8,526,13464,0.00,1.75,0.00,0.000,6,0.000,0.062,2464,1510,2786,0,0,0,0,0,0,28.83,14.92,28.83
$GC,13791,0.77,68.0,768.8,6.1,537,13797,0.00,1.75,0.00,0.000,4,0.000,0.072,2464,2565,2789,0,0,0,0,0,0,28.83,14.92,28.83
$GC,13898,0.77,69.4,763.5,5.9,540,13904,0.15,1.83,0.00,0.000,6,0.355,0.084,2443,1498,2786,0,0,0,0,0,0,14.71,14.90,28.83
$GC,14218,0.79,77.0,746.9,5.0,551,14252,0.00,0.00,26.65,1.053,6,0.000,0.000,2444,1498,2744,0,0,0,0,1,0,28.83,28.83,14.09
$GC,14548,0.81,77.0,726.4,6.8,562,14553,0.00,1.77,0.00,0.000,4,0.000,0.070,2443,2560,2747,0,0,0,0,0,0,28.83,14.83,28.83
$GC,14660,0.83,77.0,719.8,7.0,565,14665,0.00,1.83,0.00,0.000,6,0.000,0.083,2449,1496,2747,0,0,0,0,0,0,28.83,14.83,28.83
$GC,14973,0.84,77.0,693.2,8.4,576,14974,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1496,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15273,0.85,77.0,668.9,7.5,586,15278,0.00,1.85,0.00,0.000,4,0.000,0.105,2457,438,2747,0,0,0,0,0,0,28.83,14.85,28.83
$GC,15504,0.85,77.0,652.3,7.5,593,15509,0.00,1.75,0.00,0.000,6,0.000,0.060,2457,1504,2747,0,0,0,0,0,0,28.83,14.92,28.83
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$STATE,24839,end climb,SURFACE_DEPTH_REACHED
$STATE,24839,begin surface coast
$FINISH,0.0,1.024428
$STATE,24855,end surface coast,CONTROL_FINISHED_OK
$STATE,24855,begin surface
$SM_CCo,24870,179.95,0.777,0,0,1634,350.04
$SM_GC,0.76,6.93,0.00,179.95,0.088,0.000,0.777,158,1502,1634,-6.29,0.06,350.04,0,0,0,0,0,0,14.84,28.83,14.09
$IRIDIUM_FIX,2425.21,-3801.85,250912,070742
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.92
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,26.90
$XPDR_PINGS,19
$SC_FREEKB,7757472
$TM_FREEKB,7605408
$24V_AH,13.5,21.377
$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,19.225,149.900,231.500,179.950,0.000,0.000,0.000,337.225,4.750,0.000,19.825,4377.062,16503.867,627.746,3879.926,220.204,0.000,2641.309,0.000,3317.475,0.000,0.550,0.000
$DEVICE_MAMPS,426.105,107.100,2068.560,777.240,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24896.000,6336.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.251,13.101,0.000,0.000
$MEM,344940
$DATA_FILE_SIZE,36679,1029
$CAP_FILE_SIZE,272447,0
$CFSIZE,260034560,253063168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.039, 54.4,1
$GPS,250912,230122,2432.500,-3802.265,41,0.9,41,-14.0