version: 66.11
glider: 191
mission: 5
dive: 279
start: 12 15 112 10 24 35
data:
$ID,191
$MISSION,5
$DIVE,279
$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,-4169.5186
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,151212,101134,2509.764,-3830.888,39,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-50.9
$GPS2,151212,102405,2509.793,-3830.827,16,1.1,16,-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,227.6,67128,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-56.80,0.000,6,0.000,0.000,158,1509,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.6,-8.6,4,104,9.73,1.88,0.00,0.000,4,0.413,0.074,1997,455,3465,1,0,0,0,0,0,13.84,14.51,28.83
$GC,312,-0.56,-97.3,41.0,-12.8,19,315,0.00,1.83,0.00,0.000,6,0.000,0.043,1991,1537,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,612,-0.53,-97.3,67.0,-9.1,39,613,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1538,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,912,-0.51,-97.3,91.5,-7.8,59,916,0.12,1.77,0.00,0.000,4,0.247,0.054,2013,2579,3464,0,0,0,0,0,0,14.40,14.56,28.83
$GC,1048,-0.52,-97.3,100.6,-6.4,68,1051,0.00,1.88,0.00,0.000,6,0.000,0.063,2013,1510,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1347,-0.52,-97.3,121.5,-7.1,88,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1646,-0.52,-97.3,143.0,-7.2,108,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1509,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.52,-97.3,161.9,-5.3,128,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1509,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.52,-97.3,175.7,-4.6,148,2250,0.00,1.88,0.00,0.000,4,0.000,0.086,2012,468,3465,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2412,-0.52,-97.3,186.2,-6.9,159,2416,0.00,1.77,0.00,0.000,6,0.000,0.043,2005,1523,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2711,-0.52,-97.3,205.8,-6.6,179,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.52,-97.3,225.6,-6.8,199,3015,0.00,1.80,0.00,0.000,4,0.000,0.055,1997,2577,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3102,-0.54,-97.3,232.0,-7.0,205,3106,0.00,1.85,0.00,0.000,6,0.000,0.065,1997,1523,3462,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3402,-0.54,-97.3,252.9,-7.1,224,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3703,-0.54,-97.3,275.0,-7.6,234,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4002,-0.54,-97.3,300.0,-8.4,244,4006,0.00,1.90,0.00,0.000,4,0.000,0.087,1997,462,3462,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4091,-0.54,-97.3,306.9,-9.0,247,4095,0.00,1.77,0.00,0.000,6,0.000,0.043,1989,1522,3462,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4392,-0.54,-97.3,331.7,-7.5,257,4396,0.00,1.77,0.00,0.000,4,0.000,0.056,1981,2576,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4526,-0.54,-97.3,341.0,-6.9,262,4531,0.15,1.85,0.00,0.000,6,0.228,0.066,2016,1525,3460,0,0,0,0,0,0,14.42,14.66,28.83
$GC,4844,-0.56,-97.3,356.7,-4.8,273,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5143,-0.58,-97.3,371.9,-5.3,283,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5443,-0.60,-97.3,390.0,-6.2,293,5446,0.00,1.90,0.00,0.000,4,0.000,0.088,2015,463,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5517,-0.61,-97.3,395.4,-7.0,296,5520,0.00,1.77,0.00,0.000,6,0.000,0.044,2011,1522,3459,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5834,-0.62,-97.3,417.0,-6.9,307,5838,0.00,1.80,0.00,0.000,4,0.000,0.057,2003,2580,3458,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5907,-0.64,-97.3,422.2,-6.9,310,5911,0.00,1.88,0.00,0.000,6,0.000,0.066,2003,1512,3455,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6222,-0.64,-97.3,443.9,-6.8,321,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1512,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6523,-0.64,-97.3,463.0,-6.4,331,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1512,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,-0.64,-97.3,482.1,-6.3,341,6825,0.00,1.83,0.00,0.000,4,0.000,0.057,1995,2576,3455,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6913,-0.65,-97.3,486.7,-6.1,344,6916,0.00,1.88,0.00,0.000,6,0.000,0.067,1995,1515,3455,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7211,-0.65,-97.3,506.1,-6.1,354,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7512,-0.65,-97.3,525.5,-6.6,364,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,-0.65,-97.3,545.8,-6.9,374,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1514,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.65,-97.3,565.7,-6.4,384,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,-0.65,-97.3,585.8,-6.9,394,8416,0.00,1.90,0.00,0.000,4,0.000,0.090,1995,467,3450,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8470,-0.65,-97.3,589.3,-7.3,396,8474,0.00,1.77,0.00,0.000,6,0.000,0.046,1987,1518,3450,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8772,-0.65,-97.3,613.5,-7.8,406,8776,0.00,1.80,0.00,0.000,4,0.000,0.057,1979,2576,3449,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8861,-0.65,-97.3,619.4,-7.8,409,8865,0.00,1.88,0.00,0.000,6,0.000,0.068,1979,1517,3449,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9162,-0.65,-97.3,644.7,-7.9,419,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,-0.65,-97.3,665.3,-6.4,429,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9763,-0.65,-97.3,682.4,-5.6,439,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1516,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10062,-0.65,-97.3,699.0,-5.4,449,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10363,-0.65,-97.3,717.6,-6.3,459,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10662,-0.65,-97.3,739.0,-7.6,469,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10963,-0.65,-97.3,763.8,-8.5,479,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11262,-0.65,-97.3,789.0,-8.3,489,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11562,-0.65,-97.3,811.3,-7.1,499,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,-0.65,-97.3,830.3,-6.1,509,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1517,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12162,-0.65,-97.3,849.3,-6.4,519,12166,0.00,1.85,0.00,0.000,4,0.000,0.060,1972,2576,3439,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12297,-0.65,-97.3,858.1,-6.5,524,12301,0.00,1.90,0.00,0.000,6,0.000,0.072,1972,1522,3438,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12612,-0.65,-97.3,878.6,-6.4,535,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12913,-0.65,-97.3,896.8,-6.0,545,12916,0.00,1.85,0.00,0.000,4,0.000,0.060,1964,2578,3437,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12987,-0.65,-97.3,901.3,-5.8,548,12991,0.00,1.92,0.00,0.000,6,0.000,0.071,1964,1510,3436,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13304,-0.64,-97.3,922.2,-7.0,559,13308,0.00,1.92,0.00,0.000,4,0.000,0.095,1964,466,3436,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13377,-0.62,-97.3,928.1,-7.7,562,13382,0.12,1.83,0.00,0.000,6,0.265,0.048,1980,1524,3435,0,0,0,0,0,0,14.07,14.48,28.83
$GC,13693,-0.62,-97.3,949.6,-6.7,573,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1525,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13993,-0.62,-97.3,968.7,-6.3,583,13996,0.00,1.85,0.00,0.000,4,0.000,0.061,1974,2579,3434,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14126,-0.62,-97.3,976.8,-6.1,588,14130,0.00,1.92,0.00,0.000,6,0.000,0.072,1975,1515,3433,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,14200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14200,begin apogee
$GC,14207,-0.18,0.0,981.1,-5.9,591,14331,0.57,0.00,114.60,2.083,6,0.204,0.000,2129,1396,3065,0,0,0,0,1,0,14.08,28.83,12.97
$STATE,14332,end apogee,CONTROL_FINISHED_OK
$STATE,14332,begin climb
$GC,14335,0.60,97.3,984.7,0.0,595,14474,0.80,2.05,127.78,2.066,4,0.119,0.101,2386,349,2666,0,0,0,0,1,0,14.10,14.00,12.93
$GC,14652,0.51,97.3,976.8,6.1,606,14656,0.00,1.83,0.00,0.000,6,0.000,0.048,2386,1408,2661,0,0,0,0,0,0,28.83,14.52,28.83
$GC,14969,0.47,121.7,960.1,5.0,617,15027,0.17,1.80,42.85,1.508,4,0.270,0.058,2348,2442,2566,0,0,0,0,1,0,14.33,14.44,13.31
$GC,15150,0.48,152.0,951.5,4.8,623,15211,0.00,1.90,51.15,1.638,6,0.000,0.075,2353,1394,2442,0,0,0,0,1,0,28.83,14.49,13.20
$GC,15523,0.47,173.9,932.3,5.1,636,15571,0.00,0.00,40.62,1.450,6,0.000,0.000,2353,1394,2353,0,0,0,0,1,0,28.83,28.83,13.31
$GC,15854,0.48,192.8,915.2,5.3,647,15898,0.00,0.00,37.30,1.370,6,0.000,0.000,2353,1393,2276,0,0,0,0,1,0,28.83,28.83,13.34
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$STATE,28074,end climb,SURFACE_DEPTH_REACHED
$STATE,28075,begin surface coast
$FINISH,0.7,1.025285
$STATE,28090,end surface coast,CONTROL_FINISHED_OK
$STATE,28090,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.05
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,7662976
$TM_FREEKB,5097632
$24V_AH,12.9,133.114
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,19.200,127.150,674.475,0.000,0.000,0.000,0.000,421.900,1.000,0.000,17.357,3172.327,21839.107,929.322,2431.343,535.957,0.000,2329.551,0.000,1879.279,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.181,13.013,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43338,1159
$CAP_FILE_SIZE,243577,0
$CFSIZE,260034560,220069888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.057,100.2,1
$GPS,151212,181528,2507.110,-3831.742,38,0.9,39,-14.1