version: 66.11
glider: 191
mission: 5
dive: 280
start: 12 15 112 18 27 53
data:
$ID,191
$MISSION,5
$DIVE,280
$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,-4170.7764
$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,23
$R_STBD_OVSHOOT,50
$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
$GPS1,151212,181528,2507.110,-3831.742,38,0.9,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.6
$GPS2,151212,182723,2507.128,-3831.722,16,1.5,16,-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,228.3,61968,-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,-60.35,0.000,6,0.000,0.000,156,1531,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,3.7,-6.5,4,104,9.73,1.90,0.00,0.000,4,0.412,0.073,1995,461,3462,1,0,0,0,0,0,13.85,14.51,28.83
$GC,297,-0.56,-97.3,30.0,-10.7,18,301,0.00,1.77,0.00,0.000,6,0.000,0.041,1990,1514,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,597,-0.53,-97.3,57.5,-10.0,38,599,0.12,0.00,0.00,0.000,6,0.259,0.000,2016,1516,3464,0,0,0,0,0,0,14.37,28.83,28.83
$GC,897,-0.53,-97.3,84.1,-8.2,58,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1516,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1197,-0.53,-97.3,105.5,-6.8,78,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1516,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1497,-0.53,-97.3,121.2,-4.5,98,1501,0.00,1.90,0.00,0.000,4,0.000,0.085,2016,463,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1603,-0.53,-97.3,126.6,-5.3,105,1606,0.00,1.77,0.00,0.000,6,0.000,0.042,2011,1518,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1901,-0.53,-97.3,144.7,-6.4,125,1905,0.00,1.80,0.00,0.000,4,0.000,0.054,2003,2577,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2099,-0.53,-97.3,157.8,-6.5,138,2103,0.00,1.88,0.00,0.000,6,0.000,0.063,2003,1510,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2398,-0.53,-97.3,176.1,-5.7,158,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1510,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2697,-0.53,-97.3,195.6,-7.3,178,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1507,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-0.53,-97.3,219.7,-8.2,198,3001,0.00,1.88,0.00,0.000,4,0.000,0.086,2003,468,3465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3087,-0.52,-97.3,227.3,-8.6,204,3091,0.00,1.77,0.00,0.000,6,0.000,0.044,1995,1523,3465,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3387,-0.52,-97.3,248.0,-6.6,224,3390,0.00,1.80,0.00,0.000,4,0.000,0.055,1987,2579,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3461,-0.52,-97.3,252.8,-6.3,228,3466,0.12,1.85,0.00,0.000,6,0.231,0.065,2014,1521,3465,0,0,0,0,0,0,14.41,14.64,28.83
$GC,3780,-0.54,-97.3,271.1,-5.9,239,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4077,-0.56,-97.3,289.6,-6.1,249,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4378,-0.57,-97.3,306.6,-5.5,259,4382,0.00,1.90,0.00,0.000,4,0.000,0.086,2015,467,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4481,-0.57,-97.3,313.2,-6.3,263,4485,0.00,1.77,0.00,0.000,6,0.000,0.044,2010,1527,3462,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4799,-0.58,-97.3,332.9,-6.4,274,4803,0.00,1.77,0.00,0.000,4,0.000,0.056,2001,2574,3461,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4886,-0.60,-97.3,337.7,-6.4,277,4890,0.00,1.85,0.00,0.000,6,0.000,0.067,2002,1520,3461,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5188,-0.60,-97.3,358.9,-6.7,287,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,-0.60,-97.3,377.2,-5.6,297,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-0.60,-97.3,392.5,-4.9,307,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6088,-0.60,-97.3,409.2,-5.8,317,6091,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2576,3458,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6177,-0.60,-97.3,413.7,-6.0,320,6181,0.00,1.88,0.00,0.000,6,0.000,0.067,1994,1513,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6477,-0.60,-97.3,433.7,-6.5,330,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1513,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6777,-0.60,-97.3,451.2,-5.6,340,6781,0.00,1.90,0.00,0.000,4,0.000,0.089,1994,464,3456,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6851,-0.60,-97.3,456.1,-6.4,343,6855,0.00,1.77,0.00,0.000,6,0.000,0.044,1986,1518,3456,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7168,-0.60,-97.3,479.8,-7.9,354,7171,0.00,1.80,0.00,0.000,4,0.000,0.057,1978,2576,3455,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7286,-0.60,-97.3,488.5,-8.4,358,7290,0.00,1.88,0.00,0.000,6,0.000,0.068,1978,1515,3455,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7587,-0.60,-97.3,514.9,-8.2,368,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1514,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7887,-0.59,-97.3,537.4,-7.2,378,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8187,-0.59,-97.3,559.1,-7.2,388,8191,0.00,1.83,0.00,0.000,4,0.000,0.056,1971,2578,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8276,-0.59,-97.3,564.6,-7.3,391,8280,0.00,1.88,0.00,0.000,6,0.000,0.067,1972,1518,3452,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8577,-0.57,-97.3,589.3,-7.9,401,8579,0.12,0.00,0.00,0.000,6,0.256,0.000,1998,1518,3451,0,0,0,0,0,0,14.45,28.83,28.83
$GC,8878,-0.58,-97.3,610.5,-7.1,411,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,-0.59,-97.3,630.1,-6.2,421,9181,0.00,1.83,0.00,0.000,4,0.000,0.057,1993,2577,3449,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9283,-0.61,-97.3,636.2,-5.9,425,9287,0.00,1.88,0.00,0.000,6,0.000,0.069,1993,1521,3449,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9599,-0.61,-97.3,653.7,-5.4,436,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9898,-0.61,-97.3,670.4,-5.7,446,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10197,-0.61,-97.3,686.7,-5.2,456,10201,0.00,1.95,0.00,0.000,4,0.000,0.092,1993,458,3446,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10286,-0.61,-97.3,691.3,-5.8,459,10289,0.00,1.80,0.00,0.000,6,0.000,0.047,1985,1519,3446,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10588,-0.61,-97.3,711.3,-6.8,469,10592,0.00,1.80,0.00,0.000,4,0.000,0.057,1977,2575,3445,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10706,-0.61,-97.3,718.7,-7.2,473,10710,0.00,1.88,0.00,0.000,6,0.000,0.070,1977,1520,3445,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11007,-0.61,-97.3,743.1,-7.8,483,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11307,-0.61,-97.3,763.4,-6.3,493,11311,0.00,1.83,0.00,0.000,4,0.000,0.058,1969,2575,3442,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11396,-0.61,-97.3,767.7,-5.8,496,11400,0.00,1.90,0.00,0.000,6,0.000,0.070,1969,1514,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11700,-0.60,-97.3,785.9,-5.7,506,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1514,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11997,-0.60,-97.3,804.6,-6.5,516,12000,0.00,1.92,0.00,0.000,4,0.000,0.093,1969,465,3440,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12073,-0.58,-97.3,810.3,-7.4,519,12077,0.17,1.80,0.00,0.000,6,0.244,0.047,2000,1518,3440,0,0,0,0,0,0,14.19,14.60,28.83
$GC,12389,-0.60,-97.3,831.0,-6.7,530,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12688,-0.62,-97.3,851.7,-7.0,540,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12987,-0.63,-97.3,871.8,-6.5,550,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13289,-0.65,-97.3,888.9,-5.3,560,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13587,-0.67,-97.3,904.7,-5.3,570,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13888,-0.69,-97.3,922.2,-6.2,580,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14187,-0.71,-97.3,942.7,-7.1,590,14189,0.12,0.00,0.00,0.000,6,0.148,0.000,1960,1520,3434,0,0,0,0,0,0,14.64,28.83,28.83
$GC,14488,-0.69,-97.3,968.4,-8.6,600,14492,0.00,1.85,0.00,0.000,4,0.000,0.060,1952,2579,3434,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14636,-0.68,-97.3,979.7,-8.3,605,14640,0.00,1.92,0.00,0.000,6,0.000,0.072,1952,1515,3433,0,0,0,0,0,0,28.83,14.43,28.83
$STATE,14664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14664,begin apogee
$GC,14671,-0.18,0.0,983.3,-8.1,606,14796,0.68,0.00,116.20,2.098,6,0.223,0.000,2128,1396,3062,0,0,0,0,1,0,14.01,28.83,12.95
$STATE,14797,end apogee,CONTROL_FINISHED_OK
$STATE,14797,begin climb
$GC,14801,0.60,97.3,988.9,0.0,610,14937,0.80,0.00,127.75,2.099,6,0.119,0.000,2378,1395,2666,0,0,0,0,1,0,14.09,28.83,12.92
$GC,15223,0.57,132.6,981.8,4.6,625,15288,0.00,1.90,55.85,1.716,4,0.000,0.060,2378,2454,2522,0,0,0,0,1,0,28.83,14.29,13.18
$GC,15403,0.49,132.6,972.4,6.1,631,15407,0.17,1.92,0.00,0.000,6,0.274,0.076,2349,1400,2521,0,0,0,0,0,0,14.24,14.43,28.83
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$STATE,29382,end climb,SURFACE_DEPTH_REACHED
$STATE,29382,begin surface coast
$FINISH,0.6,1.025281
$STATE,29397,end surface coast,CONTROL_FINISHED_OK
$STATE,29398,begin surface
$SM_CCo,29478,0.00,0.000,0,0,1665,342.68
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$TT8_MAMPS,0.023219,0.023219
$HUMID,53.46
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.80
$XPDR_PINGS,3
$SC_FREEKB,7662592
$TM_FREEKB,5086976
$24V_AH,12.9,133.589
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,19.075,115.725,676.300,0.000,0.000,0.000,0.000,394.750,0.750,0.000,17.469,3317.531,22876.131,932.184,2482.193,571.603,0.000,2339.873,0.000,1961.929,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29446.000,6820.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.158,13.030,0.000,0.000
$MEM,345676
$DATA_FILE_SIZE,43299,1214
$CAP_FILE_SIZE,252570,0
$CFSIZE,260034560,219922432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.047,108.5,1
$GPS,161212,024029,2504.321,-3832.861,36,0.8,36,-14.1