version: 66.11
glider: 191
mission: 5
dive: 282
start: 12 16 112 11 19 29
data:
$ID,191
$MISSION,5
$DIVE,282
$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,-4173.2925
$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,54
$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
$GPS1,161212,110604,2500.830,-3833.772,39,1.1,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-53.6
$GPS2,161212,111859,2500.884,-3833.736,18,1.1,18,-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,225.8,49916,-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,-57.80,0.000,6,0.000,0.000,148,1528,3461,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.6,-9.9,4,104,9.85,1.90,0.00,0.000,4,0.416,0.075,1995,460,3463,1,0,0,0,0,0,13.84,14.52,28.83
$GC,192,-0.56,-97.3,20.9,-10.1,11,196,0.00,1.77,0.00,0.000,6,0.000,0.042,1990,1510,3465,0,0,0,0,0,0,28.83,14.46,28.83
$GC,492,-0.53,-97.3,52.9,-9.0,31,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.50,-97.3,80.9,-10.7,51,794,0.15,0.00,0.00,0.000,6,0.240,0.000,2024,1512,3466,0,0,0,0,0,0,14.33,28.83,28.83
$GC,1092,-0.50,-97.3,105.4,-7.0,71,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.51,-97.3,120.3,-4.3,91,1396,0.00,1.90,0.00,0.000,4,0.000,0.087,2024,463,3466,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1468,-0.51,-97.3,124.1,-5.3,96,1471,0.00,1.77,0.00,0.000,6,0.000,0.042,2019,1520,3466,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1767,-0.51,-97.3,141.4,-5.9,116,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2066,-0.51,-97.3,162.1,-6.9,136,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1521,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,-0.53,-97.3,181.2,-5.7,156,2372,0.00,1.92,0.00,0.000,4,0.000,0.086,2018,463,3467,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2472,-0.53,-97.3,187.4,-5.9,163,2475,0.00,1.77,0.00,0.000,6,0.000,0.043,2011,1520,3466,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2772,-0.53,-97.3,204.6,-6.4,183,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3071,-0.53,-97.3,226.1,-7.1,203,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3372,-0.53,-97.3,244.8,-5.6,223,3375,0.00,1.90,0.00,0.000,4,0.000,0.086,2011,464,3466,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3431,-0.53,-97.3,248.6,-6.3,227,3435,0.00,1.77,0.00,0.000,6,0.000,0.043,2003,1520,3466,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3735,-0.53,-97.3,265.4,-5.8,238,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-0.53,-97.3,286.7,-7.8,248,4035,0.00,1.90,0.00,0.000,4,0.000,0.086,2003,463,3464,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4107,-0.53,-97.3,293.4,-8.8,251,4111,0.00,1.77,0.00,0.000,6,0.000,0.043,1995,1523,3465,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4421,-0.53,-97.3,318.3,-7.4,262,4425,0.00,1.90,0.00,0.000,4,0.000,0.086,1995,463,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4497,-0.53,-97.3,324.0,-7.6,265,4501,0.12,1.77,0.00,0.000,6,0.245,0.043,2014,1523,3463,0,0,0,0,0,0,14.45,14.77,28.83
$GC,4814,-0.54,-97.3,341.5,-5.2,276,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1525,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-0.56,-97.3,358.0,-5.7,286,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,-0.58,-97.3,376.6,-6.4,296,5416,0.00,1.77,0.00,0.000,4,0.000,0.054,2009,2576,3461,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5501,-0.60,-97.3,381.3,-6.2,299,5505,0.00,1.85,0.00,0.000,6,0.000,0.066,2010,1520,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5803,-0.61,-97.3,402.3,-6.7,309,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6102,-0.62,-97.3,422.5,-6.5,319,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6403,-0.64,-97.3,440.0,-5.5,329,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6703,-0.65,-97.3,455.6,-5.2,339,6706,0.00,1.80,0.00,0.000,4,0.000,0.055,2002,2578,3459,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6778,-0.67,-97.3,459.7,-5.5,342,6782,0.00,1.88,0.00,0.000,6,0.000,0.067,2002,1517,3458,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7092,-0.67,-97.3,479.0,-6.5,353,7096,0.00,1.83,0.00,0.000,4,0.000,0.055,1994,2578,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7181,-0.68,-97.3,484.2,-6.8,356,7185,0.00,1.88,0.00,0.000,6,0.000,0.067,1994,1514,3456,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7482,-0.68,-97.3,508.0,-7.7,366,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1514,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,-0.68,-97.3,531.2,-7.6,376,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1514,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8083,-0.68,-97.3,550.5,-6.0,386,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1514,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8382,-0.68,-97.3,567.1,-5.5,396,8386,0.00,1.90,0.00,0.000,4,0.000,0.090,1994,466,3453,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8456,-0.68,-97.3,572.0,-6.2,399,8460,0.00,1.77,0.00,0.000,6,0.000,0.046,1988,1520,3453,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8772,-0.68,-97.3,592.6,-6.8,410,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,-0.68,-97.3,615.1,-7.8,420,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,-0.68,-97.3,638.0,-7.4,430,9376,0.00,1.80,0.00,0.000,4,0.000,0.057,1978,2578,3450,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9521,-0.68,-97.3,647.3,-6.8,435,9525,0.00,1.88,0.00,0.000,6,0.000,0.068,1978,1520,3449,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9822,-0.68,-97.3,667.1,-6.2,445,9826,0.00,1.92,0.00,0.000,4,0.000,0.091,1978,463,3448,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9881,-0.67,-97.3,670.2,-6.4,447,9885,0.00,1.80,0.00,0.000,6,0.000,0.046,1972,1523,3448,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10182,-0.66,-97.3,690.2,-6.2,457,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1524,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10483,-0.64,-97.3,709.1,-6.5,467,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1529,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10782,-0.63,-97.3,730.5,-7.2,477,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1524,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11083,-0.62,-97.3,752.5,-7.2,487,11086,0.00,1.80,0.00,0.000,4,0.000,0.058,1962,2575,3445,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11171,-0.62,-97.3,757.5,-6.8,490,11175,0.00,1.90,0.00,0.000,6,0.000,0.070,1963,1512,3444,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11474,-0.60,-97.3,778.9,-6.6,500,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1512,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11773,-0.59,-97.3,797.9,-6.4,510,11774,0.15,0.00,0.00,0.000,6,0.252,0.000,1995,1512,3442,0,0,0,0,0,0,14.32,28.83,28.83
$GC,12072,-0.60,-97.3,816.0,-6.4,520,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12373,-0.61,-97.3,836.7,-7.2,530,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12672,-0.62,-97.3,859.1,-7.3,540,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12974,-0.64,-97.3,878.0,-5.8,550,12975,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13272,-0.65,-97.3,892.9,-4.9,560,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1512,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13574,-0.66,-97.3,907.9,-5.0,570,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13872,-0.68,-97.3,925.4,-6.2,580,13873,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1512,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14173,-0.69,-97.3,944.5,-6.2,590,14177,0.00,1.88,0.00,0.000,4,0.000,0.060,1990,2575,3435,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14292,-0.71,-97.3,951.2,-6.4,594,14295,0.00,1.92,0.00,0.000,6,0.000,0.073,1990,1513,3434,0,0,0,0,0,0,28.83,14.40,28.83
$GC,14593,-0.71,-97.3,969.8,-5.5,604,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1513,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14799,begin apogee
$GC,14806,-0.18,0.0,980.7,-5.1,611,14930,0.50,0.00,115.43,2.097,6,0.197,0.000,2125,1395,3062,0,0,0,0,1,0,14.11,28.83,12.94
$STATE,14931,end apogee,CONTROL_FINISHED_OK
$STATE,14931,begin climb
$GC,14935,0.60,97.3,984.0,0.0,615,15075,0.80,2.05,128.20,2.075,4,0.123,0.102,2382,349,2666,0,0,0,0,1,0,14.09,14.01,12.93
$GC,15296,0.53,109.7,974.7,5.5,627,15335,0.00,1.83,29.35,1.122,6,0.000,0.049,2382,1408,2616,0,0,0,0,1,0,28.83,14.54,13.30
$GC,15629,0.50,140.8,957.2,4.7,638,15691,0.00,2.03,51.90,1.658,4,0.000,0.101,2389,348,2490,0,0,0,0,1,0,28.83,14.29,13.24
$GC,15746,0.43,167.1,951.9,4.9,642,15806,0.25,1.83,47.58,1.580,6,0.249,0.048,2332,1403,2380,0,0,0,0,1,0,14.21,14.46,13.14
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$STATE,29337,end climb,SURFACE_DEPTH_REACHED
$STATE,29337,begin surface coast
$FINISH,-0.1,1.013697
$STATE,29367,end surface coast,CONTROL_FINISHED_OK
$STATE,29367,begin surface
$SM_CCo,29387,22.12,0.714,0,0,1756,320.12
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$TT8_MAMPS,0.023968,0.023968
$HUMID,53.58
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$TCM_TEMP,25.80
$XPDR_PINGS,5
$SC_FREEKB,7661824
$TM_FREEKB,5064864
$24V_AH,12.9,134.531
$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,19.175,100.875,613.375,22.125,0.000,0.000,0.000,446.750,1.250,0.000,19.785,3285.798,22957.826,866.668,2529.724,531.572,0.000,2316.305,0.000,1950.757,0.000,0.549,0.000
$DEVICE_MAMPS,416.160,117.045,2096.865,713.745,0.000,0.000,0.000,170.595,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29417.000,7004.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.157,13.052,0.000,0.000
$MEM,345676
$DATA_FILE_SIZE,43399,1213
$CAP_FILE_SIZE,247478,0
$CFSIZE,260034560,219643904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.042,130.1,1
$GPS,161212,193104,2457.799,-3834.950,40,1.0,40,-14.1