version: 66.11
glider: 191
mission: 5
dive: 283
start: 12 16 112 19 43 35
data:
$ID,191
$MISSION,5
$DIVE,283
$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,-4174.5493
$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,46
$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
$GPS1,161212,193104,2457.799,-3834.950,40,1.0,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-57.3
$GPS2,161212,194305,2457.814,-3834.899,15,1.1,15,-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,222.2,43912,-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,-57.58,0.000,6,0.000,0.000,155,1518,3462,0,0,0,0,0,0,28.83,28.83,14.78
$GC,89,-0.60,-97.3,4.6,-9.9,4,104,9.80,1.88,0.00,0.000,4,0.417,0.074,1997,461,3467,1,0,0,0,0,0,13.85,14.52,28.83
$GC,255,-0.56,-97.3,28.1,-10.5,15,258,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1520,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,552,-0.54,-97.3,56.6,-10.3,35,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.51,-97.3,86.8,-9.7,55,854,0.12,0.00,0.00,0.000,6,0.253,0.000,2018,1521,3466,0,0,0,0,0,0,14.40,28.83,28.83
$GC,1152,-0.51,-97.3,110.5,-7.5,75,1156,0.00,1.92,0.00,0.000,4,0.000,0.086,2018,464,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1286,-0.51,-97.3,121.5,-7.7,84,1290,0.00,1.77,0.00,0.000,6,0.000,0.043,2013,1520,3467,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1587,-0.51,-97.3,139.8,-5.1,104,1590,0.00,1.83,0.00,0.000,4,0.000,0.055,2002,2580,3467,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1692,-0.51,-97.3,144.5,-4.5,111,1696,0.00,1.88,0.00,0.000,6,0.000,0.063,2005,1514,3467,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1992,-0.51,-97.3,157.4,-5.3,131,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1513,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.51,-97.3,176.8,-7.1,151,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1510,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.51,-97.3,200.3,-8.1,171,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1513,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.51,-97.3,221.7,-6.8,191,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1513,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-0.51,-97.3,243.7,-7.4,211,3196,0.00,1.90,0.00,0.000,4,0.000,0.087,2005,460,3467,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3298,-0.51,-97.3,251.7,-7.6,218,3301,0.00,1.77,0.00,0.000,6,0.000,0.044,1997,1520,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3612,-0.51,-97.3,272.1,-6.3,229,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-0.51,-97.3,291.2,-6.3,239,3916,0.00,1.80,0.00,0.000,4,0.000,0.054,1989,2580,3465,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4017,-0.51,-97.3,298.0,-6.5,243,4021,0.15,1.85,0.00,0.000,6,0.226,0.065,2023,1520,3465,0,0,0,0,0,0,14.40,14.66,28.83
$GC,4334,-0.53,-97.3,316.9,-6.2,254,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.56,-97.3,334.4,-5.5,264,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.59,-97.3,349.5,-4.8,274,4936,0.00,1.90,0.00,0.000,4,0.000,0.088,2027,466,3462,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5021,-0.60,-97.3,353.7,-5.3,277,5025,0.00,1.77,0.00,0.000,6,0.000,0.045,2019,1523,3462,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5325,-0.62,-97.3,368.1,-4.5,287,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1524,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.65,-97.3,382.4,-5.0,297,5627,0.12,1.83,0.00,0.000,4,0.137,0.057,1962,2580,3460,0,0,0,0,0,0,14.76,14.68,28.83
$GC,5727,-0.65,-97.3,389.7,-7.0,301,5731,0.00,1.88,0.00,0.000,6,0.000,0.066,1962,1516,3460,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6044,-0.62,-97.3,418.0,-9.5,312,6048,0.00,1.90,0.00,0.000,4,0.000,0.089,1962,463,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6117,-0.58,-97.3,425.9,-10.4,315,6122,0.17,1.77,0.00,0.000,6,0.249,0.045,1994,1520,3460,0,0,0,0,0,0,14.33,14.71,28.83
$GC,6434,-0.58,-97.3,450.5,-7.1,326,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6732,-0.58,-97.3,467.8,-5.2,336,6735,0.00,1.80,0.00,0.000,4,0.000,0.057,1988,2577,3458,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6822,-0.58,-97.3,471.3,-4.8,339,6825,0.00,1.88,0.00,0.000,6,0.000,0.067,1989,1512,3457,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7122,-0.58,-97.3,488.4,-5.9,349,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1512,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.58,-97.3,509.5,-7.4,359,7425,0.00,1.90,0.00,0.000,4,0.000,0.090,1988,463,3456,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7481,-0.58,-97.3,513.3,-7.8,361,7484,0.00,1.77,0.00,0.000,6,0.000,0.045,1981,1520,3455,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7782,-0.58,-97.3,537.3,-7.4,371,7785,0.00,1.80,0.00,0.000,4,0.000,0.056,1973,2577,3454,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7871,-0.58,-97.3,542.9,-7.5,374,7874,0.00,1.88,0.00,0.000,6,0.000,0.067,1973,1515,3454,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8173,-0.57,-97.3,567.5,-8.1,384,8175,0.12,0.00,0.00,0.000,6,0.257,0.000,1999,1514,3453,0,0,0,0,0,0,14.45,28.83,28.83
$GC,8472,-0.58,-97.3,586.9,-6.1,394,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,-0.59,-97.3,606.3,-6.6,404,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,-0.60,-97.3,625.0,-6.0,414,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,-0.62,-97.3,641.8,-5.3,424,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9672,-0.63,-97.3,658.8,-5.9,434,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9973,-0.64,-97.3,678.7,-6.8,444,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,-0.66,-97.3,699.6,-6.7,454,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10573,-0.67,-97.3,717.1,-5.4,464,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1514,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10872,-0.68,-97.3,733.0,-5.3,474,10876,0.00,1.92,0.00,0.000,4,0.000,0.093,1999,468,3446,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10961,-0.68,-97.3,737.7,-6.0,477,10965,0.00,1.80,0.00,0.000,6,0.000,0.047,1994,1524,3445,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11263,-0.68,-97.3,756.6,-5.8,487,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1525,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11562,-0.68,-97.3,774.0,-5.9,497,11565,0.00,1.83,0.00,0.000,4,0.000,0.059,1986,2580,3443,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11668,-0.69,-97.3,780.6,-6.3,501,11672,0.00,1.90,0.00,0.000,6,0.000,0.070,1986,1517,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11982,-0.69,-97.3,803.3,-7.5,512,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1517,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12282,-0.69,-97.3,825.5,-7.3,522,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1517,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12581,-0.69,-97.3,845.0,-6.1,532,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1517,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12883,-0.69,-97.3,861.2,-5.2,542,12887,0.00,1.95,0.00,0.000,4,0.000,0.094,1986,463,3439,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12941,-0.69,-97.3,863.6,-5.3,544,12945,0.00,1.83,0.00,0.000,6,0.000,0.047,1978,1524,3439,0,0,0,0,0,0,28.83,14.58,28.83
$GC,13242,-0.69,-97.3,880.6,-5.6,554,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13542,-0.69,-97.3,902.5,-7.9,564,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13842,-0.69,-97.3,929.3,-8.9,574,13843,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1525,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14142,-0.69,-97.3,953.1,-7.5,584,14143,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14442,-0.69,-97.3,973.6,-6.6,594,14445,0.00,1.85,0.00,0.000,4,0.000,0.061,1970,2580,3435,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,14544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14544,begin apogee
$GC,14553,-0.18,0.0,980.0,-6.1,598,14680,0.57,0.00,116.40,2.092,6,0.208,0.000,2124,1393,3062,0,0,0,0,1,0,14.07,28.83,12.93
$STATE,14681,end apogee,CONTROL_FINISHED_OK
$STATE,14682,begin climb
$GC,14684,0.60,97.3,983.4,0.0,602,14821,0.85,0.00,128.00,2.096,6,0.125,0.000,2381,1393,2667,0,0,0,0,1,0,14.11,28.83,12.93
$GC,15118,0.55,113.3,971.0,5.4,617,15162,0.00,1.88,33.92,1.278,4,0.000,0.059,2382,2456,2601,0,0,0,0,1,0,28.83,14.47,13.28
$GC,15266,0.51,139.2,964.2,5.0,621,15326,0.15,1.92,46.62,1.571,6,0.291,0.076,2361,1398,2495,0,0,0,0,1,0,14.26,14.49,13.20
$GC,15642,0.51,170.3,945.6,4.7,634,15701,0.00,0.00,51.72,1.655,6,0.000,0.000,2360,1398,2367,0,0,0,0,1,0,28.83,28.83,13.24
$GC,16004,0.49,178.4,925.9,5.7,646,16020,0.00,1.88,12.00,1.298,4,0.000,0.060,2360,2461,2340,0,0,0,0,0,0,28.83,14.59,14.12
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$STATE,29442,end climb,SURFACE_DEPTH_REACHED
$STATE,29442,begin surface coast
$FINISH,0.2,1.025251
$STATE,29458,end surface coast,CONTROL_FINISHED_OK
$STATE,29458,begin surface
$SM_CCo,29479,10.18,0.747,0,0,1756,320.12
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$IRIDIUM_FIX,2453.69,-3834.02,161212,111121
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.78
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,7661440
$TM_FREEKB,5054272
$24V_AH,12.9,134.997
$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
$DEVICE_SECS,19.150,130.975,629.850,10.175,0.000,0.000,0.000,394.875,1.000,0.000,16.374,3328.542,22920.297,900.646,2486.056,564.110,0.000,2314.625,0.000,1965.209,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29505.000,6778.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.156,13.033,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43361,1213
$CAP_FILE_SIZE,256472,0
$CFSIZE,260034560,219496448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.034,136.9,1
$GPS,171212,035629,2454.701,-3836.017,38,0.9,38,-14.1