version: 66.11
glider: 191
mission: 5
dive: 285
start: 12 17 112 12 37 36
data:
$ID,191
$MISSION,5
$DIVE,285
$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,-4177.0669
$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,48
$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
$GPS1,171212,122429,2451.227,-3836.815,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-53.2
$GPS2,171212,123706,2451.250,-3836.730,17,1.2,17,-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,226.7,31377,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-57.22,0.000,6,0.000,0.000,162,1518,3461,0,0,0,0,0,0,28.83,28.83,14.76
$GC,89,-0.60,-97.3,4.6,-9.9,4,101,9.93,0.00,0.00,0.000,6,0.420,0.000,1987,1517,3463,1,0,0,0,0,0,13.85,28.83,28.83
$GC,402,-0.57,-97.3,40.3,-9.0,25,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-0.54,-97.3,66.3,-8.9,45,706,0.00,1.92,0.00,0.000,4,0.000,0.087,1987,461,3465,0,0,0,0,0,0,28.83,14.38,28.83
$GC,763,-0.50,-97.3,72.3,-9.9,49,767,0.17,1.77,0.00,0.000,6,0.236,0.044,2021,1512,3465,0,0,0,0,0,0,14.20,14.49,28.83
$GC,1061,-0.50,-97.3,94.5,-7.3,69,1065,0.00,1.83,0.00,0.000,4,0.000,0.054,2016,2577,3466,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1228,-0.52,-97.3,107.7,-8.2,80,1231,0.00,1.88,0.00,0.000,6,0.000,0.063,2016,1515,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1526,-0.52,-97.3,131.2,-7.3,100,1530,0.00,1.83,0.00,0.000,4,0.000,0.054,2009,2578,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1677,-0.53,-97.3,141.1,-6.5,110,1681,0.00,1.88,0.00,0.000,6,0.000,0.064,2009,1513,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1977,-0.53,-97.3,158.4,-5.7,130,1981,0.00,1.90,0.00,0.000,4,0.000,0.087,2008,466,3467,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2097,-0.52,-97.3,166.9,-7.3,138,2101,0.00,1.77,0.00,0.000,6,0.000,0.044,2001,1520,3467,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2397,-0.52,-97.3,188.2,-6.7,158,2401,0.00,1.80,0.00,0.000,4,0.000,0.054,1993,2578,3467,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2501,-0.52,-97.3,194.8,-6.1,165,2505,0.00,1.88,0.00,0.000,6,0.000,0.064,1993,1511,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2802,-0.52,-97.3,211.5,-5.5,185,2805,0.00,1.83,0.00,0.000,4,0.000,0.054,1985,2578,3467,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2953,-0.52,-97.3,220.0,-5.8,195,2957,0.15,1.88,0.00,0.000,6,0.232,0.065,2019,1512,3466,0,0,0,0,0,0,14.35,14.60,28.83
$GC,3252,-0.54,-97.3,236.8,-6.3,215,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1511,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.56,-97.3,256.5,-6.4,232,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1511,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3854,-0.58,-97.3,274.2,-5.7,242,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.60,-97.3,290.2,-5.3,252,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1511,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-0.62,-97.3,306.6,-5.7,262,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4754,-0.64,-97.3,324.4,-6.0,272,4755,0.12,0.00,0.00,0.000,6,0.140,0.000,1973,1511,3463,0,0,0,0,0,0,14.78,28.83,28.83
$GC,5052,-0.62,-97.3,347.0,-7.5,282,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1511,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,-0.60,-97.3,367.3,-6.6,292,5356,0.00,1.83,0.00,0.000,4,0.000,0.056,1965,2578,3461,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5442,-0.59,-97.3,372.2,-6.5,295,5446,0.15,1.88,0.00,0.000,6,0.241,0.067,1998,1514,3460,0,0,0,0,0,0,14.38,14.65,28.83
$GC,5744,-0.59,-97.3,390.1,-5.8,305,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6042,-0.59,-97.3,409.5,-6.6,315,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1513,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6342,-0.59,-97.3,429.0,-6.3,325,6346,0.00,1.83,0.00,0.000,4,0.000,0.056,1993,2578,3459,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6447,-0.60,-97.3,435.7,-6.4,329,6451,0.00,1.88,0.00,0.000,6,0.000,0.067,1993,1514,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6762,-0.60,-97.3,456.3,-6.7,340,6766,0.00,1.90,0.00,0.000,4,0.000,0.090,1993,466,3458,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6837,-0.60,-97.3,461.9,-7.4,343,6841,0.00,1.77,0.00,0.000,6,0.000,0.047,1985,1519,3457,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7152,-0.60,-97.3,488.6,-8.9,354,7156,0.00,1.80,0.00,0.000,4,0.000,0.057,1977,2576,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7257,-0.60,-97.3,498.0,-9.0,358,7261,0.00,1.88,0.00,0.000,6,0.000,0.068,1977,1516,3456,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7574,-0.59,-97.3,524.7,-8.0,369,7578,0.00,1.83,0.00,0.000,4,0.000,0.057,1969,2576,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7676,-0.59,-97.3,532.3,-7.4,373,7681,0.12,1.88,0.00,0.000,6,0.244,0.068,1996,1517,3455,0,0,0,0,0,0,14.36,14.62,28.83
$GC,7995,-0.59,-97.3,549.4,-5.0,384,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1517,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8292,-0.59,-97.3,565.2,-5.5,394,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1517,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8593,-0.59,-97.3,583.6,-6.5,404,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1517,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,-0.59,-97.3,603.1,-6.5,414,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1517,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9193,-0.59,-97.3,623.2,-6.8,424,9196,0.00,1.83,0.00,0.000,4,0.000,0.058,1990,2575,3450,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9312,-0.60,-97.3,630.3,-6.8,428,9315,0.00,1.90,0.00,0.000,6,0.000,0.070,1991,1508,3450,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9612,-0.60,-97.3,650.0,-5.8,438,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1511,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,-0.60,-97.3,665.3,-4.8,448,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10212,-0.60,-97.3,679.2,-4.6,458,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1511,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.60,-97.3,693.0,-4.7,468,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1511,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,-0.60,-97.3,708.7,-5.6,478,10816,0.00,1.85,0.00,0.000,4,0.000,0.060,1983,2575,3445,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10932,-0.62,-97.3,714.9,-5.9,482,10936,0.00,1.90,0.00,0.000,6,0.000,0.071,1983,1517,3445,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11232,-0.62,-97.3,737.2,-7.4,492,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1516,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11532,-0.62,-97.3,758.3,-6.9,502,11536,0.00,1.85,0.00,0.000,4,0.000,0.060,1975,2577,3441,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11621,-0.62,-97.3,763.2,-6.7,505,11625,0.00,1.90,0.00,0.000,6,0.000,0.071,1974,1521,3442,0,0,0,0,0,0,28.83,14.51,28.83
$GC,11922,-0.62,-97.3,784.1,-6.5,515,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,-0.62,-97.3,802.7,-6.0,525,12227,0.00,1.85,0.00,0.000,4,0.000,0.060,1967,2578,3441,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12326,-0.62,-97.3,809.2,-6.1,529,12330,0.00,1.90,0.00,0.000,6,0.000,0.072,1967,1521,3440,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12642,-0.62,-97.3,829.4,-6.7,540,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12942,-0.60,-97.3,850.6,-7.1,550,12946,0.00,1.85,0.00,0.000,4,0.000,0.061,1959,2576,3438,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13137,-0.60,-97.3,864.1,-6.8,557,13141,0.15,1.92,0.00,0.000,6,0.246,0.073,1991,1513,3438,0,0,0,0,0,0,14.14,14.46,28.83
$GC,13456,-0.62,-97.3,881.7,-5.4,568,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1514,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13753,-0.63,-97.3,898.0,-5.6,578,13757,0.00,1.88,0.00,0.000,4,0.000,0.062,1986,2576,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13887,-0.65,-97.3,905.8,-5.9,583,13891,0.00,1.92,0.00,0.000,6,0.000,0.073,1986,1518,3436,0,0,0,0,0,0,28.83,14.33,28.83
$GC,14202,-0.65,-97.3,925.8,-6.7,594,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14502,-0.65,-97.3,946.2,-6.8,604,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1518,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14802,-0.65,-97.3,966.1,-6.5,614,14805,0.00,1.88,0.00,0.000,4,0.000,0.063,1979,2576,3433,0,0,0,0,0,0,28.83,14.46,28.83
$GC,14922,-0.66,-97.3,972.6,-6.2,618,14926,0.00,1.92,0.00,0.000,6,0.000,0.075,1979,1522,3432,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,15039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15039,begin apogee
$GC,15046,-0.18,0.0,980.8,-6.1,622,15170,0.55,0.00,115.55,2.090,6,0.203,0.000,2126,1391,3064,0,0,0,0,1,0,14.08,28.83,12.92
$STATE,15171,end apogee,CONTROL_FINISHED_OK
$STATE,15172,begin climb
$GC,15175,0.60,97.3,984.4,0.0,626,15315,0.80,2.05,128.43,2.075,4,0.119,0.103,2384,349,2666,0,0,0,0,1,0,14.09,13.98,12.90
$GC,15416,0.54,159.6,982.3,3.4,634,15513,0.00,1.85,87.45,1.932,6,0.000,0.051,2384,1406,2412,0,0,0,0,1,0,28.83,14.42,12.97
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$STATE,29319,end climb,SURFACE_DEPTH_REACHED
$STATE,29319,begin surface coast
$FINISH,0.2,1.025277
$STATE,29335,end surface coast,CONTROL_FINISHED_OK
$STATE,29335,begin surface
$SM_CCo,29416,0.00,0.000,0,0,1708,331.89
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$IRIDIUM_FIX,2446.56,-3834.39,171212,040448
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.93
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.80
$XPDR_PINGS,2
$SC_FREEKB,7660672
$TM_FREEKB,5032416
$24V_AH,12.9,135.949
$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
$DEVICE_SECS,19.450,120.325,632.350,0.000,0.000,0.000,0.000,421.950,0.500,0.000,19.071,3285.792,22961.180,868.435,2494.343,546.388,0.000,2288.833,0.000,1945.937,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.111,13.077,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43346,1206
$CAP_FILE_SIZE,249736,0
$CFSIZE,260034560,219217920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.042,129.0,1
$GPS,171212,204904,2448.384,-3838.155,30,0.8,31,-14.1