version: 66.11
glider: 191
mission: 5
dive: 47
start: 9 29 112 5 11 30
data:
$ID,191
$MISSION,5
$DIVE,47
$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,350
$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,-3859.6028
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,40
$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
$GPS1,290912,050204,2432.885,-3800.375,34,0.8,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.6
$GPS2,290912,051100,2432.856,-3800.384,15,1.3,16,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$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,267.3,2735,-26.4,-6.049,-30.00
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.98,-29.8,0.0,0.0,0,77,0.00,0.00,-53.53,0.000,6,0.000,0.000,157,1498,3185,0,0,0,0,0,0,28.83,28.83,14.91
$GC,79,-0.98,-29.8,2.6,-6.4,3,92,8.65,1.88,0.00,0.000,4,0.424,0.080,1873,436,3186,0,0,0,0,0,0,14.47,14.68,28.83
$GC,236,-0.91,-29.8,33.5,-20.0,14,241,0.12,1.80,0.00,0.000,6,0.348,0.050,1888,1499,3189,0,0,0,0,0,0,14.58,14.78,28.83
$GC,535,-0.88,-29.8,78.0,-12.1,34,539,0.00,1.80,0.00,0.000,4,0.000,0.060,1880,2569,3190,0,0,0,0,0,0,28.83,14.83,28.83
$GC,761,-0.87,-29.8,98.5,-8.2,49,764,0.00,1.85,0.00,0.000,6,0.000,0.070,1882,1501,3191,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1060,-0.85,-29.8,123.0,-8.0,69,1064,0.12,1.85,0.00,0.000,4,0.324,0.088,1909,444,3191,0,0,0,0,0,0,14.71,14.83,28.83
$GC,1285,-0.83,-29.8,142.8,-8.9,84,1288,0.00,1.77,0.00,0.000,6,0.000,0.048,1903,1509,3191,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1585,-0.83,-29.8,167.7,-8.6,104,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1510,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.83,-29.8,194.9,-8.5,124,1888,0.00,1.75,0.00,0.000,4,0.000,0.058,1895,2556,3191,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2110,-0.84,-29.8,213.0,-8.1,139,2114,0.00,1.83,0.00,0.000,6,0.000,0.069,1895,1498,3191,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2410,-0.84,-29.8,239.9,-9.5,159,2413,0.00,1.77,0.00,0.000,4,0.000,0.057,1886,2556,3191,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2545,-0.84,-29.8,252.2,-9.3,168,2549,0.12,1.83,0.00,0.000,6,0.308,0.070,1912,1499,3191,0,0,0,0,0,0,14.76,14.92,28.83
$GC,2860,-0.85,-29.8,284.8,-11.3,179,2864,0.00,1.85,0.00,0.000,4,0.000,0.090,1915,445,3190,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3085,-0.85,-29.8,310.8,-11.2,187,3088,0.00,1.75,0.00,0.000,6,0.000,0.050,1909,1499,3190,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3401,-0.87,-29.8,340.4,-9.2,198,3404,0.00,1.88,0.00,0.000,4,0.000,0.091,1909,437,3188,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3626,-0.85,-29.8,361.4,-9.2,206,3629,0.00,1.77,0.00,0.000,6,0.000,0.050,1901,1503,3188,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3940,-0.85,-29.8,388.7,-8.9,217,3943,0.00,1.88,0.00,0.000,4,0.000,0.092,1901,443,3187,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4166,-0.84,-29.8,412.6,-10.8,225,4169,0.00,1.77,0.00,0.000,6,0.000,0.051,1893,1508,3186,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4480,-0.84,-29.8,445.2,-10.5,236,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1509,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-0.84,-29.8,475.3,-9.8,246,4783,0.00,1.88,0.00,0.000,4,0.000,0.092,1893,446,3183,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4899,-0.82,-29.8,486.0,-10.2,250,4903,0.17,1.77,0.00,0.000,6,0.317,0.053,1921,1507,3182,0,0,0,0,0,0,14.75,14.99,28.83
$GC,5201,-0.85,-29.8,511.5,-7.4,260,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1508,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.88,-29.8,533.3,-7.2,270,5504,0.00,1.90,0.00,0.000,4,0.000,0.094,1921,437,3180,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5619,-0.88,-29.8,542.2,-8.5,274,5622,0.00,1.77,0.00,0.000,6,0.000,0.052,1916,1499,3180,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5920,-0.90,-29.8,567.4,-8.3,284,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1500,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6220,-0.93,-29.8,593.2,-8.5,294,6224,0.00,1.77,0.00,0.000,4,0.000,0.064,1908,2556,3177,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6355,-0.96,-29.8,605.7,-9.2,299,6358,0.00,1.85,0.00,0.000,6,0.000,0.074,1907,1493,3177,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6671,-0.98,-29.8,635.5,-9.5,310,6673,0.12,0.00,0.00,0.000,6,0.162,0.000,1867,1493,3175,0,0,0,0,0,0,14.93,28.83,28.83
$GC,6969,-0.98,-29.8,667.7,-11.0,320,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1492,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7269,-0.98,-29.8,700.4,-10.8,330,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1493,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-0.98,-29.8,732.2,-10.2,340,7573,0.00,1.88,0.00,0.000,4,0.000,0.096,1866,439,3171,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7749,-0.95,-29.8,749.8,-10.8,346,7752,0.00,1.80,0.00,0.000,6,0.000,0.054,1858,1507,3171,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8050,-0.94,-29.8,779.5,-8.9,356,8054,0.00,1.90,0.00,0.000,4,0.000,0.096,1858,444,3169,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8139,-0.91,-29.8,786.7,-9.5,359,8143,0.20,1.77,0.00,0.000,6,0.334,0.056,1892,1497,3168,0,0,0,0,0,0,14.67,14.96,28.83
$GC,8441,-0.93,-29.8,808.7,-6.7,369,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,1498,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8740,-0.94,-29.8,829.7,-7.2,379,8743,0.00,1.90,0.00,0.000,4,0.000,0.098,1892,438,3166,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8965,-0.94,-29.8,851.4,-10.1,387,8968,0.00,1.80,0.00,0.000,6,0.000,0.057,1886,1500,3165,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9280,-0.95,-29.8,885.2,-11.4,398,9284,0.00,1.90,0.00,0.000,4,0.000,0.099,1886,443,3164,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9446,-0.94,-29.8,906.4,-12.7,404,9449,0.00,1.80,0.00,0.000,6,0.000,0.057,1879,1503,3163,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9759,-0.94,-29.8,941.8,-10.6,415,9763,0.00,1.90,0.00,0.000,4,0.000,0.099,1879,447,3163,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9969,-0.92,-29.8,962.1,-10.3,422,9973,0.00,1.80,0.00,0.000,6,0.000,0.058,1871,1504,3162,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,10179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10179,begin apogee
$GC,10182,-0.18,0.0,980.7,-7.7,429,10230,1.00,0.00,39.10,1.501,6,0.282,0.000,2127,1506,3063,0,0,0,0,1,0,14.66,28.83,13.81
$STATE,10232,end apogee,CONTROL_FINISHED_OK
$STATE,10232,begin climb
$GC,10233,0.98,29.8,981.2,0.0,430,10291,1.20,0.00,49.35,1.802,6,0.140,0.000,2502,1506,2941,0,0,0,0,1,0,14.66,28.83,13.50
$GC,10585,0.95,42.9,965.8,4.3,442,10628,0.00,1.85,30.17,1.205,4,0.000,0.067,2502,2558,2892,0,0,0,0,1,0,28.83,14.59,13.76
$GC,10855,0.91,42.9,949.8,6.3,451,10859,0.00,1.90,0.00,0.000,6,0.000,0.080,2510,1494,2893,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11171,0.89,61.8,935.9,3.5,462,11216,0.15,0.00,37.20,1.489,6,0.353,0.000,2483,1494,2810,0,0,0,0,1,0,14.60,28.83,13.71
$GC,11501,0.89,77.4,923.4,3.9,473,11544,0.00,1.90,33.25,1.355,4,0.000,0.103,2489,438,2751,0,0,0,0,1,0,28.83,14.54,13.67
$GC,11620,0.86,81.2,916.7,5.5,477,11629,0.00,1.85,4.70,2.082,6,0.000,0.060,2489,1500,2729,0,0,0,0,0,0,28.83,14.66,13.85
$GC,11937,0.84,81.2,896.5,6.7,488,11941,0.00,1.83,0.00,0.000,4,0.000,0.069,2488,2556,2733,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12055,0.82,81.2,888.9,7.1,492,12060,0.20,1.90,0.00,0.000,6,0.337,0.082,2456,1492,2733,0,0,0,0,0,0,14.62,14.78,28.83
$GC,12357,0.82,81.2,864.0,8.4,502,12361,0.00,1.90,0.00,0.000,4,0.000,0.104,2462,446,2732,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12582,0.80,81.2,841.5,10.2,510,12585,0.00,1.83,0.00,0.000,6,0.000,0.060,2461,1509,2731,0,0,0,0,0,0,28.83,14.87,28.83
$GC,12896,0.80,81.2,812.1,9.0,521,12900,0.00,1.92,0.00,0.000,4,0.000,0.104,2469,446,2731,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13122,0.78,81.2,790.4,9.7,529,13125,0.00,1.80,0.00,0.000,6,0.000,0.060,2469,1500,2730,0,0,0,0,0,0,28.83,14.90,28.83
$GC,13437,0.78,81.2,765.7,7.3,540,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1501,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13736,0.78,81.8,747.3,6.0,550,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1501,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14037,0.78,81.8,728.4,6.8,560,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1501,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14336,0.78,81.8,704.0,8.6,570,14340,0.00,1.92,0.00,0.000,4,0.000,0.103,2477,438,2729,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14562,0.76,81.8,682.0,9.8,578,14567,0.20,1.83,0.00,0.000,6,0.317,0.060,2435,1507,2728,0,0,0,0,0,0,14.69,14.91,28.83
$GC,14878,0.78,81.8,657.7,7.2,589,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1507,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15177,0.81,83.2,638.5,5.9,599,15178,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1508,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15477,0.84,94.2,623.7,4.6,609,15515,0.00,1.83,28.88,1.030,4,0.000,0.070,2434,2554,2680,0,0,0,0,1,0,28.83,14.80,14.12
$GC,15583,0.88,105.4,618.8,4.5,613,15623,0.10,1.88,29.25,1.039,6,0.186,0.082,2471,1500,2631,0,0,0,0,1,0,14.77,14.78,13.98
$GC,15930,0.88,105.4,593.3,8.0,625,15934,0.00,1.92,0.00,0.000,4,0.000,0.102,2479,441,2635,0,0,0,0,0,0,28.83,14.73,28.83
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$STATE,22934,end climb,SURFACE_DEPTH_REACHED
$STATE,22934,begin surface coast
$FINISH,0.0,1.024383
$STATE,22951,end surface coast,CONTROL_FINISHED_OK
$STATE,22951,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,42.43
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,26.90
$XPDR_PINGS,6
$SC_FREEKB,7752096
$TM_FREEKB,7483328
$24V_AH,13.5,25.743
$10V_AH,13.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.500,121.300,281.900,185.550,0.000,0.000,0.000,330.575,1.500,0.000,16.687,2783.756,17890.312,712.474,2125.508,179.891,0.000,1872.845,0.000,1645.245,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.328,13.127,0.000,0.000
$MEM,344984
$DATA_FILE_SIZE,36713,970
$CAP_FILE_SIZE,206473,0
$CFSIZE,260034560,251424768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.050,351.3,1
$GPS,290912,113834,2432.923,-3802.105,29,1.2,29,-14.0