version: 66.11
glider: 191
mission: 5
dive: 120
start: 10 23 112 5 54 4
data:
$ID,191
$MISSION,5
$DIVE,120
$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,-3957.6018
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,231012,054304,2413.429,-3719.444,26,0.8,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-57.1
$GPS2,231012,055335,2413.433,-3719.487,20,1.1,20,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NE
$TGT_LATLONG,2512.000,-3720.000
$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,13.8,108469,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-62.15,0.000,2,0.000,0.000,148,1518,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.8,-7.4,4,106,9.43,1.83,-0.90,0.000,4,0.422,0.084,1982,2581,3461,0,0,0,0,0,0,14.38,14.66,14.85
$GC,254,-0.53,-97.3,27.5,-11.9,15,258,0.15,1.88,0.00,0.000,6,0.265,0.067,2014,1516,3464,0,0,0,0,0,0,14.50,14.68,28.83
$GC,552,-0.49,-97.3,61.5,-10.7,35,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.46,-97.3,88.9,-6.7,55,856,0.00,1.80,0.00,0.000,4,0.000,0.055,2009,2578,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1002,-0.44,-97.3,100.5,-8.1,65,1007,0.15,1.85,0.00,0.000,6,0.230,0.067,2044,1515,3465,0,0,0,0,0,0,14.59,14.77,28.83
$GC,1302,-0.44,-97.3,122.7,-7.9,85,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.44,-97.3,146.7,-7.7,105,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1514,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-0.44,-97.3,164.4,-4.7,125,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-0.44,-97.3,177.9,-4.7,145,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2502,-0.45,-97.3,195.2,-6.2,165,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1516,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,-0.46,-97.3,215.6,-7.1,185,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,-0.47,-97.3,238.6,-8.3,205,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3404,-0.48,-97.3,261.5,-7.0,220,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1515,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3704,-0.50,-97.3,276.0,-4.1,230,3707,0.00,1.80,0.00,0.000,4,0.000,0.057,2038,2578,3462,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3868,-0.52,-97.3,281.6,-3.4,236,3872,0.00,1.85,0.00,0.000,6,0.000,0.068,2039,1513,3463,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4183,-0.53,-97.3,295.4,-5.0,247,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1513,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-0.54,-97.3,314.8,-6.8,257,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4783,-0.55,-97.3,338.9,-8.2,267,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1513,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5083,-0.57,-97.3,360.3,-6.7,277,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1513,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5383,-0.58,-97.3,379.8,-6.5,287,5387,0.12,1.80,0.00,0.000,4,0.141,0.059,1982,2577,3458,0,0,0,0,0,0,14.89,14.87,28.83
$GC,5608,-0.56,-97.3,398.4,-8.5,295,5612,0.00,1.85,0.00,0.000,6,0.000,0.070,1982,1519,3457,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5924,-0.52,-97.3,426.6,-8.8,306,5926,0.15,0.00,0.00,0.000,6,0.250,0.000,2016,1518,3456,0,0,0,0,0,0,14.64,28.83,28.83
$GC,6222,-0.52,-97.3,444.4,-5.4,316,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1518,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6523,-0.52,-97.3,460.7,-5.9,326,6527,0.00,1.90,0.00,0.000,4,0.000,0.094,2016,460,3455,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6611,-0.51,-97.3,466.1,-7.0,329,6615,0.00,1.80,0.00,0.000,6,0.000,0.050,2010,1528,3454,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6913,-0.51,-97.3,490.7,-8.1,339,6916,0.00,1.77,0.00,0.000,4,0.000,0.060,2002,2575,3453,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7001,-0.51,-97.3,496.7,-8.2,342,7005,0.00,1.85,0.00,0.000,6,0.000,0.072,2003,1520,3453,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7303,-0.50,-97.3,522.8,-8.4,352,7306,0.00,1.80,0.00,0.000,4,0.000,0.060,1995,2574,3451,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7408,-0.50,-97.3,531.5,-8.3,356,7412,0.12,1.85,0.00,0.000,6,0.243,0.071,2022,1518,3451,0,0,0,0,0,0,14.63,14.81,28.83
$GC,7723,-0.50,-97.3,554.7,-7.1,367,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1518,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.50,-97.3,573.3,-5.8,377,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8322,-0.50,-97.3,590.4,-5.8,387,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1518,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8623,-0.50,-97.3,610.3,-6.9,397,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8922,-0.50,-97.3,632.6,-7.7,407,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,-0.50,-97.3,655.0,-7.3,417,9226,0.00,1.83,0.00,0.000,4,0.000,0.060,2016,2585,3444,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9432,-0.52,-97.3,668.0,-6.5,424,9435,0.00,1.88,0.00,0.000,6,0.000,0.074,2017,1522,3444,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9732,-0.52,-97.3,687.6,-6.3,434,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1522,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10032,-0.52,-97.3,706.3,-6.3,444,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-0.52,-97.3,725.1,-6.5,454,10336,0.00,1.80,0.00,0.000,4,0.000,0.061,2009,2576,3441,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10438,-0.53,-97.3,732.6,-7.1,458,10441,0.00,1.88,0.00,0.000,6,0.000,0.074,2009,1518,3441,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10752,-0.53,-97.3,757.0,-8.0,469,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1517,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11052,-0.53,-97.3,780.5,-7.9,479,11056,0.00,1.92,0.00,0.000,4,0.000,0.097,2009,461,3438,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11127,-0.53,-97.3,787.0,-8.4,482,11131,0.00,1.80,0.00,0.000,6,0.000,0.052,2001,1517,3438,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11442,-0.53,-97.3,810.1,-6.9,493,11446,0.00,1.83,0.00,0.000,4,0.000,0.063,1994,2579,3437,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11608,-0.53,-97.3,821.1,-6.7,499,11611,0.00,1.88,0.00,0.000,6,0.000,0.075,1994,1519,3437,0,0,0,0,0,0,28.83,14.75,28.83
$GC,11923,-0.52,-97.3,843.7,-7.4,510,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,-0.51,-97.3,866.8,-7.9,520,12227,0.12,1.83,0.00,0.000,4,0.259,0.063,2015,2576,3435,0,0,0,0,0,0,14.54,14.76,28.83
$GC,12311,-0.51,-97.3,871.9,-7.0,523,12315,0.00,1.88,0.00,0.000,6,0.000,0.075,2015,1520,3435,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12613,-0.51,-97.3,893.5,-7.0,533,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12913,-0.52,-97.3,913.3,-6.4,543,12914,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13213,-0.53,-97.3,931.5,-5.8,553,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13513,-0.53,-97.3,948.0,-5.3,563,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13813,-0.53,-97.3,965.0,-5.8,573,13816,0.00,1.85,0.00,0.000,4,0.000,0.065,2007,2580,3430,0,0,0,0,0,0,28.83,14.66,28.83
$GC,13948,-0.55,-97.3,973.2,-6.1,578,13951,0.00,1.90,0.00,0.000,6,0.000,0.076,2007,1516,3430,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,14050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14050,begin apogee
$GC,14055,-0.18,0.0,980.4,-6.8,582,14175,0.45,0.00,111.60,2.216,6,0.210,0.000,2130,1397,3063,0,0,0,0,1,0,14.55,28.83,13.23
$STATE,14177,end apogee,CONTROL_FINISHED_OK
$STATE,14177,begin climb
$GC,14179,0.60,97.3,983.7,0.0,586,14315,0.82,0.00,127.05,2.271,6,0.137,0.000,2377,1398,2665,0,0,0,0,1,0,14.14,28.83,13.16
$GC,14608,0.54,101.0,967.5,5.9,601,14612,0.00,0.00,2.50,2.111,6,0.000,0.000,2377,1397,2648,0,0,0,0,0,0,28.83,28.83,13.78
$GC,14908,0.47,101.0,949.2,6.2,611,14912,0.15,1.85,0.00,0.000,4,0.275,0.063,2345,2461,2648,0,0,0,0,0,0,14.47,14.68,28.83
$GC,14982,0.43,102.4,944.9,6.0,614,14986,0.00,1.92,0.00,0.000,6,0.000,0.081,2351,1395,2648,0,0,0,0,0,0,28.83,14.66,28.83
$GC,15299,0.41,114.9,927.1,5.5,625,15341,0.00,1.90,31.65,1.310,4,0.000,0.107,2359,346,2593,0,0,0,0,1,0,28.83,14.61,13.76
$GC,15492,0.36,114.9,916.5,6.1,631,15497,0.22,1.85,0.00,0.000,6,0.251,0.054,2306,1415,2590,0,0,0,0,0,0,14.45,14.67,28.83
$GC,15793,0.43,178.0,904.7,3.4,641,15890,0.00,1.90,86.45,2.075,4,0.000,0.066,2306,2455,2337,0,0,0,0,1,0,28.83,14.16,13.34
$GC,15957,0.42,217.2,897.5,4.4,647,16031,0.00,1.95,59.92,1.861,6,0.000,0.082,2312,1400,2174,0,0,0,0,1,0,28.83,14.38,13.33
$GC,16347,0.45,221.1,876.2,5.9,660,16354,0.00,2.00,2.58,1.964,4,0.000,0.110,2320,339,2159,0,0,0,0,0,0,28.83,14.59,13.83
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$STATE,27910,end climb,SURFACE_DEPTH_REACHED
$STATE,27910,begin surface coast
$FINISH,0.4,1.024725
$STATE,27926,end surface coast,CONTROL_FINISHED_OK
$STATE,27927,begin surface
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$HUMID,47.79
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$TM_FREEKB,6741792
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$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.300,137.800,534.850,41.050,0.000,0.000,0.000,370.875,0.000,0.000,20.827,3231.784,21781.088,844.639,2430.728,322.155,0.000,2190.460,0.000,1892.453,0.000,0.550,0.000
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$MEM,344784
$DATA_FILE_SIZE,43294,1159
$CAP_FILE_SIZE,249540,0
$CFSIZE,260034560,241569792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.016, 63.2,1
$GPS,231012,134152,2416.623,-3719.067,41,0.8,41,-13.9