version: 66.11
glider: 191
mission: 5
dive: 137
start: 10 28 112 21 42 59
data:
$ID,191
$MISSION,5
$DIVE,137
$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,-3980.2966
$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,43
$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
$GPS1,281012,213152,2457.846,-3718.432,37,0.9,37,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-52.1
$GPS2,281012,214229,2457.886,-3718.382,19,1.0,19,-13.7
$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,6.8,26279,-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,22,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.55,0.000,2,0.000,0.000,160,1526,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.3,-5.8,4,104,9.32,1.92,-0.93,0.000,4,0.417,0.108,1995,456,3462,1,0,0,0,0,0,14.16,14.59,14.81
$GC,237,-0.52,-97.3,27.9,-13.8,14,241,0.12,1.80,0.00,0.000,6,0.272,0.047,2015,1517,3464,0,0,0,0,0,0,14.42,14.64,28.83
$GC,536,-0.48,-97.3,57.1,-9.4,34,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1518,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,836,-0.45,-97.3,82.4,-8.1,54,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.42,-97.3,109.1,-9.1,74,1140,0.12,1.80,0.00,0.000,4,0.253,0.056,2041,2580,3465,0,0,0,0,0,0,14.54,14.74,28.83
$GC,1360,-0.43,-97.3,122.5,-5.4,89,1364,0.00,1.85,0.00,0.000,6,0.000,0.067,2040,1519,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1660,-0.43,-97.3,142.6,-6.7,109,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.43,-97.3,165.4,-8.2,129,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.43,-97.3,190.1,-7.5,149,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.43,-97.3,207.3,-4.7,169,2564,0.00,1.80,0.00,0.000,4,0.000,0.055,2033,2580,3465,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2651,-0.45,-97.3,211.0,-4.3,175,2654,0.00,1.85,0.00,0.000,6,0.000,0.067,2033,1524,3466,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2951,-0.45,-97.3,226.0,-5.8,195,2954,0.00,1.90,0.00,0.000,4,0.000,0.089,2033,457,3466,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3040,-0.44,-97.3,232.9,-7.7,201,3044,0.00,1.77,0.00,0.000,6,0.000,0.047,2025,1518,3466,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3340,-0.44,-97.3,258.9,-9.0,218,3344,0.00,1.77,0.00,0.000,4,0.000,0.057,2017,2576,3464,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3445,-0.44,-97.3,267.9,-8.7,222,3449,0.12,1.85,0.00,0.000,6,0.230,0.068,2045,1515,3464,0,0,0,0,0,0,14.59,14.77,28.83
$GC,3762,-0.45,-97.3,288.8,-6.1,233,3765,0.00,1.80,0.00,0.000,4,0.000,0.057,2040,2576,3463,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3880,-0.48,-97.3,294.3,-5.3,237,3883,0.00,1.85,0.00,0.000,6,0.000,0.068,2040,1515,3463,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4182,-0.49,-97.3,311.1,-5.2,247,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4481,-0.51,-97.3,327.1,-5.4,257,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,-0.52,-97.3,341.1,-4.5,267,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,-0.53,-97.3,356.4,-5.6,277,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5381,-0.55,-97.3,375.7,-6.7,287,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.56,-97.3,395.9,-6.6,297,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1515,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.58,-97.3,414.5,-6.1,307,5983,0.12,0.00,0.00,0.000,6,0.142,0.000,1992,1515,3457,0,0,0,0,0,0,14.84,28.83,28.83
$GC,6280,-0.56,-97.3,439.4,-8.5,317,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6581,-0.53,-97.3,464.7,-8.3,327,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1515,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6881,-0.51,-97.3,489.8,-8.4,337,6885,0.12,1.83,0.00,0.000,4,0.256,0.060,2013,2580,3453,0,0,0,0,0,0,14.58,14.74,28.83
$GC,6999,-0.51,-97.3,497.4,-7.1,341,7003,0.00,1.88,0.00,0.000,6,0.000,0.070,2014,1512,3453,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7301,-0.51,-97.3,519.6,-7.0,351,7304,0.00,1.83,0.00,0.000,4,0.000,0.059,2006,2577,3452,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7405,-0.51,-97.3,526.6,-6.7,355,7408,0.00,1.85,0.00,0.000,6,0.000,0.070,2006,1521,3451,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7721,-0.51,-97.3,548.6,-7.0,366,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8020,-0.51,-97.3,570.7,-7.6,376,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8320,-0.51,-97.3,593.2,-7.4,386,8323,0.00,1.80,0.00,0.000,4,0.000,0.060,1998,2574,3449,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8470,-0.51,-97.3,602.5,-7.0,391,8473,0.00,1.88,0.00,0.000,6,0.000,0.072,1998,1512,3448,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8770,-0.50,-97.3,624.2,-6.7,401,8772,0.12,0.00,0.00,0.000,6,0.256,0.000,2025,1512,3447,0,0,0,0,0,0,14.56,28.83,28.83
$GC,9072,-0.51,-97.3,638.8,-4.7,411,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1512,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9370,-0.52,-97.3,656.4,-6.5,421,9374,0.00,1.83,0.00,0.000,4,0.000,0.061,2020,2574,3445,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9506,-0.54,-97.3,666.2,-7.3,426,9509,0.00,1.88,0.00,0.000,6,0.000,0.072,2020,1513,3444,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9820,-0.54,-97.3,691.7,-8.1,437,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1513,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10121,-0.54,-97.3,713.7,-6.8,447,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10422,-0.55,-97.3,731.7,-5.7,457,10425,0.00,1.90,0.00,0.000,4,0.000,0.095,2020,463,3441,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10525,-0.55,-97.3,738.1,-6.1,461,10529,0.00,1.80,0.00,0.000,6,0.000,0.051,2012,1521,3441,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10842,-0.55,-97.3,756.0,-5.7,472,10846,0.00,1.83,0.00,0.000,4,0.000,0.063,2005,2580,3438,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10946,-0.56,-97.3,762.1,-5.8,476,10949,0.00,1.88,0.00,0.000,6,0.000,0.074,2005,1522,3439,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11260,-0.56,-97.3,783.6,-7.1,487,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1522,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11560,-0.56,-97.3,805.2,-7.2,497,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11860,-0.56,-97.3,825.0,-6.3,507,11864,0.00,1.83,0.00,0.000,4,0.000,0.063,1997,2576,3437,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11995,-0.56,-97.3,832.5,-5.7,512,11999,0.00,1.88,0.00,0.000,6,0.000,0.074,1997,1520,3436,0,0,0,0,0,0,28.83,14.70,28.83
$GC,12311,-0.56,-97.3,851.5,-6.0,523,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1520,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12611,-0.56,-97.3,870.4,-6.5,533,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1520,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12910,-0.56,-97.3,890.5,-6.8,543,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13211,-0.56,-97.3,912.4,-7.7,553,13214,0.00,1.85,0.00,0.000,4,0.000,0.064,1989,2584,3432,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13299,-0.56,-97.3,918.3,-7.9,556,13303,0.00,1.90,0.00,0.000,6,0.000,0.076,1989,1521,3432,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13602,-0.55,-97.3,946.4,-9.0,566,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13900,-0.55,-97.3,974.1,-9.0,576,13904,0.00,1.85,0.00,0.000,4,0.000,0.065,1981,2578,3431,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,13973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13973,begin apogee
$GC,13980,-0.18,0.0,980.6,-8.6,579,14100,0.52,0.00,112.03,2.162,6,0.219,0.000,2123,1395,3062,0,0,0,0,1,0,14.51,28.83,13.24
$STATE,14102,end apogee,CONTROL_FINISHED_OK
$STATE,14102,begin climb
$GC,14104,0.60,97.3,985.4,0.0,583,14245,0.82,2.05,125.70,2.226,4,0.139,0.105,2381,344,2666,0,0,0,0,1,0,14.12,13.98,13.15
$GC,14411,0.52,97.3,976.1,6.1,594,14415,0.00,1.85,0.00,0.000,6,0.000,0.053,2382,1406,2661,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14726,0.45,97.3,956.1,6.5,605,14731,0.20,1.83,0.00,0.000,4,0.269,0.063,2338,2459,2659,0,0,0,0,0,0,14.37,14.63,28.83
$GC,14832,0.42,105.4,950.0,5.7,609,14844,0.00,1.92,6.03,2.147,6,0.000,0.080,2343,1393,2633,0,0,0,0,0,0,28.83,14.61,14.42
$GC,15162,0.41,120.6,931.5,5.4,620,15203,0.00,0.00,33.85,1.352,6,0.000,0.000,2343,1393,2570,0,0,0,0,1,0,28.83,28.83,13.73
$GC,15492,0.40,139.2,913.5,5.3,631,15540,0.00,1.98,37.72,1.467,4,0.000,0.107,2351,348,2494,0,0,0,0,1,0,28.83,14.47,13.68
$GC,15610,0.39,150.8,907.4,5.6,634,15650,0.15,1.85,29.80,1.203,6,0.259,0.053,2319,1409,2447,0,0,0,0,1,0,14.38,14.56,13.57
$GC,15940,0.43,187.5,890.5,4.5,645,16007,0.00,1.88,57.08,1.795,4,0.000,0.066,2319,2449,2298,0,0,0,0,1,0,28.83,14.29,13.46
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$STATE,26933,end climb,SURFACE_DEPTH_REACHED
$STATE,26933,begin surface coast
$FINISH,0.6,1.024865
$STATE,26949,end surface coast,CONTROL_FINISHED_OK
$STATE,26949,begin surface
$SM_CCo,26968,51.38,0.760,0,0,1633,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,47.79
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,26.40
$XPDR_PINGS,3
$SC_FREEKB,7717536
$TM_FREEKB,6566080
$24V_AH,13.2,66.400
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.825,119.725,598.075,51.375,0.000,0.000,0.000,373.850,0.750,0.000,20.127,3061.431,21037.926,888.091,2351.185,314.042,0.000,2208.573,0.000,1812.221,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26995.000,6156.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.092,13.085,0.000,0.000
$MEM,344736
$DATA_FILE_SIZE,40028,1110
$CAP_FILE_SIZE,234769,0
$CFSIZE,260034560,239267840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.062,151.3,1
$GPS,291012,051435,2500.126,-3717.998,33,0.9,33,-13.7