version: 66.11
glider: 191
mission: 5
dive: 164
start: 11 6 112 20 55 46
data:
$ID,191
$MISSION,5
$DIVE,164
$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,-4017.1704
$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,23
$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
$GPS1,061112,204505,2514.646,-3825.977,32,0.9,32,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.6
$GPS2,061112,205517,2514.662,-3826.029,20,1.0,20,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-3844.000
$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,270.5,30515,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-62.33,0.000,2,0.000,0.000,158,1528,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.60,-97.3,3.7,-7.0,4,105,9.30,1.92,-1.12,0.000,4,0.412,0.109,1995,461,3462,0,0,0,0,0,0,14.30,14.59,14.83
$GC,327,-0.53,-97.3,37.4,-11.7,20,330,0.00,1.77,0.00,0.000,6,0.000,0.045,1990,1515,3461,0,0,0,0,0,0,28.83,14.63,28.83
$GC,627,-0.47,-97.3,70.8,-11.5,40,631,0.17,1.90,0.00,0.000,4,0.249,0.087,2031,465,3463,0,0,0,0,0,0,14.40,14.56,28.83
$GC,687,-0.44,-97.3,76.6,-9.7,44,690,0.00,1.80,0.00,0.000,6,0.000,0.048,2026,1520,3464,0,0,0,0,0,0,28.83,14.70,28.83
$GC,986,-0.42,-97.3,101.4,-7.8,64,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1287,-0.41,-97.3,122.7,-5.9,84,1291,0.12,1.80,0.00,0.000,4,0.250,0.054,2047,2587,3465,0,0,0,0,0,0,14.47,14.70,28.83
$GC,1468,-0.43,-97.3,131.4,-4.8,96,1472,0.00,1.88,0.00,0.000,6,0.000,0.065,2047,1514,3465,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1766,-0.44,-97.3,149.8,-7.1,116,1770,0.00,1.83,0.00,0.000,4,0.000,0.054,2040,2586,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1842,-0.46,-97.3,155.1,-7.1,121,1846,0.00,1.88,0.00,0.000,6,0.000,0.065,2040,1512,3465,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2141,-0.46,-97.3,178.6,-7.7,141,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1511,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2442,-0.47,-97.3,197.9,-5.7,161,2445,0.00,1.83,0.00,0.000,4,0.000,0.054,2032,2585,3465,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2639,-0.49,-97.3,209.4,-6.3,174,2642,0.00,1.88,0.00,0.000,6,0.000,0.066,2032,1512,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2936,-0.49,-97.3,229.3,-6.5,194,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,-0.49,-97.3,245.8,-4.9,214,3240,0.00,1.83,0.00,0.000,4,0.000,0.056,2024,2584,3464,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3331,-0.51,-97.3,250.3,-5.0,220,3335,0.00,1.88,0.00,0.000,6,0.000,0.066,2024,1510,3463,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3626,-0.51,-97.3,267.9,-6.4,230,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1508,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3926,-0.51,-97.3,291.6,-8.4,240,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.51,-97.3,315.4,-7.6,250,4231,0.00,1.83,0.00,0.000,4,0.000,0.056,2016,2582,3462,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4331,-0.52,-97.3,322.9,-7.2,254,4335,0.00,1.88,0.00,0.000,6,0.000,0.067,2016,1511,3462,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4646,-0.52,-97.3,346.4,-7.2,265,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1510,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4946,-0.52,-97.3,367.1,-6.6,275,4950,0.00,1.83,0.00,0.000,4,0.000,0.057,2008,2581,3460,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5141,-0.52,-97.3,379.2,-6.2,282,5145,0.00,1.88,0.00,0.000,6,0.000,0.067,2009,1512,3458,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5457,-0.52,-97.3,400.0,-6.3,293,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1512,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.52,-97.3,417.1,-5.6,303,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1512,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6057,-0.52,-97.3,435.2,-6.4,313,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1512,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6356,-0.52,-97.3,455.8,-7.1,323,6360,0.00,1.83,0.00,0.000,4,0.000,0.057,2000,2578,3455,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6535,-0.52,-97.3,468.2,-7.7,329,6539,0.00,1.88,0.00,0.000,6,0.000,0.068,2001,1512,3454,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6837,-0.51,-97.3,495.3,-8.7,339,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1511,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,-0.50,-97.3,520.0,-7.7,349,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1511,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,-0.49,-97.3,540.9,-6.8,359,7442,0.12,1.83,0.00,0.000,4,0.250,0.058,2024,2579,3451,0,0,0,0,0,0,14.53,14.73,28.83
$GC,7618,-0.51,-97.3,550.1,-5.5,365,7622,0.00,1.88,0.00,0.000,6,0.000,0.069,2022,1515,3450,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7916,-0.51,-97.3,570.2,-6.6,375,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1514,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8217,-0.51,-97.3,589.7,-6.3,385,8220,0.00,1.83,0.00,0.000,4,0.000,0.058,2015,2576,3448,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8336,-0.53,-97.3,596.3,-6.2,389,8340,0.00,1.88,0.00,0.000,6,0.000,0.070,2015,1519,3447,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8636,-0.53,-97.3,616.9,-6.4,399,8640,0.00,1.83,0.00,0.000,4,0.000,0.060,2007,2576,3447,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8726,-0.53,-97.3,621.5,-6.2,402,8730,0.00,1.88,0.00,0.000,6,0.000,0.070,2007,1516,3446,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9026,-0.53,-97.3,641.8,-6.3,412,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1516,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,-0.53,-97.3,660.0,-5.9,422,9330,0.00,1.83,0.00,0.000,4,0.000,0.060,1999,2576,3444,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9551,-0.53,-97.3,673.6,-6.1,430,9555,0.00,1.88,0.00,0.000,6,0.000,0.070,1999,1521,3443,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9866,-0.53,-97.3,695.2,-7.1,441,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10167,-0.53,-97.3,717.9,-7.9,451,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10466,-0.53,-97.3,742.9,-8.6,461,10470,0.00,1.83,0.00,0.000,4,0.000,0.060,1991,2576,3438,0,0,0,0,0,0,28.83,14.68,28.83
$GC,10692,-0.53,-97.3,762.0,-8.4,469,10695,0.00,1.88,0.00,0.000,6,0.000,0.071,1991,1519,3440,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11008,-0.52,-97.3,786.9,-7.3,480,11010,0.12,0.00,0.00,0.000,6,0.253,0.000,2018,1519,3438,0,0,0,0,0,0,14.47,28.83,28.83
$GC,11308,-0.53,-97.3,802.1,-4.6,490,11312,0.00,1.85,0.00,0.000,4,0.000,0.061,2012,2579,3437,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11382,-0.55,-97.3,805.2,-4.2,493,11386,0.00,1.90,0.00,0.000,6,0.000,0.071,2012,1512,3437,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11698,-0.55,-97.3,818.3,-4.3,504,11702,0.00,1.85,0.00,0.000,4,0.000,0.062,2004,2576,3436,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11832,-0.56,-97.3,824.4,-4.5,509,11835,0.00,1.90,0.00,0.000,6,0.000,0.073,2005,1513,3436,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12146,-0.56,-97.3,843.4,-6.4,520,12150,0.00,1.85,0.00,0.000,4,0.000,0.063,1996,2575,3435,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12251,-0.56,-97.3,850.6,-6.9,524,12255,0.00,1.90,0.00,0.000,6,0.000,0.074,1997,1516,3433,0,0,0,0,0,0,28.83,14.62,28.83
$GC,12567,-0.56,-97.3,876.8,-8.8,535,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1516,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12866,-0.56,-97.3,903.9,-9.0,545,12870,0.00,1.85,0.00,0.000,4,0.000,0.063,1989,2575,3433,0,0,0,0,0,0,28.83,14.63,28.83
$GC,12941,-0.56,-97.3,910.5,-9.0,548,12945,0.00,1.90,0.00,0.000,6,0.000,0.075,1989,1519,3432,0,0,0,0,0,0,28.83,14.62,28.83
$GC,13257,-0.56,-97.3,938.7,-8.6,559,13260,0.00,1.85,0.00,0.000,4,0.000,0.062,1981,2579,3432,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13346,-0.56,-97.3,944.8,-8.2,562,13350,0.00,1.90,0.00,0.000,6,0.000,0.073,1981,1519,3431,0,0,0,0,0,0,28.83,14.62,28.83
$GC,13647,-0.55,-97.3,969.2,-7.3,572,13651,0.12,1.85,0.00,0.000,4,0.262,0.063,2002,2578,3430,0,0,0,0,0,0,14.40,14.61,28.83
$GC,13765,-0.55,-97.3,975.4,-5.9,576,13769,0.00,1.90,0.00,0.000,6,0.000,0.074,2000,1519,3430,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,13854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13854,begin apogee
$GC,13860,-0.18,0.0,980.9,-5.3,579,13978,0.45,0.00,109.80,2.091,6,0.212,0.000,2124,1389,3062,0,0,0,0,1,0,14.45,28.83,13.25
$STATE,13979,end apogee,CONTROL_FINISHED_OK
$STATE,13980,begin climb
$GC,13982,0.60,97.3,982.8,0.0,583,14118,0.85,2.05,124.00,2.096,4,0.139,0.104,2385,346,2665,0,0,0,0,1,0,14.14,14.00,13.16
$GC,14231,0.49,97.3,973.8,6.8,592,14235,0.17,1.88,0.00,0.000,6,0.270,0.052,2349,1410,2661,0,0,0,0,0,0,14.15,14.39,28.83
$GC,14533,0.46,104.0,954.3,5.8,602,14545,0.00,1.80,4.75,2.051,4,0.000,0.061,2349,2452,2640,0,0,0,0,0,0,28.83,14.64,13.72
$GC,14636,0.44,123.5,949.8,5.2,605,14685,0.00,1.90,38.80,1.452,6,0.000,0.079,2354,1404,2558,0,0,0,0,1,0,28.83,14.58,13.61
$GC,14997,0.44,151.9,930.8,4.8,618,15056,0.00,1.80,47.83,1.622,4,0.000,0.061,2354,2451,2442,0,0,0,0,1,0,28.83,14.39,13.54
$GC,15131,0.44,177.2,924.7,5.0,622,15185,0.00,1.92,44.42,1.554,6,0.000,0.080,2362,1401,2339,0,0,0,0,1,0,28.83,14.44,13.45
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$STATE,27447,end climb,SURFACE_DEPTH_REACHED
$STATE,27447,begin surface coast
$FINISH,0.3,1.024984
$STATE,27463,end surface coast,CONTROL_FINISHED_OK
$STATE,27463,begin surface
$SM_CCo,27481,9.80,0.736,0,0,1756,320.12
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$IRIDIUM_FIX,2503.20,-3823.22,061112,131304
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.03
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,26.50
$XPDR_PINGS,3
$SC_FREEKB,7707168
$TM_FREEKB,6285056
$24V_AH,13.2,78.592
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.775,138.500,569.900,9.800,0.000,0.000,0.000,338.800,0.750,0.000,21.603,3199.662,21314.709,841.533,2388.265,352.229,0.000,2156.944,0.000,1895.026,0.000,0.550,0.000
$DEVICE_MAMPS,412.335,111.690,2096.100,735.930,0.000,0.000,0.000,178.245,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27504.000,6513.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.110,13.116,0.000,0.000
$MEM,344760
$DATA_FILE_SIZE,39946,1141
$CAP_FILE_SIZE,244510,0
$CFSIZE,260034560,235585536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.013,291.5,1
$GPS,071112,043522,2514.344,-3829.497,42,1.0,42,-14.0