version: 66.11
glider: 191
mission: 5
dive: 185
start: 11 13 112 20 41 11
data:
$ID,191
$MISSION,5
$DIVE,185
$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,-4045.0972
$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
$GPS1,131112,202734,2424.527,-3846.498,35,0.9,35,-14.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-50.9
$GPS2,131112,204042,2424.591,-3846.566,18,1.2,18,-14.3
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,194.4,53128,-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,-58.00,0.000,6,0.000,0.000,152,1514,3461,0,0,0,0,0,0,28.83,28.83,14.83
$GC,88,-0.60,-97.3,5.1,-11.2,4,102,9.48,1.88,0.00,0.000,4,0.415,0.074,1997,454,3462,1,0,0,0,0,0,14.07,14.59,28.83
$GC,326,-0.53,-97.3,41.3,-11.2,20,330,0.00,1.80,0.00,0.000,6,0.000,0.047,1991,1515,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,627,-0.48,-97.3,69.3,-9.7,40,629,0.17,0.00,0.00,0.000,6,0.251,0.000,2031,1517,3464,0,0,0,0,0,0,14.38,28.83,28.83
$GC,926,-0.48,-97.3,95.2,-8.3,60,930,0.00,1.80,0.00,0.000,4,0.000,0.056,2026,2576,3465,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1107,-0.48,-97.3,108.2,-7.1,72,1110,0.00,1.85,0.00,0.000,6,0.000,0.065,2025,1523,3465,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1406,-0.48,-97.3,130.2,-6.7,92,1410,0.00,1.80,0.00,0.000,4,0.000,0.054,2018,2576,3465,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1526,-0.48,-97.3,138.1,-6.8,100,1530,0.00,1.88,0.00,0.000,6,0.000,0.065,2018,1506,3468,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1826,-0.48,-97.3,160.9,-7.5,120,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1506,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2126,-0.48,-97.3,186.8,-8.1,140,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1505,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2426,-0.48,-97.3,209.4,-6.9,160,2430,0.00,1.83,0.00,0.000,4,0.000,0.056,2010,2575,3465,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2591,-0.48,-97.3,219.7,-6.3,171,2595,0.00,1.85,0.00,0.000,6,0.000,0.066,2016,1518,3465,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2891,-0.48,-97.3,241.2,-7.7,191,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-0.48,-97.3,266.9,-8.7,205,3196,0.00,1.80,0.00,0.000,4,0.000,0.057,2002,2576,3464,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3310,-0.48,-97.3,275.9,-8.6,209,3315,0.12,1.85,0.00,0.000,6,0.240,0.067,2029,1516,3464,0,0,0,0,0,0,14.48,14.71,28.83
$GC,3613,-0.49,-97.3,297.2,-6.0,219,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-0.50,-97.3,313.5,-5.7,229,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4211,-0.51,-97.3,335.5,-8.0,239,4215,0.00,1.80,0.00,0.000,4,0.000,0.057,2024,2576,3462,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4331,-0.53,-97.3,344.2,-8.3,243,4335,0.00,1.85,0.00,0.000,6,0.000,0.067,2024,1521,3461,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4631,-0.53,-97.3,368.2,-7.2,253,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.53,-97.3,387.7,-6.5,263,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5231,-0.53,-97.3,407.7,-6.5,273,5235,0.00,1.80,0.00,0.000,4,0.000,0.057,2016,2575,3459,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5320,-0.55,-97.3,412.3,-6.2,276,5324,0.00,1.85,0.00,0.000,6,0.000,0.068,2016,1521,3458,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5622,-0.55,-97.3,429.0,-4.6,286,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5921,-0.55,-97.3,441.7,-4.1,296,5925,0.00,1.90,0.00,0.000,4,0.000,0.090,2016,465,3457,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5996,-0.55,-97.3,445.7,-5.2,299,6000,0.00,1.77,0.00,0.000,6,0.000,0.049,2009,1518,3456,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6312,-0.55,-97.3,465.1,-6.7,310,6315,0.00,1.80,0.00,0.000,4,0.000,0.060,2001,2576,3454,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6417,-0.55,-97.3,472.6,-7.2,314,6420,0.00,1.88,0.00,0.000,6,0.000,0.069,2001,1513,3454,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6732,-0.55,-97.3,497.4,-7.8,325,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1512,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,-0.55,-97.3,519.4,-7.2,335,7035,0.00,1.85,0.00,0.000,4,0.000,0.060,1993,2585,3452,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7181,-0.55,-97.3,528.7,-6.8,340,7184,0.00,1.88,0.00,0.000,6,0.000,0.070,1993,1522,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7482,-0.54,-97.3,550.5,-6.7,350,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,-0.52,-97.3,569.3,-6.0,360,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,-0.51,-97.3,587.6,-6.2,370,8086,0.12,1.83,0.00,0.000,4,0.253,0.060,2014,2578,3448,0,0,0,0,0,0,14.47,14.67,28.83
$GC,8293,-0.53,-97.3,599.2,-6.0,377,8296,0.00,1.88,0.00,0.000,6,0.000,0.070,2014,1519,3448,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8591,-0.53,-97.3,622.1,-7.6,387,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1518,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8891,-0.53,-97.3,645.7,-7.9,397,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1518,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9192,-0.53,-97.3,668.4,-7.7,407,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1518,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9491,-0.53,-97.3,691.1,-7.6,417,9495,0.00,1.85,0.00,0.000,4,0.000,0.061,2007,2580,3444,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9611,-0.55,-97.3,698.7,-7.3,421,9615,0.00,1.90,0.00,0.000,6,0.000,0.071,2006,1515,3443,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9911,-0.55,-97.3,720.9,-6.9,431,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10211,-0.55,-97.3,740.4,-6.2,441,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10512,-0.55,-97.3,757.1,-5.3,451,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10811,-0.55,-97.3,773.1,-5.4,461,10815,0.00,1.85,0.00,0.000,4,0.000,0.062,1999,2576,3443,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10931,-0.55,-97.3,778.5,-5.1,465,10935,0.00,1.90,0.00,0.000,6,0.000,0.073,1999,1515,3439,0,0,0,0,0,0,28.83,14.60,28.83
$GC,11231,-0.55,-97.3,797.9,-6.4,475,11235,0.00,1.92,0.00,0.000,4,0.000,0.096,1999,466,3438,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11291,-0.55,-97.3,801.1,-7.0,477,11294,0.00,1.83,0.00,0.000,6,0.000,0.052,1991,1524,3438,0,0,0,0,0,0,28.83,14.66,28.83
$GC,11592,-0.55,-97.3,823.2,-7.1,487,11595,0.00,1.85,0.00,0.000,4,0.000,0.064,1983,2584,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11710,-0.55,-97.3,830.7,-7.1,491,11714,0.00,1.92,0.00,0.000,6,0.000,0.075,1983,1512,3437,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12012,-0.54,-97.3,855.8,-8.2,501,12017,0.12,1.88,0.00,0.000,4,0.260,0.063,2004,2580,3436,0,0,0,0,0,0,14.38,14.59,28.83
$GC,12117,-0.55,-97.3,863.2,-7.1,505,12121,0.00,1.90,0.00,0.000,6,0.000,0.074,2004,1520,3435,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12432,-0.55,-97.3,885.2,-6.5,516,12435,0.00,1.85,0.00,0.000,4,0.000,0.063,1996,2579,3434,0,0,0,0,0,0,28.83,14.58,28.83
$GC,12551,-0.56,-97.3,891.4,-6.0,520,12555,0.00,1.90,0.00,0.000,6,0.000,0.074,1996,1520,3433,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12852,-0.56,-97.3,909.4,-5.4,530,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13151,-0.56,-97.3,926.5,-6.0,540,13155,0.00,1.88,0.00,0.000,4,0.000,0.065,1988,2583,3432,0,0,0,0,0,0,28.83,14.56,28.83
$GC,13227,-0.56,-97.3,931.2,-6.4,543,13231,0.00,1.92,0.00,0.000,6,0.000,0.075,1988,1519,3431,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13542,-0.56,-97.3,955.3,-8.4,554,13543,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13810,begin apogee
$GC,13816,-0.18,0.0,980.1,-9.4,563,13935,0.50,0.00,110.95,2.101,6,0.213,0.000,2124,1389,3064,0,0,0,0,1,0,14.36,28.83,13.19
$STATE,13937,end apogee,CONTROL_FINISHED_OK
$STATE,13937,begin climb
$GC,13939,0.60,97.3,986.5,0.0,567,14076,0.82,2.05,124.85,2.110,4,0.136,0.104,2383,349,2667,0,0,0,0,1,0,14.10,13.97,13.10
$GC,14220,0.59,164.0,987.4,3.2,577,14324,0.00,1.85,90.53,1.987,6,0.000,0.052,2383,1408,2393,0,0,0,0,1,0,28.83,14.42,13.19
$GC,14624,0.54,164.0,958.7,8.4,591,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1408,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14924,0.49,164.0,930.4,9.6,601,14926,0.15,0.00,0.00,0.000,6,0.275,0.000,2352,1406,2384,0,0,0,0,0,0,14.35,28.83,28.83
$GC,15224,0.46,164.0,904.4,8.7,611,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1409,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15524,0.44,164.0,878.7,8.4,621,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1409,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15824,0.41,164.0,854.8,7.5,631,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1409,2382,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,27731,end climb,SURFACE_DEPTH_REACHED
$STATE,27731,begin surface coast
$FINISH,0.0,1.011321
$STATE,27750,end surface coast,CONTROL_FINISHED_OK
$STATE,27750,begin surface
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$HUMID,49.84
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,27.10
$XPDR_PINGS,0
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$TM_FREEKB,6068992
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$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.275,104.950,588.875,0.000,0.000,0.000,0.000,446.425,0.000,0.000,19.213,3125.768,21844.369,814.941,2448.087,373.165,0.000,2211.150,0.000,1847.468,0.000,0.549,0.000
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$MEM,344796
$DATA_FILE_SIZE,39949,1137
$CAP_FILE_SIZE,235105,0
$CFSIZE,260034560,232730624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.020, 82.9,1
$GPS,141112,042624,2421.538,-3846.680,42,1.0,42,-14.3