version: 66.11
glider: 191
mission: 5
dive: 187
start: 11 14 112 12 41 53
data:
$ID,191
$MISSION,5
$DIVE,187
$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,-4047.7073
$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,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
$GPS1,141112,122752,2418.470,-3847.225,40,1.0,40,-14.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-52.6
$GPS2,141112,124123,2418.440,-3847.280,18,0.9,18,-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,186.2,41928,-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,-97.3,0.0,0.0,0,71,0.00,0.00,-46.95,0.000,2,0.000,0.000,156,1517,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.60,-97.3,3.0,-5.6,3,102,9.60,1.90,-9.20,0.000,4,0.422,0.115,1988,463,3460,1,0,0,0,0,0,14.03,14.52,14.83
$GC,281,-0.53,-97.3,28.5,-11.8,17,286,0.15,1.77,0.00,0.000,6,0.268,0.045,2014,1514,3462,0,0,0,0,0,0,14.33,14.63,28.83
$GC,581,-0.49,-97.3,56.4,-8.8,37,585,0.00,1.80,0.00,0.000,4,0.000,0.054,2009,2575,3462,0,0,0,0,0,0,28.83,14.64,28.83
$GC,702,-0.47,-97.3,67.8,-8.7,45,705,0.00,1.88,0.00,0.000,6,0.000,0.065,2009,1509,3462,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1002,-0.45,-97.3,95.5,-7.9,65,1006,0.15,1.88,0.00,0.000,4,0.242,0.087,2043,463,3462,0,0,0,0,0,0,14.44,14.57,28.83
$GC,1046,-0.45,-97.3,98.8,-7.2,68,1050,0.00,1.77,0.00,0.000,6,0.000,0.044,2037,1518,3462,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1346,-0.45,-97.3,118.5,-6.6,88,1350,0.00,1.80,0.00,0.000,4,0.000,0.055,2030,2577,3463,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1497,-0.47,-97.3,128.4,-6.4,98,1501,0.00,1.85,0.00,0.000,6,0.000,0.064,2030,1518,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1797,-0.47,-97.3,147.5,-6.2,118,1800,0.00,1.90,0.00,0.000,4,0.000,0.087,2030,460,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1871,-0.45,-97.3,153.2,-7.6,123,1875,0.00,1.77,0.00,0.000,6,0.000,0.044,2022,1520,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2171,-0.45,-97.3,177.2,-7.9,143,2175,0.00,1.80,0.00,0.000,4,0.000,0.055,2014,2580,3462,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2352,-0.45,-97.3,189.1,-5.9,155,2356,0.00,1.85,0.00,0.000,6,0.000,0.065,2014,1521,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2651,-0.45,-97.3,207.5,-6.6,175,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.45,-97.3,232.0,-8.4,195,2955,0.00,1.80,0.00,0.000,4,0.000,0.056,2006,2578,3462,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3041,-0.45,-97.3,239.0,-7.6,201,3045,0.15,1.85,0.00,0.000,6,0.223,0.065,2041,1521,3463,0,0,0,0,0,0,14.43,14.62,28.83
$GC,3342,-0.47,-97.3,255.6,-5.5,218,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3642,-0.50,-97.3,273.4,-6.2,228,3645,0.00,1.80,0.00,0.000,4,0.000,0.055,2036,2579,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3732,-0.52,-97.3,278.1,-6.3,231,3735,0.00,1.85,0.00,0.000,6,0.000,0.066,2036,1519,3463,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4032,-0.54,-97.3,299.4,-6.9,241,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1518,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.56,-97.3,320.4,-7.0,251,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1518,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.58,-97.3,339.9,-6.2,261,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1518,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.60,-97.3,357.6,-5.6,271,4934,0.12,0.00,0.00,0.000,6,0.139,0.000,1986,1519,3458,0,0,0,0,0,0,14.79,28.83,28.83
$GC,5232,-0.57,-97.3,379.5,-7.5,281,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.55,-97.3,403.6,-8.1,291,5536,0.00,1.80,0.00,0.000,4,0.000,0.057,1978,2579,3456,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5652,-0.53,-97.3,412.1,-8.1,295,5656,0.15,1.85,0.00,0.000,6,0.239,0.068,2012,1522,3456,0,0,0,0,0,0,14.43,14.69,28.83
$GC,5952,-0.53,-97.3,435.8,-7.2,305,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1521,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6252,-0.53,-97.3,455.1,-6.2,315,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6551,-0.53,-97.3,473.1,-6.1,325,6555,0.00,1.80,0.00,0.000,4,0.000,0.057,2007,2576,3452,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6779,-0.55,-97.3,486.6,-6.1,333,6782,0.00,1.88,0.00,0.000,6,0.000,0.069,2007,1512,3452,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7092,-0.55,-97.3,508.5,-7.4,344,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1512,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,-0.55,-97.3,533.3,-8.6,354,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1512,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,-0.55,-97.3,559.7,-8.8,364,7695,0.00,1.83,0.00,0.000,4,0.000,0.059,1999,2575,3448,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7871,-0.55,-97.3,572.8,-7.8,370,7874,0.00,1.88,0.00,0.000,6,0.000,0.070,1999,1518,3447,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8172,-0.55,-97.3,592.3,-5.2,380,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1517,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,-0.55,-97.3,606.9,-4.8,390,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1517,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,-0.55,-97.3,623.6,-6.1,400,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1517,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9072,-0.55,-97.3,645.2,-7.5,410,9076,0.00,1.83,0.00,0.000,4,0.000,0.060,1991,2575,3443,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9236,-0.55,-97.3,657.8,-7.6,416,9240,0.00,1.88,0.00,0.000,6,0.000,0.071,1990,1521,3442,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9553,-0.54,-97.3,680.6,-7.0,427,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9852,-0.52,-97.3,699.7,-6.3,437,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10152,-0.52,-97.3,718.9,-6.5,447,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10452,-0.51,-97.3,737.5,-6.0,457,10454,0.12,0.00,0.00,0.000,6,0.253,0.000,2018,1521,3438,0,0,0,0,0,0,14.38,28.83,28.83
$GC,10754,-0.53,-97.3,752.0,-4.9,467,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1521,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,-0.54,-97.3,768.7,-5.9,477,11056,0.00,1.83,0.00,0.000,4,0.000,0.062,2012,2570,3436,0,0,0,0,0,0,28.83,14.61,28.83
$GC,11217,-0.57,-97.3,779.3,-6.5,483,11221,0.00,1.90,0.00,0.000,6,0.000,0.073,2013,1513,3436,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11533,-0.58,-97.3,803.1,-7.6,494,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1513,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11833,-0.59,-97.3,825.5,-7.4,504,11836,0.00,1.85,0.00,0.000,4,0.000,0.063,2004,2574,3434,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11966,-0.61,-97.3,834.7,-6.8,509,11970,0.00,1.90,0.00,0.000,6,0.000,0.074,2005,1518,3434,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12284,-0.61,-97.3,854.5,-6.0,520,12288,0.00,1.85,0.00,0.000,4,0.000,0.063,1997,2574,3432,0,0,0,0,0,0,28.83,14.59,28.83
$GC,12431,-0.62,-97.3,862.3,-5.7,525,12435,0.00,1.90,0.00,0.000,6,0.000,0.074,1997,1519,3432,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12732,-0.62,-97.3,882.0,-6.3,535,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1519,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13031,-0.62,-97.3,901.8,-6.5,545,13035,0.00,1.85,0.00,0.000,4,0.000,0.063,1989,2573,3430,0,0,0,0,0,0,28.83,14.56,28.83
$GC,13166,-0.62,-97.3,910.7,-6.6,550,13170,0.00,1.90,0.00,0.000,6,0.000,0.075,1989,1521,3428,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13482,-0.62,-97.3,931.7,-6.6,561,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13782,-0.62,-97.3,951.0,-6.5,571,13785,0.00,1.85,0.00,0.000,4,0.000,0.064,1981,2572,3429,0,0,0,0,0,0,28.83,14.54,28.83
$GC,13931,-0.62,-97.3,959.3,-6.2,576,13934,0.00,1.92,0.00,0.000,6,0.000,0.076,1981,1512,3428,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,14230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14230,begin apogee
$GC,14235,-0.18,0.0,980.5,-6.9,586,14354,0.52,0.00,109.62,2.103,6,0.214,0.000,2123,1395,3064,0,0,0,0,1,0,14.33,28.83,13.16
$STATE,14355,end apogee,CONTROL_FINISHED_OK
$STATE,14355,begin climb
$GC,14358,0.60,97.3,983.6,0.0,590,14492,0.85,0.00,125.62,2.112,6,0.137,0.000,2377,1395,2665,0,0,0,0,1,0,14.12,28.83,13.09
$GC,14787,0.55,111.6,969.4,5.4,605,14826,0.00,0.00,31.30,1.219,6,0.000,0.000,2377,1395,2604,0,0,0,0,1,0,28.83,28.83,13.52
$GC,15118,0.49,111.6,949.4,6.3,616,15122,0.00,1.95,0.00,0.000,4,0.000,0.106,2385,353,2607,0,0,0,0,0,0,28.83,14.48,28.83
$GC,15266,0.41,111.6,939.2,7.5,621,15271,0.25,1.83,0.00,0.000,6,0.256,0.053,2327,1409,2605,0,0,0,0,0,0,14.31,14.64,28.83
$GC,15569,0.40,116.4,920.3,5.8,631,15580,0.00,1.80,4.15,2.035,4,0.000,0.063,2327,2451,2588,0,0,0,0,0,0,28.83,14.74,13.75
$GC,15701,0.40,125.8,913.5,5.7,635,15738,0.00,1.90,27.30,1.073,6,0.000,0.080,2332,1402,2550,0,0,0,0,1,0,28.83,14.61,13.76
$GC,16034,0.41,148.6,895.0,5.1,646,16090,0.00,2.03,42.30,1.519,4,0.000,0.109,2341,339,2457,0,0,0,0,1,0,28.83,14.43,13.58
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$STATE,28062,end climb,SURFACE_DEPTH_REACHED
$STATE,28062,begin surface coast
$FINISH,0.1,1.025049
$STATE,28078,end surface coast,CONTROL_FINISHED_OK
$STATE,28078,begin surface
$SM_CCo,28157,0.00,0.000,0,0,1622,353.23
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$TT8_MAMPS,0.02247,0.02247
$HUMID,50.35
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,26.20
$XPDR_PINGS,2
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$TM_FREEKB,6048480
$24V_AH,13.1,88.950
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.900,119.650,692.900,0.000,0.000,0.000,0.000,468.500,0.500,0.000,19.604,3185.024,21931.314,945.999,2504.089,390.790,0.000,2387.495,0.000,1880.909,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28122.000,6414.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.460,13.091,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,39977,1154
$CAP_FILE_SIZE,245017,0
$CFSIZE,260034560,232464384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.058,125.0,1
$GPS,141112,203228,2414.883,-3846.391,36,1.0,36,-14.3