version: 66.11
glider: 191
mission: 5
dive: 196
start: 11 17 112 13 26 23
data:
$ID,191
$MISSION,5
$DIVE,196
$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,-4059.4941
$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,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
$GPS1,171112,131523,2355.737,-3836.704,40,0.9,40,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-50.6
$GPS2,171112,132553,2355.736,-3836.737,18,1.1,18,-14.3
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-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,97.6,129898,-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,23,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-61.00,0.000,6,0.000,0.000,162,1515,3460,0,0,0,0,0,0,28.83,28.83,14.82
$GC,89,-0.60,-97.3,4.2,-8.7,4,101,10.68,0.00,0.00,0.000,6,0.467,0.000,1988,1515,3462,1,0,0,0,0,0,14.03,28.83,28.83
$GC,402,-0.55,-97.3,48.9,-12.4,25,405,0.00,1.83,0.00,0.000,4,0.000,0.057,1983,2575,3464,0,0,0,0,0,0,28.83,14.59,28.83
$GC,477,-0.51,-97.3,57.4,-11.1,30,482,0.17,1.88,0.00,0.000,6,0.249,0.066,2022,1512,3464,0,0,0,0,0,0,14.32,14.54,28.83
$GC,777,-0.49,-97.3,82.8,-7.3,50,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1512,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.49,-97.3,104.4,-7.3,70,1080,0.00,1.90,0.00,0.000,4,0.000,0.089,2022,460,3466,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1152,-0.47,-97.3,110.5,-8.2,75,1156,0.00,1.77,0.00,0.000,6,0.000,0.046,2017,1516,3466,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1451,-0.46,-97.3,132.0,-7.3,95,1455,0.00,1.80,0.00,0.000,4,0.000,0.055,2009,2577,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1586,-0.46,-97.3,141.9,-7.5,104,1591,0.12,1.85,0.00,0.000,6,0.240,0.064,2036,1521,3466,0,0,0,0,0,0,14.37,14.58,28.83
$GC,1887,-0.47,-97.3,161.5,-6.7,124,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1520,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-0.49,-97.3,179.9,-5.9,144,2190,0.00,1.80,0.00,0.000,4,0.000,0.054,2030,2577,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2353,-0.51,-97.3,189.7,-5.9,155,2357,0.00,1.88,0.00,0.000,6,0.000,0.063,2031,1512,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2652,-0.52,-97.3,210.6,-7.3,175,2656,0.00,1.88,0.00,0.000,4,0.000,0.087,2031,466,3465,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2741,-0.52,-97.3,217.9,-8.2,181,2745,0.00,1.77,0.00,0.000,6,0.000,0.045,2023,1520,3466,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3042,-0.52,-97.3,239.8,-6.7,201,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3343,-0.52,-97.3,256.5,-5.3,217,3346,0.00,1.80,0.00,0.000,4,0.000,0.056,2016,2580,3465,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3539,-0.54,-97.3,266.3,-5.1,224,3543,0.00,1.88,0.00,0.000,6,0.000,0.065,2016,1511,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3851,-0.54,-97.3,286.8,-7.2,235,3855,0.00,1.83,0.00,0.000,4,0.000,0.055,2008,2581,3463,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4000,-0.54,-97.3,297.2,-7.7,240,4004,0.00,1.85,0.00,0.000,6,0.000,0.066,2008,1521,3463,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4301,-0.54,-97.3,320.8,-7.1,250,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.54,-97.3,339.0,-5.7,260,4605,0.00,1.90,0.00,0.000,4,0.000,0.089,2008,463,3461,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4661,-0.54,-97.3,341.9,-5.9,262,4665,0.00,1.77,0.00,0.000,6,0.000,0.046,2000,1518,3461,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4961,-0.54,-97.3,361.6,-6.2,272,4965,0.00,1.80,0.00,0.000,4,0.000,0.056,1992,2579,3460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5111,-0.54,-97.3,370.0,-6.1,277,5114,0.00,1.88,0.00,0.000,6,0.000,0.066,1992,1509,3460,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5412,-0.52,-97.3,390.8,-6.7,287,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1508,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5712,-0.51,-97.3,412.4,-7.7,297,5714,0.12,0.00,0.00,0.000,6,0.255,0.000,2018,1509,3458,0,0,0,0,0,0,14.48,28.83,28.83
$GC,6012,-0.52,-97.3,434.2,-7.3,307,6015,0.00,1.83,0.00,0.000,4,0.000,0.057,2013,2576,3457,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6238,-0.54,-97.3,449.9,-6.7,315,6242,0.00,1.88,0.00,0.000,6,0.000,0.067,2013,1518,3456,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6551,-0.54,-97.3,469.7,-6.2,326,6555,0.00,1.83,0.00,0.000,4,0.000,0.057,2005,2579,3455,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6657,-0.55,-97.3,476.1,-6.1,330,6661,0.00,1.88,0.00,0.000,6,0.000,0.067,2006,1516,3454,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6972,-0.55,-97.3,497.3,-6.9,341,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7271,-0.55,-97.3,519.1,-7.5,351,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7571,-0.55,-97.3,541.4,-7.6,361,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1515,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,-0.55,-97.3,563.8,-7.3,371,7875,0.00,1.83,0.00,0.000,4,0.000,0.059,1998,2576,3450,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7990,-0.55,-97.3,571.1,-6.9,375,7994,0.00,1.88,0.00,0.000,6,0.000,0.069,1998,1519,3450,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8292,-0.55,-97.3,593.8,-7.3,385,8295,0.00,1.83,0.00,0.000,4,0.000,0.058,1991,2576,3449,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8396,-0.55,-97.3,601.2,-7.0,389,8400,0.00,1.88,0.00,0.000,6,0.000,0.069,1991,1519,3448,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8714,-0.54,-97.3,625.6,-8.1,400,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1519,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,-0.53,-97.3,650.4,-8.3,410,9015,0.00,1.83,0.00,0.000,4,0.000,0.059,1983,2575,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9101,-0.53,-97.3,656.3,-7.9,413,9105,0.15,1.88,0.00,0.000,6,0.237,0.070,2016,1520,3446,0,0,0,0,0,0,14.35,14.64,28.83
$GC,9403,-0.55,-97.3,676.3,-5.8,423,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9702,-0.56,-97.3,691.8,-5.1,433,9706,0.00,1.85,0.00,0.000,4,0.000,0.060,2011,2581,3444,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9821,-0.58,-97.3,697.1,-5.2,437,9825,0.00,1.90,0.00,0.000,6,0.000,0.070,2011,1517,3443,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10121,-0.58,-97.3,717.0,-6.6,447,10125,0.00,1.85,0.00,0.000,4,0.000,0.060,2004,2578,3442,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10211,-0.59,-97.3,722.2,-6.9,450,10215,0.00,1.90,0.00,0.000,6,0.000,0.070,2004,1515,3442,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10511,-0.59,-97.3,746.8,-8.0,460,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1515,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,-0.59,-97.3,771.6,-8.3,470,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1512,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11111,-0.59,-97.3,795.5,-7.8,480,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1515,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11412,-0.59,-97.3,817.0,-6.8,490,11416,0.00,1.85,0.00,0.000,4,0.000,0.062,1996,2575,3438,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11486,-0.59,-97.3,821.9,-6.6,493,11490,0.00,1.90,0.00,0.000,6,0.000,0.073,1996,1519,3438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11801,-0.59,-97.3,842.6,-6.3,504,11805,0.00,1.85,0.00,0.000,4,0.000,0.061,1989,2576,3437,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11861,-0.59,-97.3,845.3,-6.2,506,11864,0.00,1.90,0.00,0.000,6,0.000,0.073,1989,1520,3436,0,0,0,0,0,0,28.83,14.57,28.83
$GC,12161,-0.59,-97.3,864.8,-6.1,516,12165,0.00,1.85,0.00,0.000,4,0.000,0.062,1981,2576,3436,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12237,-0.59,-97.3,868.9,-5.5,519,12241,0.00,1.90,0.00,0.000,6,0.000,0.073,1981,1522,3436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12554,-0.58,-97.3,887.3,-5.7,530,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12852,-0.57,-97.3,905.9,-6.5,540,12855,0.00,1.85,0.00,0.000,4,0.000,0.062,1974,2573,3433,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13018,-0.57,-97.3,916.8,-6.8,546,13022,0.12,1.92,0.00,0.000,6,0.253,0.074,1999,1514,3433,0,0,0,0,0,0,14.17,14.42,28.83
$GC,13332,-0.57,-97.3,938.4,-7.2,557,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13632,-0.57,-97.3,960.3,-7.2,567,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13929,begin apogee
$GC,13935,-0.18,0.0,980.7,-6.7,577,14056,0.47,0.00,112.47,2.123,6,0.210,0.000,2130,1397,3062,0,0,0,0,1,0,14.31,28.83,13.14
$STATE,14058,end apogee,CONTROL_FINISHED_OK
$STATE,14058,begin climb
$GC,14060,0.60,97.3,984.2,0.0,581,14200,0.80,2.08,126.05,2.121,4,0.130,0.106,2384,347,2665,0,0,0,0,1,0,14.09,13.93,13.07
$GC,14427,0.52,100.3,974.0,5.9,594,14431,0.00,1.85,0.00,0.000,6,0.000,0.054,2384,1405,2660,0,0,0,0,0,0,28.83,14.49,28.83
$GC,14744,0.46,109.0,956.3,5.7,605,14786,0.20,1.85,28.17,1.113,4,0.271,0.063,2340,2454,2618,0,0,0,0,1,0,14.26,14.59,13.64
$GC,14863,0.46,142.0,950.5,4.7,609,14926,0.00,1.92,53.08,1.701,6,0.000,0.080,2345,1401,2485,0,0,0,0,1,0,28.83,14.52,13.40
$GC,15237,0.45,154.5,930.0,5.5,622,15280,0.00,1.98,30.67,1.201,4,0.000,0.108,2353,351,2434,0,0,0,0,1,0,28.83,14.46,13.55
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$STATE,28075,end climb,SURFACE_DEPTH_REACHED
$STATE,28075,begin surface coast
$FINISH,0.1,1.025046
$STATE,28091,end surface coast,CONTROL_FINISHED_OK
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$TM_FREEKB,5957312
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$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,344792
$DATA_FILE_SIZE,43233,1167
$CAP_FILE_SIZE,244672,0
$CFSIZE,260034560,231256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,0,0
$CURRENT,0.046,144.2,1
$GPS,171112,211634,2355.326,-3832.945,35,0.9,35,-14.3