version: 66.11
glider: 191
mission: 5
dive: 218
start: 11 24 112 21 30 49
data:
$ID,191
$MISSION,5
$DIVE,218
$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,-4088.6997
$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,25
$R_STBD_OVSHOOT,52
$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
$GPS1,241112,211928,2355.625,-3727.265,38,1.7,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.8
$GPS2,241112,213019,2355.621,-3727.241,15,1.9,15,-14.0
$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,87.9,12277,-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,-97.3,0.0,0.0,0,85,0.00,0.00,-57.58,0.000,6,0.000,0.000,155,1535,3459,0,0,0,0,0,0,28.83,28.83,14.77
$GC,88,-0.60,-97.3,4.1,-7.7,4,101,9.50,1.77,0.00,0.000,4,0.412,0.053,1982,2567,3461,0,0,0,0,0,0,14.19,14.60,28.83
$GC,326,-0.56,-97.3,33.0,-9.7,20,330,0.00,1.88,0.00,0.000,6,0.000,0.066,1982,1513,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,626,-0.51,-97.3,63.2,-10.0,40,628,0.15,0.00,0.00,0.000,6,0.246,0.000,2014,1512,3467,0,0,0,0,0,0,14.31,28.83,28.83
$GC,926,-0.50,-97.3,88.4,-8.7,60,929,0.00,1.80,0.00,0.000,4,0.000,0.054,2011,2568,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1076,-0.50,-97.3,100.9,-7.8,70,1079,0.00,1.85,0.00,0.000,6,0.000,0.065,2011,1517,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1376,-0.49,-97.3,125.0,-7.7,90,1380,0.00,1.90,0.00,0.000,4,0.000,0.085,2011,463,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1481,-0.47,-97.3,133.9,-8.6,97,1485,0.15,1.77,0.00,0.000,6,0.234,0.044,2038,1517,3465,0,0,0,0,0,0,14.37,14.66,28.83
$GC,1781,-0.48,-97.3,146.8,-3.5,117,1785,0.00,1.80,0.00,0.000,4,0.000,0.054,2032,2577,3465,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1902,-0.51,-97.3,151.1,-3.6,125,1905,0.00,1.85,0.00,0.000,6,0.000,0.063,2032,1520,3465,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2201,-0.52,-97.3,165.7,-5.6,145,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-0.54,-97.3,186.9,-7.1,165,2504,0.00,1.90,0.00,0.000,4,0.000,0.085,2032,463,3466,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2591,-0.54,-97.3,193.8,-7.9,171,2594,0.00,1.77,0.00,0.000,6,0.000,0.043,2025,1526,3464,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2891,-0.55,-97.3,214.5,-7.0,191,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.56,-97.3,235.3,-6.8,211,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3492,-0.57,-97.3,253.5,-5.2,229,3495,0.00,1.77,0.00,0.000,4,0.000,0.054,2017,2569,3464,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3596,-0.59,-97.3,258.3,-4.5,233,3600,0.00,1.85,0.00,0.000,6,0.000,0.064,2017,1516,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3911,-0.59,-97.3,270.3,-3.8,244,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4211,-0.59,-97.3,283.9,-4.9,254,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.59,-97.3,302.5,-6.7,264,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.59,-97.3,324.3,-7.4,274,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5110,-0.59,-97.3,346.6,-7.4,284,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5411,-0.59,-97.3,369.9,-7.7,294,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,-0.60,-97.3,390.0,-5.8,304,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1517,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,-0.61,-97.3,404.1,-4.4,314,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1516,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.62,-97.3,417.4,-4.6,324,6315,0.00,1.90,0.00,0.000,4,0.000,0.088,2017,464,3457,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6385,-0.62,-97.3,421.5,-5.3,327,6389,0.00,1.77,0.00,0.000,6,0.000,0.045,2010,1518,3457,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6701,-0.62,-97.3,440.7,-6.7,338,6704,0.00,1.80,0.00,0.000,4,0.000,0.057,2002,2576,3456,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6806,-0.64,-97.3,448.5,-7.5,342,6810,0.00,1.88,0.00,0.000,6,0.000,0.067,2001,1513,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7121,-0.64,-97.3,476.7,-9.2,353,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1514,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7420,-0.64,-97.3,503.5,-8.7,363,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1513,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,-0.64,-97.3,526.7,-7.5,373,7724,0.00,1.83,0.00,0.000,4,0.000,0.057,1994,2576,3452,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7826,-0.64,-97.3,533.9,-6.8,377,7829,0.00,1.88,0.00,0.000,6,0.000,0.067,1994,1517,3452,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8141,-0.64,-97.3,554.6,-6.4,388,8144,0.00,1.92,0.00,0.000,4,0.000,0.090,1994,460,3452,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8230,-0.62,-97.3,559.8,-6.7,391,8234,0.00,1.80,0.00,0.000,6,0.000,0.047,1986,1522,3451,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8532,-0.61,-97.3,579.0,-6.0,401,8536,0.00,1.80,0.00,0.000,4,0.000,0.058,1978,2576,3450,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8697,-0.61,-97.3,588.8,-5.9,407,8700,0.00,1.88,0.00,0.000,6,0.000,0.068,1978,1520,3450,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9012,-0.59,-97.3,610.0,-6.9,418,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9312,-0.58,-97.3,632.1,-7.6,428,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9611,-0.56,-97.3,656.1,-8.2,438,9613,0.12,0.00,0.00,0.000,6,0.247,0.000,2006,1520,3447,0,0,0,0,0,0,14.45,28.83,28.83
$GC,9911,-0.56,-97.3,676.5,-6.7,448,9914,0.00,1.92,0.00,0.000,4,0.000,0.092,2006,467,3446,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10029,-0.56,-97.3,684.2,-7.4,452,10033,0.00,1.80,0.00,0.000,6,0.000,0.048,2001,1518,3445,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10331,-0.56,-97.3,703.7,-5.5,462,10334,0.00,1.83,0.00,0.000,4,0.000,0.059,1993,2576,3445,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10497,-0.57,-97.3,712.0,-5.1,468,10501,0.00,1.90,0.00,0.000,6,0.000,0.070,1993,1513,3444,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10810,-0.57,-97.3,730.5,-6.2,479,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11111,-0.57,-97.3,752.0,-7.5,489,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1513,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11410,-0.57,-97.3,775.3,-7.8,499,11414,0.00,1.92,0.00,0.000,4,0.000,0.093,1993,466,3441,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11469,-0.57,-97.3,779.1,-7.9,501,11473,0.00,1.83,0.00,0.000,6,0.000,0.050,1985,1527,3441,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11771,-0.57,-97.3,802.6,-7.2,511,11775,0.00,1.83,0.00,0.000,4,0.000,0.060,1977,2578,3440,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11859,-0.57,-97.3,807.7,-6.8,514,11863,0.00,1.90,0.00,0.000,6,0.000,0.070,1977,1519,3440,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12161,-0.56,-97.3,828.8,-6.6,524,12163,0.12,0.00,0.00,0.000,6,0.249,0.000,2004,1519,3439,0,0,0,0,0,0,14.38,28.83,28.83
$GC,12463,-0.57,-97.3,846.5,-6.0,534,12466,0.00,1.88,0.00,0.000,4,0.000,0.060,1998,2581,3438,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12550,-0.58,-97.3,851.2,-6.3,537,12554,0.00,1.92,0.00,0.000,6,0.000,0.071,1998,1513,3437,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12850,-0.58,-97.3,874.4,-7.9,547,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1513,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13150,-0.58,-97.3,900.1,-8.7,557,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1513,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13451,-0.58,-97.3,925.9,-8.5,567,13455,0.00,1.88,0.00,0.000,4,0.000,0.061,1991,2577,3435,0,0,0,0,0,0,28.83,14.51,28.83
$GC,13557,-0.60,-97.3,934.1,-8.0,571,13560,0.00,1.92,0.00,0.000,6,0.000,0.073,1991,1515,3434,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13871,-0.60,-97.3,958.8,-7.7,582,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1515,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14170,-0.60,-97.3,979.6,-6.4,592,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1515,3432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14198,begin apogee
$GC,14204,-0.18,0.0,981.5,-6.4,593,14327,0.50,0.00,114.18,2.128,6,0.204,0.000,2125,1396,3062,0,0,0,0,1,0,14.24,28.83,13.05
$STATE,14328,end apogee,CONTROL_FINISHED_OK
$STATE,14328,begin climb
$GC,14331,0.60,97.3,984.5,0.0,597,14466,0.82,0.00,126.38,2.126,6,0.127,0.000,2379,1396,2665,0,0,0,0,1,0,14.09,28.83,12.98
$GC,14756,0.53,97.3,966.3,7.0,612,14760,0.00,1.98,0.00,0.000,4,0.000,0.103,2387,350,2659,0,0,0,0,0,0,28.83,14.38,28.83
$GC,14951,0.45,97.3,951.3,7.8,619,14955,0.22,1.83,0.00,0.000,6,0.262,0.051,2336,1409,2657,0,0,0,0,0,0,14.28,14.62,28.83
$GC,15268,0.47,141.5,935.7,4.2,630,15341,0.00,1.88,63.62,1.822,4,0.000,0.061,2335,2452,2486,0,0,0,0,1,0,28.83,14.31,13.33
$GC,15415,0.51,192.9,930.3,3.9,634,15498,0.00,1.92,73.57,1.882,6,0.000,0.077,2341,1405,2275,0,0,0,0,1,0,28.83,14.38,13.16
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$STATE,27549,end climb,SURFACE_DEPTH_REACHED
$STATE,27549,begin surface coast
$FINISH,0.6,1.025149
$STATE,27566,end surface coast,CONTROL_FINISHED_OK
$STATE,27566,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,51.22
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$TCM_TEMP,26.10
$XPDR_PINGS,8
$SC_FREEKB,7686432
$TM_FREEKB,5733472
$24V_AH,13.0,103.718
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.275,131.175,584.375,0.000,0.000,0.000,0.000,362.375,2.000,0.000,16.761,3142.888,21518.645,831.034,2357.763,435.763,0.000,2148.178,0.000,1846.908,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27611.000,6394.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.330,13.055,0.000,0.000
$MEM,344804
$DATA_FILE_SIZE,39964,1142
$CAP_FILE_SIZE,240152,0
$CFSIZE,260034560,228352000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.053,185.7,1
$GPS,251112,051252,2355.595,-3724.100,37,0.9,37,-13.9