version: 66.11
glider: 191
mission: 5
dive: 273
start: 12 13 112 8 34 36
data:
$ID,191
$MISSION,5
$DIVE,273
$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,-4161.7837
$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,47
$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
$GPS1,131212,082222,2512.633,-3818.233,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-50.8
$GPS2,131212,083405,2512.653,-3818.242,19,1.6,19,-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,298.0,43180,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-61.28,0.000,2,0.000,0.000,160,1520,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.4,-6.3,4,108,9.98,1.83,-3.45,0.000,4,0.427,0.083,1981,2574,3461,1,0,0,0,0,0,13.82,14.54,14.80
$GC,327,-0.58,-97.3,30.9,-7.3,20,331,0.00,1.88,0.00,0.000,6,0.000,0.064,1985,1513,3462,0,0,0,0,0,0,28.83,14.46,28.83
$GC,627,-0.54,-97.3,56.5,-9.3,40,632,0.15,1.80,0.00,0.000,4,0.249,0.053,2010,2570,3463,0,0,0,0,0,0,14.35,14.52,28.83
$GC,824,-0.54,-97.3,71.1,-7.9,53,827,0.00,1.85,0.00,0.000,6,0.000,0.065,2009,1523,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1122,-0.54,-97.3,96.8,-7.8,73,1126,0.00,1.90,0.00,0.000,4,0.000,0.084,2008,464,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1242,-0.52,-97.3,106.0,-7.4,81,1246,0.00,1.77,0.00,0.000,6,0.000,0.042,2002,1523,3463,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1542,-0.52,-97.3,126.3,-6.7,101,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1842,-0.52,-97.3,147.7,-7.1,121,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,-0.52,-97.3,169.0,-6.8,141,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2442,-0.52,-97.3,187.7,-6.2,161,2446,0.00,1.90,0.00,0.000,4,0.000,0.084,2002,466,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2502,-0.51,-97.3,192.0,-7.0,165,2506,0.12,1.77,0.00,0.000,6,0.244,0.043,2020,1523,3464,0,0,0,0,0,0,14.34,14.68,28.83
$GC,2803,-0.52,-97.3,208.0,-5.0,185,2807,0.00,1.77,0.00,0.000,4,0.000,0.054,2015,2575,3463,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2984,-0.55,-97.3,216.9,-5.1,197,2988,0.00,1.85,0.00,0.000,6,0.000,0.064,2015,1515,3464,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3282,-0.56,-97.3,232.8,-5.4,217,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1522,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3585,-0.57,-97.3,250.3,-6.1,237,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-0.58,-97.3,268.1,-5.8,247,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.60,-97.3,285.3,-6.0,257,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1517,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.61,-97.3,305.0,-6.7,267,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4783,-0.62,-97.3,326.1,-7.1,277,4786,0.00,1.80,0.00,0.000,4,0.000,0.054,2008,2580,3461,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4871,-0.64,-97.3,331.4,-7.1,280,4875,0.00,1.85,0.00,0.000,6,0.000,0.065,2008,1520,3460,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5172,-0.64,-97.3,353.3,-6.7,290,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5472,-0.64,-97.3,371.9,-6.1,300,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5772,-0.64,-97.3,389.4,-5.8,310,5776,0.00,1.90,0.00,0.000,4,0.000,0.088,2008,461,3458,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5848,-0.64,-97.3,394.3,-6.4,313,5851,0.00,1.77,0.00,0.000,6,0.000,0.043,2000,1522,3458,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6162,-0.64,-97.3,414.6,-6.6,324,6165,0.00,1.77,0.00,0.000,4,0.000,0.055,1992,2575,3456,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6298,-0.65,-97.3,424.3,-7.2,329,6301,0.00,1.85,0.00,0.000,6,0.000,0.067,1992,1520,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6612,-0.65,-97.3,450.3,-8.3,340,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,-0.65,-97.3,475.0,-8.0,350,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1520,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,-0.65,-97.3,496.4,-6.6,360,7215,0.00,1.80,0.00,0.000,4,0.000,0.054,1985,2577,3454,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7331,-0.65,-97.3,502.6,-5.9,364,7335,0.00,1.85,0.00,0.000,6,0.000,0.067,1984,1520,3454,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7633,-0.65,-97.3,519.6,-5.3,374,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,-0.65,-97.3,535.1,-5.1,384,7936,0.00,1.90,0.00,0.000,4,0.000,0.088,1985,464,3452,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8037,-0.64,-97.3,541.4,-5.9,388,8041,0.00,1.77,0.00,0.000,6,0.000,0.045,1977,1519,3451,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8354,-0.62,-97.3,559.9,-6.2,399,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8653,-0.61,-97.3,582.2,-8.1,409,8656,0.00,1.80,0.00,0.000,4,0.000,0.057,1969,2576,3450,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8727,-0.61,-97.3,588.3,-8.2,412,8731,0.00,1.88,0.00,0.000,6,0.000,0.067,1969,1512,3449,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9044,-0.59,-97.3,616.1,-8.7,423,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1512,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9343,-0.58,-97.3,641.7,-8.6,433,9348,0.12,1.90,0.00,0.000,4,0.262,0.090,1997,461,3448,0,0,0,0,0,0,14.43,14.51,28.83
$GC,9417,-0.58,-97.3,648.1,-8.5,436,9420,0.00,1.80,0.00,0.000,6,0.000,0.045,1992,1523,3447,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9733,-0.58,-97.3,673.4,-8.0,447,9736,0.00,1.80,0.00,0.000,4,0.000,0.057,1984,2575,3446,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9807,-0.58,-97.3,679.3,-8.0,450,9811,0.00,1.88,0.00,0.000,6,0.000,0.068,1984,1515,3446,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10122,-0.58,-97.3,703.2,-7.5,461,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1516,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-0.58,-97.3,722.3,-6.0,471,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1516,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10722,-0.58,-97.3,737.9,-4.8,481,10726,0.00,1.83,0.00,0.000,4,0.000,0.058,1976,2575,3442,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10829,-0.58,-97.3,743.0,-4.9,485,10833,0.00,1.88,0.00,0.000,6,0.000,0.070,1977,1521,3442,0,0,0,0,0,0,28.83,14.55,28.83
$GC,11142,-0.58,-97.3,761.4,-6.3,496,11145,0.00,1.83,0.00,0.000,4,0.000,0.058,1968,2577,3441,0,0,0,0,0,0,28.83,14.59,28.83
$GC,11231,-0.58,-97.3,766.5,-6.7,499,11235,0.15,1.90,0.00,0.000,6,0.243,0.070,2001,1511,3441,0,0,0,0,0,0,14.23,14.54,28.83
$GC,11535,-0.59,-97.3,787.8,-7.0,509,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1511,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11832,-0.61,-97.3,811.5,-8.3,519,11836,0.00,1.92,0.00,0.000,4,0.000,0.093,2000,463,3443,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11921,-0.61,-97.3,818.0,-8.6,522,11925,0.00,1.80,0.00,0.000,6,0.000,0.047,1996,1519,3439,0,0,0,0,0,0,28.83,14.61,28.83
$GC,12222,-0.61,-97.3,843.5,-8.0,532,12225,0.00,1.83,0.00,0.000,4,0.000,0.059,1988,2577,3438,0,0,0,0,0,0,28.83,14.55,28.83
$GC,12402,-0.62,-97.3,856.1,-7.5,538,12406,0.00,1.90,0.00,0.000,6,0.000,0.071,1988,1516,3437,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12702,-0.62,-97.3,878.5,-6.8,548,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1515,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13002,-0.62,-97.3,899.1,-6.9,558,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1516,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13302,-0.62,-97.3,919.5,-6.7,568,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1516,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13602,-0.62,-97.3,938.7,-6.4,578,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1515,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13902,-0.62,-97.3,958.3,-6.6,588,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1515,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14202,-0.62,-97.3,978.2,-6.6,598,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1516,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14229,begin apogee
$GC,14236,-0.18,0.0,980.1,-6.6,599,14360,0.52,0.00,115.03,2.114,6,0.201,0.000,2129,1396,3062,0,0,0,0,1,0,14.12,28.83,12.95
$STATE,14362,end apogee,CONTROL_FINISHED_OK
$STATE,14362,begin climb
$GC,14364,0.60,97.3,984.9,0.0,603,14505,0.80,2.05,128.93,2.129,4,0.119,0.101,2386,348,2667,0,0,0,0,1,0,14.10,13.97,12.92
$GC,14713,0.55,127.2,980.1,4.8,615,14773,0.00,1.83,49.90,1.640,6,0.000,0.049,2386,1408,2543,0,0,0,0,1,0,28.83,14.54,13.19
$GC,15088,0.49,127.2,957.2,6.4,628,15089,0.15,0.00,0.00,0.000,6,0.278,0.000,2354,1408,2538,0,0,0,0,0,0,14.34,28.83,28.83
$GC,15388,0.45,127.2,939.6,6.1,638,15392,0.00,1.80,0.00,0.000,4,0.000,0.057,2354,2453,2539,0,0,0,0,0,0,28.83,14.54,28.83
$GC,15462,0.42,127.2,934.8,6.2,641,15467,0.15,1.90,0.00,0.000,6,0.273,0.076,2325,1396,2538,0,0,0,0,0,0,14.33,14.58,28.83
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$STATE,28767,end climb,SURFACE_DEPTH_REACHED
$STATE,28767,begin surface coast
$FINISH,0.3,1.025264
$STATE,28785,end surface coast,CONTROL_FINISHED_OK
$STATE,28785,begin surface
$SM_CCo,28804,3.00,0.830,0,0,1756,320.12
$SM_GC,1.88,6.50,0.17,3.00,0.061,0.099,0.830,156,1531,1756,-6.30,-1.22,320.12,0,0,0,0,0,0,14.57,14.67,13.90
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$TT8_MAMPS,0.023219,0.023219
$HUMID,52.48
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,26.00
$XPDR_PINGS,7
$SC_FREEKB,7665280
$TM_FREEKB,5161920
$24V_AH,12.9,130.262
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.775,122.700,672.425,3.000,0.000,0.000,0.000,375.025,1.750,0.000,20.517,3281.246,22268.367,941.676,2476.423,531.088,0.000,2324.168,0.000,1944.477,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.203,13.030,0.000,0.000
$MEM,344764
$DATA_FILE_SIZE,43267,1201
$CAP_FILE_SIZE,248121,0
$CFSIZE,260034560,220913664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.067,121.0,1
$GPS,131212,163605,2512.871,-3820.458,36,0.9,36,-14.0