version: 66.11
glider: 191
mission: 5
dive: 292
start: 12 19 112 21 50 41
data:
$ID,191
$MISSION,5
$DIVE,292
$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,-4185.876
$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,26
$R_STBD_OVSHOOT,55
$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
$GPS1,191212,213735,2434.771,-3841.059,24,1.2,24,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.3
$GPS2,191212,215011,2434.759,-3841.062,17,1.2,17,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,145.5,98592,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-57.28,0.000,6,0.000,0.000,160,1537,3458,0,0,0,0,0,0,28.83,28.83,14.78
$GC,90,-0.60,-97.3,4.6,-9.5,4,105,9.77,1.75,0.00,0.000,4,0.414,0.053,1983,2564,3461,1,0,0,0,0,0,13.83,14.57,28.83
$GC,241,-0.58,-97.3,25.5,-9.9,14,245,0.00,1.88,0.00,0.000,6,0.000,0.066,1982,1511,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,538,-0.54,-97.3,55.4,-10.1,34,543,0.12,1.90,0.00,0.000,4,0.256,0.086,2009,466,3462,0,0,0,0,0,0,14.33,14.35,28.83
$GC,629,-0.52,-97.3,64.1,-9.5,40,632,0.00,1.77,0.00,0.000,6,0.000,0.044,2009,1512,3462,0,0,0,0,0,0,28.83,14.47,28.83
$GC,928,-0.51,-97.3,87.5,-7.0,60,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1228,-0.51,-97.3,104.6,-5.2,80,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1527,-0.51,-97.3,124.2,-7.8,100,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1828,-0.51,-97.3,150.5,-9.2,120,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,-0.51,-97.3,173.0,-6.8,140,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.51,-97.3,191.5,-5.9,160,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.51,-97.3,211.0,-7.0,180,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.51,-97.3,234.5,-8.0,200,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3327,-0.51,-97.3,257.0,-7.2,217,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3628,-0.51,-97.3,276.8,-6.3,227,3631,0.00,1.90,0.00,0.000,4,0.000,0.087,2004,460,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3747,-0.51,-97.3,283.5,-6.4,231,3750,0.00,1.77,0.00,0.000,6,0.000,0.044,1996,1520,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4049,-0.51,-97.3,300.4,-5.2,241,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4348,-0.51,-97.3,317.2,-5.9,251,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4648,-0.51,-97.3,338.5,-7.4,261,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4948,-0.51,-97.3,362.6,-8.1,271,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5248,-0.51,-97.3,386.0,-7.4,281,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-0.51,-97.3,405.3,-5.9,291,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5848,-0.51,-97.3,420.7,-5.0,301,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6149,-0.51,-97.3,436.9,-5.6,311,6152,0.00,1.80,0.00,0.000,4,0.000,0.057,1988,2577,3456,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6267,-0.51,-97.3,443.4,-6.2,315,6271,0.15,1.88,0.00,0.000,6,0.222,0.067,2023,1513,3456,0,0,0,0,0,0,14.39,14.64,28.83
$GC,6571,-0.53,-97.3,460.8,-5.3,325,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1512,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6868,-0.56,-97.3,476.5,-5.1,335,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1513,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7169,-0.59,-97.3,491.8,-5.2,345,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1513,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7468,-0.62,-97.3,508.2,-5.5,355,7470,0.12,0.00,0.00,0.000,6,0.139,0.000,1975,1513,3452,0,0,0,0,0,0,14.74,28.83,28.83
$GC,7769,-0.61,-97.3,530.0,-7.4,365,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1514,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8068,-0.60,-97.3,551.7,-7.1,375,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1513,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.59,-97.3,572.1,-6.9,385,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8669,-0.58,-97.3,592.2,-6.7,395,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1513,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8968,-0.58,-97.3,613.0,-7.0,405,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1513,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,-0.58,-97.3,634.5,-7.3,415,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1513,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,-0.58,-97.3,656.8,-7.5,425,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1513,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9868,-0.58,-97.3,679.9,-7.6,435,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1513,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10168,-0.58,-97.3,701.4,-6.8,445,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1513,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,-0.58,-97.3,720.1,-6.0,455,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10769,-0.58,-97.3,736.5,-5.5,465,10772,0.00,1.85,0.00,0.000,4,0.000,0.060,1967,2576,3442,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10887,-0.58,-97.3,742.4,-5.6,469,10892,0.15,1.90,0.00,0.000,6,0.231,0.070,2000,1518,3442,0,0,0,0,0,0,14.26,14.52,28.83
$GC,11191,-0.59,-97.3,759.3,-5.5,479,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1517,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11488,-0.61,-97.3,776.0,-5.5,489,11492,0.00,1.95,0.00,0.000,4,0.000,0.094,2000,461,3440,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11564,-0.61,-97.3,780.9,-6.3,492,11568,0.00,1.83,0.00,0.000,6,0.000,0.048,1995,1523,3440,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11880,-0.62,-97.3,800.0,-6.1,503,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1524,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12179,-0.63,-97.3,818.1,-5.8,513,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12478,-0.65,-97.3,834.0,-4.9,523,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1524,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12779,-0.66,-97.3,849.5,-5.4,533,12783,0.00,1.85,0.00,0.000,4,0.000,0.061,1991,2579,3436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12884,-0.68,-97.3,855.7,-5.9,537,12888,0.00,1.90,0.00,0.000,6,0.000,0.071,1987,1521,3436,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13198,-0.68,-97.3,875.9,-6.4,548,13202,0.00,1.98,0.00,0.000,4,0.000,0.095,1987,463,3435,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13274,-0.68,-97.3,881.4,-7.1,551,13278,0.00,1.83,0.00,0.000,6,0.000,0.049,1980,1518,3434,0,0,0,0,0,0,28.83,14.55,28.83
$GC,13588,-0.68,-97.3,902.3,-6.7,562,13591,0.00,1.85,0.00,0.000,4,0.000,0.062,1972,2576,3436,0,0,0,0,0,0,28.83,14.49,28.83
$GC,13677,-0.68,-97.3,907.1,-6.5,565,13681,0.00,1.92,0.00,0.000,6,0.000,0.073,1972,1514,3433,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13978,-0.68,-97.3,929.0,-7.0,575,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1512,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14278,-0.68,-97.3,948.9,-6.6,585,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1509,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14578,-0.68,-97.3,968.1,-6.3,595,14582,0.00,1.98,0.00,0.000,4,0.000,0.096,1971,464,3431,0,0,0,0,0,0,28.83,14.26,28.83
$GC,14654,-0.66,-97.3,973.3,-6.9,598,14657,0.00,1.85,0.00,0.000,6,0.000,0.050,1964,1527,3431,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,14756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14756,begin apogee
$GC,14763,-0.18,0.0,980.7,-7.1,602,14891,0.62,0.00,115.88,2.089,6,0.214,0.000,2126,1389,3063,0,0,0,0,1,0,13.97,28.83,12.93
$STATE,14893,end apogee,CONTROL_FINISHED_OK
$STATE,14893,begin climb
$GC,14896,0.60,97.3,985.3,0.0,606,15033,0.82,1.95,126.47,2.035,4,0.123,0.059,2378,2458,2666,0,0,0,0,1,0,14.12,14.04,12.95
$GC,15133,0.58,168.0,986.4,3.1,615,15240,0.00,1.95,96.40,1.958,6,0.000,0.076,2386,1397,2377,0,0,0,0,1,0,28.83,14.37,13.00
$GC,15538,0.53,168.0,960.3,7.3,628,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1398,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15838,0.48,168.0,937.7,7.6,638,15840,0.17,0.00,0.00,0.000,6,0.265,0.000,2348,1398,2369,0,0,0,0,0,0,14.36,28.83,28.83
$GC,16138,0.46,168.0,917.6,6.6,648,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1398,2367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16439,0.45,168.0,898.3,6.2,658,16440,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1398,2367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16738,0.45,185.6,881.5,5.3,668,16781,0.00,1.88,33.47,1.257,4,0.000,0.062,2347,2459,2306,0,0,0,0,1,0,28.83,14.62,13.38
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$STATE,29112,end climb,SURFACE_DEPTH_REACHED
$STATE,29114,begin surface coast
$FINISH,-0.0,1.025278
$STATE,29128,end surface coast,CONTROL_FINISHED_OK
$STATE,29128,begin surface
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$HUMID,54.56
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$TM_FREEKB,4958208
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$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.450,102.025,648.500,0.000,0.000,0.000,0.000,429.900,1.500,0.000,18.375,3243.293,22789.104,879.517,2464.216,574.067,0.000,2293.158,0.000,1909.372,0.000,0.549,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.111,13.054,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,43353,1200
$CAP_FILE_SIZE,247139,0
$CFSIZE,260034560,218247168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.012,135.0,1
$GPS,201212,055834,2432.566,-3838.309,23,1.1,23,-14.2