version: 66.11
glider: 191
mission: 5
dive: 297
start: 12 21 112 19 17 34
data:
$ID,191
$MISSION,5
$DIVE,297
$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,-4933.251
$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,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
$GPS1,211212,190034,2433.885,-3839.926,31,0.8,32,-14.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-52.6
$GPS2,211212,191648,2433.881,-3839.841,15,1.3,15,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,316.1,4186,-15.9,-6.049,-20.60
$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,-0.66,-73.3,0.0,0.0,0,87,0.00,0.00,-60.25,0.000,6,0.000,0.000,154,1517,3362,0,0,0,0,0,0,28.83,28.83,14.79
$GC,90,-0.66,-73.3,3.6,-7.2,4,104,9.50,1.90,0.00,0.000,4,0.409,0.077,1976,456,3365,1,0,0,0,0,0,13.82,14.51,28.83
$GC,313,-0.62,-73.3,32.1,-12.5,19,317,0.00,1.80,0.00,0.000,6,0.000,0.045,1971,1516,3366,0,0,0,0,0,0,28.83,14.46,28.83
$GC,613,-0.60,-73.3,59.8,-9.2,39,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1517,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,913,-0.58,-73.3,85.3,-8.4,59,915,0.12,0.00,0.00,0.000,6,0.264,0.000,1997,1517,3368,0,0,0,0,0,0,14.38,28.83,28.83
$GC,1213,-0.59,-73.3,105.8,-7.1,79,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1518,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.60,-73.3,129.5,-8.5,99,1517,0.00,1.90,0.00,0.000,4,0.000,0.086,1997,464,3367,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1588,-0.60,-73.3,136.0,-8.9,104,1591,0.00,1.77,0.00,0.000,6,0.000,0.044,1991,1520,3366,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1888,-0.60,-73.3,160.4,-8.1,124,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2188,-0.60,-73.3,184.9,-8.3,144,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2488,-0.61,-74.6,205.6,-6.0,164,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2789,-0.65,-91.5,221.5,-5.1,184,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3089,-0.67,-97.3,236.8,-5.6,204,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3404,-0.68,-97.3,256.7,-6.9,222,3407,0.00,1.80,0.00,0.000,4,0.000,0.054,1983,2580,3367,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3479,-0.70,-97.3,262.2,-7.4,225,3483,0.00,1.85,0.00,0.000,6,0.000,0.063,1982,1519,3366,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3793,-0.70,-97.3,285.6,-7.1,236,3797,0.00,1.90,0.00,0.000,4,0.000,0.087,1983,463,3365,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3882,-0.70,-97.3,291.3,-7.5,239,3885,0.00,1.77,0.00,0.000,6,0.000,0.044,1976,1521,3366,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4184,-0.70,-97.3,313.6,-7.2,249,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1522,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-0.70,-97.3,335.9,-7.4,259,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1522,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.70,-97.3,357.2,-7.1,269,4787,0.00,1.90,0.00,0.000,4,0.000,0.086,1976,464,3363,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4842,-0.70,-97.3,360.7,-7.2,271,4846,0.00,1.77,0.00,0.000,6,0.000,0.045,1968,1519,3363,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5143,-0.70,-97.3,383.0,-6.9,281,5146,0.00,1.80,0.00,0.000,4,0.000,0.057,1960,2579,3362,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5278,-0.70,-97.3,392.1,-6.8,286,5282,0.00,1.88,0.00,0.000,6,0.000,0.066,1960,1516,3361,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5593,-0.70,-97.3,413.7,-6.9,297,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1516,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,-0.70,-97.3,436.9,-8.0,307,5898,0.00,1.90,0.00,0.000,4,0.000,0.088,1960,463,3360,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5953,-0.68,-97.3,440.9,-8.3,309,5956,0.00,1.77,0.00,0.000,6,0.000,0.045,1953,1520,3359,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6253,-0.67,-97.3,469.8,-9.3,319,6257,0.00,1.80,0.00,0.000,4,0.000,0.057,1944,2577,3359,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6328,-0.67,-97.3,476.5,-9.1,322,6332,0.00,1.88,0.00,0.000,6,0.000,0.067,1944,1513,3358,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6645,-0.66,-97.3,503.6,-8.0,333,6649,0.15,1.90,0.00,0.000,4,0.263,0.089,1976,461,3356,0,0,0,0,0,0,14.39,14.54,28.83
$GC,6719,-0.65,-97.3,509.1,-7.5,336,6722,0.00,1.80,0.00,0.000,6,0.000,0.046,1971,1521,3357,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7035,-0.65,-97.3,528.8,-6.0,347,7039,0.00,1.92,0.00,0.000,4,0.000,0.088,1971,461,3356,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7123,-0.65,-97.3,534.1,-6.8,350,7127,0.00,1.80,0.00,0.000,6,0.000,0.046,1963,1521,3356,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7423,-0.65,-97.3,555.5,-6.9,360,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1523,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,-0.65,-97.3,578.4,-7.8,370,7727,0.00,1.83,0.00,0.000,4,0.000,0.057,1955,2583,3354,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7813,-0.65,-97.3,584.4,-8.0,373,7816,0.00,1.90,0.00,0.000,6,0.000,0.068,1955,1513,3354,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8113,-0.65,-97.3,611.6,-9.0,383,8117,0.00,1.90,0.00,0.000,4,0.000,0.090,1955,465,3353,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8263,-0.62,-97.3,624.6,-9.6,388,8267,0.17,1.80,0.00,0.000,6,0.260,0.047,1986,1521,3353,0,0,0,0,0,0,14.24,14.67,28.83
$GC,8565,-0.64,-97.3,648.5,-7.4,398,8569,0.00,1.92,0.00,0.000,4,0.000,0.090,1986,464,3352,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8638,-0.66,-97.3,654.4,-7.7,401,8642,0.00,1.80,0.00,0.000,6,0.000,0.047,1980,1520,3351,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8956,-0.67,-97.3,674.9,-6.1,412,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1521,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9253,-0.69,-97.3,690.5,-4.9,422,9257,0.00,1.83,0.00,0.000,4,0.000,0.058,1977,2582,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9466,-0.71,-97.3,700.6,-5.1,429,9469,0.00,1.90,0.00,0.000,6,0.000,0.069,1973,1510,3348,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9763,-0.72,-97.3,719.9,-6.5,439,9767,0.00,1.90,0.00,0.000,4,0.000,0.092,1972,470,3347,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9838,-0.72,-97.3,725.7,-7.5,442,9842,0.00,1.80,0.00,0.000,6,0.000,0.048,1965,1520,3347,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10153,-0.72,-97.3,749.9,-7.7,453,10156,0.00,1.95,0.00,0.000,4,0.000,0.091,1965,461,3346,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10212,-0.72,-97.3,753.6,-7.9,455,10216,0.00,1.83,0.00,0.000,6,0.000,0.047,1957,1524,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10513,-0.72,-97.3,776.6,-7.0,465,10517,0.00,1.83,0.00,0.000,4,0.000,0.060,1949,2578,3345,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10602,-0.72,-97.3,781.7,-6.7,468,10605,0.00,1.90,0.00,0.000,6,0.000,0.070,1949,1517,3345,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10904,-0.72,-97.3,802.5,-6.5,478,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1517,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11203,-0.72,-97.3,820.5,-5.8,488,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1517,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11504,-0.72,-97.3,837.2,-5.7,498,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1517,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11803,-0.72,-97.3,856.6,-7.0,508,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1517,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12104,-0.72,-97.3,879.8,-8.0,518,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1517,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12403,-0.72,-97.3,904.7,-8.3,528,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1515,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12703,-0.72,-97.3,928.0,-7.4,538,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1515,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13003,-0.72,-97.3,948.8,-6.4,548,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1515,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13303,-0.72,-97.3,967.6,-6.5,558,13307,0.00,1.98,0.00,0.000,4,0.000,0.096,1948,460,3337,0,0,0,0,0,0,28.83,14.30,28.83
$GC,13393,-0.71,-97.3,973.4,-7.3,561,13397,0.00,1.85,0.00,0.000,6,0.000,0.051,1941,1521,3337,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,13480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13480,begin apogee
$GC,13487,-0.18,0.0,981.3,-7.6,564,13587,0.73,0.00,87.82,1.896,6,0.229,0.000,2127,1394,3065,0,0,0,0,1,0,13.96,28.83,13.03
$STATE,13588,end apogee,CONTROL_FINISHED_OK
$STATE,13588,begin climb
$GC,13591,0.69,97.3,984.0,0.0,567,13727,0.93,0.00,127.45,1.986,6,0.116,0.000,2415,1395,2665,0,0,0,0,1,0,14.21,28.83,12.99
$GC,14023,0.65,124.4,976.1,4.5,582,14082,0.00,0.00,46.33,1.511,6,0.000,0.000,2414,1395,2557,0,0,0,0,1,0,28.83,28.83,13.26
$GC,14386,0.60,130.0,956.2,5.7,594,14393,0.00,0.00,5.07,1.970,6,0.000,0.000,2414,1395,2533,0,0,0,0,0,0,28.83,28.83,13.43
$GC,14685,0.55,134.9,939.1,5.8,604,14693,0.20,0.00,5.22,1.981,6,0.275,0.000,2372,1394,2511,0,0,0,0,0,0,14.29,28.83,13.47
$GC,14986,0.56,161.5,925.5,4.6,614,15042,0.00,0.00,46.67,1.534,6,0.000,0.000,2372,1395,2404,0,0,0,0,1,0,28.83,28.83,13.31
$GC,15345,0.56,169.9,906.2,5.6,626,15379,0.00,0.00,27.17,1.028,6,0.000,0.000,2372,1395,2368,0,0,0,0,1,0,28.83,28.83,13.44
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$STATE,28032,end climb,SURFACE_DEPTH_REACHED
$STATE,28032,begin surface coast
$FINISH,0.0,1.012742
$STATE,28048,end surface coast,CONTROL_FINISHED_OK
$STATE,28049,begin surface
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$TM_FREEKB,4904960
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$10V_AH,13.2,0.000
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$FG_AHR_10Vo,0.000
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$MEM,345572
$DATA_FILE_SIZE,43314,1164
$CAP_FILE_SIZE,250689,0
$CFSIZE,260034560,217522176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.073,170.9,1
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