version: 66.11
glider: 191
mission: 5
dive: 301
start: 12 23 112 3 57 42
data:
$ID,191
$MISSION,5
$DIVE,301
$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,-4938.3779
$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,50
$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
$GPS1,231212,034506,2427.000,-3834.369,33,0.8,34,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.9
$GPS2,231212,035712,2426.996,-3834.351,19,1.0,19,-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,134.0,80415,-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,24,-0.60,-97.3,0.0,0.0,0,86,0.00,0.00,-58.08,0.000,6,0.000,0.000,158,1521,3461,0,0,0,0,0,0,28.83,28.83,14.77
$GC,89,-0.60,-97.3,4.2,-8.1,4,103,9.80,1.80,0.00,0.000,4,0.415,0.050,1983,2569,3463,1,0,0,0,0,0,13.81,14.57,28.83
$GC,327,-0.58,-97.3,32.2,-9.5,20,331,0.00,1.88,0.00,0.000,6,0.000,0.066,1983,1517,3466,0,0,0,0,0,0,28.83,14.43,28.83
$GC,627,-0.55,-97.3,60.1,-9.1,40,630,0.00,1.80,0.00,0.000,4,0.000,0.053,1976,2565,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,778,-0.53,-97.3,73.1,-8.6,50,783,0.17,1.85,0.00,0.000,6,0.237,0.064,2015,1520,3465,0,0,0,0,0,0,14.21,14.45,28.83
$GC,1078,-0.53,-97.3,94.2,-6.7,70,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-0.53,-97.3,113.6,-6.3,90,1381,0.00,1.90,0.00,0.000,4,0.000,0.086,2016,470,3467,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1452,-0.53,-97.3,119.2,-7.6,95,1455,0.00,1.77,0.00,0.000,6,0.000,0.043,2010,1517,3465,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1752,-0.53,-97.3,139.4,-6.4,115,1755,0.00,1.80,0.00,0.000,4,0.000,0.054,2003,2576,3466,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1920,-0.54,-97.3,149.6,-6.1,126,1924,0.00,1.88,0.00,0.000,6,0.000,0.063,2002,1511,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2217,-0.54,-97.3,167.3,-6.1,146,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1511,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.54,-97.3,188.7,-7.8,166,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1511,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-0.54,-97.3,212.1,-7.1,186,2821,0.00,1.90,0.00,0.000,4,0.000,0.086,2003,458,3470,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2967,-0.54,-97.3,223.2,-7.2,196,2970,0.00,1.80,0.00,0.000,6,0.000,0.044,1995,1528,3466,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3267,-0.54,-97.3,240.7,-5.8,216,3271,0.00,1.77,0.00,0.000,4,0.000,0.054,1987,2576,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3402,-0.54,-97.3,249.0,-6.5,225,3405,0.00,1.88,0.00,0.000,6,0.000,0.063,1986,1511,3465,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3717,-0.54,-97.3,272.3,-7.8,236,3719,0.12,0.00,0.00,0.000,6,0.241,0.000,2014,1511,3464,0,0,0,0,0,0,14.50,28.83,28.83
$GC,4018,-0.56,-97.3,294.2,-7.4,246,4021,0.00,1.83,0.00,0.000,4,0.000,0.054,2009,2581,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4107,-0.58,-97.3,299.7,-7.2,249,4110,0.00,1.85,0.00,0.000,6,0.000,0.064,2009,1520,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4410,-0.60,-97.3,318.7,-5.1,259,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4708,-0.61,-97.3,328.5,-2.8,269,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5008,-0.62,-97.3,339.6,-4.4,279,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.64,-97.3,359.1,-7.3,289,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5608,-0.65,-97.3,383.8,-8.3,299,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5907,-0.67,-97.3,404.6,-6.2,309,5912,0.12,1.92,0.00,0.000,4,0.139,0.089,1960,467,3459,0,0,0,0,0,0,14.74,14.45,28.83
$GC,5966,-0.67,-97.3,408.3,-6.8,311,5970,0.00,1.77,0.00,0.000,6,0.000,0.045,1952,1521,3459,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6268,-0.64,-97.3,432.4,-7.6,321,6270,0.12,0.00,0.00,0.000,6,0.268,0.000,1977,1522,3458,0,0,0,0,0,0,14.46,28.83,28.83
$GC,6568,-0.63,-97.3,455.3,-7.7,331,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1522,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6867,-0.63,-97.3,479.6,-8.1,341,6871,0.00,1.80,0.00,0.000,4,0.000,0.057,1972,2575,3456,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6956,-0.63,-97.3,485.8,-8.2,344,6960,0.00,1.88,0.00,0.000,6,0.000,0.067,1972,1514,3457,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7258,-0.61,-97.3,511.2,-7.7,354,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1514,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.60,-97.3,531.9,-6.5,364,7561,0.00,1.83,0.00,0.000,4,0.000,0.057,1964,2576,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7662,-0.60,-97.3,538.4,-6.2,368,7667,0.12,1.88,0.00,0.000,6,0.251,0.067,1990,1517,3454,0,0,0,0,0,0,14.33,14.60,28.83
$GC,7979,-0.60,-97.3,557.4,-6.3,379,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1517,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,-0.60,-97.3,580.9,-8.3,389,8281,0.00,1.92,0.00,0.000,4,0.000,0.090,1990,460,3452,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8352,-0.60,-97.3,588.1,-9.2,392,8355,0.00,1.80,0.00,0.000,6,0.000,0.046,1985,1521,3452,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8667,-0.60,-97.3,616.1,-8.6,403,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8969,-0.60,-97.3,634.8,-5.2,413,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9267,-0.60,-97.3,647.1,-3.9,423,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,-0.60,-97.3,662.8,-6.1,433,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9867,-0.60,-97.3,687.5,-9.0,443,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10167,-0.60,-97.3,714.6,-8.8,453,10171,0.00,1.83,0.00,0.000,4,0.000,0.058,1977,2576,3447,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10242,-0.60,-97.3,720.5,-8.0,456,10245,0.00,1.90,0.00,0.000,6,0.000,0.069,1977,1514,3446,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10560,-0.60,-97.3,741.1,-5.7,467,10563,0.00,1.92,0.00,0.000,4,0.000,0.093,1977,466,3445,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10634,-0.59,-97.3,745.6,-5.9,470,10637,0.00,1.80,0.00,0.000,6,0.000,0.048,1969,1518,3445,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10949,-0.59,-97.3,762.7,-5.6,481,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11247,-0.59,-97.3,782.2,-7.1,491,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11547,-0.59,-97.3,807.6,-9.0,501,11552,0.12,1.88,0.00,0.000,4,0.260,0.060,1990,2580,3441,0,0,0,0,0,0,14.37,14.40,28.83
$GC,11653,-0.60,-97.3,816.5,-8.5,505,11657,0.00,1.90,0.00,0.000,6,0.000,0.070,1989,1520,3442,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11967,-0.60,-97.3,842.5,-7.8,516,11971,0.00,1.95,0.00,0.000,4,0.000,0.094,1990,466,3441,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12086,-0.60,-97.3,851.1,-8.2,520,12089,0.00,1.83,0.00,0.000,6,0.000,0.049,1982,1523,3440,0,0,0,0,0,0,28.83,14.58,28.83
$GC,12388,-0.60,-97.3,874.4,-7.0,530,12392,0.00,1.85,0.00,0.000,4,0.000,0.060,1974,2578,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12536,-0.60,-97.3,883.2,-6.5,535,12540,0.00,1.90,0.00,0.000,6,0.000,0.071,1974,1521,3438,0,0,0,0,0,0,28.83,14.47,28.83
$GC,12838,-0.60,-97.3,900.8,-5.4,545,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13137,-0.60,-97.3,916.1,-5.0,555,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13438,-0.60,-97.3,931.6,-5.2,565,13440,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13737,-0.60,-97.3,950.0,-6.5,575,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14037,-0.60,-97.3,971.2,-7.3,585,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14155,begin apogee
$GC,14162,-0.18,0.0,980.1,-7.4,589,14289,0.57,0.00,115.55,2.020,6,0.206,0.000,2127,1398,3062,0,0,0,0,1,0,14.04,28.83,12.97
$STATE,14291,end apogee,CONTROL_FINISHED_OK
$STATE,14291,begin climb
$GC,14294,0.60,97.3,985.3,0.0,593,14432,0.82,2.05,127.03,2.000,4,0.120,0.103,2387,349,2666,0,0,0,0,1,0,14.13,14.02,12.97
$GC,14652,0.55,125.8,980.4,4.8,606,14712,0.00,1.83,47.75,1.557,6,0.000,0.050,2387,1409,2551,0,0,0,0,1,0,28.83,14.55,13.19
$GC,15012,0.48,125.8,957.7,6.7,618,15014,0.17,0.00,0.00,0.000,6,0.269,0.000,2348,1409,2548,0,0,0,0,0,0,14.29,28.83,28.83
$GC,15315,0.45,126.8,940.0,6.0,628,15316,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1409,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15613,0.45,150.1,923.8,5.1,638,15663,0.00,0.00,42.30,1.476,6,0.000,0.000,2348,1409,2452,0,0,0,0,1,0,28.83,28.83,13.33
$GC,15944,0.49,200.9,909.5,3.9,649,16031,0.00,1.85,73.70,1.833,4,0.000,0.061,2348,2441,2244,0,0,0,0,1,0,28.83,14.21,13.12
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$STATE,28629,end climb,SURFACE_DEPTH_REACHED
$STATE,28630,begin surface coast
$FINISH,0.1,1.013138
$STATE,28646,end surface coast,CONTROL_FINISHED_OK
$STATE,28646,begin surface
$SM_CCo,28665,3.65,0.821,0,0,1756,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.68
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.60
$XPDR_PINGS,7
$SC_FREEKB,7654528
$TM_FREEKB,4863072
$24V_AH,13.0,143.635
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.300,108.750,614.975,3.650,0.000,0.000,0.000,389.150,1.750,0.000,21.146,3223.031,22304.773,856.316,2447.551,552.500,0.000,2224.484,0.000,1922.578,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28694.000,7003.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.180,13.041,0.000,0.000
$MEM,345604
$DATA_FILE_SIZE,43364,1194
$CAP_FILE_SIZE,242404,0
$CFSIZE,260034560,216981504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.021,157.2,1
$GPS,231212,115652,2425.107,-3831.284,34,0.8,35,-14.2