version: 66.11
glider: 191
mission: 5
dive: 354
start: 1 10 113 2 27 2
data:
$ID,191
$MISSION,5
$DIVE,354
$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,-5044.6919
$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,48
$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,10
$MINV_10V,10
$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
$GPS1,100113,021434,2503.709,-3810.205,37,1.0,37,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.6
$GPS2,100113,022630,2503.655,-3810.207,16,1.1,16,-14.0
$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,231.0,75387,-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,-97.3,0.0,0.0,0,86,0.00,0.00,-57.00,0.000,6,0.000,0.000,156,1526,3460,0,0,0,0,0,0,28.83,28.83,14.73
$GC,89,-0.60,-97.3,4.7,-10.0,4,105,10.18,1.92,0.00,0.000,4,0.420,0.076,1995,455,3463,1,0,0,0,0,0,13.70,14.46,28.83
$GC,328,-0.57,-97.3,33.4,-10.1,20,332,0.00,1.83,0.00,0.000,6,0.000,0.044,1990,1519,3464,0,0,0,0,0,0,28.83,14.36,28.83
$GC,627,-0.55,-97.3,58.0,-7.5,40,631,0.00,1.92,0.00,0.000,4,0.000,0.085,1990,465,3467,0,0,0,0,0,0,28.83,14.28,28.83
$GC,748,-0.52,-97.3,68.5,-8.7,48,752,0.15,1.80,0.00,0.000,6,0.236,0.044,2015,1518,3465,0,0,0,0,0,0,14.11,14.38,28.83
$GC,1047,-0.52,-97.3,88.9,-6.8,68,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1347,-0.52,-97.3,110.5,-7.1,88,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,-0.54,-97.3,132.0,-7.5,108,1651,0.00,1.92,0.00,0.000,4,0.000,0.085,2015,466,3465,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1737,-0.54,-97.3,139.8,-8.9,114,1741,0.00,1.80,0.00,0.000,6,0.000,0.043,2010,1520,3467,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2038,-0.54,-97.3,160.6,-5.9,134,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.55,-97.3,178.4,-5.8,154,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-0.56,-97.3,197.4,-6.9,174,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-0.57,-97.3,219.9,-7.7,194,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3239,-0.58,-97.3,242.1,-6.4,214,3242,0.00,1.80,0.00,0.000,4,0.000,0.054,2002,2577,3465,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3328,-0.60,-97.3,247.1,-5.6,220,3331,0.00,1.88,0.00,0.000,6,0.000,0.064,2002,1519,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3645,-0.60,-97.3,257.0,-2.6,233,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3942,-0.60,-97.3,272.9,-6.8,243,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4242,-0.60,-97.3,301.0,-10.1,253,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4543,-0.60,-97.3,328.8,-8.4,263,4546,0.00,1.92,0.00,0.000,4,0.000,0.087,2002,461,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4617,-0.60,-97.3,335.1,-8.3,266,4620,0.00,1.80,0.00,0.000,6,0.000,0.044,1994,1523,3464,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4934,-0.60,-97.3,354.8,-5.5,277,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1525,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.60,-97.3,367.5,-3.9,287,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.60,-97.3,381.6,-5.3,297,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,-0.60,-97.3,401.0,-7.0,307,5836,0.00,1.80,0.00,0.000,4,0.000,0.056,1986,2577,3461,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5891,-0.60,-97.3,404.2,-7.1,309,5894,0.00,1.88,0.00,0.000,6,0.000,0.066,1986,1520,3460,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6193,-0.60,-97.3,430.1,-8.7,319,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6492,-0.60,-97.3,457.1,-9.0,329,6495,0.00,1.92,0.00,0.000,4,0.000,0.089,1986,463,3459,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6597,-0.59,-97.3,466.5,-9.0,333,6601,0.00,1.80,0.00,0.000,6,0.000,0.044,1978,1520,3459,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6914,-0.59,-97.3,487.5,-6.0,344,6917,0.00,1.83,0.00,0.000,4,0.000,0.056,1970,2579,3458,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7031,-0.59,-97.3,493.7,-5.9,348,7035,0.00,1.88,0.00,0.000,6,0.000,0.067,1970,1520,3457,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7333,-0.57,-97.3,512.7,-6.3,358,7335,0.15,0.00,0.00,0.000,6,0.239,0.000,2004,1520,3457,0,0,0,0,0,0,14.35,28.83,28.83
$GC,7635,-0.59,-97.3,529.6,-5.8,368,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7933,-0.61,-97.3,548.5,-6.5,378,7937,0.00,1.92,0.00,0.000,4,0.000,0.090,2004,466,3456,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8007,-0.61,-97.3,554.0,-7.1,381,8011,0.00,1.80,0.00,0.000,6,0.000,0.047,1999,1519,3455,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8326,-0.62,-97.3,573.1,-5.6,392,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1521,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8623,-0.63,-97.3,586.4,-4.2,402,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8922,-0.64,-97.3,603.6,-6.6,412,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,-0.66,-97.3,631.8,-10.2,422,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9522,-0.67,-97.3,660.6,-9.0,432,9526,0.00,1.95,0.00,0.000,4,0.000,0.092,1999,467,3450,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9642,-0.67,-97.3,669.6,-8.6,436,9645,0.00,1.80,0.00,0.000,6,0.000,0.048,1991,1518,3450,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9942,-0.67,-97.3,689.5,-5.5,446,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1519,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10242,-0.67,-97.3,706.4,-5.9,456,10246,0.00,1.85,0.00,0.000,4,0.000,0.059,1983,2576,3448,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10361,-0.68,-97.3,712.8,-6.1,460,10365,0.00,1.90,0.00,0.000,6,0.000,0.070,1983,1522,3448,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10662,-0.68,-97.3,734.3,-7.2,470,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10963,-0.68,-97.3,757.4,-7.9,480,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11262,-0.68,-97.3,781.8,-8.1,490,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11563,-0.68,-97.3,803.6,-6.7,500,11566,0.00,1.98,0.00,0.000,4,0.000,0.094,1983,466,3443,0,0,0,0,0,0,28.83,14.27,28.83
$GC,11621,-0.68,-97.3,806.8,-6.6,502,11624,0.00,1.83,0.00,0.000,6,0.000,0.048,1976,1519,3443,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11924,-0.68,-97.3,824.7,-5.1,512,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12222,-0.68,-97.3,841.5,-6.1,522,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1520,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12522,-0.68,-97.3,864.1,-8.1,532,12526,0.00,1.88,0.00,0.000,4,0.000,0.060,1968,2578,3440,0,0,0,0,0,0,28.83,14.26,28.83
$GC,12598,-0.68,-97.3,870.3,-8.3,535,12601,0.00,1.92,0.00,0.000,6,0.000,0.071,1968,1521,3440,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12912,-0.68,-97.3,897.1,-8.3,546,12916,0.00,1.98,0.00,0.000,4,0.000,0.096,1968,466,3439,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12988,-0.67,-97.3,903.4,-8.4,549,12992,0.00,1.85,0.00,0.000,6,0.000,0.050,1961,1522,3439,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13305,-0.65,-97.3,925.5,-6.4,560,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1523,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13604,-0.64,-97.3,942.7,-5.9,570,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1523,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13902,-0.63,-97.3,963.3,-7.3,580,13906,0.00,1.88,0.00,0.000,4,0.000,0.061,1953,2576,3436,0,0,0,0,0,0,28.83,14.19,28.83
$GC,13977,-0.63,-97.3,969.2,-7.8,583,13981,0.15,1.95,0.00,0.000,6,0.242,0.073,1984,1516,3436,0,0,0,0,0,0,13.96,14.29,28.83
$STATE,14140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14140,begin apogee
$GC,14148,-0.18,0.0,981.9,-7.7,589,14275,0.52,0.00,117.10,1.935,6,0.194,0.000,2127,1398,3062,0,0,0,0,1,0,13.95,28.83,12.93
$STATE,14277,end apogee,CONTROL_FINISHED_OK
$STATE,14277,begin climb
$GC,14280,0.60,97.3,988.6,0.0,593,14419,0.82,2.05,126.93,1.914,4,0.114,0.102,2389,349,2665,0,0,0,0,1,0,14.16,14.07,12.95
$GC,14638,0.61,181.4,990.9,2.5,606,14759,0.00,1.85,110.85,1.903,6,0.000,0.050,2389,1414,2322,0,0,0,0,1,0,28.83,14.54,13.00
$GC,15072,0.56,181.4,967.0,6.6,621,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1414,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15372,0.50,181.4,945.9,7.5,631,15374,0.15,0.00,0.00,0.000,6,0.269,0.000,2358,1415,2313,0,0,0,0,0,0,14.31,28.83,28.83
$GC,15673,0.48,181.4,925.2,7.0,641,15677,0.00,2.03,0.00,0.000,4,0.000,0.103,2364,343,2312,0,0,0,0,0,0,28.83,14.45,28.83
$GC,15761,0.44,181.4,919.2,7.7,644,15765,0.00,1.83,0.00,0.000,6,0.000,0.051,2364,1399,2311,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,28691,end climb,SURFACE_DEPTH_REACHED
$STATE,28691,begin surface coast
$FINISH,0.1,1.025167
$STATE,28709,end surface coast,CONTROL_FINISHED_OK
$STATE,28709,begin surface
$SM_CCo,28791,0.00,0.000,0,0,1595,359.86
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$IRIDIUM_FIX,2456.07,-3803.56,090113,181815
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.50
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,3
$SC_FREEKB,7634176
$TM_FREEKB,4310464
$24V_AH,12.9,168.644
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.900,128.725,616.925,0.000,0.000,0.000,0.000,368.125,0.750,0.000,16.759,3297.451,22256.732,859.219,2458.685,620.792,0.000,2228.902,0.000,1957.397,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.373,13.021,0.000,0.000
$MEM,345580
$DATA_FILE_SIZE,43339,1201
$CAP_FILE_SIZE,249511,0
$CFSIZE,260034560,209743872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.040,280.9,1
$GPS,100113,102805,2501.357,-3812.892,30,0.8,30,-14.0