version: 66.11
glider: 191
mission: 5
dive: 375
start: 1 17 113 5 46 43
data:
$ID,191
$MISSION,5
$DIVE,375
$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,-5072.3394
$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,51
$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
$GPS1,170113,053404,2421.798,-3826.748,29,0.9,29,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-54.8
$GPS2,170113,054611,2421.836,-3826.696,17,1.0,18,-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,158.5,64477,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-61.30,0.000,2,0.000,0.000,158,1524,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.6,-6.8,4,108,9.93,1.83,-1.83,0.000,4,0.411,0.081,1982,2573,3461,1,0,0,0,0,0,13.67,14.47,14.73
$GC,299,-0.60,-97.3,29.0,-9.0,18,303,0.00,1.90,0.00,0.000,6,0.000,0.063,1983,1516,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,599,-0.57,-97.3,53.2,-7.5,38,600,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1516,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,899,-0.54,-97.3,79.0,-9.1,58,903,0.12,1.92,0.00,0.000,4,0.249,0.084,2010,466,3463,0,0,0,0,0,0,14.20,14.25,28.83
$GC,973,-0.53,-97.3,85.6,-8.7,63,977,0.00,1.77,0.00,0.000,6,0.000,0.041,2005,1513,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1273,-0.53,-97.3,106.7,-6.9,83,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1574,-0.53,-97.3,123.2,-5.3,103,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.53,-97.3,142.1,-7.4,123,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1515,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.53,-97.3,164.7,-7.4,143,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1514,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,-0.53,-97.3,186.9,-6.6,163,2477,0.00,1.83,0.00,0.000,4,0.000,0.053,1997,2574,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2548,-0.54,-97.3,191.5,-6.2,168,2552,0.00,1.88,0.00,0.000,6,0.000,0.063,2002,1522,3467,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2850,-0.54,-97.3,208.6,-5.6,188,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.54,-97.3,224.8,-5.2,208,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-0.54,-97.3,241.3,-5.6,228,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1522,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-0.54,-97.3,262.3,-7.7,243,3755,0.00,1.92,0.00,0.000,4,0.000,0.085,1996,462,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3807,-0.54,-97.3,266.3,-8.2,245,3811,0.00,1.77,0.00,0.000,6,0.000,0.042,1989,1518,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4108,-0.54,-97.3,294.4,-9.0,255,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.54,-97.3,318.4,-7.5,265,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4708,-0.54,-97.3,337.6,-6.0,275,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-0.54,-97.3,354.2,-5.5,285,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.54,-97.3,370.6,-5.3,295,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5608,-0.54,-97.3,387.5,-5.9,305,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5909,-0.54,-97.3,408.7,-7.6,315,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6208,-0.54,-97.3,433.1,-8.3,325,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,-0.54,-97.3,457.2,-7.8,335,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6808,-0.54,-97.3,479.6,-7.2,345,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,-0.54,-97.3,500.1,-6.7,355,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,-0.54,-97.3,521.5,-7.3,365,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7708,-0.54,-97.3,547.5,-9.0,375,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,-0.54,-97.3,574.0,-8.5,385,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,-0.54,-97.3,595.3,-6.2,395,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,-0.54,-97.3,611.1,-5.0,405,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8908,-0.54,-97.3,626.8,-5.5,415,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1519,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9208,-0.54,-97.3,645.8,-6.6,425,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,-0.54,-97.3,666.1,-6.8,435,9513,0.00,1.95,0.00,0.000,4,0.000,0.090,1989,464,3448,0,0,0,0,0,0,28.83,14.32,28.83
$GC,9597,-0.54,-97.3,671.6,-7.1,438,9602,0.12,1.83,0.00,0.000,6,0.241,0.045,2007,1523,3448,0,0,0,0,0,0,14.04,14.40,28.83
$GC,9902,-0.57,-97.3,690.8,-5.9,448,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1524,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10198,-0.59,-97.3,709.4,-6.4,458,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1524,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10499,-0.61,-97.3,729.3,-6.8,468,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1524,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10799,-0.64,-97.3,748.2,-6.0,478,10802,0.00,2.00,0.00,0.000,4,0.000,0.092,2008,460,3444,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10874,-0.66,-97.3,753.0,-6.3,481,10877,0.00,1.83,0.00,0.000,6,0.000,0.047,2003,1520,3444,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11192,-0.68,-97.3,769.2,-4.8,492,11196,0.00,1.85,0.00,0.000,4,0.000,0.058,1995,2577,3442,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11249,-0.70,-97.3,771.3,-4.5,494,11252,0.00,1.92,0.00,0.000,6,0.000,0.069,1996,1516,3442,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11553,-0.72,-97.3,786.4,-4.9,504,11557,0.12,1.98,0.00,0.000,4,0.142,0.093,1950,460,3441,0,0,0,0,0,0,14.57,14.20,28.83
$GC,11656,-0.69,-97.3,794.1,-7.4,508,11660,0.00,1.85,0.00,0.000,6,0.000,0.047,1942,1525,3440,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11974,-0.66,-97.3,818.3,-8.0,519,11979,0.15,1.85,0.00,0.000,4,0.260,0.058,1968,2576,3440,0,0,0,0,0,0,14.13,14.36,28.83
$GC,12078,-0.66,-97.3,826.2,-7.3,523,12082,0.00,1.92,0.00,0.000,6,0.000,0.069,1968,1519,3443,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12393,-0.66,-97.3,848.7,-7.0,534,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12692,-0.66,-97.3,867.9,-6.1,544,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12994,-0.66,-97.3,884.7,-5.7,554,12998,0.00,2.00,0.00,0.000,4,0.000,0.095,1967,461,3437,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13038,-0.65,-97.3,887.8,-6.1,556,13041,0.00,1.85,0.00,0.000,6,0.000,0.047,1967,1524,3436,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13355,-0.64,-97.3,909.6,-7.4,567,13358,0.00,1.88,0.00,0.000,4,0.000,0.059,1953,2579,3435,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13459,-0.64,-97.3,917.5,-7.6,571,13463,0.12,1.95,0.00,0.000,6,0.250,0.070,1977,1514,3435,0,0,0,0,0,0,13.95,14.27,28.83
$GC,13774,-0.64,-97.3,941.0,-7.4,582,13778,0.00,2.00,0.00,0.000,4,0.000,0.096,1978,461,3434,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13862,-0.64,-97.3,946.7,-7.6,585,13866,0.00,1.85,0.00,0.000,6,0.000,0.047,1973,1519,3434,0,0,0,0,0,0,28.83,14.38,28.83
$GC,14162,-0.64,-97.3,968.9,-6.9,595,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14339,begin apogee
$GC,14347,-0.18,0.0,980.7,-6.6,601,14474,0.57,0.00,116.03,1.910,6,0.205,0.000,2123,1395,3063,0,0,0,0,1,0,13.85,28.83,12.90
$STATE,14476,end apogee,CONTROL_FINISHED_OK
$STATE,14476,begin climb
$GC,14480,0.60,97.3,985.7,0.0,605,14619,0.82,2.05,127.35,1.913,4,0.114,0.100,2386,344,2666,0,0,0,0,1,0,14.16,14.04,12.88
$GC,14839,0.58,154.7,983.5,3.6,618,14931,0.00,1.85,81.70,1.766,6,0.000,0.048,2386,1413,2431,0,0,0,0,1,0,28.83,14.53,13.05
$GC,15243,0.55,174.9,963.6,5.2,632,15291,0.00,2.03,38.62,1.350,4,0.000,0.101,2393,349,2348,0,0,0,0,1,0,28.83,14.38,13.20
$GC,15379,0.48,174.9,955.2,6.2,636,15383,0.20,1.83,0.00,0.000,6,0.252,0.047,2350,1407,2347,0,0,0,0,0,0,14.20,14.51,28.83
$GC,15696,0.46,174.9,937.4,6.2,647,15697,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1408,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15994,0.44,174.9,916.2,7.4,657,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1408,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16293,0.42,174.9,893.5,7.5,667,16294,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1405,2341,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,29461,end climb,SURFACE_DEPTH_REACHED
$STATE,29461,begin surface coast
$FINISH,0.2,1.025020
$STATE,29480,end surface coast,CONTROL_FINISHED_OK
$STATE,29481,begin surface
$SM_CCo,29561,0.00,0.000,0,0,1736,325.27
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.72
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$TCM_TEMP,25.70
$XPDR_PINGS,5
$SC_FREEKB,7626112
$TM_FREEKB,4089312
$24V_AH,12.9,178.585
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.725,118.200,668.575,0.000,0.000,0.000,0.000,367.225,1.250,0.000,19.055,3339.255,22856.373,920.455,2491.927,664.458,0.000,2310.067,0.000,1996.042,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.227,13.005,0.000,0.000
$MEM,345596
$DATA_FILE_SIZE,43257,1223
$CAP_FILE_SIZE,252474,0
$CFSIZE,260034560,206831616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.044,316.0,1
$GPS,170113,140035,2419.823,-3825.422,28,0.8,29,-14.2