version: 66.11
glider: 191
mission: 5
dive: 391
start: 1 22 113 15 3 49
data:
$ID,191
$MISSION,5
$DIVE,391
$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,-5095.4019
$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,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,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
$GPS1,220113,145122,2356.748,-3759.625,39,0.9,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-55.8
$GPS2,220113,150317,2356.809,-3759.663,15,1.0,16,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,72.1,99628,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.60,-97.3,0.0,0.0,0,88,0.00,0.00,-57.53,0.000,6,0.000,0.000,157,1519,3458,0,0,0,0,0,0,28.83,28.83,14.71
$GC,91,-0.60,-97.3,4.4,-9.2,4,103,9.95,0.00,0.00,0.000,6,0.410,0.000,1987,1518,3462,1,0,0,0,0,0,13.74,28.83,28.83
$GC,404,-0.57,-97.3,36.4,-7.8,25,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-0.55,-97.3,59.0,-7.4,45,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-0.54,-97.3,81.9,-7.7,65,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-0.52,-97.3,107.2,-9.2,85,1306,0.12,0.00,0.00,0.000,6,0.252,0.000,2016,1519,3465,0,0,0,0,0,0,14.25,28.83,28.83
$GC,1604,-0.53,-97.3,129.9,-6.5,105,1608,0.00,1.95,0.00,0.000,4,0.000,0.086,2016,459,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1664,-0.53,-97.3,133.8,-6.5,109,1668,0.00,1.80,0.00,0.000,6,0.000,0.042,2011,1517,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1964,-0.53,-97.3,149.9,-4.7,129,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1518,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,-0.54,-97.3,163.6,-4.3,149,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1519,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,-0.55,-97.3,178.5,-5.5,169,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1518,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2864,-0.56,-97.3,196.8,-6.4,189,2868,0.00,1.95,0.00,0.000,4,0.000,0.085,2011,459,3466,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3000,-0.56,-97.3,207.1,-8.1,198,3004,0.00,1.83,0.00,0.000,6,0.000,0.042,2002,1527,3466,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3299,-0.56,-97.3,230.2,-7.6,218,3303,0.00,1.80,0.00,0.000,4,0.000,0.053,1995,2577,3466,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3421,-0.58,-97.3,239.4,-7.6,226,3425,0.00,1.88,0.00,0.000,6,0.000,0.063,1996,1520,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3719,-0.58,-97.3,260.6,-6.6,241,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-0.58,-97.3,279.1,-6.0,251,4024,0.00,1.92,0.00,0.000,4,0.000,0.085,1995,458,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4108,-0.58,-97.3,283.9,-6.3,254,4112,0.00,1.80,0.00,0.000,6,0.000,0.043,1988,1519,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4410,-0.58,-97.3,304.8,-6.8,264,4413,0.00,1.83,0.00,0.000,4,0.000,0.054,1980,2581,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4468,-0.58,-97.3,308.0,-7.0,266,4472,0.00,1.88,0.00,0.000,6,0.000,0.063,1980,1520,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4769,-0.58,-97.3,331.5,-7.5,276,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5070,-0.58,-97.3,355.8,-8.3,286,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1519,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5369,-0.58,-97.3,380.5,-8.3,296,5373,0.00,1.92,0.00,0.000,4,0.000,0.085,1980,465,3461,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5476,-0.56,-97.3,389.2,-8.3,300,5480,0.15,1.77,0.00,0.000,6,0.239,0.043,2005,1520,3461,0,0,0,0,0,0,14.23,14.62,28.83
$GC,5792,-0.57,-97.3,405.6,-4.6,311,5795,0.00,1.80,0.00,0.000,4,0.000,0.054,2000,2577,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5849,-0.59,-97.3,407.4,-4.3,313,5853,0.00,1.90,0.00,0.000,6,0.000,0.063,2000,1512,3459,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6151,-0.59,-97.3,419.5,-3.7,323,6154,0.00,1.90,0.00,0.000,4,0.000,0.086,1997,465,3459,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6240,-0.59,-97.3,423.2,-4.6,326,6243,0.00,1.80,0.00,0.000,6,0.000,0.043,1992,1526,3458,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6540,-0.59,-97.3,440.3,-6.0,336,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6839,-0.59,-97.3,461.2,-7.3,346,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7140,-0.59,-97.3,482.6,-7.3,356,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7439,-0.59,-97.3,505.1,-7.6,366,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7739,-0.59,-97.3,530.2,-8.5,376,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1527,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8040,-0.59,-97.3,556.6,-8.9,386,8044,0.00,1.83,0.00,0.000,4,0.000,0.056,1984,2580,3454,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8145,-0.60,-97.3,565.7,-8.8,390,8149,0.00,1.90,0.00,0.000,6,0.000,0.065,1984,1515,3454,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8460,-0.60,-97.3,592.0,-8.1,401,8464,0.00,1.92,0.00,0.000,4,0.000,0.087,1984,467,3452,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8535,-0.60,-97.3,598.1,-7.9,404,8538,0.00,1.80,0.00,0.000,6,0.000,0.044,1976,1520,3452,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8849,-0.60,-97.3,619.9,-6.6,415,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9150,-0.60,-97.3,637.1,-5.6,425,9154,0.00,1.95,0.00,0.000,4,0.000,0.088,1976,464,3450,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9225,-0.59,-97.3,641.7,-5.9,428,9229,0.12,1.83,0.00,0.000,6,0.256,0.045,1994,1526,3450,0,0,0,0,0,0,14.14,14.53,28.83
$GC,9543,-0.60,-97.3,656.9,-4.8,439,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1528,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9840,-0.61,-97.3,673.3,-5.9,449,9843,0.00,1.83,0.00,0.000,4,0.000,0.057,1988,2576,3448,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9929,-0.63,-97.3,678.0,-6.2,452,9933,0.00,1.92,0.00,0.000,6,0.000,0.067,1988,1514,3447,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10229,-0.63,-97.3,698.0,-6.4,462,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1514,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10530,-0.63,-97.3,718.4,-6.8,472,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1514,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10829,-0.63,-97.3,738.9,-6.9,482,10833,0.00,1.95,0.00,0.000,4,0.000,0.091,1988,467,3445,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10918,-0.63,-97.3,744.5,-7.2,485,10922,0.00,1.83,0.00,0.000,6,0.000,0.046,1981,1524,3444,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11220,-0.63,-97.3,767.8,-7.7,495,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11519,-0.63,-97.3,792.5,-8.5,505,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11820,-0.63,-97.3,816.7,-7.8,515,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12119,-0.63,-97.3,838.7,-7.2,525,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12419,-0.63,-97.3,860.4,-7.3,535,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12720,-0.63,-97.3,882.2,-7.2,545,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13019,-0.63,-97.3,902.1,-6.4,555,13023,0.00,1.85,0.00,0.000,4,0.000,0.060,1973,2574,3438,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13078,-0.63,-97.3,905.0,-6.3,557,13082,0.00,1.92,0.00,0.000,6,0.000,0.071,1972,1522,3437,0,0,0,0,0,0,28.83,14.27,28.83
$GC,13381,-0.63,-97.3,924.2,-5.9,567,13385,0.00,2.00,0.00,0.000,4,0.000,0.094,1973,461,3436,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13468,-0.63,-97.3,929.2,-6.3,570,13472,0.00,1.85,0.00,0.000,6,0.000,0.047,1965,1517,3434,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13770,-0.63,-97.3,948.9,-6.3,580,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14069,-0.63,-97.3,968.9,-6.8,590,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1519,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14247,begin apogee
$GC,14255,-0.18,0.0,980.9,-6.6,596,14381,0.62,0.00,113.78,1.870,6,0.213,0.000,2125,1393,3064,0,0,0,0,1,0,13.77,28.83,12.93
$STATE,14383,end apogee,CONTROL_FINISHED_OK
$STATE,14383,begin climb
$GC,14386,0.60,97.3,985.4,0.0,600,14525,0.82,2.03,126.97,1.880,4,0.114,0.099,2388,349,2667,0,0,0,0,1,0,14.18,14.10,12.96
$GC,14745,0.54,123.4,978.9,4.9,613,14805,0.00,1.85,45.47,1.446,6,0.000,0.048,2389,1418,2561,0,0,0,0,1,0,28.83,14.52,13.16
$GC,15106,0.48,133.2,958.1,5.6,625,15148,0.17,2.03,28.02,1.046,4,0.265,0.100,2357,348,2518,0,0,0,0,1,0,14.21,14.47,13.28
$GC,15287,0.45,142.2,948.0,5.7,631,15327,0.00,1.83,27.40,1.024,6,0.000,0.048,2357,1403,2481,0,0,0,0,1,0,28.83,14.54,13.28
$GC,15649,0.46,186.3,931.3,4.2,643,15721,0.00,0.00,65.30,1.658,6,0.000,0.000,2357,1404,2305,0,0,0,0,1,0,28.83,28.83,13.13
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$STATE,28873,end climb,SURFACE_DEPTH_REACHED
$STATE,28873,begin surface coast
$FINISH,0.2,1.025504
$STATE,28892,end surface coast,CONTROL_FINISHED_OK
$STATE,28893,begin surface
$SM_CCo,28913,3.88,0.793,0,0,1756,320.12
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$HUMID,55.78
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$XPDR_PINGS,4
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$TM_FREEKB,3922688
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$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345596
$DATA_FILE_SIZE,43309,1209
$CAP_FILE_SIZE,253752,0
$CFSIZE,260034560,204607488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.060,344.1,1
$GPS,220113,230705,2359.062,-3757.060,32,1.0,32,-14.1