version: 66.11
glider: 191
mission: 5
dive: 414
start: 1 30 113 13 6 18
data:
$ID,191
$MISSION,5
$DIVE,414
$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,-5125.6665
$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,24
$R_STBD_OVSHOOT,54
$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,1
$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
$GPS1,300113,125606,2442.294,-3725.874,29,1.0,29,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.3
$GPS2,300113,130547,2442.271,-3725.877,19,1.0,20,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,325.7,80669,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-97.3,0.0,0.0,0,82,0.00,0.00,-57.53,0.000,6,0.000,0.000,154,1520,3461,0,0,0,0,0,0,28.83,28.83,14.78
$GC,86,-0.60,-97.3,4.7,-10.0,4,100,9.95,1.92,0.00,0.000,4,0.409,0.074,1998,458,3463,1,0,0,0,0,0,13.64,14.47,28.83
$GC,323,-0.57,-97.3,31.3,-8.5,20,327,0.00,1.77,0.00,0.000,6,0.000,0.040,1993,1508,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,623,-0.56,-97.3,54.5,-7.9,40,625,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-0.54,-97.3,78.1,-7.4,60,925,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1509,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1224,-0.53,-97.3,98.8,-6.6,80,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1524,-0.52,-97.3,122.0,-8.5,100,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.52,-97.3,146.5,-7.2,120,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.52,-97.3,166.3,-6.4,140,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.52,-97.3,188.2,-7.3,160,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.52,-97.3,208.2,-6.7,180,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.52,-97.3,232.7,-8.8,200,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1510,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,-0.52,-97.3,261.8,-9.1,217,3342,0.00,1.90,0.00,0.000,4,0.000,0.082,1993,461,3465,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3475,-0.50,-97.3,274.4,-9.5,222,3480,0.17,1.80,0.00,0.000,6,0.223,0.041,2025,1530,3465,0,0,0,0,0,0,14.19,14.59,28.83
$GC,3791,-0.57,-97.3,295.3,-6.1,233,3794,0.00,1.95,0.00,0.000,4,0.000,0.083,2026,456,3465,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3895,-0.62,-97.3,300.5,-5.1,237,3898,0.00,1.80,0.00,0.000,6,0.000,0.041,2020,1528,3465,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4211,-0.68,-97.3,312.1,-3.6,248,4216,0.15,1.95,0.00,0.000,4,0.116,0.083,1959,457,3464,0,0,0,0,0,0,14.66,14.38,28.83
$GC,4438,-0.64,-97.3,327.9,-7.7,256,4446,0.12,1.80,0.00,0.000,6,0.256,0.042,1976,1520,3464,0,0,0,0,0,0,14.20,14.60,28.83
$GC,4767,-0.64,-97.3,354.3,-8.5,267,4771,0.00,1.80,0.00,0.000,4,0.000,0.054,1971,2577,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4870,-0.64,-97.3,363.7,-9.0,271,4874,0.00,1.88,0.00,0.000,6,0.000,0.063,1971,1519,3462,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5187,-0.63,-97.3,391.5,-8.3,282,5191,0.00,1.92,0.00,0.000,4,0.000,0.084,1971,463,3462,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5291,-0.61,-97.3,400.4,-8.5,286,5295,0.12,1.80,0.00,0.000,6,0.250,0.042,1989,1524,3460,0,0,0,0,0,0,14.20,14.57,28.83
$GC,5608,-0.61,-97.3,420.2,-6.0,297,5612,0.00,1.83,0.00,0.000,4,0.000,0.054,1983,2579,3461,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5680,-0.61,-97.3,424.7,-6.1,300,5684,0.00,1.90,0.00,0.000,6,0.000,0.063,1983,1511,3461,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5996,-0.61,-97.3,446.6,-7.0,311,6000,0.00,1.90,0.00,0.000,4,0.000,0.085,1983,467,3459,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6070,-0.59,-97.3,452.4,-7.5,314,6074,0.00,1.80,0.00,0.000,6,0.000,0.042,1976,1530,3459,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6387,-0.59,-97.3,474.5,-6.6,325,6391,0.00,1.95,0.00,0.000,4,0.000,0.085,1976,467,3458,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6445,-0.58,-97.3,477.7,-6.7,327,6450,0.15,1.80,0.00,0.000,6,0.241,0.044,2000,1524,3458,0,0,0,0,0,0,14.17,14.57,28.83
$GC,6749,-0.59,-97.3,496.1,-5.9,337,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1525,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,-0.61,-97.3,516.8,-7.6,347,7050,0.00,1.95,0.00,0.000,4,0.000,0.086,2001,464,3457,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7210,-0.61,-97.3,531.4,-8.9,353,7214,0.00,1.80,0.00,0.000,6,0.000,0.043,1996,1521,3457,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7528,-0.62,-97.3,557.3,-8.3,364,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,-0.63,-97.3,581.2,-7.8,374,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.64,-97.3,603.9,-7.5,384,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1522,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.65,-97.3,625.0,-6.7,394,8430,0.00,1.95,0.00,0.000,4,0.000,0.087,1996,466,3452,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8531,-0.65,-97.3,632.7,-7.4,398,8535,0.00,1.80,0.00,0.000,6,0.000,0.045,1988,1520,3452,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8845,-0.65,-97.3,653.6,-6.5,409,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.65,-97.3,673.1,-6.4,419,9150,0.00,1.95,0.00,0.000,4,0.000,0.088,1988,467,3450,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9234,-0.65,-97.3,678.4,-6.8,422,9238,0.00,1.80,0.00,0.000,6,0.000,0.046,1981,1519,3450,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9536,-0.65,-97.3,698.9,-6.3,432,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9836,-0.65,-97.3,716.8,-5.8,442,9840,0.00,1.95,0.00,0.000,4,0.000,0.090,1980,467,3448,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9940,-0.64,-97.3,723.7,-6.6,446,9944,0.00,1.83,0.00,0.000,6,0.000,0.046,1979,1522,3448,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10257,-0.64,-97.3,743.1,-6.1,457,10260,0.00,1.85,0.00,0.000,4,0.000,0.057,1965,2578,3445,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10330,-0.64,-97.3,747.9,-6.3,460,10334,0.00,1.92,0.00,0.000,6,0.000,0.068,1965,1516,3446,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10646,-0.64,-97.3,769.9,-7.2,471,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1516,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10946,-0.64,-97.3,792.3,-7.6,481,10950,0.00,1.95,0.00,0.000,4,0.000,0.091,1965,469,3444,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11064,-0.62,-97.3,801.2,-8.5,485,11069,0.12,1.83,0.00,0.000,6,0.255,0.047,1982,1520,3446,0,0,0,0,0,0,14.03,14.44,28.83
$GC,11369,-0.62,-97.3,823.8,-7.1,495,11373,0.00,1.98,0.00,0.000,4,0.000,0.090,1982,468,3442,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11426,-0.62,-97.3,827.2,-7.3,497,11429,0.00,1.83,0.00,0.000,6,0.000,0.047,1977,1519,3442,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11726,-0.62,-97.3,849.7,-7.0,507,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12028,-0.62,-97.3,869.9,-6.5,517,12032,0.00,2.00,0.00,0.000,4,0.000,0.092,1977,463,3441,0,0,0,0,0,0,28.83,14.09,28.83
$GC,12176,-0.61,-97.3,880.0,-7.5,522,12179,0.00,1.85,0.00,0.000,6,0.000,0.047,1970,1522,3440,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12478,-0.61,-97.3,902.2,-7.1,532,12481,0.00,1.88,0.00,0.000,4,0.000,0.060,1962,2580,3439,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12581,-0.61,-97.3,910.1,-7.5,536,12586,0.12,1.95,0.00,0.000,6,0.243,0.070,1986,1515,3439,0,0,0,0,0,0,13.95,14.25,28.83
$GC,12900,-0.62,-97.3,932.7,-7.2,547,12904,0.00,2.00,0.00,0.000,4,0.000,0.093,1987,460,3438,0,0,0,0,0,0,28.83,14.05,28.83
$GC,13016,-0.62,-97.3,941.0,-7.9,551,13020,0.00,1.85,0.00,0.000,6,0.000,0.047,1982,1519,3437,0,0,0,0,0,0,28.83,14.36,28.83
$GC,13319,-0.62,-97.3,962.7,-6.7,561,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13615,begin apogee
$GC,13622,-0.18,0.0,981.1,-5.9,571,13750,0.55,0.00,115.90,1.866,6,0.203,0.000,2125,1394,3063,0,0,0,0,1,0,13.81,28.83,12.90
$STATE,13752,end apogee,CONTROL_FINISHED_OK
$STATE,13752,begin climb
$GC,13756,0.60,97.3,985.4,0.0,575,13894,0.82,1.92,127.03,1.860,4,0.118,0.058,2379,2459,2666,0,0,0,0,1,0,14.19,14.17,12.97
$GC,14114,0.56,129.4,979.5,4.7,588,14177,0.00,1.92,52.65,1.532,6,0.000,0.075,2387,1402,2534,0,0,0,0,1,0,28.83,14.45,13.12
$GC,14488,0.49,129.4,957.0,6.2,601,14490,0.17,0.00,0.00,0.000,6,0.278,0.000,2351,1402,2530,0,0,0,0,0,0,14.19,28.83,28.83
$GC,14792,0.52,178.2,943.6,4.0,611,14878,0.00,2.00,71.10,1.681,4,0.000,0.102,2356,353,2336,0,0,0,0,1,0,28.83,14.24,13.08
$GC,14939,0.48,209.5,936.3,4.7,616,14999,0.00,1.85,50.95,1.499,6,0.000,0.047,2356,1415,2210,0,0,0,0,1,0,28.83,14.45,13.09
$GC,15314,0.48,227.4,916.9,5.3,629,15360,0.00,2.03,36.72,1.281,4,0.000,0.101,2364,348,2137,0,0,0,0,1,0,28.83,14.40,13.20
$GC,15433,0.47,234.0,910.6,5.8,632,15468,0.00,1.83,26.00,0.968,6,0.000,0.048,2364,1399,2106,0,0,0,0,1,0,28.83,14.51,12.83
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$STATE,28963,end climb,SURFACE_DEPTH_REACHED
$STATE,28963,begin surface coast
$FINISH,0.3,1.025564
$STATE,28977,end surface coast,CONTROL_FINISHED_OK
$STATE,28978,begin surface
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$TCM_TEMP,25.70
$XPDR_PINGS,5
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$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345588
$DATA_FILE_SIZE,43370,1213
$CAP_FILE_SIZE,250074,0
$CFSIZE,260034560,201416704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.034,121.7,1
$GPS,300113,211134,2443.840,-3727.915,41,0.9,41,-13.8