version: 66.11
glider: 191
mission: 5
dive: 449
start: 2 11 113 8 30 59
data:
$ID,191
$MISSION,5
$DIVE,449
$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,-5169.6914
$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,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,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
$GPS1,110213,082034,2451.213,-3822.219,62,0.8,62,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-48.8
$GPS2,110213,083029,2451.284,-3822.286,19,1.1,19,-14.1
$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,211.8,44853,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-60.70,0.000,2,0.000,0.000,160,1521,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.60,-97.3,3.2,-6.1,4,106,9.90,1.95,-3.70,0.000,4,0.407,0.113,1997,464,3460,1,0,0,0,0,0,13.64,14.39,14.78
$GC,296,-0.57,-97.3,23.8,-7.7,18,300,0.00,1.80,0.00,0.000,6,0.000,0.044,1992,1519,3462,0,0,0,0,0,0,28.83,14.47,28.83
$GC,596,-0.55,-97.3,51.8,-10.1,38,597,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.55,-97.3,80.2,-8.3,58,897,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1195,-0.55,-97.3,105.0,-6.2,78,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1496,-0.54,-97.3,124.9,-7.4,98,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1796,-0.53,-97.3,148.2,-7.4,118,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,-0.53,-97.3,168.1,-6.6,138,2099,0.00,1.92,0.00,0.000,4,0.000,0.083,1992,463,3460,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2216,-0.51,-97.3,177.2,-7.8,146,2220,0.15,1.77,0.00,0.000,6,0.233,0.041,2017,1521,3462,0,0,0,0,0,0,14.16,14.56,28.83
$GC,2516,-0.57,-97.3,199.2,-7.6,166,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-0.63,-97.3,218.2,-5.2,186,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-0.69,-97.3,233.6,-5.5,206,3121,0.17,1.92,0.00,0.000,4,0.109,0.083,1948,460,3463,0,0,0,0,0,0,14.63,14.34,28.83
$GC,3340,-0.64,-97.3,250.7,-8.1,221,3345,0.17,1.80,0.00,0.000,6,0.241,0.042,1977,1527,3463,0,0,0,0,0,0,14.08,14.54,28.83
$GC,3657,-0.64,-97.3,271.7,-6.6,232,3661,0.00,1.95,0.00,0.000,4,0.000,0.084,1977,458,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3775,-0.62,-97.3,279.8,-7.8,236,3779,0.00,1.80,0.00,0.000,6,0.000,0.041,1972,1527,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4076,-0.61,-97.3,306.7,-9.0,246,4080,0.00,1.95,0.00,0.000,4,0.000,0.083,1972,457,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4181,-0.59,-97.3,317.3,-10.2,250,4186,0.15,1.80,0.00,0.000,6,0.239,0.041,1997,1527,3463,0,0,0,0,0,0,14.15,14.57,28.83
$GC,4498,-0.60,-97.3,342.4,-7.4,261,4501,0.00,1.92,0.00,0.000,4,0.000,0.084,1997,464,3462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4601,-0.60,-97.3,350.3,-7.6,265,4605,0.00,1.77,0.00,0.000,6,0.000,0.041,1992,1521,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4916,-0.60,-97.3,372.0,-6.5,276,4920,0.00,1.92,0.00,0.000,4,0.000,0.084,1992,463,3462,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4990,-0.60,-97.3,377.2,-6.8,279,4993,0.00,1.80,0.00,0.000,6,0.000,0.042,1984,1530,3461,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5307,-0.60,-97.3,395.4,-5.6,290,5311,0.00,1.95,0.00,0.000,4,0.000,0.085,1984,465,3461,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5380,-0.60,-97.3,400.7,-6.6,293,5383,0.00,1.80,0.00,0.000,6,0.000,0.042,1976,1529,3460,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5697,-0.60,-97.3,421.7,-6.9,304,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1530,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5995,-0.60,-97.3,445.3,-8.2,314,5999,0.00,1.95,0.00,0.000,4,0.000,0.085,1976,463,3459,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6115,-0.58,-97.3,454.9,-9.2,318,6120,0.15,1.80,0.00,0.000,6,0.237,0.043,2000,1526,3458,0,0,0,0,0,0,14.13,14.54,28.83
$GC,6418,-0.60,-97.3,476.9,-6.4,328,6422,0.00,1.95,0.00,0.000,4,0.000,0.085,2001,462,3457,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6491,-0.61,-97.3,481.7,-6.4,331,6495,0.00,1.80,0.00,0.000,6,0.000,0.042,1996,1524,3457,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6811,-0.66,-97.3,500.9,-6.4,342,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1526,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7106,-0.71,-97.3,520.3,-6.6,352,7110,0.00,1.95,0.00,0.000,4,0.000,0.086,1995,463,3455,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7257,-0.73,-97.3,529.9,-7.2,357,7261,0.12,1.80,0.00,0.000,6,0.138,0.043,1945,1523,3455,0,0,0,0,0,0,14.40,14.50,28.83
$GC,7559,-0.70,-97.3,557.8,-9.4,367,7562,0.00,1.95,0.00,0.000,4,0.000,0.086,1945,464,3454,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7632,-0.66,-97.3,565.1,-9.6,370,7637,0.17,1.80,0.00,0.000,6,0.252,0.044,1974,1520,3453,0,0,0,0,0,0,13.95,14.51,28.83
$GC,7949,-0.66,-97.3,587.0,-6.0,381,7953,0.00,1.95,0.00,0.000,4,0.000,0.086,1974,463,3453,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8023,-0.65,-97.3,591.3,-5.8,384,8027,0.00,1.80,0.00,0.000,6,0.000,0.044,1969,1521,3453,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8337,-0.65,-97.3,607.0,-5.3,395,8340,0.00,1.95,0.00,0.000,4,0.000,0.086,1969,463,3452,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8396,-0.64,-97.3,609.9,-5.9,397,8400,0.00,1.80,0.00,0.000,6,0.000,0.044,1962,1520,3451,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8698,-0.62,-97.3,632.4,-7.8,407,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8997,-0.61,-97.3,658.1,-8.8,417,9001,0.12,1.95,0.00,0.000,4,0.260,0.087,1987,466,3450,0,0,0,0,0,0,14.24,14.23,28.83
$GC,9132,-0.61,-97.3,669.7,-8.6,422,9136,0.00,1.80,0.00,0.000,6,0.000,0.044,1982,1521,3449,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9449,-0.65,-97.3,693.6,-7.4,433,9453,0.00,1.98,0.00,0.000,4,0.000,0.088,1982,458,3448,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9552,-0.67,-97.3,701.4,-7.4,437,9555,0.00,1.83,0.00,0.000,6,0.000,0.044,1975,1522,3447,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9870,-0.71,-97.3,722.1,-6.7,448,9873,0.00,1.98,0.00,0.000,4,0.000,0.088,1975,465,3447,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9973,-0.71,-97.3,730.0,-7.5,452,9977,0.00,1.83,0.00,0.000,6,0.000,0.045,1968,1519,3446,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10287,-0.71,-97.3,756.8,-9.2,463,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10588,-0.71,-97.3,784.8,-9.3,473,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10888,-0.71,-97.3,810.2,-8.1,483,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11188,-0.71,-97.3,832.6,-7.2,493,11191,0.00,1.98,0.00,0.000,4,0.000,0.090,1968,463,3442,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11338,-0.69,-97.3,842.8,-7.6,498,11341,0.00,1.83,0.00,0.000,6,0.000,0.046,1960,1518,3441,0,0,0,0,0,0,28.83,14.41,28.83
$GC,11638,-0.69,-97.3,864.3,-6.7,508,11641,0.00,1.98,0.00,0.000,4,0.000,0.091,1960,466,3440,0,0,0,0,0,0,28.83,14.12,28.83
$GC,11698,-0.68,-97.3,867.6,-6.9,510,11701,0.00,1.83,0.00,0.000,6,0.000,0.047,1953,1520,3441,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11999,-0.66,-97.3,888.4,-6.4,520,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12298,-0.64,-97.3,906.9,-6.2,530,12302,0.00,2.00,0.00,0.000,4,0.000,0.092,1953,461,3438,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12388,-0.62,-97.3,912.0,-6.8,533,12392,0.17,1.85,0.00,0.000,6,0.252,0.047,1982,1521,3438,0,0,0,0,0,0,13.83,14.36,28.83
$GC,12691,-0.63,-97.3,929.9,-5.4,543,12695,0.00,2.00,0.00,0.000,4,0.000,0.092,1982,463,3438,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12765,-0.63,-97.3,934.0,-5.4,546,12768,0.00,1.85,0.00,0.000,6,0.000,0.047,1976,1521,3437,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13081,-0.63,-97.3,952.0,-5.8,557,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13379,-0.63,-97.3,970.9,-6.6,567,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1522,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13525,begin apogee
$GC,13533,-0.18,0.0,981.4,-7.0,572,13656,0.55,0.00,114.30,1.855,6,0.197,0.000,2124,1396,3063,0,0,0,0,1,0,13.76,28.83,12.92
$STATE,13657,end apogee,CONTROL_FINISHED_OK
$STATE,13658,begin climb
$GC,13662,0.60,97.3,987.9,0.0,576,13799,0.77,2.03,126.10,1.831,4,0.106,0.099,2384,347,2665,0,0,0,0,1,0,14.19,14.14,12.97
$GC,13873,0.49,265.6,992.7,-1.1,583,14085,0.15,1.85,201.05,1.905,6,0.277,0.048,2355,1415,1979,0,0,0,0,1,0,14.12,14.45,13.01
$GC,14384,0.50,265.6,962.5,7.0,600,14387,0.00,2.00,0.00,0.000,4,0.000,0.099,2360,348,1973,0,0,0,0,0,0,28.83,14.42,28.83
$GC,14612,0.49,265.6,946.1,7.4,608,14616,0.00,1.80,0.00,0.000,6,0.000,0.049,2360,1396,1972,0,0,0,0,0,0,28.83,14.58,28.83
$GC,14924,0.49,265.6,924.9,6.7,619,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1397,1971,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26893,end climb,SURFACE_DEPTH_REACHED
$STATE,26893,begin surface coast
$FINISH,0.1,1.025630
$STATE,26911,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.150,170.900,598.875,0.000,0.000,0.000,0.000,319.875,1.750,0.000,20.455,3213.203,20460.934,889.516,2315.535,689.301,0.000,2205.704,0.000,1921.059,0.000,0.550,0.000
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$MEM,345548
$DATA_FILE_SIZE,43365,1126
$CAP_FILE_SIZE,246537,0
$CFSIZE,260034560,197218304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.129,349.2,1
$GPS,110213,160204,2450.692,-3823.512,30,0.8,30,-14.1