version: 66.11
glider: 191
mission: 5
dive: 456
start: 2 13 113 16 22 7
data:
$ID,191
$MISSION,5
$DIVE,456
$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,-5178.5
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,130213,161159,2446.138,-3828.898,39,0.8,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.7
$GPS2,130213,162135,2446.181,-3828.910,18,0.8,18,-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,200.3,30246,-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,18,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.25,0.000,6,0.000,0.000,160,1508,3460,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.3,-8.3,4,101,9.85,1.90,0.00,0.000,4,0.408,0.076,1995,454,3463,1,0,0,0,0,0,13.57,14.38,28.83
$GC,324,-0.57,-97.3,30.5,-8.6,20,328,0.00,1.83,0.00,0.000,6,0.000,0.041,1990,1527,3465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,625,-0.56,-97.3,53.8,-7.7,40,628,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,463,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,731,-0.53,-97.3,62.9,-8.9,47,735,0.15,1.80,0.00,0.000,6,0.237,0.040,2016,1525,3465,0,0,0,0,0,0,14.07,14.47,28.83
$GC,1030,-0.53,-97.3,83.6,-7.0,67,1034,0.00,1.95,0.00,0.000,4,0.000,0.082,2016,459,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1119,-0.53,-97.3,90.7,-8.0,73,1123,0.00,1.80,0.00,0.000,6,0.000,0.040,2010,1522,3465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1420,-0.53,-97.3,115.6,-8.1,93,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.53,-97.3,139.2,-7.3,113,1723,0.00,1.95,0.00,0.000,4,0.000,0.082,2010,457,3466,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1810,-0.53,-97.3,145.7,-7.0,119,1814,0.00,1.80,0.00,0.000,6,0.000,0.040,2002,1523,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2110,-0.53,-97.3,163.0,-5.3,139,2114,0.00,1.95,0.00,0.000,4,0.000,0.081,2002,458,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2246,-0.53,-97.3,170.9,-6.0,148,2249,0.00,1.80,0.00,0.000,6,0.000,0.040,1994,1524,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2544,-0.53,-97.3,189.8,-6.8,168,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1528,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2844,-0.53,-97.3,212.2,-7.9,188,2848,0.00,1.95,0.00,0.000,4,0.000,0.081,1994,457,3465,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2920,-0.51,-97.3,218.7,-9.0,193,2924,0.15,1.80,0.00,0.000,6,0.232,0.040,2020,1526,3466,0,0,0,0,0,0,14.09,14.51,28.83
$GC,3220,-0.57,-97.3,242.4,-7.4,213,3223,0.00,1.95,0.00,0.000,4,0.000,0.081,2020,458,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3400,-0.61,-97.3,254.4,-7.3,222,3403,0.00,1.80,0.00,0.000,6,0.000,0.040,2016,1528,3465,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3703,-0.67,-97.3,273.8,-6.0,232,3707,0.15,1.83,0.00,0.000,4,0.120,0.052,1949,2580,3465,0,0,0,0,0,0,14.60,14.45,28.83
$GC,3851,-0.66,-97.3,283.1,-7.0,237,3855,0.00,1.90,0.00,0.000,6,0.000,0.060,1949,1506,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4151,-0.63,-97.3,308.3,-8.3,247,4156,0.15,1.90,0.00,0.000,4,0.247,0.081,1981,459,3465,0,0,0,0,0,0,14.21,14.30,28.83
$GC,4211,-0.60,-97.3,312.1,-8.5,249,4215,0.00,1.80,0.00,0.000,6,0.000,0.040,1976,1528,3464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4511,-0.59,-97.3,338.0,-8.4,259,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1529,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.59,-97.3,362.9,-8.1,269,4814,0.00,1.95,0.00,0.000,4,0.000,0.083,1976,462,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4887,-0.57,-97.3,369.4,-8.5,272,4892,0.15,1.77,0.00,0.000,6,0.236,0.040,2001,1518,3463,0,0,0,0,0,0,14.11,14.54,28.83
$GC,5203,-0.59,-97.3,389.7,-6.1,283,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.60,-97.3,406.2,-5.3,293,5506,0.00,1.92,0.00,0.000,4,0.000,0.083,2001,467,3461,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5606,-0.60,-97.3,412.8,-6.2,297,5609,0.00,1.77,0.00,0.000,6,0.000,0.041,1996,1521,3461,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5922,-0.60,-97.3,431.5,-6.0,308,5926,0.00,1.92,0.00,0.000,4,0.000,0.083,1996,468,3460,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5995,-0.60,-97.3,436.8,-6.9,311,5999,0.00,1.77,0.00,0.000,6,0.000,0.042,1989,1520,3460,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6311,-0.60,-97.3,459.4,-7.4,322,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.60,-97.3,481.4,-7.3,332,6615,0.00,1.95,0.00,0.000,4,0.000,0.084,1988,461,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6760,-0.60,-97.3,492.4,-8.2,337,6763,0.00,1.80,0.00,0.000,6,0.000,0.041,1981,1524,3458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7062,-0.60,-97.3,514.5,-6.6,347,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,-0.60,-97.3,531.6,-5.4,357,7365,0.00,1.95,0.00,0.000,4,0.000,0.085,1981,464,3457,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7468,-0.59,-97.3,538.0,-6.1,361,7471,0.00,1.80,0.00,0.000,6,0.000,0.043,1973,1520,3456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7781,-0.59,-97.3,557.5,-6.5,372,7784,0.00,1.95,0.00,0.000,4,0.000,0.084,1973,463,3455,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7857,-0.58,-97.3,563.7,-7.8,375,7861,0.15,1.80,0.00,0.000,6,0.238,0.042,1998,1521,3456,0,0,0,0,0,0,14.04,14.45,28.83
$GC,8175,-0.63,-97.3,589.0,-8.6,386,8183,0.00,1.95,0.00,0.000,4,0.000,0.085,1998,463,3454,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8275,-0.67,-97.3,596.9,-8.8,389,8279,0.00,1.80,0.00,0.000,6,0.000,0.043,1994,1521,3454,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8578,-0.72,-97.3,620.7,-7.0,399,8582,0.12,1.95,0.00,0.000,4,0.136,0.085,1946,469,3453,0,0,0,0,0,0,14.57,14.05,28.83
$GC,8756,-0.68,-97.3,633.3,-7.7,405,8761,0.12,1.80,0.00,0.000,6,0.265,0.044,1962,1520,3452,0,0,0,0,0,0,14.02,14.46,28.83
$GC,9061,-0.67,-97.3,651.9,-5.8,415,9068,0.00,1.95,0.00,0.000,4,0.000,0.086,1962,468,3451,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9147,-0.65,-97.3,658.1,-6.6,418,9151,0.00,1.80,0.00,0.000,6,0.000,0.044,1957,1520,3451,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9465,-0.63,-97.3,681.5,-7.6,429,9473,0.00,1.95,0.00,0.000,4,0.000,0.086,1957,468,3450,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9536,-0.61,-97.3,686.8,-8.2,431,9541,0.17,1.80,0.00,0.000,6,0.243,0.044,1988,1519,3450,0,0,0,0,0,0,13.93,14.44,28.83
$GC,9840,-0.62,-97.3,710.4,-7.4,441,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10138,-0.67,-97.3,731.8,-7.0,451,10141,0.00,1.95,0.00,0.000,4,0.000,0.086,1988,470,3448,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10226,-0.71,-97.3,737.0,-6.9,454,10229,0.00,1.80,0.00,0.000,6,0.000,0.045,1984,1520,3448,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10531,-0.76,-97.3,755.8,-5.7,464,10539,0.12,1.92,0.00,0.000,4,0.141,0.086,1938,476,3447,0,0,0,0,0,0,14.54,14.07,28.83
$GC,10723,-0.71,-97.3,769.0,-7.5,470,10727,0.00,1.80,0.00,0.000,6,0.000,0.045,1930,1519,3446,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11023,-0.68,-97.3,793.7,-8.3,480,11025,0.17,0.00,0.00,0.000,6,0.253,0.000,1968,1520,3445,0,0,0,0,0,0,14.00,28.83,28.83
$GC,11321,-0.68,-97.3,817.0,-7.8,490,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11622,-0.68,-97.3,840.5,-7.8,500,11626,0.00,1.98,0.00,0.000,4,0.000,0.089,1968,464,3443,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11727,-0.66,-97.3,849.2,-8.3,504,11730,0.00,1.83,0.00,0.000,6,0.000,0.045,1963,1518,3443,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12042,-0.66,-97.3,873.8,-7.8,515,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12341,-0.66,-97.3,898.7,-8.6,525,12345,0.00,1.98,0.00,0.000,4,0.000,0.090,1963,469,3441,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12431,-0.65,-97.3,905.8,-9.3,528,12434,0.00,1.83,0.00,0.000,6,0.000,0.046,1956,1519,3440,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12733,-0.64,-97.3,935.0,-9.3,538,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1520,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13032,-0.62,-97.3,962.5,-9.2,548,13034,0.12,0.00,0.00,0.000,6,0.259,0.000,1981,1521,3438,0,0,0,0,0,0,14.12,28.83,28.83
$STATE,13268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13268,begin apogee
$GC,13278,-0.18,0.0,981.6,-7.8,556,13404,0.52,0.00,115.50,1.849,6,0.186,0.000,2125,1392,3063,0,0,0,0,1,0,13.78,28.83,12.89
$STATE,13406,end apogee,CONTROL_FINISHED_OK
$STATE,13406,begin climb
$GC,13409,0.60,97.3,989.0,0.0,560,13546,0.82,1.92,125.68,1.826,4,0.106,0.055,2384,2462,2666,0,0,0,0,1,0,14.21,14.19,12.94
$GC,13767,0.60,163.5,990.1,3.3,573,13870,0.00,1.92,90.55,1.751,6,0.000,0.071,2392,1400,2396,0,0,0,0,1,0,28.83,14.43,13.00
$GC,14187,0.54,164.8,966.3,6.0,587,14190,0.00,1.85,0.00,0.000,4,0.000,0.055,2392,2462,2390,0,0,0,0,0,0,28.83,14.50,28.83
$GC,14292,0.48,166.1,959.9,6.0,591,14297,0.25,1.92,0.00,0.000,6,0.272,0.072,2346,1399,2388,0,0,0,0,0,0,14.07,14.46,28.83
$GC,14610,0.50,206.9,946.0,4.3,602,14683,0.00,2.00,63.03,1.615,4,0.000,0.098,2352,349,2218,0,0,0,0,1,0,28.83,14.29,13.07
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$STATE,28346,end climb,SURFACE_DEPTH_REACHED
$STATE,28346,begin surface coast
$FINISH,0.2,1.025594
$STATE,28362,end surface coast,CONTROL_FINISHED_OK
$STATE,28362,begin surface
$SM_CCo,28383,3.47,0.793,0,0,1755,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,58.38
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.40
$XPDR_PINGS,7
$SC_FREEKB,7595008
$24V_AH,12.9,214.085
$10V_AH,11.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.975,203.325,593.050,3.475,0.000,0.000,0.000,298.600,1.750,0.000,19.240,3403.359,21501.279,929.974,2405.288,709.331,0.000,2286.761,0.000,2022.642,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.189,0.000,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,43305,1174
$CAP_FILE_SIZE,264757,0
$CFSIZE,260034560,196345856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.112,337.8,1
$GPS,140213,001636,2445.117,-3829.546,35,0.8,35,-14.1