version: 66.11
glider: 191
mission: 5
dive: 459
start: 2 14 113 16 3 5
data:
$ID,191
$MISSION,5
$DIVE,459
$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,-5182.2754
$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,42
$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
$GPS1,140213,155234,2443.324,-3831.107,32,0.8,32,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-59.8
$GPS2,140213,160235,2443.402,-3831.153,19,1.1,19,-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,212.0,23996,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-57.12,0.000,6,0.000,0.000,155,1508,3457,0,0,0,0,0,0,28.83,28.83,14.73
$GC,87,-0.60,-97.3,4.7,-9.6,4,102,10.05,1.88,0.00,0.000,4,0.412,0.073,1998,459,3461,1,0,0,0,0,0,13.61,14.40,28.83
$GC,325,-0.57,-97.3,31.8,-9.0,20,328,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1520,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,625,-0.56,-97.3,57.1,-8.5,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.55,-97.3,81.0,-7.6,60,926,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-0.53,-97.3,103.2,-7.8,80,1229,0.00,1.92,0.00,0.000,4,0.000,0.081,1992,463,3463,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1300,-0.51,-97.3,109.4,-8.3,85,1304,0.17,1.80,0.00,0.000,6,0.231,0.040,2024,1530,3463,0,0,0,0,0,0,14.07,14.50,28.83
$GC,1600,-0.56,-97.3,129.6,-6.4,105,1603,0.00,1.95,0.00,0.000,4,0.000,0.083,2024,462,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1705,-0.59,-97.3,136.7,-6.9,112,1708,0.00,1.77,0.00,0.000,6,0.000,0.039,2019,1522,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2005,-0.64,-97.3,158.0,-7.3,132,2009,0.12,1.92,0.00,0.000,4,0.132,0.082,1967,462,3464,0,0,0,0,0,0,14.59,14.28,28.83
$GC,2188,-0.60,-97.3,173.8,-9.2,144,2197,0.15,1.80,0.00,0.000,6,0.244,0.040,1990,1523,3464,0,0,0,0,0,0,13.96,14.34,28.83
$GC,2500,-0.60,-97.3,198.2,-7.6,165,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-0.60,-97.3,218.3,-6.1,185,2803,0.00,1.92,0.00,0.000,4,0.000,0.081,1991,462,3464,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2859,-0.60,-97.3,222.2,-6.6,189,2863,0.00,1.77,0.00,0.000,6,0.000,0.040,1985,1522,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3160,-0.60,-97.3,237.9,-5.3,209,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.60,-97.3,255.8,-6.3,226,3463,0.00,1.92,0.00,0.000,4,0.000,0.082,1985,464,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3595,-0.58,-97.3,265.8,-7.5,231,3598,0.00,1.77,0.00,0.000,6,0.000,0.041,1977,1519,3463,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3914,-0.57,-97.3,287.5,-6.8,242,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.57,-97.3,308.9,-7.3,252,4213,0.00,1.92,0.00,0.000,4,0.000,0.083,1977,462,3462,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4299,-0.55,-97.3,315.1,-7.9,255,4304,0.17,1.77,0.00,0.000,6,0.233,0.041,2009,1518,3462,0,0,0,0,0,0,14.04,14.52,28.83
$GC,4603,-0.57,-97.3,337.3,-7.1,265,4610,0.00,1.92,0.00,0.000,4,0.000,0.083,2009,464,3461,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4690,-0.59,-97.3,344.2,-7.5,268,4694,0.00,1.77,0.00,0.000,6,0.000,0.041,2004,1517,3461,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5008,-0.64,-97.3,367.5,-7.6,279,5017,0.00,1.92,0.00,0.000,4,0.000,0.083,2004,462,3461,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5065,-0.68,-97.3,372.0,-7.5,281,5069,0.00,1.80,0.00,0.000,6,0.000,0.041,2000,1532,3460,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5383,-0.72,-97.3,393.8,-6.7,292,5392,0.12,1.98,0.00,0.000,4,0.135,0.083,1949,457,3459,0,0,0,0,0,0,14.59,14.26,28.83
$GC,5574,-0.68,-97.3,408.7,-8.5,298,5578,0.12,1.80,0.00,0.000,6,0.262,0.041,1964,1519,3458,0,0,0,0,0,0,14.06,14.50,28.83
$GC,5878,-0.66,-97.3,430.9,-6.9,308,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,-0.65,-97.3,451.0,-6.6,318,6178,0.00,1.83,0.00,0.000,4,0.000,0.052,1959,2581,3457,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6250,-0.65,-97.3,456.1,-6.9,321,6254,0.00,1.90,0.00,0.000,6,0.000,0.062,1959,1510,3457,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6568,-0.63,-97.3,478.9,-7.3,332,6576,0.00,1.90,0.00,0.000,4,0.000,0.083,1959,470,3457,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6625,-0.60,-97.3,483.8,-7.7,334,6630,0.17,1.77,0.00,0.000,6,0.239,0.041,1990,1521,3456,0,0,0,0,0,0,14.00,14.49,28.83
$GC,6945,-0.62,-97.3,505.8,-7.1,345,6951,0.00,1.90,0.00,0.000,4,0.000,0.083,1990,474,3456,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7000,-0.63,-97.3,510.4,-7.3,347,7003,0.00,1.77,0.00,0.000,6,0.000,0.043,1985,1525,3456,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7315,-0.63,-97.3,533.2,-7.0,358,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1527,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,-0.63,-97.3,552.8,-6.4,368,7619,0.00,1.95,0.00,0.000,4,0.000,0.086,1984,468,3454,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7779,-0.63,-97.3,564.4,-6.9,374,7783,0.00,1.80,0.00,0.000,6,0.000,0.043,1977,1523,3453,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8095,-0.63,-97.3,584.3,-6.4,385,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1524,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8394,-0.63,-97.3,603.3,-6.3,395,8398,0.00,1.95,0.00,0.000,4,0.000,0.085,1977,467,3451,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8501,-0.62,-97.3,610.8,-7.2,399,8504,0.00,1.80,0.00,0.000,6,0.000,0.043,1969,1521,3451,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8814,-0.62,-97.3,634.1,-7.7,410,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1522,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-0.60,-97.3,657.8,-7.0,420,9120,0.00,1.85,0.00,0.000,4,0.000,0.054,1961,2583,3448,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9190,-0.62,-97.3,664.6,-8.3,423,9194,0.00,1.92,0.00,0.000,6,0.000,0.063,1962,1514,3448,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9507,-0.64,-97.3,693.4,-9.2,434,9511,0.00,1.95,0.00,0.000,4,0.000,0.086,1961,461,3448,0,0,0,0,0,0,28.83,14.14,28.83
$GC,9654,-0.62,-97.3,706.0,-9.3,439,9659,0.15,1.83,0.00,0.000,6,0.231,0.043,1985,1523,3447,0,0,0,0,0,0,13.97,14.40,28.83
$GC,9958,-0.66,-97.3,728.1,-6.7,449,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1524,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10257,-0.71,-97.3,746.6,-5.8,459,10260,0.00,1.98,0.00,0.000,4,0.000,0.087,1985,463,3444,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10435,-0.73,-97.3,756.6,-6.0,465,10438,0.00,1.83,0.00,0.000,6,0.000,0.043,1981,1523,3445,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10736,-0.77,-97.3,775.3,-6.2,475,10741,0.12,1.98,0.00,0.000,4,0.140,0.086,1936,463,3444,0,0,0,0,0,0,14.56,14.13,28.83
$GC,10901,-0.73,-97.3,788.8,-8.4,481,10904,0.00,1.83,0.00,0.000,6,0.000,0.044,1927,1521,3440,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11219,-0.70,-97.3,815.6,-8.7,492,11221,0.15,0.00,0.00,0.000,6,0.255,0.000,1958,1522,3442,0,0,0,0,0,0,14.04,28.83,28.83
$GC,11515,-0.70,-97.3,839.1,-7.7,502,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1522,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11816,-0.70,-97.3,861.0,-7.3,512,11820,0.00,1.98,0.00,0.000,4,0.000,0.089,1959,467,3440,0,0,0,0,0,0,28.83,14.05,28.83
$GC,11904,-0.68,-97.3,866.8,-7.6,515,11908,0.00,1.83,0.00,0.000,6,0.000,0.046,1954,1521,3439,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12206,-0.67,-97.3,889.8,-7.6,525,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1522,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12505,-0.65,-97.3,914.2,-8.4,535,12509,0.00,2.00,0.00,0.000,4,0.000,0.090,1953,461,3438,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12625,-0.63,-97.3,924.2,-9.6,539,12630,0.17,1.85,0.00,0.000,6,0.249,0.046,1982,1521,3438,0,0,0,0,0,0,13.76,14.31,28.83
$GC,12928,-0.65,-97.3,949.8,-8.1,549,12931,0.00,2.00,0.00,0.000,4,0.000,0.090,1981,463,3436,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12984,-0.65,-97.3,953.7,-8.3,551,12988,0.00,1.85,0.00,0.000,6,0.000,0.046,1977,1526,3436,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13286,-0.65,-97.3,977.8,-7.3,561,13288,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1527,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13342,begin apogee
$GC,13350,-0.18,0.0,982.1,-7.1,563,13477,0.57,0.00,114.88,1.851,6,0.203,0.000,2125,1399,3064,0,0,0,0,1,0,13.72,28.83,12.93
$STATE,13479,end apogee,CONTROL_FINISHED_OK
$STATE,13479,begin climb
$GC,13483,0.60,97.3,987.4,0.0,567,13619,0.82,0.00,126.47,1.843,6,0.103,0.000,2385,1399,2665,0,0,0,0,1,0,14.22,28.83,12.95
$GC,13916,0.58,152.4,983.2,3.7,582,14005,0.00,1.90,78.05,1.704,4,0.000,0.057,2385,2460,2440,0,0,0,0,1,0,28.83,14.28,13.05
$GC,14081,0.46,178.1,976.0,5.0,587,14139,0.22,1.92,44.60,1.417,6,0.269,0.072,2345,1404,2337,0,0,0,0,1,0,14.10,14.38,13.11
$GC,14457,0.48,206.0,955.9,4.9,600,14515,0.00,2.00,47.10,1.454,4,0.000,0.099,2351,348,2221,0,0,0,0,1,0,28.83,14.35,13.17
$GC,14620,0.45,216.1,947.3,5.6,605,14658,0.00,1.83,28.27,1.050,6,0.000,0.046,2351,1410,2181,0,0,0,0,1,0,28.83,14.51,13.19
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$STATE,27968,end climb,SURFACE_DEPTH_REACHED
$STATE,27968,begin surface coast
$FINISH,0.7,1.025596
$STATE,27985,end surface coast,CONTROL_FINISHED_OK
$STATE,27985,begin surface
$SM_CCo,28008,11.18,0.719,0,0,1756,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,57.44
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$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,7593856
$24V_AH,12.9,215.352
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.100,181.075,605.650,11.175,0.000,0.000,0.000,321.850,0.500,0.000,19.791,3340.343,21198.080,933.708,2387.594,743.791,0.000,2295.804,0.000,1991.143,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345552
$DATA_FILE_SIZE,43302,1165
$CAP_FILE_SIZE,260455,0
$CFSIZE,260034560,195993600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.105,340.8,1
$GPS,140213,235130,2442.307,-3832.220,38,1.9,38,-14.1