version: 66.11
glider: 191
mission: 5
dive: 470
start: 2 18 113 8 41 41
data:
$ID,191
$MISSION,5
$DIVE,470
$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,-5196.1201
$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,34
$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
$GPS1,180213,082728,2435.247,-3841.399,39,0.7,39,-14.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-58.7
$GPS2,180213,084111,2435.305,-3841.485,20,0.8,20,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,169.9,99814,-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,-97.3,0.0,0.0,0,82,0.00,0.00,-57.42,0.000,6,0.000,0.000,162,1504,3461,0,0,0,0,0,0,28.83,28.83,14.72
$GC,86,-0.60,-97.3,4.8,-11.0,4,100,10.12,1.88,0.00,0.000,4,0.417,0.076,1995,461,3463,1,0,0,0,0,0,13.55,14.38,28.83
$GC,267,-0.57,-97.3,30.1,-11.6,16,271,0.00,1.83,0.00,0.000,6,0.000,0.042,1990,1526,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,565,-0.56,-97.3,56.0,-7.2,36,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-0.54,-97.3,75.1,-6.8,56,868,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,464,3465,0,0,0,0,0,0,28.83,14.23,28.83
$GC,986,-0.51,-97.3,83.3,-6.9,64,990,0.17,1.80,0.00,0.000,6,0.227,0.043,2021,1522,3465,0,0,0,0,0,0,14.04,14.47,28.83
$GC,1286,-0.53,-97.3,99.7,-5.5,84,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1523,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-0.55,-97.3,119.9,-7.0,104,1588,0.00,1.95,0.00,0.000,4,0.000,0.083,2022,461,3465,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1690,-0.55,-97.3,128.1,-7.9,111,1694,0.00,1.80,0.00,0.000,6,0.000,0.040,2017,1525,3465,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1991,-0.60,-97.3,150.9,-6.9,131,1995,0.00,1.95,0.00,0.000,4,0.000,0.083,2016,461,3466,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2066,-0.63,-97.3,156.1,-7.0,136,2069,0.00,1.80,0.00,0.000,6,0.000,0.040,2009,1528,3465,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2365,-0.67,-97.3,174.1,-6.1,156,2369,0.12,1.95,0.00,0.000,4,0.132,0.081,1958,463,3466,0,0,0,0,0,0,14.54,14.26,28.83
$GC,2441,-0.63,-97.3,179.8,-7.9,161,2446,0.15,1.80,0.00,0.000,6,0.246,0.041,1982,1527,3466,0,0,0,0,0,0,14.04,14.49,28.83
$GC,2739,-0.63,-97.3,201.9,-7.6,181,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1528,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.63,-97.3,224.8,-7.6,201,3043,0.00,1.95,0.00,0.000,4,0.000,0.083,1982,462,3466,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3176,-0.61,-97.3,236.9,-9.1,210,3180,0.00,1.80,0.00,0.000,6,0.000,0.041,1977,1522,3466,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3490,-0.60,-97.3,262.5,-7.6,226,3494,0.00,1.95,0.00,0.000,4,0.000,0.083,1977,463,3465,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3580,-0.58,-97.3,268.3,-7.6,229,3584,0.12,1.80,0.00,0.000,6,0.247,0.041,1995,1520,3465,0,0,0,0,0,0,14.10,14.50,28.83
$GC,3883,-0.58,-97.3,287.1,-5.7,239,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1522,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.58,-97.3,303.6,-5.5,249,4184,0.00,1.95,0.00,0.000,4,0.000,0.083,1995,458,3464,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4314,-0.58,-97.3,312.4,-6.6,254,4318,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1523,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4629,-0.58,-97.3,333.7,-7.0,265,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1525,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-0.58,-97.3,356.2,-7.6,275,4934,0.00,1.95,0.00,0.000,4,0.000,0.083,1990,461,3462,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5020,-0.58,-97.3,362.5,-8.3,278,5023,0.00,1.80,0.00,0.000,6,0.000,0.041,1982,1521,3462,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5321,-0.58,-97.3,388.0,-8.1,288,5324,0.00,1.95,0.00,0.000,4,0.000,0.084,1982,461,3462,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5455,-0.56,-97.3,400.2,-9.2,293,5459,0.15,1.80,0.00,0.000,6,0.237,0.041,2007,1521,3461,0,0,0,0,0,0,14.09,14.51,28.83
$GC,5774,-0.62,-97.3,425.9,-8.4,304,5781,0.00,1.95,0.00,0.000,4,0.000,0.083,2007,460,3460,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5874,-0.66,-97.3,433.6,-8.5,307,5877,0.00,1.80,0.00,0.000,6,0.000,0.041,2003,1522,3460,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6176,-0.71,-97.3,459.7,-8.1,317,6180,0.15,1.95,0.00,0.000,4,0.124,0.084,1945,462,3459,0,0,0,0,0,0,14.57,14.23,28.83
$GC,6324,-0.67,-97.3,472.3,-9.5,322,6328,0.15,1.80,0.00,0.000,6,0.248,0.042,1968,1520,3459,0,0,0,0,0,0,14.02,14.47,28.83
$GC,6625,-0.67,-97.3,493.8,-6.4,332,6629,0.00,1.95,0.00,0.000,4,0.000,0.084,1968,461,3459,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6700,-0.66,-97.3,499.0,-6.7,335,6704,0.00,1.80,0.00,0.000,6,0.000,0.041,1963,1518,3458,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7017,-0.64,-97.3,520.3,-6.9,346,7021,0.00,1.95,0.00,0.000,4,0.000,0.086,1963,461,3458,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7090,-0.62,-97.3,526.4,-8.0,349,7094,0.12,1.80,0.00,0.000,6,0.254,0.041,1981,1520,3458,0,0,0,0,0,0,14.04,14.46,28.83
$GC,7407,-0.62,-97.3,548.6,-7.2,360,7411,0.00,1.95,0.00,0.000,4,0.000,0.085,1981,464,3457,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7452,-0.62,-97.3,552.0,-7.3,362,7455,0.00,1.80,0.00,0.000,6,0.000,0.042,1976,1520,3457,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7765,-0.62,-97.3,574.9,-7.2,373,7769,0.00,1.95,0.00,0.000,4,0.000,0.086,1976,464,3456,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7841,-0.61,-97.3,580.9,-7.8,376,7844,0.00,1.80,0.00,0.000,6,0.000,0.042,1969,1520,3456,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8156,-0.61,-97.3,605.0,-7.6,387,8160,0.00,1.95,0.00,0.000,4,0.000,0.086,1969,464,3454,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8244,-0.59,-97.3,611.2,-8.1,390,8249,0.15,1.83,0.00,0.000,6,0.239,0.044,1993,1526,3454,0,0,0,0,0,0,14.02,14.45,28.83
$GC,8549,-0.64,-97.3,632.5,-6.6,400,8558,0.00,2.00,0.00,0.000,4,0.000,0.086,1993,458,3453,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8635,-0.68,-97.3,638.4,-6.7,403,8639,0.00,1.83,0.00,0.000,6,0.000,0.043,1989,1523,3453,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8955,-0.73,-97.3,657.2,-5.6,414,8962,0.12,1.95,0.00,0.000,4,0.138,0.086,1943,464,3452,0,0,0,0,0,0,14.54,14.07,28.83
$GC,9144,-0.69,-97.3,671.1,-8.0,420,9149,0.12,1.83,0.00,0.000,6,0.262,0.043,1959,1524,3451,0,0,0,0,0,0,14.00,14.43,28.83
$GC,9449,-0.68,-97.3,694.1,-7.5,430,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1525,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9745,-0.67,-97.3,718.3,-8.0,440,9749,0.00,1.98,0.00,0.000,4,0.000,0.086,1959,465,3449,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9851,-0.65,-97.3,727.9,-9.2,444,9854,0.00,1.83,0.00,0.000,6,0.000,0.044,1954,1522,3449,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10169,-0.63,-97.3,753.5,-7.9,455,10171,0.12,0.00,0.00,0.000,6,0.253,0.000,1980,1524,3448,0,0,0,0,0,0,14.08,28.83,28.83
$GC,10466,-0.66,-97.3,774.3,-7.0,465,10470,0.00,1.98,0.00,0.000,4,0.000,0.085,1980,463,3447,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10571,-0.69,-97.3,781.9,-7.2,469,10575,0.00,1.83,0.00,0.000,6,0.000,0.043,1976,1522,3446,0,0,0,0,0,0,28.83,14.37,28.83
$GC,10888,-0.73,-97.3,803.7,-6.9,480,10892,0.00,2.00,0.00,0.000,4,0.000,0.087,1976,464,3445,0,0,0,0,0,0,28.83,13.94,28.83
$GC,10992,-0.75,-97.3,811.7,-7.6,484,10995,0.00,1.83,0.00,0.000,6,0.000,0.044,1969,1519,3445,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11308,-0.78,-97.3,834.4,-7.2,495,11312,0.00,2.00,0.00,0.000,4,0.000,0.088,1969,464,3444,0,0,0,0,0,0,28.83,13.99,28.83
$GC,11426,-0.80,-97.3,842.8,-8.0,499,11430,0.00,1.83,0.00,0.000,6,0.000,0.044,1962,1519,3443,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11726,-0.82,-97.3,867.6,-8.0,509,11728,0.12,0.00,0.00,0.000,6,0.147,0.000,1919,1520,3443,0,0,0,0,0,0,14.50,28.83,28.83
$GC,12027,-0.78,-97.3,895.0,-9.3,519,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1520,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12326,-0.73,-97.3,923.9,-9.9,529,12331,0.15,2.03,0.00,0.000,4,0.259,0.089,1949,461,3440,0,0,0,0,0,0,14.00,14.00,28.83
$GC,12386,-0.70,-97.3,928.2,-9.7,531,12390,0.00,1.85,0.00,0.000,6,0.000,0.045,1945,1524,3440,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12688,-0.68,-97.3,957.2,-9.2,541,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1525,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12952,begin apogee
$GC,12962,-0.18,0.0,981.9,-9.1,550,13088,0.73,0.00,115.78,1.837,6,0.216,0.000,2128,1397,3062,0,0,0,0,1,0,13.69,28.83,12.95
$STATE,13090,end apogee,CONTROL_FINISHED_OK
$STATE,13090,begin climb
$GC,13093,0.60,97.3,988.3,0.0,554,13231,0.82,2.03,125.88,1.826,4,0.115,0.096,2390,344,2666,0,0,0,0,1,0,14.16,14.14,12.96
$GC,13451,0.57,152.1,988.7,3.7,567,13540,0.00,1.85,78.28,1.689,6,0.000,0.046,2391,1419,2442,0,0,0,0,1,0,28.83,14.51,13.04
$GC,13842,0.50,152.1,964.5,6.9,580,13847,0.17,2.00,0.00,0.000,4,0.269,0.095,2360,349,2436,0,0,0,0,0,0,14.13,14.35,28.83
$GC,14006,0.45,152.1,953.4,6.9,586,14010,0.00,1.80,0.00,0.000,6,0.000,0.046,2359,1400,2435,0,0,0,0,0,0,28.83,14.53,28.83
$GC,14325,0.41,152.1,932.9,6.5,597,14327,0.17,0.00,0.00,0.000,6,0.258,0.000,2322,1402,2433,0,0,0,0,0,0,14.14,28.83,28.83
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$STATE,28031,end climb,SURFACE_DEPTH_REACHED
$STATE,28031,begin surface coast
$FINISH,0.4,1.025629
$STATE,28047,end surface coast,CONTROL_FINISHED_OK
$STATE,28047,begin surface
$SM_CCo,28067,3.10,0.814,0,0,1755,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,58.66
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.30
$XPDR_PINGS,3
$SC_FREEKB,7589632
$24V_AH,12.9,219.889
$10V_AH,12.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,185.750,629.300,3.100,0.000,0.000,0.000,418.450,0.750,0.000,21.355,3370.373,21328.004,939.546,2514.387,726.812,0.000,2406.578,0.000,2020.130,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.185,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43297,1166
$CAP_FILE_SIZE,262516,0
$CFSIZE,260034560,194654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.099,338.1,1
$GPS,180213,163058,2434.535,-3840.547,38,0.9,38,-14.2