version: 66.11
glider: 191
mission: 5
dive: 475
start: 2 20 113 1 10 41
data:
$ID,191
$MISSION,5
$DIVE,475
$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,-5202.4111
$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,26
$R_STBD_OVSHOOT,50
$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
$GPS1,200213,010034,2432.382,-3835.198,39,0.8,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.0
$GPS2,200213,011011,2432.410,-3835.170,20,0.9,20,-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,172.0,88567,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-56.95,0.000,6,0.000,0.000,154,1514,3459,0,0,0,0,0,0,28.83,28.83,14.72
$GC,88,-0.60,-97.3,4.7,-8.6,4,103,9.95,1.88,0.00,0.000,4,0.408,0.073,1996,463,3462,1,0,0,0,0,0,13.58,14.41,28.83
$GC,254,-0.57,-97.3,24.8,-9.1,15,263,0.00,1.80,0.00,0.000,6,0.000,0.041,1990,1511,3463,0,0,0,0,0,0,28.83,14.39,28.83
$GC,566,-0.56,-97.3,50.5,-7.6,36,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,866,-0.55,-97.3,74.3,-8.3,56,869,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,466,3463,0,0,0,0,0,0,28.83,14.19,28.83
$GC,956,-0.52,-97.3,82.3,-9.0,62,961,0.15,1.80,0.00,0.000,6,0.236,0.042,2015,1525,3463,0,0,0,0,0,0,14.04,14.45,28.83
$GC,1256,-0.53,-97.3,103.6,-6.8,82,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-0.54,-97.3,124.2,-7.3,102,1560,0.00,1.95,0.00,0.000,4,0.000,0.082,2015,463,3464,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1645,-0.54,-97.3,131.2,-8.0,108,1649,0.00,1.80,0.00,0.000,6,0.000,0.040,2010,1528,3464,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1946,-0.57,-97.3,150.1,-5.8,128,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1528,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.62,-97.3,168.5,-6.2,148,2251,0.00,1.95,0.00,0.000,4,0.000,0.082,2010,463,3465,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2443,-0.62,-97.3,181.7,-6.7,161,2446,0.00,1.80,0.00,0.000,6,0.000,0.041,2002,1525,3465,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2740,-0.62,-97.3,203.2,-7.4,181,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,-0.67,-97.3,227.3,-8.0,201,3045,0.00,1.95,0.00,0.000,4,0.000,0.083,2002,461,3465,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3223,-0.69,-97.3,241.3,-7.3,213,3227,0.00,1.80,0.00,0.000,6,0.000,0.039,1995,1529,3465,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3536,-0.74,-97.3,262.2,-6.5,228,3540,0.15,1.95,0.00,0.000,4,0.122,0.082,1936,463,3465,0,0,0,0,0,0,14.59,14.25,28.83
$GC,3641,-0.70,-97.3,270.7,-8.2,232,3645,0.15,1.80,0.00,0.000,6,0.260,0.041,1958,1523,3464,0,0,0,0,0,0,13.97,14.47,28.83
$GC,3960,-0.68,-97.3,291.9,-6.6,243,3967,0.00,1.95,0.00,0.000,4,0.000,0.082,1958,461,3463,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4046,-0.64,-97.3,298.4,-7.1,246,4049,0.00,1.80,0.00,0.000,6,0.000,0.041,1953,1522,3464,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4365,-0.62,-97.3,320.4,-7.0,257,4367,0.15,0.00,0.00,0.000,6,0.244,0.000,1985,1524,3463,0,0,0,0,0,0,14.09,28.83,28.83
$GC,4661,-0.62,-97.3,339.5,-6.5,267,4664,0.00,1.95,0.00,0.000,4,0.000,0.081,1985,458,3462,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4736,-0.62,-97.3,345.1,-7.3,270,4740,0.00,1.80,0.00,0.000,6,0.000,0.041,1980,1522,3462,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5052,-0.62,-97.3,367.7,-7.1,281,5055,0.00,1.95,0.00,0.000,4,0.000,0.083,1980,463,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5186,-0.60,-97.3,377.7,-7.5,286,5190,0.00,1.80,0.00,0.000,6,0.000,0.041,1972,1521,3461,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5502,-0.60,-97.3,399.6,-7.1,297,5505,0.00,1.95,0.00,0.000,4,0.000,0.083,1972,463,3460,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5620,-0.58,-97.3,407.9,-7.9,301,5624,0.15,1.80,0.00,0.000,6,0.244,0.041,1996,1522,3459,0,0,0,0,0,0,14.02,14.47,28.83
$GC,5925,-0.62,-97.3,431.3,-8.0,311,5932,0.00,1.95,0.00,0.000,4,0.000,0.083,1997,466,3459,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6011,-0.65,-97.3,439.1,-8.5,314,6014,0.00,1.80,0.00,0.000,6,0.000,0.041,1991,1526,3459,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6328,-0.70,-97.3,466.6,-8.7,325,6332,0.00,1.95,0.00,0.000,4,0.000,0.084,1991,465,3458,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6462,-0.72,-97.3,478.1,-8.6,330,6466,0.00,1.80,0.00,0.000,6,0.000,0.041,1984,1521,3459,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6779,-0.76,-97.3,502.6,-7.5,341,6783,0.12,1.95,0.00,0.000,4,0.138,0.084,1937,467,3458,0,0,0,0,0,0,14.57,14.17,28.83
$GC,6958,-0.71,-97.3,517.0,-8.8,347,6962,0.12,1.80,0.00,0.000,6,0.270,0.043,1953,1521,3457,0,0,0,0,0,0,13.95,14.42,28.83
$GC,7261,-0.69,-97.3,539.3,-6.7,357,7264,0.00,1.95,0.00,0.000,4,0.000,0.085,1951,466,3456,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7349,-0.66,-97.3,545.1,-7.4,360,7352,0.00,1.80,0.00,0.000,6,0.000,0.043,1948,1525,3458,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7649,-0.64,-97.3,568.8,-7.7,370,7654,0.15,1.95,0.00,0.000,4,0.249,0.085,1980,466,3454,0,0,0,0,0,0,14.12,14.15,28.83
$GC,7709,-0.62,-97.3,572.3,-7.7,372,7713,0.00,1.80,0.00,0.000,6,0.000,0.043,1975,1519,3455,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8008,-0.62,-97.3,595.7,-7.6,382,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.62,-97.3,618.5,-7.6,392,8312,0.00,1.95,0.00,0.000,4,0.000,0.086,1974,467,3453,0,0,0,0,0,0,28.83,14.13,28.83
$GC,8459,-0.60,-97.3,630.0,-8.6,397,8462,0.00,1.80,0.00,0.000,6,0.000,0.044,1967,1520,3450,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8759,-0.60,-97.3,655.7,-8.1,407,8762,0.00,1.98,0.00,0.000,4,0.000,0.086,1967,460,3451,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8848,-0.58,-97.3,662.3,-8.5,410,8853,0.17,1.83,0.00,0.000,6,0.239,0.044,1998,1521,3451,0,0,0,0,0,0,13.90,14.42,28.83
$GC,9152,-0.64,-97.3,686.3,-7.8,420,9159,0.00,1.98,0.00,0.000,4,0.000,0.087,1997,463,3450,0,0,0,0,0,0,28.83,14.12,28.83
$GC,9270,-0.68,-97.3,696.2,-8.2,424,9274,0.00,1.83,0.00,0.000,6,0.000,0.043,1993,1521,3450,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9586,-0.73,-97.3,723.2,-8.8,435,9591,0.12,1.98,0.00,0.000,4,0.138,0.086,1947,466,3448,0,0,0,0,0,0,14.51,14.08,28.83
$GC,9645,-0.76,-97.3,727.7,-9.1,437,9649,0.00,1.83,0.00,0.000,6,0.000,0.044,1939,1523,3448,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9945,-0.73,-97.3,757.9,-9.3,447,9948,0.00,1.85,0.00,0.000,4,0.000,0.056,1930,2576,3446,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10020,-0.70,-97.3,764.8,-9.1,450,10025,0.12,1.92,0.00,0.000,6,0.264,0.067,1954,1522,3446,0,0,0,0,0,0,13.82,14.20,28.83
$GC,10340,-0.69,-97.3,789.6,-7.4,461,10346,0.00,1.95,0.00,0.000,4,0.000,0.088,1954,473,3446,0,0,0,0,0,0,28.83,13.95,28.83
$GC,10455,-0.66,-97.3,799.3,-8.0,465,10458,0.00,1.83,0.00,0.000,6,0.000,0.045,1949,1520,3445,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10774,-0.64,-97.3,821.9,-7.1,476,10776,0.12,0.00,0.00,0.000,6,0.260,0.000,1976,1521,3444,0,0,0,0,0,0,14.14,28.83,28.83
$GC,11070,-0.66,-97.3,840.5,-6.4,486,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11372,-0.70,-97.3,861.6,-7.1,496,11375,0.00,2.00,0.00,0.000,4,0.000,0.089,1976,463,3442,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11519,-0.72,-97.3,872.1,-7.9,501,11522,0.00,1.85,0.00,0.000,6,0.000,0.045,1972,1523,3441,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11821,-0.76,-97.3,895.0,-7.1,511,11825,0.00,2.00,0.00,0.000,4,0.000,0.089,1972,465,3440,0,0,0,0,0,0,28.83,13.98,28.83
$GC,11940,-0.78,-97.3,902.7,-7.4,515,11944,0.00,1.85,0.00,0.000,6,0.000,0.046,1965,1525,3440,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12244,-0.81,-97.3,923.9,-6.6,525,12251,0.12,2.03,0.00,0.000,4,0.144,0.090,1922,460,3439,0,0,0,0,0,0,14.46,13.95,28.83
$GC,12344,-0.79,-97.3,931.1,-7.6,528,12348,0.00,1.88,0.00,0.000,6,0.000,0.047,1914,1525,3439,0,0,0,0,0,0,28.83,14.25,28.83
$GC,12649,-0.75,-97.3,955.9,-7.9,538,12657,0.15,1.88,0.00,0.000,4,0.269,0.058,1938,2577,3438,0,0,0,0,0,0,13.93,14.16,28.83
$GC,12705,-0.72,-97.3,960.0,-7.5,540,12709,0.00,1.95,0.00,0.000,6,0.000,0.070,1938,1521,3438,0,0,0,0,0,0,28.83,14.08,28.83
$STATE,12986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12986,begin apogee
$GC,12995,-0.18,0.0,980.1,-7.2,550,13122,0.75,0.00,114.70,1.836,6,0.228,0.000,2124,1391,3063,0,0,0,0,1,0,13.73,28.83,12.92
$STATE,13124,end apogee,CONTROL_FINISHED_OK
$STATE,13124,begin climb
$GC,13127,0.60,97.3,984.6,0.0,554,13265,0.82,2.03,126.45,1.827,4,0.116,0.096,2385,341,2666,0,0,0,0,1,0,14.12,14.12,12.94
$GC,13411,0.58,163.7,985.4,3.2,564,13514,0.00,1.85,91.35,1.737,6,0.000,0.047,2385,1410,2394,0,0,0,0,1,0,28.83,14.47,12.97
$GC,13815,0.54,178.4,964.2,5.4,578,13854,0.00,0.00,32.00,1.157,6,0.000,0.000,2386,1410,2334,0,0,0,0,1,0,28.83,28.83,13.21
$GC,14149,0.50,193.1,946.2,5.4,589,14192,0.15,2.00,32.53,1.177,4,0.274,0.098,2361,349,2274,0,0,0,0,1,0,14.14,14.43,13.20
$GC,14314,0.49,209.0,937.2,5.4,594,14359,0.00,1.83,34.75,1.229,6,0.000,0.048,2361,1405,2210,0,0,0,0,1,0,28.83,14.51,13.16
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$STATE,26957,end climb,SURFACE_DEPTH_REACHED
$STATE,26957,begin surface coast
$FINISH,0.4,1.025605
$STATE,26969,end surface coast,CONTROL_FINISHED_OK
$STATE,26969,begin surface
$SM_CCo,27049,0.00,0.000,0,0,1623,352.74
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$TT8_MAMPS,0.023219,0.023219
$HUMID,57.91
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.40
$XPDR_PINGS,7
$SC_FREEKB,7587712
$24V_AH,12.9,221.957
$10V_AH,12.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.300,193.625,720.450,0.000,0.000,0.000,0.000,295.325,1.750,0.000,21.261,3269.145,20179.760,1072.907,2342.230,741.378,0.000,2411.552,0.000,1977.452,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.221,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43327,1120
$CAP_FILE_SIZE,257640,0
$CFSIZE,260034560,194052096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,14,1,0
$CURRENT,0.090,340.8,1
$GPS,200213,084252,2431.763,-3834.250,40,0.8,40,-14.2