version: 66.11
glider: 191
mission: 5
dive: 500
start: 2 28 113 4 56 22
data:
$ID,191
$MISSION,5
$DIVE,500
$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,-5233.8594
$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,49
$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
$GPS1,280213,044605,2403.591,-3754.234,26,0.9,27,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-55.4
$GPS2,280213,045553,2403.566,-3754.194,16,1.1,16,-14.1
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$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,58.3,84288,-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,-97.3,0.0,0.0,0,99,0.00,0.00,-70.22,0.000,6,0.000,0.000,158,1516,3462,0,0,0,0,0,0,28.83,28.83,14.69
$GC,103,-0.60,-97.3,5.0,-8.3,5,118,10.02,1.90,0.00,0.000,4,0.411,0.073,1997,461,3464,1,0,0,0,0,0,13.48,14.39,28.83
$GC,341,-0.58,-97.3,34.9,-9.0,21,344,0.00,1.80,0.00,0.000,6,0.000,0.041,1991,1515,3465,0,0,0,0,0,0,28.83,14.36,28.83
$GC,640,-0.58,-97.3,57.5,-7.2,41,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1516,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.58,-97.3,76.9,-6.7,61,944,0.00,1.95,0.00,0.000,4,0.000,0.083,1992,463,3468,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1091,-0.56,-97.3,88.5,-7.6,71,1095,0.00,1.80,0.00,0.000,6,0.000,0.040,1984,1518,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1391,-0.54,-97.3,108.0,-6.3,91,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.54,-97.3,127.6,-6.7,111,1694,0.00,1.95,0.00,0.000,4,0.000,0.082,1984,464,3465,0,0,0,0,0,0,28.83,14.10,28.83
$GC,1811,-0.52,-97.3,136.4,-7.4,119,1815,0.17,1.80,0.00,0.000,6,0.228,0.041,2015,1520,3465,0,0,0,0,0,0,13.89,14.35,28.83
$GC,2111,-0.57,-97.3,157.1,-7.4,139,2115,0.00,1.95,0.00,0.000,4,0.000,0.082,2015,464,3466,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2247,-0.62,-97.3,167.6,-7.9,148,2251,0.00,1.80,0.00,0.000,6,0.000,0.041,2012,1521,3466,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2546,-0.67,-97.3,190.1,-7.5,168,2548,0.12,0.00,0.00,0.000,6,0.130,0.000,1960,1523,3466,0,0,0,0,0,0,14.47,28.83,28.83
$GC,2846,-0.65,-97.3,217.8,-9.6,188,2849,0.00,1.95,0.00,0.000,4,0.000,0.082,1960,464,3466,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2951,-0.61,-97.3,228.5,-10.2,195,2955,0.15,1.80,0.00,0.000,6,0.248,0.041,1983,1520,3466,0,0,0,0,0,0,13.87,14.37,28.83
$GC,3251,-0.61,-97.3,252.4,-7.1,214,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1522,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.61,-97.3,270.9,-5.7,224,3556,0.00,1.95,0.00,0.000,4,0.000,0.082,1984,464,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3610,-0.61,-97.3,273.5,-5.6,226,3613,0.00,1.80,0.00,0.000,6,0.000,0.041,1979,1520,3465,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3912,-0.61,-97.3,291.0,-5.9,236,3915,0.00,1.95,0.00,0.000,4,0.000,0.083,1979,464,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3987,-0.60,-97.3,296.4,-6.9,239,3990,0.00,1.80,0.00,0.000,6,0.000,0.041,1971,1520,3465,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4304,-0.59,-97.3,322.1,-8.7,250,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.58,-97.3,350.1,-9.4,260,4607,0.12,1.95,0.00,0.000,4,0.252,0.083,1997,464,3464,0,0,0,0,0,0,14.19,14.11,28.83
$GC,4691,-0.58,-97.3,357.0,-9.2,263,4694,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1520,3464,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4991,-0.58,-97.3,381.1,-7.0,273,4995,0.00,1.95,0.00,0.000,4,0.000,0.083,1991,467,3463,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5051,-0.58,-97.3,384.4,-6.9,275,5055,0.00,1.80,0.00,0.000,6,0.000,0.041,1984,1519,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5352,-0.58,-97.3,403.2,-5.3,285,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1520,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5652,-0.58,-97.3,422.9,-7.3,295,5656,0.00,1.95,0.00,0.000,4,0.000,0.083,1984,464,3461,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5756,-0.58,-97.3,431.7,-8.5,299,5759,0.00,1.83,0.00,0.000,6,0.000,0.041,1976,1530,3461,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6071,-0.58,-97.3,458.4,-8.4,310,6075,0.00,2.00,0.00,0.000,4,0.000,0.084,1976,460,3460,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6161,-0.56,-97.3,465.1,-8.7,313,6166,0.15,1.83,0.00,0.000,6,0.238,0.041,2000,1522,3460,0,0,0,0,0,0,13.85,14.33,28.83
$GC,6465,-0.62,-97.3,487.1,-6.6,323,6472,0.00,1.98,0.00,0.000,4,0.000,0.084,2000,463,3458,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6523,-0.66,-97.3,491.1,-6.6,325,6527,0.00,1.83,0.00,0.000,6,0.000,0.041,1996,1526,3459,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6839,-0.72,-97.3,510.4,-6.0,336,6844,0.12,1.98,0.00,0.000,4,0.133,0.085,1948,465,3458,0,0,0,0,0,0,14.49,14.02,28.83
$GC,7005,-0.68,-97.3,523.0,-7.7,342,7009,0.12,1.83,0.00,0.000,6,0.261,0.042,1963,1523,3458,0,0,0,0,0,0,13.84,14.31,28.83
$GC,7323,-0.67,-97.3,544.0,-6.7,353,7330,0.00,1.98,0.00,0.000,4,0.000,0.084,1963,463,3457,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7392,-0.65,-97.3,548.1,-7.0,355,7396,0.00,1.83,0.00,0.000,6,0.000,0.041,1958,1522,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7695,-0.63,-97.3,570.4,-7.0,365,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,-0.61,-97.3,591.5,-7.1,375,7998,0.15,2.00,0.00,0.000,4,0.247,0.086,1990,458,3455,0,0,0,0,0,0,14.04,13.99,28.83
$GC,8040,-0.60,-97.3,594.6,-7.0,377,8043,0.00,1.83,0.00,0.000,6,0.000,0.042,1985,1520,3455,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8354,-0.60,-97.3,616.2,-7.1,388,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8655,-0.65,-97.3,640.0,-8.2,398,8658,0.00,1.98,0.00,0.000,4,0.000,0.086,1985,465,3454,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8758,-0.68,-97.3,649.2,-8.8,402,8762,0.00,1.83,0.00,0.000,6,0.000,0.043,1977,1520,3453,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9078,-0.72,-97.3,678.6,-9.6,413,9085,0.00,1.98,0.00,0.000,4,0.000,0.086,1977,464,3452,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9117,-0.75,-97.3,681.6,-9.7,414,9121,0.00,1.83,0.00,0.000,6,0.000,0.043,1970,1520,3451,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9418,-0.79,-97.3,710.9,-9.1,424,9420,0.12,0.00,0.00,0.000,6,0.139,0.000,1926,1522,3451,0,0,0,0,0,0,14.45,28.83,28.83
$GC,9720,-0.75,-97.3,738.8,-9.2,434,9723,0.00,2.00,0.00,0.000,4,0.000,0.087,1926,464,3450,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9796,-0.70,-97.3,746.0,-9.5,437,9800,0.20,1.85,0.00,0.000,6,0.263,0.044,1959,1522,3450,0,0,0,0,0,0,13.58,14.23,28.83
$GC,10113,-0.70,-97.3,769.6,-7.1,448,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1523,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10410,-0.69,-97.3,787.0,-5.3,458,10414,0.00,2.03,0.00,0.000,4,0.000,0.087,1959,463,3448,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10486,-0.67,-97.3,791.3,-5.7,461,10490,0.00,1.85,0.00,0.000,6,0.000,0.044,1954,1523,3447,0,0,0,0,0,0,28.83,14.24,28.83
$GC,10802,-0.66,-97.3,804.6,-3.9,472,10806,0.00,1.88,0.00,0.000,4,0.000,0.057,1946,2578,3447,0,0,0,0,0,0,28.83,14.12,28.83
$GC,10860,-0.64,-97.3,806.5,-3.9,474,10864,0.15,1.95,0.00,0.000,6,0.246,0.067,1976,1520,3446,0,0,0,0,0,0,13.64,14.03,28.83
$GC,11164,-0.64,-97.3,818.6,-4.4,484,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1520,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11460,-0.69,-97.3,836.5,-6.7,494,11464,0.00,2.03,0.00,0.000,4,0.000,0.090,1976,460,3444,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11581,-0.72,-97.3,844.6,-7.7,498,11584,0.00,1.88,0.00,0.000,6,0.000,0.045,1973,1526,3444,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11880,-0.76,-97.3,871.0,-8.8,508,11884,0.00,1.88,0.00,0.000,4,0.000,0.058,1965,2576,3443,0,0,0,0,0,0,28.83,14.08,28.83
$GC,11957,-0.79,-97.3,877.4,-8.7,511,11961,0.00,1.98,0.00,0.000,6,0.000,0.068,1965,1513,3443,0,0,0,0,0,0,28.83,14.00,28.83
$GC,12273,-0.82,-97.3,903.9,-8.1,522,12278,0.12,2.00,0.00,0.000,4,0.143,0.090,1921,466,3442,0,0,0,0,0,0,14.40,13.81,28.83
$GC,12501,-0.77,-97.3,925.7,-9.8,530,12508,0.00,1.88,0.00,0.000,6,0.000,0.046,1913,1524,3439,0,0,0,0,0,0,28.83,14.11,28.83
$GC,12830,-0.73,-97.3,955.5,-9.1,541,12834,0.17,2.05,0.00,0.000,4,0.263,0.090,1949,464,3440,0,0,0,0,0,0,13.70,13.84,28.83
$GC,12875,-0.69,-97.3,959.7,-9.0,543,12878,0.00,1.88,0.00,0.000,6,0.000,0.047,1944,1525,3440,0,0,0,0,0,0,28.83,14.15,28.83
$STATE,13155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13155,begin apogee
$GC,13163,-0.18,0.0,981.2,-7.2,553,13291,0.73,0.00,115.53,1.826,6,0.222,0.000,2125,1399,3062,0,0,0,0,1,0,13.81,28.83,13.02
$STATE,13293,end apogee,CONTROL_FINISHED_OK
$STATE,13293,begin climb
$GC,13297,0.60,97.3,986.0,0.0,557,13434,0.82,1.92,125.60,1.820,4,0.109,0.057,2380,2458,2667,0,0,0,0,1,0,14.10,14.13,13.00
$GC,13655,0.58,146.9,982.4,4.0,570,13742,0.00,1.95,71.80,1.651,6,0.000,0.073,2388,1394,2464,0,0,0,0,1,0,28.83,14.33,13.04
$GC,14044,0.52,149.5,960.1,5.9,583,14046,0.15,0.00,0.00,0.000,6,0.288,0.000,2365,1394,2458,0,0,0,0,0,0,14.06,28.83,28.83
$GC,14348,0.52,181.9,945.8,4.7,593,14410,0.00,0.00,54.35,1.545,6,0.000,0.000,2359,1394,2319,0,0,0,0,1,0,28.83,28.83,13.12
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$STATE,26850,end climb,SURFACE_DEPTH_REACHED
$STATE,26850,begin surface coast
$FINISH,0.7,1.025758
$STATE,26866,end surface coast,CONTROL_FINISHED_OK
$STATE,26866,begin surface
$SM_CCo,26947,0.00,0.000,0,0,1454,394.44
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$IRIDIUM_FIX,2349.77,-3756.84,270213,212128
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.17
$INTERNAL_PRESSURE,9.22369
$TCM_TEMP,25.00
$XPDR_PINGS,5
$SC_FREEKB,7578240
$24V_AH,13.0,232.641
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,183.775,704.750,0.000,0.000,0.000,0.000,312.750,1.250,0.000,17.791,3154.531,20348.322,1034.294,2257.503,721.590,0.000,2340.029,0.000,1888.028,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.297,0.000,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,39976,1102
$CAP_FILE_SIZE,249598,0
$CFSIZE,260034560,191193088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.059,226.8,1
$GPS,280213,122653,2405.048,-3753.117,42,0.9,42,-14.1