version: 66.11
glider: 191
mission: 5
dive: 505
start: 3 1 113 19 31 23
data:
$ID,191
$MISSION,5
$DIVE,505
$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,-5240.1484
$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,48
$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
$GPS1,010313,192104,2410.812,-3748.863,34,1.0,34,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.6
$GPS2,010313,193053,2410.771,-3748.916,20,1.0,20,-14.0
$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,72.6,68734,-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,-97.3,0.0,0.0,0,98,0.00,0.00,-71.25,0.000,6,0.000,0.000,153,1519,3459,0,0,0,0,0,0,28.83,28.83,14.70
$GC,102,-0.60,-97.3,4.8,-7.8,5,116,10.05,1.90,0.00,0.000,4,0.411,0.070,1997,456,3461,1,0,0,0,0,0,13.58,14.42,28.83
$GC,268,-0.57,-97.3,25.0,-8.4,16,277,0.00,1.83,0.00,0.000,6,0.000,0.041,1992,1518,3463,0,0,0,0,0,0,28.83,14.21,28.83
$GC,580,-0.56,-97.3,48.8,-7.5,37,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.55,-97.3,71.8,-7.8,57,881,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.54,-97.3,93.7,-7.0,77,1185,0.00,1.95,0.00,0.000,4,0.000,0.080,1991,461,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,1240,-0.52,-97.3,98.1,-7.5,81,1244,0.15,1.80,0.00,0.000,6,0.239,0.040,2016,1519,3463,0,0,0,0,0,0,13.97,14.41,28.83
$GC,1541,-0.55,-97.3,116.0,-5.8,101,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1518,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.60,-97.3,136.0,-7.2,121,1843,0.00,1.83,0.00,0.000,4,0.000,0.052,2012,2576,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1961,-0.66,-97.3,144.9,-7.6,129,1966,0.12,1.90,0.00,0.000,6,0.130,0.060,1964,1513,3464,0,0,0,0,0,0,14.25,14.26,28.83
$GC,2261,-0.63,-97.3,169.1,-7.8,149,2265,0.00,1.92,0.00,0.000,4,0.000,0.081,1959,463,3463,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2350,-0.59,-97.3,177.1,-9.1,155,2354,0.20,1.80,0.00,0.000,6,0.238,0.039,1996,1521,3463,0,0,0,0,0,0,13.85,14.39,28.83
$GC,2649,-0.59,-97.3,197.0,-6.8,175,2653,0.00,1.83,0.00,0.000,4,0.000,0.051,1990,2577,3463,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2725,-0.60,-97.3,201.8,-6.5,180,2729,0.00,1.90,0.00,0.000,6,0.000,0.060,1990,1515,3463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3025,-0.60,-97.3,219.6,-5.6,200,3028,0.00,1.92,0.00,0.000,4,0.000,0.080,1990,464,3464,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3115,-0.60,-97.3,225.3,-6.5,206,3118,0.00,1.80,0.00,0.000,6,0.000,0.039,1983,1526,3463,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3415,-0.60,-97.3,241.8,-5.7,226,3419,0.00,1.95,0.00,0.000,4,0.000,0.080,1982,466,3463,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3476,-0.59,-97.3,245.6,-6.3,230,3479,0.00,1.80,0.00,0.000,6,0.000,0.039,1975,1525,3463,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3794,-0.58,-97.3,265.5,-6.5,243,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,-0.57,-97.3,286.5,-7.6,253,4092,0.12,0.00,0.00,0.000,6,0.249,0.000,2001,1526,3462,0,0,0,0,0,0,14.20,28.83,28.83
$GC,4391,-0.59,-97.3,310.7,-8.7,263,4395,0.00,1.95,0.00,0.000,4,0.000,0.082,2001,467,3461,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4436,-0.62,-97.3,314.9,-9.1,265,4440,0.00,1.80,0.00,0.000,6,0.000,0.040,1996,1526,3461,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4752,-0.67,-97.3,345.1,-9.4,276,4756,0.00,1.98,0.00,0.000,4,0.000,0.082,1997,461,3461,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4839,-0.71,-97.3,351.9,-9.0,279,4843,0.00,1.80,0.00,0.000,6,0.000,0.040,1990,1520,3461,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5140,-0.71,-97.3,376.6,-7.0,289,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.71,-97.3,395.8,-6.1,299,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,-0.71,-97.3,412.0,-5.2,309,5744,0.00,1.95,0.00,0.000,4,0.000,0.082,1988,467,3458,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5846,-0.71,-97.3,418.4,-6.0,313,5850,0.00,1.80,0.00,0.000,6,0.000,0.041,1982,1522,3458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6160,-0.71,-97.3,436.4,-5.8,324,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,-0.71,-97.3,455.4,-6.4,334,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,-0.71,-97.3,476.0,-7.0,344,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,-0.71,-97.3,496.6,-6.7,354,7064,0.00,1.98,0.00,0.000,4,0.000,0.083,1982,461,3455,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7120,-0.71,-97.3,499.9,-6.8,356,7124,0.00,1.83,0.00,0.000,6,0.000,0.041,1974,1522,3456,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7420,-0.71,-97.3,520.3,-6.2,366,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1523,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,-0.71,-97.3,538.1,-5.7,376,7724,0.00,1.85,0.00,0.000,4,0.000,0.054,1967,2579,3454,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7780,-0.71,-97.3,540.6,-5.6,378,7784,0.00,1.92,0.00,0.000,6,0.000,0.063,1967,1520,3454,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8084,-0.70,-97.3,558.8,-5.9,388,8091,0.00,1.98,0.00,0.000,4,0.000,0.085,1967,461,3453,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8172,-0.68,-97.3,564.9,-6.6,391,8176,0.00,1.83,0.00,0.000,6,0.000,0.041,1959,1522,3453,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8488,-0.66,-97.3,586.8,-7.2,402,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1522,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8787,-0.65,-97.3,609.3,-7.8,412,8791,0.00,1.98,0.00,0.000,4,0.000,0.084,1959,466,3450,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8874,-0.62,-97.3,616.0,-8.6,415,8879,0.15,1.83,0.00,0.000,6,0.248,0.042,1981,1520,3450,0,0,0,0,0,0,13.76,14.27,28.83
$GC,9176,-0.62,-97.3,639.7,-7.3,425,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1521,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9476,-0.62,-97.3,661.3,-7.0,435,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1522,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9775,-0.62,-97.3,680.7,-6.3,445,9779,0.00,2.00,0.00,0.000,4,0.000,0.086,1987,462,3448,0,0,0,0,0,0,28.83,13.94,28.83
$GC,9881,-0.62,-97.3,687.5,-6.5,449,9885,0.00,1.83,0.00,0.000,6,0.000,0.042,1976,1519,3447,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10196,-0.62,-97.3,705.8,-5.8,460,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10497,-0.66,-97.3,726.5,-7.4,470,10501,0.00,2.00,0.00,0.000,4,0.000,0.086,1977,464,3445,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10570,-0.69,-97.3,732.5,-7.9,473,10574,0.00,1.85,0.00,0.000,6,0.000,0.043,1970,1524,3445,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10889,-0.73,-97.3,757.7,-8.1,484,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1525,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11187,-0.76,-97.3,780.3,-7.0,494,11190,0.00,1.88,0.00,0.000,4,0.000,0.055,1963,2577,3443,0,0,0,0,0,0,28.83,14.07,28.83
$GC,11320,-0.80,-97.3,788.5,-6.2,499,11324,0.00,1.95,0.00,0.000,6,0.000,0.066,1963,1521,3442,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11640,-0.83,-97.3,803.3,-4.3,510,11647,0.12,2.03,0.00,0.000,4,0.142,0.088,1918,460,3442,0,0,0,0,0,0,14.42,13.83,28.83
$GC,11799,-0.77,-97.3,812.2,-6.2,515,11804,0.15,1.85,0.00,0.000,6,0.276,0.044,1938,1518,3441,0,0,0,0,0,0,13.57,14.18,28.83
$GC,12105,-0.74,-97.3,828.5,-5.6,525,12112,0.00,1.90,0.00,0.000,4,0.000,0.055,1933,2580,3441,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12161,-0.72,-97.3,832.1,-5.9,527,12165,0.00,1.95,0.00,0.000,6,0.000,0.066,1933,1522,3440,0,0,0,0,0,0,28.83,14.02,28.83
$GC,12479,-0.69,-97.3,857.2,-8.9,538,12488,0.15,2.03,0.00,0.000,4,0.270,0.088,1963,462,3440,0,0,0,0,0,0,13.84,13.83,28.83
$GC,12579,-0.66,-97.3,865.8,-9.5,541,12583,0.00,1.85,0.00,0.000,6,0.000,0.043,1958,1520,3439,0,0,0,0,0,0,28.83,14.14,28.83
$GC,12882,-0.65,-97.3,897.3,-10.2,551,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1522,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13180,-0.65,-97.3,927.7,-10.1,561,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1522,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13480,-0.65,-97.3,957.1,-9.5,571,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1522,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13747,begin apogee
$GC,13757,-0.18,0.0,981.0,-8.6,580,13882,0.62,0.00,114.85,1.836,6,0.215,0.000,2119,1395,3063,0,0,0,0,1,0,13.72,28.83,13.01
$STATE,13884,end apogee,CONTROL_FINISHED_OK
$STATE,13884,begin climb
$GC,13887,0.60,97.3,987.7,0.0,584,14025,0.85,1.92,126.35,1.819,4,0.112,0.055,2381,2456,2666,0,0,0,0,1,0,14.04,14.13,13.02
$GC,14246,0.59,153.5,987.3,3.7,597,14335,0.00,1.92,79.12,1.694,6,0.000,0.070,2391,1402,2434,0,0,0,0,1,0,28.83,14.32,13.08
$GC,14635,0.52,153.5,960.3,7.7,610,14640,0.15,1.85,0.00,0.000,4,0.286,0.054,2360,2456,2430,0,0,0,0,0,0,14.07,14.41,28.83
$GC,14711,0.47,153.5,954.9,7.5,613,14715,0.00,1.95,0.00,0.000,6,0.000,0.072,2365,1390,2429,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,27790,end climb,SURFACE_DEPTH_REACHED
$STATE,27790,begin surface coast
$FINISH,0.3,1.025705
$STATE,27806,end surface coast,CONTROL_FINISHED_OK
$STATE,27806,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,59.29
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.20
$XPDR_PINGS,8
$SC_FREEKB,7576320
$24V_AH,13.0,234.802
$10V_AH,10.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.250,179.475,583.025,0.000,0.000,0.000,0.000,305.775,2.000,0.000,21.404,3292.774,21162.188,913.708,2340.805,748.942,0.000,2247.447,0.000,1965.592,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.395,0.000,0.000,0.000
$MEM,345556
$DATA_FILE_SIZE,43357,1166
$CAP_FILE_SIZE,255787,0
$CFSIZE,260034560,190603264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.108,258.7,1
$GPS,020313,031734,2411.921,-3748.244,39,0.8,39,-14.0