version: 66.11
glider: 191
mission: 5
dive: 513
start: 3 4 113 8 59 29
data:
$ID,191
$MISSION,5
$DIVE,513
$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,-5250.2158
$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,51
$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
$GPS1,040313,084934,2419.264,-3739.537,36,0.9,36,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-57.5
$GPS2,040313,085859,2419.226,-3739.510,17,0.9,17,-13.9
$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,62.7,46537,-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,-60.15,0.000,2,0.000,0.000,158,1517,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.60,-97.3,3.2,-6.4,4,107,9.90,1.95,-3.75,0.000,4,0.406,0.107,1997,463,3460,1,0,0,0,0,0,13.52,14.31,14.71
$GC,326,-0.58,-97.3,28.0,-8.4,20,330,0.00,1.80,0.00,0.000,6,0.000,0.040,1992,1512,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,626,-0.58,-97.3,51.2,-7.2,40,627,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1513,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,926,-0.58,-97.3,73.9,-7.6,60,930,0.00,1.95,0.00,0.000,4,0.000,0.081,1992,463,3462,0,0,0,0,0,0,28.83,14.07,28.83
$GC,987,-0.56,-97.3,78.9,-8.4,64,990,0.00,1.80,0.00,0.000,6,0.000,0.039,1984,1520,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1286,-0.55,-97.3,102.8,-8.0,84,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,-0.55,-97.3,125.4,-7.7,104,1590,0.00,1.98,0.00,0.000,4,0.000,0.080,1982,458,3463,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1691,-0.53,-97.3,134.5,-8.9,111,1696,0.17,1.83,0.00,0.000,6,0.224,0.040,2015,1523,3463,0,0,0,0,0,0,13.86,14.33,28.83
$GC,1992,-0.57,-97.3,154.6,-6.3,131,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.64,-97.3,172.7,-5.7,151,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1524,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.70,-97.3,190.2,-6.3,171,2596,0.17,1.85,0.00,0.000,4,0.109,0.052,1944,2574,3463,0,0,0,0,0,0,14.36,14.22,28.83
$GC,2668,-0.68,-97.3,195.9,-7.8,176,2671,0.00,1.90,0.00,0.000,6,0.000,0.061,1944,1519,3462,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2967,-0.65,-97.3,223.7,-10.0,196,2971,0.17,1.95,0.00,0.000,4,0.242,0.080,1982,462,3463,0,0,0,0,0,0,13.95,14.04,28.83
$GC,3028,-0.63,-97.3,229.6,-9.8,200,3032,0.00,1.80,0.00,0.000,6,0.000,0.039,1977,1519,3463,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3341,-0.63,-97.3,260.1,-10.0,218,3345,0.00,1.95,0.00,0.000,4,0.000,0.080,1977,464,3463,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3418,-0.61,-97.3,268.3,-10.7,221,3421,0.00,1.80,0.00,0.000,6,0.000,0.041,1969,1518,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3735,-0.60,-97.3,298.2,-8.8,232,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.59,-97.3,317.9,-5.5,242,4038,0.12,1.95,0.00,0.000,4,0.247,0.081,1995,463,3463,0,0,0,0,0,0,14.14,14.04,28.83
$GC,4091,-0.59,-97.3,320.0,-5.1,244,4094,0.00,1.80,0.00,0.000,6,0.000,0.040,1990,1520,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4398,-0.61,-97.3,333.4,-4.5,254,4403,0.00,1.95,0.00,0.000,4,0.000,0.080,1991,466,3463,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4453,-0.63,-97.3,336.7,-5.1,256,4456,0.00,1.80,0.00,0.000,6,0.000,0.040,1983,1520,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4770,-0.66,-97.3,357.2,-7.3,267,4773,0.00,1.98,0.00,0.000,4,0.000,0.080,1983,463,3462,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4844,-0.69,-97.3,363.5,-8.1,270,4848,0.00,1.83,0.00,0.000,6,0.000,0.039,1976,1531,3462,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5160,-0.72,-97.3,392.9,-9.8,281,5164,0.00,2.00,0.00,0.000,4,0.000,0.082,1975,460,3462,0,0,0,0,0,0,28.83,13.94,28.83
$GC,5220,-0.74,-97.3,397.6,-10.0,283,5224,0.00,1.83,0.00,0.000,6,0.000,0.040,1968,1525,3462,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5518,-0.73,-97.3,423.6,-7.2,293,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,-0.72,-97.3,440.7,-5.2,303,5823,0.00,1.98,0.00,0.000,4,0.000,0.081,1969,463,3460,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5937,-0.69,-97.3,446.6,-5.7,307,5941,0.00,1.83,0.00,0.000,6,0.000,0.040,1960,1525,3460,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6241,-0.68,-97.3,463.1,-5.3,317,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1525,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6539,-0.66,-97.3,481.6,-6.6,327,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1525,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6838,-0.64,-97.3,505.4,-8.2,337,6842,0.00,1.98,0.00,0.000,4,0.000,0.083,1960,465,3457,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6899,-0.62,-97.3,509.3,-8.5,339,6903,0.15,1.83,0.00,0.000,6,0.243,0.041,1983,1523,3457,0,0,0,0,0,0,13.78,14.27,28.83
$GC,7201,-0.66,-97.3,534.7,-8.2,349,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1525,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7499,-0.70,-97.3,558.0,-7.5,359,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1525,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7798,-0.75,-97.3,578.3,-6.5,369,7803,0.12,2.00,0.00,0.000,4,0.135,0.083,1940,460,3455,0,0,0,0,0,0,14.45,13.93,28.83
$GC,7903,-0.73,-97.3,586.2,-7.6,373,7907,0.00,1.85,0.00,0.000,6,0.000,0.041,1932,1528,3454,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8222,-0.69,-97.3,607.5,-6.5,384,8224,0.15,0.00,0.00,0.000,6,0.255,0.000,1962,1530,3453,0,0,0,0,0,0,13.87,28.83,28.83
$GC,8522,-0.68,-97.3,624.4,-5.7,394,8530,0.00,2.03,0.00,0.000,4,0.000,0.086,1963,460,3452,0,0,0,0,0,0,28.83,13.90,28.83
$GC,8638,-0.66,-97.3,632.8,-7.0,398,8642,0.00,1.85,0.00,0.000,6,0.000,0.042,1958,1526,3452,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8956,-0.64,-97.3,657.4,-8.2,409,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1527,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9255,-0.62,-97.3,683.7,-8.8,419,9259,0.12,2.03,0.00,0.000,4,0.255,0.086,1983,460,3450,0,0,0,0,0,0,14.09,13.90,28.83
$GC,9342,-0.62,-97.3,690.4,-8.8,422,9346,0.00,1.85,0.00,0.000,6,0.000,0.042,1978,1522,3450,0,0,0,0,0,0,28.83,14.20,28.83
$GC,9645,-0.62,-97.3,715.2,-7.6,432,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9943,-0.62,-97.3,734.8,-5.9,442,9947,0.00,2.00,0.00,0.000,4,0.000,0.086,1978,466,3447,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10018,-0.62,-97.3,739.2,-5.9,445,10022,0.00,1.85,0.00,0.000,6,0.000,0.043,1970,1524,3447,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10337,-0.62,-97.3,754.9,-4.7,456,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1525,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10635,-0.62,-97.3,768.7,-4.3,466,10638,0.00,2.03,0.00,0.000,4,0.000,0.086,1970,461,3446,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10784,-0.61,-97.3,775.8,-5.3,471,10789,0.12,1.85,0.00,0.000,6,0.252,0.043,1986,1519,3445,0,0,0,0,0,0,13.73,14.19,28.83
$GC,11088,-0.66,-97.3,790.0,-4.8,481,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11385,-0.71,-97.3,805.8,-5.6,491,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11684,-0.77,-97.3,825.8,-7.2,501,11689,0.15,1.90,0.00,0.000,4,0.129,0.056,1931,2580,3442,0,0,0,0,0,0,14.37,14.03,28.83
$GC,11850,-0.78,-97.3,840.0,-9.0,507,11854,0.00,1.98,0.00,0.000,6,0.000,0.065,1930,1520,3442,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12166,-0.75,-97.3,871.3,-10.2,518,12170,0.00,2.03,0.00,0.000,4,0.000,0.087,1931,461,3441,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12271,-0.71,-97.3,883.5,-11.4,522,12275,0.15,1.88,0.00,0.000,6,0.264,0.043,1952,1520,3440,0,0,0,0,0,0,13.56,14.11,28.83
$GC,12588,-0.70,-97.3,917.2,-10.8,533,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1522,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12886,-0.69,-97.3,948.6,-10.2,543,12890,0.00,2.03,0.00,0.000,4,0.000,0.088,1952,466,3439,0,0,0,0,0,0,28.83,13.78,28.83
$GC,12974,-0.67,-97.3,956.5,-10.6,546,12978,0.00,1.88,0.00,0.000,6,0.000,0.045,1947,1525,3438,0,0,0,0,0,0,28.83,14.09,28.83
$STATE,13241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13241,begin apogee
$GC,13250,-0.18,0.0,981.9,-8.1,555,13376,0.68,0.00,115.43,1.831,6,0.220,0.000,2119,1398,3062,0,0,0,0,1,0,13.76,28.83,13.02
$STATE,13378,end apogee,CONTROL_FINISHED_OK
$STATE,13378,begin climb
$GC,13382,0.60,97.3,986.9,0.0,559,13518,0.85,1.92,124.85,1.810,4,0.110,0.054,2379,2463,2665,0,0,0,0,1,0,13.99,14.14,13.06
$GC,13740,0.52,97.3,977.9,6.2,572,13744,0.00,1.95,0.00,0.000,6,0.000,0.070,2387,1397,2660,0,0,0,0,0,0,28.83,14.30,28.83
$GC,14057,0.44,97.3,957.6,6.5,583,14062,0.22,1.88,0.00,0.000,4,0.270,0.054,2337,2464,2658,0,0,0,0,0,0,13.88,14.34,28.83
$GC,14206,0.42,114.4,950.2,5.3,588,14251,0.00,1.95,34.33,1.231,6,0.000,0.070,2342,1400,2595,0,0,0,0,1,0,28.83,14.23,13.25
$GC,14555,0.46,172.4,934.6,3.6,600,14644,0.00,0.00,81.72,1.721,6,0.000,0.000,2342,1400,2359,0,0,0,0,1,0,28.83,28.83,13.05
$GC,14942,0.53,229.8,919.6,3.6,613,15031,0.00,1.92,78.85,1.814,4,0.000,0.056,2342,2464,2127,0,0,0,0,1,0,28.83,14.16,12.97
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$STATE,26867,end climb,SURFACE_DEPTH_REACHED
$STATE,26867,begin surface coast
$FINISH,0.0,1.025709
$STATE,26883,end surface coast,CONTROL_FINISHED_OK
$STATE,26883,begin surface
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$HUMID,60.63
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$TCM_TEMP,24.90
$XPDR_PINGS,2
$SC_FREEKB,7573216
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$10V_AH,11.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.450,169.225,630.750,0.000,0.000,0.000,0.000,285.400,0.500,0.000,18.703,3196.268,20367.723,925.164,2265.532,758.039,0.000,2208.451,0.000,1921.824,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.418,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,43405,1122
$CAP_FILE_SIZE,247802,0
$CFSIZE,260034560,189714432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.064,225.7,1
$GPS,040313,163005,2420.296,-3738.363,26,0.9,26,-13.9