version: 66.11
glider: 191
mission: 5
dive: 552
start: 3 17 113 0 2 42
data:
$ID,191
$MISSION,5
$DIVE,552
$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,-5299.2876
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,160313,235234,2452.491,-3743.670,31,1.0,31,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.0
$GPS2,170313,000211,2452.436,-3743.659,17,1.1,17,-13.9
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$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,199.8,40498,-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,-97.3,0.0,0.0,0,83,0.00,0.00,-58.95,0.000,6,0.000,0.000,157,1512,3460,0,0,0,0,0,0,28.83,28.83,14.61
$GC,87,-0.60,-97.3,3.9,-7.1,4,103,10.52,1.85,0.00,0.000,4,0.437,0.050,1981,2580,3463,1,0,0,0,0,0,13.52,14.38,28.83
$GC,309,-0.60,-97.3,27.5,-8.0,19,313,0.00,1.92,0.00,0.000,6,0.000,0.061,1981,1515,3465,0,0,0,0,0,0,28.83,14.19,28.83
$GC,610,-0.58,-97.3,51.8,-7.9,39,614,0.00,1.95,0.00,0.000,4,0.000,0.080,1981,467,3465,0,0,0,0,0,0,28.83,14.06,28.83
$GC,717,-0.55,-97.3,60.5,-8.3,46,721,0.15,1.83,0.00,0.000,6,0.243,0.039,2006,1526,3465,0,0,0,0,0,0,13.76,14.16,28.83
$GC,1016,-0.55,-97.3,81.3,-7.0,66,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1527,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.55,-97.3,101.3,-6.4,86,1319,0.00,1.98,0.00,0.000,4,0.000,0.081,2005,468,3463,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1376,-0.55,-97.3,105.2,-6.6,90,1380,0.00,1.83,0.00,0.000,6,0.000,0.039,2000,1530,3466,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1676,-0.55,-97.3,129.0,-9.0,110,1679,0.00,2.00,0.00,0.000,4,0.000,0.081,1999,462,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1720,-0.55,-97.3,133.3,-9.5,113,1724,0.00,1.83,0.00,0.000,6,0.000,0.039,1992,1522,3466,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2020,-0.55,-97.3,157.3,-7.1,133,2024,0.00,1.85,0.00,0.000,4,0.000,0.051,1984,2575,3466,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2110,-0.56,-97.3,163.0,-6.4,139,2114,0.00,1.92,0.00,0.000,6,0.000,0.060,1984,1518,3466,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2410,-0.56,-97.3,180.6,-5.4,159,2414,0.00,1.98,0.00,0.000,4,0.000,0.080,1984,463,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2517,-0.55,-97.3,187.2,-6.4,166,2522,0.15,1.83,0.00,0.000,6,0.233,0.037,2009,1525,3465,0,0,0,0,0,0,13.69,14.19,28.83
$GC,2817,-0.61,-97.3,205.5,-6.8,186,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1527,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-0.67,-97.3,228.0,-7.8,206,3120,0.00,2.00,0.00,0.000,4,0.000,0.080,2008,460,3466,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3267,-0.70,-97.3,239.2,-7.2,216,3272,0.12,1.83,0.00,0.000,6,0.134,0.038,1959,1523,3466,0,0,0,0,0,0,14.06,14.19,28.83
$GC,3566,-0.68,-97.3,261.0,-7.1,231,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1524,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3867,-0.66,-97.3,283.8,-7.9,241,3871,0.00,1.98,0.00,0.000,4,0.000,0.080,1959,467,3465,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3941,-0.63,-97.3,290.5,-8.7,244,3946,0.15,1.80,0.00,0.000,6,0.249,0.038,1981,1520,3465,0,0,0,0,0,0,13.66,14.19,28.83
$GC,4260,-0.63,-97.3,315.4,-7.7,255,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.67,-97.3,335.7,-6.0,265,4560,0.00,1.98,0.00,0.000,4,0.000,0.080,1981,467,3465,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4705,-0.67,-97.3,343.6,-5.9,270,4709,0.00,1.83,0.00,0.000,6,0.000,0.038,1976,1529,3464,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5007,-0.67,-97.3,362.7,-6.6,280,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1530,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5306,-0.67,-97.3,388.3,-9.1,290,5309,0.00,2.00,0.00,0.000,4,0.000,0.081,1976,467,3463,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5383,-0.65,-97.3,396.1,-10.0,293,5387,0.00,1.83,0.00,0.000,6,0.000,0.037,1968,1523,3463,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5699,-0.64,-97.3,426.4,-9.2,304,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1524,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5997,-0.64,-97.3,450.9,-7.8,314,6000,0.00,1.85,0.00,0.000,4,0.000,0.050,1960,2573,3461,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6041,-0.64,-97.3,454.4,-7.8,316,6045,0.00,1.92,0.00,0.000,6,0.000,0.060,1961,1522,3461,0,0,0,0,0,0,28.83,14.01,28.83
$GC,6359,-0.63,-97.3,478.9,-7.8,327,6367,0.00,2.00,0.00,0.000,4,0.000,0.082,1960,461,3461,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6492,-0.60,-97.3,488.8,-8.3,331,6496,0.17,1.83,0.00,0.000,6,0.230,0.039,1991,1521,3460,0,0,0,0,0,0,13.63,14.17,28.83
$GC,6794,-0.65,-97.3,510.0,-6.5,341,6798,0.00,2.00,0.00,0.000,4,0.000,0.081,1991,462,3460,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6912,-0.69,-97.3,516.6,-6.4,345,6916,0.00,1.83,0.00,0.000,6,0.000,0.039,1987,1520,3459,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7216,-0.74,-97.3,534.5,-5.4,355,7224,0.12,1.88,0.00,0.000,4,0.138,0.050,1934,2579,3458,0,0,0,0,0,0,14.38,14.02,28.83
$GC,7274,-0.76,-97.3,538.2,-5.8,357,7278,0.00,1.95,0.00,0.000,6,0.000,0.060,1934,1515,3458,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7590,-0.73,-97.3,560.0,-7.2,368,7594,0.00,1.98,0.00,0.000,4,0.000,0.083,1933,467,3458,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7678,-0.68,-97.3,566.6,-8.3,371,7683,0.17,1.83,0.00,0.000,6,0.253,0.039,1963,1520,3458,0,0,0,0,0,0,13.54,14.12,28.83
$GC,7980,-0.68,-97.3,592.2,-8.6,381,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8280,-0.71,-97.3,618.5,-8.9,391,8283,0.00,2.00,0.00,0.000,4,0.000,0.083,1963,467,3456,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8415,-0.71,-97.3,631.3,-9.5,396,8419,0.00,1.83,0.00,0.000,6,0.000,0.039,1958,1520,3456,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8729,-0.71,-97.3,659.2,-8.8,407,8733,0.00,1.88,0.00,0.000,4,0.000,0.052,1951,2576,3454,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8789,-0.71,-97.3,662.8,-8.5,409,8793,0.00,1.95,0.00,0.000,6,0.000,0.062,1950,1519,3455,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9090,-0.69,-97.3,687.7,-7.3,419,9093,0.00,2.00,0.00,0.000,4,0.000,0.084,1950,467,3454,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9165,-0.66,-97.3,693.4,-7.5,422,9170,0.15,1.85,0.00,0.000,6,0.244,0.040,1972,1523,3453,0,0,0,0,0,0,13.59,14.07,28.83
$GC,9484,-0.71,-97.3,712.4,-6.1,433,9492,0.00,2.00,0.00,0.000,4,0.000,0.083,1973,470,3452,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9569,-0.73,-97.3,718.1,-6.4,436,9573,0.00,1.85,0.00,0.000,6,0.000,0.040,1968,1531,3452,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9889,-0.76,-97.3,738.7,-6.7,447,9896,0.00,2.03,0.00,0.000,4,0.000,0.084,1968,467,3451,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10005,-0.76,-97.3,747.6,-7.4,451,10009,0.00,1.85,0.00,0.000,6,0.000,0.040,1960,1521,3452,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10324,-0.79,-97.3,772.0,-7.9,462,10331,0.00,2.03,0.00,0.000,4,0.000,0.084,1961,463,3450,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10410,-0.81,-97.3,779.4,-8.3,465,10413,0.00,1.85,0.00,0.000,6,0.000,0.041,1954,1520,3450,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10730,-0.79,-97.3,803.9,-7.5,476,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11025,-0.78,-97.3,823.9,-6.5,486,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1521,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11325,-0.77,-97.3,844.8,-7.3,496,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1521,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11626,-0.76,-97.3,867.1,-7.5,506,11630,0.00,2.03,0.00,0.000,4,0.000,0.086,1954,467,3446,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11729,-0.73,-97.3,875.7,-8.2,510,11733,0.00,1.85,0.00,0.000,6,0.000,0.043,1946,1518,3445,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12049,-0.72,-97.3,899.8,-7.6,521,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1519,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12345,-0.70,-97.3,923.2,-8.0,531,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12646,-0.69,-97.3,948.9,-8.6,541,12650,0.00,2.03,0.00,0.000,4,0.000,0.087,1943,468,3442,0,0,0,0,0,0,28.83,13.89,28.83
$GC,12720,-0.66,-97.3,955.7,-9.0,544,12724,0.15,1.88,0.00,0.000,6,0.252,0.043,1969,1520,3442,0,0,0,0,0,0,13.54,13.98,28.83
$GC,13039,-0.66,-97.3,978.5,-7.1,555,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13061,begin apogee
$GC,13069,-0.18,0.0,980.7,-7.2,556,13196,0.57,0.00,115.88,1.814,6,0.191,0.000,2125,1395,3062,0,0,0,0,1,0,13.81,28.83,13.07
$STATE,13198,end apogee,CONTROL_FINISHED_OK
$STATE,13198,begin climb
$GC,13202,0.60,97.3,987.6,0.0,560,13338,0.82,2.03,124.62,1.812,4,0.107,0.093,2389,344,2665,0,0,0,0,1,0,13.93,14.07,13.11
$GC,13560,0.61,185.4,990.6,2.3,573,13683,0.00,1.88,113.05,1.782,6,0.000,0.044,2389,1423,2306,0,0,0,0,1,0,28.83,14.28,13.16
$GC,13995,0.55,185.4,967.3,6.1,588,13999,0.00,2.03,0.00,0.000,4,0.000,0.092,2397,350,2298,0,0,0,0,0,0,28.83,14.15,28.83
$GC,14114,0.48,185.4,960.0,6.9,592,14119,0.22,1.83,0.00,0.000,6,0.245,0.044,2348,1406,2297,0,0,0,0,0,0,13.86,14.29,28.83
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$STATE,27079,end climb,SURFACE_DEPTH_REACHED
$STATE,27079,begin surface coast
$FINISH,0.7,1.025844
$STATE,27095,end surface coast,CONTROL_FINISHED_OK
$STATE,27095,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,59.92
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,25.00
$XPDR_PINGS,7
$SC_FREEKB,7558240
$24V_AH,13.1,254.772
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.750,203.625,572.800,7.375,0.000,0.000,0.000,287.050,1.750,0.000,18.783,3303.702,20335.756,917.971,2313.156,815.968,0.000,2228.954,0.000,1956.531,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.462,0.000,0.000,0.000
$MEM,345296
$DATA_FILE_SIZE,43312,1146
$CAP_FILE_SIZE,258639,0
$CFSIZE,260034560,185163776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,0,0
$CURRENT,0.034,337.0,1
$GPS,170313,073605,2450.625,-3744.072,29,0.9,29,-13.9