version: 66.11
glider: 191
mission: 5
dive: 570
start: 3 22 113 19 52 23
data:
$ID,191
$MISSION,5
$DIVE,570
$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,-5321.9385
$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,52
$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
$GPS1,220313,194052,2431.770,-3756.216,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.6
$GPS2,220313,195149,2431.781,-3756.289,15,1.3,15,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,273.1,77214,-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,-57.15,0.000,6,0.000,0.000,161,1525,3461,0,0,0,0,0,0,28.83,28.83,14.55
$GC,88,-0.60,-97.3,4.8,-10.1,4,103,9.68,1.92,0.00,0.000,4,0.402,0.070,1995,458,3463,1,0,0,0,0,0,13.49,14.26,28.83
$GC,326,-0.58,-97.3,31.5,-8.8,20,330,0.00,1.83,0.00,0.000,6,0.000,0.038,1990,1520,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,627,-0.58,-97.3,56.8,-8.5,40,630,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,463,3465,0,0,0,0,0,0,28.83,13.98,28.83
$GC,717,-0.56,-97.3,65.4,-9.6,46,720,0.00,1.83,0.00,0.000,6,0.000,0.038,1982,1522,3465,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1018,-0.55,-97.3,92.5,-9.2,66,1020,0.12,0.00,0.00,0.000,6,0.243,0.000,2008,1526,3466,0,0,0,0,0,0,13.98,28.83,28.83
$GC,1317,-0.56,-97.3,117.4,-8.1,86,1320,0.00,2.00,0.00,0.000,4,0.000,0.080,2008,460,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1452,-0.56,-97.3,128.7,-8.2,95,1455,0.00,1.83,0.00,0.000,6,0.000,0.037,2003,1521,3466,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1752,-0.60,-97.3,150.8,-6.8,115,1756,0.00,1.98,0.00,0.000,4,0.000,0.079,2003,466,3466,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1871,-0.61,-97.3,158.8,-6.5,123,1875,0.00,1.83,0.00,0.000,6,0.000,0.037,1996,1532,3465,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2172,-0.66,-97.3,178.9,-7.0,143,2176,0.00,2.00,0.00,0.000,4,0.000,0.080,1996,466,3466,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2306,-0.68,-97.3,189.3,-7.9,152,2310,0.00,1.80,0.00,0.000,6,0.000,0.037,1989,1519,3466,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2606,-0.72,-97.3,216.0,-9.6,172,2610,0.00,1.98,0.00,0.000,4,0.000,0.079,1989,465,3466,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2711,-0.72,-97.3,226.4,-9.9,179,2714,0.00,1.80,0.00,0.000,6,0.000,0.037,1981,1517,3466,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3026,-0.75,-97.3,253.4,-7.7,199,3031,0.12,1.98,0.00,0.000,4,0.131,0.080,1933,465,3466,0,0,0,0,0,0,14.40,13.85,28.83
$GC,3161,-0.71,-97.3,264.6,-8.4,204,3166,0.15,1.83,0.00,0.000,6,0.252,0.039,1954,1522,3466,0,0,0,0,0,0,13.57,14.10,28.83
$GC,3481,-0.68,-97.3,281.4,-4.9,215,3487,0.00,1.98,0.00,0.000,4,0.000,0.080,1954,467,3465,0,0,0,0,0,0,28.83,13.75,28.83
$GC,3536,-0.66,-97.3,284.9,-5.3,217,3540,0.00,1.83,0.00,0.000,6,0.000,0.040,1949,1529,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3856,-0.63,-97.3,304.2,-6.7,228,3858,0.15,0.00,0.00,0.000,6,0.236,0.000,1981,1530,3465,0,0,0,0,0,0,13.92,28.83,28.83
$GC,4151,-0.63,-97.3,325.2,-7.5,238,4154,0.00,2.00,0.00,0.000,4,0.000,0.080,1981,467,3464,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4227,-0.63,-97.3,331.8,-8.4,241,4231,0.00,1.83,0.00,0.000,6,0.000,0.039,1976,1525,3464,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4541,-0.63,-97.3,357.5,-8.0,252,4544,0.00,2.00,0.00,0.000,4,0.000,0.080,1976,464,3464,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4586,-0.63,-97.3,361.2,-8.0,254,4589,0.00,1.83,0.00,0.000,6,0.000,0.038,1968,1521,3463,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4902,-0.63,-97.3,385.5,-8.0,265,4906,0.00,2.00,0.00,0.000,4,0.000,0.080,1968,464,3462,0,0,0,0,0,0,28.83,13.69,28.83
$GC,4946,-0.61,-97.3,389.5,-8.5,267,4950,0.12,1.83,0.00,0.000,6,0.243,0.039,1984,1520,3463,0,0,0,0,0,0,13.68,14.11,28.83
$GC,5267,-0.66,-97.3,415.7,-8.6,278,5272,0.00,1.92,0.00,0.000,4,0.000,0.081,1984,466,3461,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5335,-0.69,-97.3,420.9,-8.7,280,5339,0.00,1.83,0.00,0.000,6,0.000,0.039,1980,1522,3462,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5637,-0.74,-97.3,448.6,-8.9,290,5641,0.00,2.00,0.00,0.000,4,0.000,0.081,1980,465,3460,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5755,-0.76,-97.3,458.0,-8.9,294,5759,0.00,1.85,0.00,0.000,6,0.000,0.039,1973,1529,3459,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6056,-0.79,-97.3,483.8,-7.8,304,6061,0.12,2.03,0.00,0.000,4,0.137,0.082,1927,462,3459,0,0,0,0,0,0,14.39,13.78,28.83
$GC,6176,-0.76,-97.3,493.2,-9.1,308,6180,0.00,1.85,0.00,0.000,6,0.000,0.041,1919,1523,3459,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6476,-0.71,-97.3,519.5,-8.1,318,6478,0.17,0.00,0.00,0.000,6,0.239,0.000,1957,1524,3458,0,0,0,0,0,0,13.72,28.83,28.83
$GC,6777,-0.69,-97.3,540.1,-7.0,328,6781,0.00,2.00,0.00,0.000,4,0.000,0.081,1957,466,3458,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6852,-0.67,-97.3,546.0,-7.7,331,6855,0.00,1.85,0.00,0.000,6,0.000,0.041,1952,1532,3458,0,0,0,0,0,0,28.83,14.05,28.83
$GC,7170,-0.65,-97.3,571.6,-8.3,342,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1528,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7466,-0.63,-97.3,595.9,-7.9,352,7471,0.15,2.03,0.00,0.000,4,0.242,0.082,1983,467,3456,0,0,0,0,0,0,13.86,13.79,28.83
$GC,7527,-0.61,-97.3,599.2,-7.5,354,7530,0.00,1.83,0.00,0.000,6,0.000,0.040,1978,1517,3456,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7830,-0.63,-97.3,617.9,-5.4,364,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1518,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,-0.67,-97.3,634.2,-5.5,374,8132,0.00,2.03,0.00,0.000,4,0.000,0.083,1978,461,3453,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8262,-0.69,-97.3,642.3,-6.0,379,8265,0.00,1.85,0.00,0.000,6,0.000,0.041,1973,1520,3453,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8579,-0.73,-97.3,663.2,-7.0,390,8583,0.00,2.03,0.00,0.000,4,0.000,0.083,1972,463,3452,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8624,-0.76,-97.3,666.8,-7.3,392,8628,0.00,1.88,0.00,0.000,6,0.000,0.041,1964,1524,3452,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8941,-0.80,-97.3,692.0,-8.3,403,8949,0.00,2.03,0.00,0.000,4,0.000,0.083,1964,464,3451,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8999,-0.82,-97.3,697.1,-8.4,405,9002,0.00,1.88,0.00,0.000,6,0.000,0.041,1957,1533,3451,0,0,0,0,0,0,28.83,14.04,28.83
$GC,9315,-0.85,-97.3,721.9,-7.5,416,9323,0.15,2.05,0.00,0.000,4,0.128,0.085,1906,465,3450,0,0,0,0,0,0,14.23,13.87,28.83
$GC,9478,-0.78,-97.3,736.0,-9.6,421,9482,0.17,1.85,0.00,0.000,6,0.264,0.042,1932,1518,3450,0,0,0,0,0,0,13.48,14.02,28.83
$GC,9780,-0.75,-97.3,761.7,-8.2,431,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10079,-0.72,-97.3,788.0,-9.1,441,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,1520,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10377,-0.69,-97.3,816.2,-9.4,451,10382,0.15,2.05,0.00,0.000,4,0.249,0.086,1965,467,3447,0,0,0,0,0,0,13.73,13.87,28.83
$GC,10436,-0.66,-97.3,820.4,-9.2,453,10440,0.00,1.88,0.00,0.000,6,0.000,0.043,1960,1526,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10739,-0.66,-97.3,844.5,-7.1,463,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1527,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11038,-0.69,-97.3,861.4,-5.1,473,11042,0.00,2.05,0.00,0.000,4,0.000,0.086,1960,467,3445,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11158,-0.69,-97.3,866.8,-5.1,477,11161,0.00,1.88,0.00,0.000,6,0.000,0.042,1953,1523,3444,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11461,-0.72,-97.3,882.5,-5.3,487,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1524,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11759,-0.74,-97.3,901.9,-6.9,497,11762,0.00,2.05,0.00,0.000,4,0.000,0.086,1953,463,3443,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11922,-0.74,-97.3,915.3,-8.3,503,11926,0.00,1.90,0.00,0.000,6,0.000,0.043,1942,1524,3442,0,0,0,0,0,0,28.83,13.82,28.83
$GC,12242,-0.73,-97.3,943.0,-9.1,514,12249,0.00,2.03,0.00,0.000,4,0.000,0.086,1945,464,3441,0,0,0,0,0,0,28.83,13.82,28.83
$GC,12282,-0.71,-97.3,946.0,-9.3,515,12286,0.00,1.88,0.00,0.000,6,0.000,0.044,1938,1520,3441,0,0,0,0,0,0,28.83,13.96,28.83
$GC,12585,-0.69,-97.3,975.4,-9.1,525,12587,0.12,0.00,0.00,0.000,6,0.257,0.000,1962,1521,3440,0,0,0,0,0,0,13.79,28.83,28.83
$STATE,12639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12639,begin apogee
$GC,12649,-0.18,0.0,980.4,-8.7,527,12774,0.60,0.00,115.43,1.816,6,0.204,0.000,2121,1396,3065,0,0,0,0,1,0,13.83,28.83,13.06
$STATE,12776,end apogee,CONTROL_FINISHED_OK
$STATE,12776,begin climb
$GC,12780,0.60,97.3,987.6,0.0,531,12916,0.85,2.03,125.07,1.812,4,0.102,0.093,2390,349,2666,0,0,0,0,1,0,13.85,13.98,13.07
$GC,13138,0.59,174.8,989.9,2.8,544,13250,0.00,1.88,102.32,1.770,6,0.000,0.044,2390,1422,2348,0,0,0,0,1,0,28.83,14.22,13.15
$GC,13543,0.53,174.8,965.9,6.9,557,13547,0.00,2.05,0.00,0.000,4,0.000,0.093,2398,342,2343,0,0,0,0,0,0,28.83,14.14,28.83
$GC,13770,0.45,174.8,948.5,7.9,565,13775,0.25,1.85,0.00,0.000,6,0.249,0.046,2342,1405,2340,0,0,0,0,0,0,13.88,14.26,28.83
$GC,14089,0.43,175.3,929.6,6.0,576,14095,0.00,2.03,0.00,0.000,4,0.000,0.095,2348,350,2339,0,0,0,0,0,0,28.83,13.98,28.83
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$STATE,26756,end climb,SURFACE_DEPTH_REACHED
$STATE,26756,begin surface coast
$FINISH,0.4,1.025751
$STATE,26775,end surface coast,CONTROL_FINISHED_OK
$STATE,26775,begin surface
$SM_CCo,26798,6.00,0.774,0,0,1756,320.12
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$TT8_MAMPS,0.023968,0.023968
$HUMID,61.38
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,24.80
$XPDR_PINGS,4
$SC_FREEKB,7551328
$24V_AH,13.1,262.191
$10V_AH,11.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345520
$DATA_FILE_SIZE,43281,1101
$CAP_FILE_SIZE,254276,0
$CFSIZE,260034560,183050240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.058,346.4,1
$GPS,230313,032034,2431.766,-3758.760,38,0.8,39,-14.0