version: 66.11
glider: 191
mission: 5
dive: 572
start: 3 23 113 10 52 48
data:
$ID,191
$MISSION,5
$DIVE,572
$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,-5324.4556
$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,25
$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
$GPS1,230313,104158,2431.688,-3801.582,39,0.9,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-57.4
$GPS2,230313,105217,2431.683,-3801.668,18,0.9,18,-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,275.8,68202,-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,-58.53,0.000,6,0.000,0.000,161,1517,3460,0,0,0,0,0,0,28.83,28.83,14.52
$GC,87,-0.60,-97.3,4.3,-9.4,4,102,9.57,1.83,0.00,0.000,4,0.396,0.048,1982,2570,3463,1,0,0,0,0,0,13.49,14.28,28.83
$GC,324,-0.60,-97.3,27.4,-6.9,20,328,0.00,1.92,0.00,0.000,6,0.000,0.060,1982,1514,3464,0,0,0,0,0,0,28.83,14.08,28.83
$GC,625,-0.57,-97.3,54.6,-9.9,40,629,0.00,1.95,0.00,0.000,4,0.000,0.080,1982,464,3464,0,0,0,0,0,0,28.83,14.04,28.83
$GC,701,-0.54,-97.3,62.4,-10.5,45,706,0.17,1.80,0.00,0.000,6,0.233,0.038,2012,1514,3465,0,0,0,0,0,0,13.76,14.16,28.83
$GC,1000,-0.59,-97.3,89.2,-8.6,65,1004,0.00,1.98,0.00,0.000,4,0.000,0.080,2012,463,3465,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1077,-0.62,-97.3,95.5,-8.4,70,1081,0.00,1.83,0.00,0.000,6,0.000,0.037,2007,1523,3468,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1377,-0.66,-97.3,117.8,-7.0,90,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1524,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1676,-0.72,-97.3,137.5,-6.8,110,1680,0.15,1.88,0.00,0.000,4,0.119,0.050,1941,2574,3466,0,0,0,0,0,0,14.31,14.02,28.83
$GC,1737,-0.72,-97.3,142.4,-8.1,114,1741,0.00,1.92,0.00,0.000,6,0.000,0.060,1941,1520,3465,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2036,-0.68,-97.3,168.7,-8.9,134,2040,0.12,2.00,0.00,0.000,4,0.256,0.080,1967,463,3468,0,0,0,0,0,0,13.91,13.98,28.83
$GC,2157,-0.65,-97.3,178.2,-7.7,142,2161,0.00,1.83,0.00,0.000,6,0.000,0.037,1961,1525,3466,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2457,-0.63,-97.3,197.6,-6.1,162,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1526,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2756,-0.61,-97.3,216.3,-6.4,182,2760,0.12,2.00,0.00,0.000,4,0.246,0.080,1987,463,3466,0,0,0,0,0,0,13.99,13.89,28.83
$GC,2861,-0.61,-97.3,223.2,-6.8,189,2864,0.00,1.83,0.00,0.000,6,0.000,0.038,1982,1522,3467,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3160,-0.65,-97.3,246.9,-8.8,209,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3476,-0.68,-97.3,273.4,-7.8,221,3480,0.00,2.00,0.00,0.000,4,0.000,0.080,1982,461,3466,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3534,-0.71,-97.3,276.7,-7.4,223,3538,0.00,1.83,0.00,0.000,6,0.000,0.039,1974,1520,3466,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3840,-0.74,-97.3,294.8,-5.1,233,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4135,-0.78,-97.3,313.0,-6.9,243,4140,0.12,2.00,0.00,0.000,4,0.134,0.080,1928,464,3465,0,0,0,0,0,0,14.34,13.81,28.83
$GC,4241,-0.74,-97.3,323.7,-10.2,247,4246,0.12,1.83,0.00,0.000,6,0.267,0.039,1943,1522,3465,0,0,0,0,0,0,13.57,14.07,28.83
$GC,4558,-0.71,-97.3,356.1,-10.5,258,4562,0.00,1.85,0.00,0.000,4,0.000,0.051,1938,2575,3465,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4615,-0.68,-97.3,360.8,-10.3,260,4620,0.15,1.92,0.00,0.000,6,0.237,0.060,1968,1518,3464,0,0,0,0,0,0,13.63,13.97,28.83
$GC,4920,-0.68,-97.3,385.5,-6.8,270,4928,0.00,1.98,0.00,0.000,4,0.000,0.081,1968,457,3464,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5020,-0.67,-97.3,391.2,-6.3,273,5024,0.00,1.83,0.00,0.000,6,0.000,0.038,1963,1522,3463,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5326,-0.65,-97.3,407.1,-4.8,283,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1523,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5621,-0.64,-97.3,423.4,-6.0,293,5625,0.00,2.00,0.00,0.000,4,0.000,0.080,1963,461,3462,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5712,-0.62,-97.3,428.7,-6.9,296,5716,0.15,1.83,0.00,0.000,6,0.239,0.039,1985,1524,3462,0,0,0,0,0,0,13.53,14.10,28.83
$GC,6014,-0.66,-97.3,452.5,-8.1,306,6018,0.00,2.00,0.00,0.000,4,0.000,0.081,1985,465,3461,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6148,-0.69,-97.3,463.7,-8.3,311,6152,0.00,1.83,0.00,0.000,6,0.000,0.038,1980,1525,3460,0,0,0,0,0,0,28.83,14.05,28.83
$GC,6465,-0.73,-97.3,488.0,-7.5,322,6469,0.00,1.85,0.00,0.000,4,0.000,0.052,1973,2568,3460,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6553,-0.77,-97.3,493.5,-7.3,325,6556,0.00,1.92,0.00,0.000,6,0.000,0.062,1973,1522,3459,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6854,-0.81,-97.3,515.0,-6.6,335,6859,0.15,2.00,0.00,0.000,4,0.122,0.083,1916,465,3459,0,0,0,0,0,0,14.32,13.81,28.83
$GC,7053,-0.74,-97.3,532.3,-9.1,342,7062,0.17,1.83,0.00,0.000,6,0.256,0.040,1943,1519,3458,0,0,0,0,0,0,13.43,14.01,28.83
$GC,7382,-0.72,-97.3,559.0,-8.4,353,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1517,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7680,-0.69,-97.3,586.1,-9.2,363,7684,0.00,2.00,0.00,0.000,4,0.000,0.083,1943,464,3457,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7768,-0.65,-97.3,593.7,-9.8,366,7773,0.17,1.83,0.00,0.000,6,0.244,0.041,1973,1517,3457,0,0,0,0,0,0,13.50,14.01,28.83
$GC,8073,-0.69,-97.3,621.0,-8.8,376,8080,0.00,2.00,0.00,0.000,4,0.000,0.084,1973,466,3456,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8160,-0.72,-97.3,629.1,-8.9,379,8164,0.00,1.83,0.00,0.000,6,0.000,0.041,1969,1520,3455,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8477,-0.75,-97.3,656.0,-8.3,390,8481,0.00,2.03,0.00,0.000,4,0.000,0.085,1969,463,3454,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8626,-0.76,-97.3,667.7,-8.7,395,8630,0.00,1.85,0.00,0.000,6,0.000,0.041,1962,1520,3454,0,0,0,0,0,0,28.83,13.97,28.83
$GC,8925,-0.79,-97.3,691.5,-7.1,405,8929,0.00,1.88,0.00,0.000,4,0.000,0.051,1955,2573,3452,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9002,-0.82,-97.3,696.6,-6.7,408,9006,0.00,1.95,0.00,0.000,6,0.000,0.063,1955,1520,3452,0,0,0,0,0,0,28.83,13.96,28.83
$GC,9318,-0.85,-97.3,716.1,-6.1,419,9322,0.12,2.03,0.00,0.000,4,0.139,0.086,1910,466,3451,0,0,0,0,0,0,14.26,13.85,28.83
$GC,9392,-0.83,-97.3,721.9,-6.9,422,9396,0.00,1.85,0.00,0.000,6,0.000,0.041,1901,1523,3451,0,0,0,0,0,0,28.83,13.98,28.83
$GC,9710,-0.77,-97.3,745.5,-7.5,433,9712,0.15,0.00,0.00,0.000,6,0.265,0.000,1932,1524,3450,0,0,0,0,0,0,13.64,28.83,28.83
$GC,10008,-0.74,-97.3,766.3,-7.3,443,10011,0.00,2.03,0.00,0.000,4,0.000,0.084,1932,466,3449,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10083,-0.70,-97.3,772.4,-8.0,446,10088,0.15,1.85,0.00,0.000,6,0.256,0.041,1956,1520,3449,0,0,0,0,0,0,13.52,13.97,28.83
$GC,10400,-0.69,-97.3,794.6,-7.1,457,10407,0.00,2.03,0.00,0.000,4,0.000,0.085,1956,465,3448,0,0,0,0,0,0,28.83,13.84,28.83
$GC,10488,-0.67,-97.3,801.3,-7.5,460,10492,0.00,1.85,0.00,0.000,6,0.000,0.042,1951,1519,3448,0,0,0,0,0,0,28.83,14.00,28.83
$GC,10805,-0.66,-97.3,825.1,-7.8,471,10809,0.00,2.03,0.00,0.000,4,0.000,0.086,1950,464,3447,0,0,0,0,0,0,28.83,13.87,28.83
$GC,10910,-0.64,-97.3,833.9,-8.3,475,10914,0.17,1.88,0.00,0.000,6,0.243,0.043,1978,1524,3446,0,0,0,0,0,0,13.53,13.96,28.83
$GC,11227,-0.69,-97.3,857.6,-7.7,486,11230,0.00,2.05,0.00,0.000,4,0.000,0.085,1978,460,3445,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11375,-0.72,-97.3,868.3,-7.9,491,11379,0.00,1.88,0.00,0.000,6,0.000,0.042,1974,1520,3445,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11675,-0.76,-97.3,893.0,-8.1,501,11678,0.00,1.90,0.00,0.000,4,0.000,0.054,1967,2575,3442,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11795,-0.80,-97.3,901.6,-8.2,505,11800,0.12,1.98,0.00,0.000,6,0.139,0.065,1924,1521,3444,0,0,0,0,0,0,13.96,13.96,28.83
$GC,12098,-0.77,-97.3,929.1,-8.6,515,12101,0.00,2.03,0.00,0.000,4,0.000,0.088,1924,465,3442,0,0,0,0,0,0,28.83,13.90,28.83
$GC,12215,-0.72,-97.3,938.5,-9.0,519,12219,0.17,1.88,0.00,0.000,6,0.257,0.044,1951,1521,3442,0,0,0,0,0,0,13.52,13.95,28.83
$GC,12520,-0.71,-97.3,958.7,-5.9,529,12528,0.00,2.03,0.00,0.000,4,0.000,0.088,1950,467,3441,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12591,-0.70,-97.3,962.5,-6.0,531,12594,0.00,1.88,0.00,0.000,6,0.000,0.044,1946,1526,3441,0,0,0,0,0,0,28.83,13.97,28.83
$STATE,12887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12887,begin apogee
$GC,12897,-0.18,0.0,981.0,-5.8,541,13023,0.70,0.00,115.53,1.815,6,0.220,0.000,2122,1399,3062,0,0,0,0,1,0,13.83,28.83,13.05
$STATE,13024,end apogee,CONTROL_FINISHED_OK
$STATE,13024,begin climb
$GC,13028,0.60,97.3,985.2,0.0,545,13164,0.85,1.92,124.43,1.806,4,0.106,0.054,2380,2457,2665,0,0,0,0,1,0,13.83,14.02,13.04
$GC,13386,0.61,174.6,984.5,2.8,558,13498,0.00,1.98,101.57,1.757,6,0.000,0.070,2388,1394,2350,0,0,0,0,1,0,28.83,14.07,13.14
$GC,13792,0.58,201.5,966.7,4.9,571,13850,0.00,1.88,44.53,1.401,4,0.000,0.055,2388,2452,2241,0,0,0,0,1,0,28.83,14.29,13.31
$GC,13941,0.54,214.1,958.3,5.5,576,13983,0.00,1.95,30.50,1.112,6,0.000,0.070,2396,1398,2191,0,0,0,0,1,0,28.83,14.17,13.26
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$STATE,26426,end climb,SURFACE_DEPTH_REACHED
$STATE,26426,begin surface coast
$FINISH,0.0,1.005130
$STATE,26442,end surface coast,CONTROL_FINISHED_OK
$STATE,26442,begin surface
$SM_CCo,26464,5.05,0.779,0,0,1756,320.12
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$TT8_MAMPS,0.023968,0.023968
$HUMID,60.39
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.00
$XPDR_PINGS,5
$SC_FREEKB,7550560
$24V_AH,13.0,263.004
$10V_AH,11.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.200,207.925,575.425,5.050,0.000,0.000,0.000,321.725,1.250,0.000,20.060,3263.013,19708.783,928.359,2338.192,835.734,0.000,2269.593,0.000,1953.608,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.320,0.000,0.000,0.000
$MEM,345356
$DATA_FILE_SIZE,43308,1111
$CAP_FILE_SIZE,258401,0
$CFSIZE,260034560,182816768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.046,277.3,1
$GPS,230313,181522,2431.267,-3804.537,36,1.0,36,-14.0