version: 66.11
glider: 191
mission: 5
dive: 573
start: 3 23 113 18 26 6
data:
$ID,191
$MISSION,5
$DIVE,573
$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,-5325.7129
$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,50
$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
$GPS1,230313,181522,2431.267,-3804.537,36,1.0,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.9
$GPS2,230313,182536,2431.290,-3804.615,16,1.4,16,-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,289.9,63336,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.60,-97.3,0.0,0.0,0,84,0.00,0.00,-57.08,0.000,6,0.000,0.000,161,1514,3461,0,0,0,0,0,0,28.83,28.83,14.53
$GC,88,-0.60,-97.3,4.4,-8.9,4,103,9.93,1.90,0.00,0.000,4,0.413,0.070,1995,460,3462,1,0,0,0,0,0,13.50,14.21,28.83
$GC,326,-0.58,-97.3,30.1,-8.7,20,330,0.00,1.80,0.00,0.000,6,0.000,0.038,1990,1514,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,626,-0.57,-97.3,56.7,-9.5,40,630,0.00,1.98,0.00,0.000,4,0.000,0.080,1990,458,3465,0,0,0,0,0,0,28.83,13.98,28.83
$GC,702,-0.54,-97.3,64.5,-10.6,45,707,0.12,1.83,0.00,0.000,6,0.250,0.039,2007,1518,3465,0,0,0,0,0,0,13.79,14.11,28.83
$GC,1002,-0.57,-97.3,92.2,-8.5,65,1006,0.00,2.00,0.00,0.000,4,0.000,0.080,2007,452,3465,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1046,-0.59,-97.3,96.0,-8.6,68,1050,0.00,1.85,0.00,0.000,6,0.000,0.039,2003,1524,3465,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1348,-0.63,-97.3,115.3,-5.8,88,1351,0.00,2.00,0.00,0.000,4,0.000,0.080,2002,458,3466,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1437,-0.64,-97.3,120.6,-6.1,94,1441,0.00,1.83,0.00,0.000,6,0.000,0.039,1995,1520,3466,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1738,-0.68,-97.3,138.5,-6.9,114,1742,0.00,1.98,0.00,0.000,4,0.000,0.080,1995,463,3466,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1797,-0.69,-97.3,142.9,-7.4,118,1801,0.00,1.83,0.00,0.000,6,0.000,0.038,1987,1524,3466,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2097,-0.73,-97.3,166.3,-7.8,138,2100,0.00,2.00,0.00,0.000,4,0.000,0.080,1987,460,3466,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2201,-0.73,-97.3,175.3,-8.6,145,2204,0.00,1.83,0.00,0.000,6,0.000,0.038,1980,1521,3466,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2501,-0.73,-97.3,198.3,-7.4,165,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,-0.73,-97.3,218.7,-6.2,185,2806,0.00,2.00,0.00,0.000,4,0.000,0.080,1979,460,3466,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2906,-0.72,-97.3,225.6,-6.7,192,2910,0.00,1.83,0.00,0.000,6,0.000,0.038,1972,1522,3466,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3207,-0.70,-97.3,245.2,-7.4,212,3211,0.00,2.00,0.00,0.000,4,0.000,0.080,1972,460,3466,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3266,-0.68,-97.3,250.5,-9.0,216,3270,0.00,1.83,0.00,0.000,6,0.000,0.038,1964,1521,3468,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3567,-0.67,-97.3,276.8,-8.8,226,3571,0.00,2.00,0.00,0.000,4,0.000,0.080,1964,461,3466,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3627,-0.65,-97.3,281.0,-9.1,228,3631,0.00,1.83,0.00,0.000,6,0.000,0.038,1956,1524,3466,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3926,-0.62,-97.3,306.2,-7.5,238,3931,0.12,2.00,0.00,0.000,4,0.247,0.080,1981,464,3466,0,0,0,0,0,0,13.96,13.83,28.83
$GC,4002,-0.61,-97.3,311.4,-7.0,241,4006,0.00,1.83,0.00,0.000,6,0.000,0.038,1976,1524,3466,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4316,-0.61,-97.3,331.5,-6.6,252,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.61,-97.3,352.6,-7.2,262,4621,0.00,2.00,0.00,0.000,4,0.000,0.080,1976,464,3465,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4691,-0.61,-97.3,358.6,-7.9,265,4694,0.00,1.83,0.00,0.000,6,0.000,0.038,1968,1523,3465,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5006,-0.61,-97.3,381.4,-7.1,276,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,-0.61,-97.3,402.1,-7.0,286,5311,0.00,2.00,0.00,0.000,4,0.000,0.080,1969,463,3463,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5411,-0.59,-97.3,410.5,-8.1,290,5416,0.15,1.83,0.00,0.000,6,0.236,0.039,1992,1520,3464,0,0,0,0,0,0,13.57,14.05,28.83
$GC,5731,-0.64,-97.3,433.7,-7.5,301,5737,0.00,1.85,0.00,0.000,4,0.000,0.051,1987,2570,3462,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5800,-0.69,-97.3,438.4,-7.7,303,5804,0.00,1.95,0.00,0.000,6,0.000,0.062,1987,1510,3462,0,0,0,0,0,0,28.83,13.97,28.83
$GC,6103,-0.74,-97.3,464.3,-8.2,313,6105,0.12,0.00,0.00,0.000,6,0.134,0.000,1940,1510,3461,0,0,0,0,0,0,14.35,28.83,28.83
$GC,6401,-0.74,-97.3,490.8,-8.7,323,6404,0.00,1.98,0.00,0.000,4,0.000,0.081,1940,464,3460,0,0,0,0,0,0,28.83,13.79,28.83
$GC,6520,-0.71,-97.3,500.2,-9.0,327,6525,0.12,1.83,0.00,0.000,6,0.252,0.040,1955,1520,3460,0,0,0,0,0,0,13.61,14.08,28.83
$GC,6825,-0.69,-97.3,523.3,-7.1,337,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7122,-0.67,-97.3,542.3,-5.9,347,7126,0.00,2.00,0.00,0.000,4,0.000,0.082,1955,467,3459,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7241,-0.65,-97.3,549.1,-6.5,351,7246,0.12,1.83,0.00,0.000,6,0.246,0.039,1974,1523,3458,0,0,0,0,0,0,13.61,14.07,28.83
$GC,7544,-0.69,-97.3,568.1,-6.2,361,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1524,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7842,-0.73,-97.3,588.9,-7.1,371,7846,0.00,1.88,0.00,0.000,4,0.000,0.051,1969,2577,3457,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7887,-0.78,-97.3,592.2,-7.2,373,7890,0.00,1.95,0.00,0.000,6,0.000,0.060,1968,1521,3457,0,0,0,0,0,0,28.83,13.95,28.83
$GC,8206,-0.82,-97.3,617.9,-8.5,384,8214,0.15,1.98,0.00,0.000,4,0.124,0.083,1912,471,3456,0,0,0,0,0,0,14.30,13.75,28.83
$GC,8351,-0.75,-97.3,634.2,-11.1,389,8356,0.17,1.83,0.00,0.000,6,0.256,0.040,1939,1521,3455,0,0,0,0,0,0,13.49,14.05,28.83
$GC,8671,-0.72,-97.3,663.8,-9.3,400,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1522,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,-0.70,-97.3,691.1,-9.0,410,8970,0.00,2.03,0.00,0.000,4,0.000,0.083,1939,463,3454,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9085,-0.66,-97.3,700.9,-9.4,414,9090,0.15,1.85,0.00,0.000,6,0.249,0.040,1968,1520,3453,0,0,0,0,0,0,13.53,14.00,28.83
$GC,9392,-0.67,-97.3,723.9,-6.8,424,9397,0.00,2.00,0.00,0.000,4,0.000,0.083,1968,470,3452,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9447,-0.69,-97.3,727.7,-6.6,426,9450,0.00,1.83,0.00,0.000,6,0.000,0.041,1963,1520,3452,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9762,-0.69,-97.3,747.4,-6.3,437,9766,0.00,2.03,0.00,0.000,4,0.000,0.084,1963,464,3451,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9836,-0.69,-97.3,752.5,-6.7,440,9840,0.00,1.85,0.00,0.000,6,0.000,0.041,1955,1521,3450,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10151,-0.69,-97.3,774.5,-7.2,451,10155,0.00,2.03,0.00,0.000,4,0.000,0.083,1956,467,3450,0,0,0,0,0,0,28.83,13.81,28.83
$GC,10211,-0.67,-97.3,778.3,-7.6,453,10215,0.00,1.85,0.00,0.000,6,0.000,0.041,1948,1521,3450,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10511,-0.66,-97.3,803.8,-8.2,463,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1523,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,-0.64,-97.3,829.4,-8.5,473,10817,0.15,2.05,0.00,0.000,4,0.247,0.086,1979,462,3448,0,0,0,0,0,0,13.71,13.85,28.83
$GC,10900,-0.64,-97.3,835.7,-8.5,476,10904,0.00,1.88,0.00,0.000,6,0.000,0.041,1974,1527,3447,0,0,0,0,0,0,28.83,13.99,28.83
$GC,11206,-0.68,-97.3,860.4,-7.4,486,11214,0.00,2.03,0.00,0.000,4,0.000,0.086,1973,466,3446,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11336,-0.71,-97.3,869.4,-7.6,490,11340,0.00,1.88,0.00,0.000,6,0.000,0.041,1966,1526,3447,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11638,-0.75,-97.3,890.1,-6.4,500,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1527,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11937,-0.79,-97.3,908.4,-6.0,510,11941,0.00,2.05,0.00,0.000,4,0.000,0.087,1966,464,3444,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12116,-0.80,-97.3,919.1,-6.5,516,12120,0.00,1.88,0.00,0.000,6,0.000,0.043,1960,1520,3444,0,0,0,0,0,0,28.83,13.93,28.83
$GC,12421,-0.84,-97.3,938.6,-6.2,526,12429,0.15,2.00,0.00,0.000,4,0.129,0.086,1910,473,3443,0,0,0,0,0,0,14.12,13.84,28.83
$GC,12581,-0.78,-97.3,950.7,-8.4,531,12585,0.15,1.88,0.00,0.000,6,0.273,0.044,1929,1525,3442,0,0,0,0,0,0,13.52,13.98,28.83
$GC,12886,-0.75,-97.3,973.7,-7.2,541,12893,0.00,1.90,0.00,0.000,4,0.000,0.054,1924,2578,3441,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12942,-0.73,-97.3,978.0,-7.2,543,12946,0.12,1.98,0.00,0.000,6,0.263,0.066,1946,1523,3440,0,0,0,0,0,0,13.66,13.97,28.83
$STATE,12983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12983,begin apogee
$GC,12993,-0.18,0.0,981.5,-7.4,545,13119,0.68,0.00,115.75,1.812,6,0.220,0.000,2121,1395,3062,0,0,0,0,1,0,13.85,28.83,13.05
$STATE,13120,end apogee,CONTROL_FINISHED_OK
$STATE,13120,begin climb
$GC,13124,0.60,97.3,986.7,0.0,549,13260,0.85,1.95,124.57,1.805,4,0.106,0.053,2379,2466,2665,0,0,0,0,1,0,13.85,14.01,13.05
$GC,13482,0.62,181.7,988.7,2.5,562,13601,0.00,1.98,109.40,1.784,6,0.000,0.068,2387,1400,2321,0,0,0,0,1,0,28.83,14.09,13.14
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$STATE,27886,end climb,SURFACE_DEPTH_REACHED
$STATE,27886,begin surface coast
$FINISH,0.1,1.025762
$STATE,27919,end surface coast,CONTROL_FINISHED_OK
$STATE,27919,begin surface
$SM_CCo,28002,0.00,0.000,0,0,1721,328.95
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$IRIDIUM_FIX,2422.84,-3803.71,230313,101044
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.39
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,24.90
$XPDR_PINGS,5
$SC_FREEKB,7550176
$24V_AH,13.0,263.408
$10V_AH,11.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.775,211.350,609.625,0.000,0.000,0.000,0.000,319.075,1.250,0.000,17.891,3393.429,21011.883,950.962,2410.839,827.985,0.000,2329.535,0.000,2045.659,0.000,0.548,0.000
$DEVICE_MAMPS,413.100,102.510,1966.050,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27976.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.261,0.000,0.000,0.000
$MEM,345356
$DATA_FILE_SIZE,43409,1160
$CAP_FILE_SIZE,267523,0
$CFSIZE,260034560,182685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,1,0
$CURRENT,0.018,281.1,1
$GPS,240313,021404,2430.966,-3807.410,32,0.8,33,-14.0