version: 66.11
glider: 191
mission: 5
dive: 8
start: 9 17 112 18 21 22
data:
$ID,191
$MISSION,5
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,410
$T_MISSION,480
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$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,130
$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,350
$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,-3664.5457
$T_RSLEEP,2
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3270
$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,12
$MINV_10V,12
$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,3
$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
$GPS1,170912,180734,2429.219,-3802.386,35,0.9,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-61.3
$GPS2,170912,182054,2429.119,-3802.290,14,1.3,15,-14.0
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,midS
$TGT_LATLONG,2356.000,-3802.000
$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,218.3,61339,-15.4,-8.049,-19.59
$D_GRID,990
$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,20,-0.71,-126.5,0.0,0.0,0,86,0.00,0.00,-63.50,0.000,2,0.000,0.000,161,1496,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.71,-126.5,4.4,-8.6,6,104,9.02,1.85,-0.43,0.000,4,0.427,0.100,1944,2561,3789,0,0,0,0,0,0,14.51,14.69,14.84
$GC,282,-0.64,-126.5,44.5,-16.5,25,288,0.15,1.85,0.00,0.000,6,0.272,0.085,1977,1495,3791,0,0,0,0,0,0,14.68,14.76,28.83
$GC,595,-0.59,-126.5,89.4,-14.4,56,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1500,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-0.54,-126.5,133.4,-13.7,86,902,0.12,1.85,0.00,0.000,4,0.273,0.101,2011,443,3792,0,0,0,0,0,0,14.78,14.83,28.83
$GC,953,-0.51,-126.5,140.5,-12.9,91,960,0.00,1.77,0.00,0.000,6,0.000,0.063,2002,1502,3792,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1259,-0.50,-126.5,178.6,-11.5,122,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1501,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.50,-126.5,211.1,-11.6,152,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1501,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1859,-0.50,-126.5,241.0,-8.7,182,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1500,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.50,-126.5,264.3,-7.4,200,2165,0.00,1.88,0.00,0.000,4,0.000,0.106,2006,439,3792,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2222,-0.50,-126.5,269.8,-8.0,202,2228,0.12,1.77,0.00,0.000,6,0.266,0.063,2025,1499,3792,0,0,0,0,0,0,14.86,14.96,28.83
$GC,2556,-0.52,-126.5,296.9,-8.9,213,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1499,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.53,-126.5,325.4,-9.7,223,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1498,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,-0.55,-126.5,356.0,-10.0,233,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1498,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3456,-0.57,-126.5,380.9,-7.6,243,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1499,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3756,-0.59,-126.5,400.8,-6.6,253,3761,0.00,1.88,0.00,0.000,4,0.000,0.108,2027,434,3788,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3792,-0.61,-126.5,403.2,-6.7,254,3799,0.00,1.77,0.00,0.000,6,0.000,0.067,2019,1498,3788,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4121,-0.63,-126.5,427.5,-7.4,265,4126,0.00,1.77,0.00,0.000,4,0.000,0.076,2012,2561,3787,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4208,-0.65,-126.5,432.3,-7.6,267,4216,0.00,1.80,0.00,0.000,6,0.000,0.086,2012,1500,3786,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4514,-0.66,-126.5,461.9,-9.6,278,4519,0.12,1.83,0.00,0.000,4,0.145,0.106,1957,445,3784,0,0,0,0,0,0,15.02,14.97,28.83
$GC,4616,-0.63,-126.5,475.0,-13.2,281,4622,0.15,1.77,0.00,0.000,6,0.280,0.066,1981,1510,3784,0,0,0,0,0,0,14.88,15.02,28.83
$GC,4940,-0.62,-126.5,514.4,-11.4,292,4945,0.00,1.75,0.00,0.000,4,0.000,0.075,1976,2560,3783,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5002,-0.62,-126.5,521.0,-11.0,294,5007,0.00,1.83,0.00,0.000,6,0.000,0.086,1976,1494,3783,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5335,-0.61,-126.5,557.2,-10.9,305,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1494,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,-0.59,-126.5,588.5,-10.3,315,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1494,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,-0.58,-126.5,615.7,-8.4,325,5940,0.00,1.83,0.00,0.000,4,0.000,0.109,1976,443,3779,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5986,-0.56,-126.5,618.6,-8.5,326,5991,0.15,1.77,0.00,0.000,6,0.266,0.066,2002,1507,3779,0,0,0,0,0,0,14.91,15.02,28.83
$GC,6299,-0.58,-126.5,641.3,-6.6,337,6304,0.00,1.90,0.00,0.000,4,0.000,0.111,2002,436,3778,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6355,-0.58,-126.5,643.8,-6.8,338,6362,0.00,1.77,0.00,0.000,6,0.000,0.067,1996,1501,3776,0,0,0,0,0,0,28.83,15.01,28.83
$GC,6661,-0.58,-126.5,671.1,-8.7,349,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1502,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6961,-0.58,-126.5,699.3,-9.8,359,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1501,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7261,-0.58,-126.5,728.1,-9.4,369,7267,0.00,1.88,0.00,0.000,4,0.000,0.112,1996,444,3772,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7296,-0.58,-126.5,731.3,-9.5,370,7303,0.00,1.80,0.00,0.000,6,0.000,0.067,1988,1499,3771,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7625,-0.58,-126.5,764.6,-9.8,381,7630,0.00,1.77,0.00,0.000,4,0.000,0.077,1980,2559,3771,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7676,-0.58,-126.5,767.4,-9.5,382,7681,0.00,1.83,0.00,0.000,6,0.000,0.090,1980,1499,3770,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7988,-0.58,-126.5,796.4,-8.2,393,7993,0.00,1.88,0.00,0.000,4,0.000,0.114,1981,440,3768,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8034,-0.58,-126.5,799.3,-8.5,394,8039,0.12,1.77,0.00,0.000,6,0.280,0.068,1999,1500,3768,0,0,0,0,0,0,14.88,14.99,28.83
$GC,8352,-0.59,-126.5,825.3,-8.1,405,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1501,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8652,-0.61,-126.5,850.8,-8.8,415,8657,0.00,1.90,0.00,0.000,4,0.000,0.115,1998,437,3766,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8708,-0.62,-126.5,854.1,-9.2,416,8716,0.00,1.77,0.00,0.000,6,0.000,0.069,1994,1500,3766,0,0,0,0,0,0,28.83,15.00,28.83
$GC,9015,-0.63,-126.5,883.7,-8.8,427,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1500,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9315,-0.64,-126.5,910.6,-8.8,437,9320,0.00,1.88,0.00,0.000,4,0.000,0.116,1994,440,3763,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9365,-0.64,-126.5,913.6,-8.8,438,9371,0.00,1.77,0.00,0.000,6,0.000,0.070,1985,1499,3763,0,0,0,0,0,0,28.83,14.99,28.83
$GC,9677,-0.64,-126.5,941.3,-8.1,449,9682,0.00,1.85,0.00,0.000,4,0.000,0.116,1986,446,3761,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9742,-0.64,-126.5,946.6,-8.4,451,9749,0.00,1.80,0.00,0.000,6,0.000,0.070,1978,1494,3760,0,0,0,0,0,0,28.83,14.98,28.83
$GC,10071,-0.64,-126.5,974.5,-8.6,462,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1496,3760,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10250,begin apogee
$GC,10253,-0.18,0.0,991.3,-9.4,468,10406,0.50,0.00,143.40,2.275,6,0.229,0.000,2120,1495,3270,0,0,0,0,1,0,14.85,28.83,13.18
$STATE,10408,end apogee,CONTROL_FINISHED_OK
$STATE,10408,begin climb
$GC,10409,0.71,126.5,998.2,0.0,473,10584,0.95,2.10,160.98,2.411,4,0.141,0.118,2416,441,2755,0,0,0,0,1,0,14.07,13.95,13.12
$GC,10811,0.73,204.7,997.9,4.7,486,10928,0.00,1.83,104.28,2.171,6,0.000,0.067,2415,1502,2435,0,0,0,0,1,0,28.83,14.62,13.14
$GC,11250,0.69,204.7,962.8,8.9,501,11255,0.00,1.95,0.00,0.000,4,0.000,0.119,2424,441,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,11316,0.65,204.7,956.5,9.5,503,11322,0.00,1.83,0.00,0.000,6,0.000,0.069,2423,1504,2430,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11644,0.60,204.7,923.0,10.2,514,11650,0.12,1.92,0.00,0.000,4,0.308,0.117,2400,437,2429,0,0,0,0,0,0,14.71,14.78,28.83
$GC,11726,0.56,204.7,916.0,10.8,516,11731,0.00,1.83,0.00,0.000,6,0.000,0.070,2400,1507,2428,0,0,0,0,0,0,28.83,14.84,28.83
$GC,12039,0.54,204.7,882.9,10.0,527,12041,0.15,0.00,0.00,0.000,6,0.285,0.000,2368,1512,2426,0,0,0,0,0,0,14.77,28.83,28.83
$GC,12339,0.55,210.4,857.9,7.8,537,12344,0.00,0.00,3.20,1.874,6,0.000,0.000,2368,1509,2412,0,0,0,0,0,0,28.83,28.83,14.73
$GC,12638,0.58,240.9,836.8,6.7,547,12700,0.00,0.00,52.42,1.672,6,0.000,0.000,2368,1509,2289,0,0,0,0,1,0,28.83,28.83,13.61
$GC,12999,0.62,259.0,811.8,7.3,559,13049,0.00,2.05,38.97,1.361,4,0.000,0.123,2374,446,2215,0,0,0,0,1,0,28.83,14.43,13.62
$GC,13100,0.63,265.9,804.3,7.7,562,13140,0.00,1.83,27.77,0.923,6,0.000,0.070,2380,1500,2185,0,0,0,0,1,0,28.83,14.57,13.72
$GC,13452,0.64,265.9,774.6,8.4,574,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1501,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13752,0.64,270.0,750.0,7.9,584,13762,0.00,1.85,3.38,1.685,4,0.000,0.081,2374,2556,2170,0,0,0,0,0,0,28.83,14.75,14.56
$GC,13808,0.65,274.4,747.4,7.9,585,13846,0.00,1.88,26.45,0.861,6,0.000,0.096,2382,1498,2147,0,0,0,0,1,0,28.83,14.77,14.00
$GC,14144,0.65,274.4,718.0,8.4,597,14146,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1495,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14444,0.65,274.4,690.7,9.5,607,14449,0.00,1.90,0.00,0.000,4,0.000,0.121,2390,443,2147,0,0,0,0,0,0,28.83,14.81,28.83
$GC,14490,0.65,274.4,687.3,9.7,608,14496,0.00,1.80,0.00,0.000,6,0.000,0.069,2390,1501,2148,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14808,0.65,274.4,651.8,10.9,619,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1501,2148,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21444,end climb,SURFACE_DEPTH_REACHED
$STATE,21444,begin surface coast
$FINISH,-0.0,1.024498
$STATE,21455,end surface coast,CONTROL_FINISHED_OK
$STATE,21455,begin surface
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$HUMID,47.48
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$TM_FREEKB,7848544
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$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,345224
$DATA_FILE_SIZE,36665,1016
$CAP_FILE_SIZE,232140,0
$CFSIZE,260034560,257232896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$CURRENT,0.055, 78.5,1
$GPS,180912,002128,2426.611,-3802.985,38,1.0,38,-14.0