version: 66.11
glider: 191
mission: 5
dive: 62
start: 10 3 112 21 33 34
data:
$ID,191
$MISSION,5
$DIVE,62
$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,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,-3878.7668
$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,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,38
$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,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
$GPS1,031012,212252,2451.721,-3816.496,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-57.1
$GPS2,031012,213305,2451.726,-3816.555,18,0.9,18,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,midP
$TGT_LATLONG,2450.000,-3844.000
$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,266.9,46239,-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,21,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-60.72,0.000,6,0.000,0.000,161,1500,3458,0,0,0,0,0,0,28.83,28.83,14.93
$GC,87,-0.60,-97.3,4.5,-9.0,4,101,9.25,1.88,0.00,0.000,4,0.422,0.077,1994,433,3462,0,0,0,0,0,0,14.47,14.68,28.83
$GC,325,-0.50,-97.3,47.0,-15.7,20,329,0.15,1.80,0.00,0.000,6,0.278,0.050,2020,1498,3464,0,0,0,0,0,0,14.64,14.79,28.83
$GC,625,-0.47,-97.3,79.3,-10.8,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1500,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.43,-97.3,105.3,-7.2,60,928,0.00,1.88,0.00,0.000,4,0.000,0.093,2020,443,3468,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1106,-0.39,-97.3,120.7,-8.5,72,1110,0.17,1.77,0.00,0.000,6,0.248,0.050,2058,1503,3466,0,0,0,0,0,0,14.74,14.88,28.83
$GC,1404,-0.39,-97.3,138.6,-6.5,92,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1504,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-0.40,-97.3,158.0,-6.3,112,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1504,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.41,-97.3,175.7,-5.6,132,2009,0.00,1.90,0.00,0.000,4,0.000,0.094,2058,436,3467,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2124,-0.41,-97.3,183.0,-6.4,140,2128,0.00,1.77,0.00,0.000,6,0.000,0.051,2053,1500,3466,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2425,-0.42,-97.3,200.3,-6.3,160,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1498,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2725,-0.43,-97.3,219.5,-6.0,180,2729,0.00,1.77,0.00,0.000,4,0.000,0.062,2043,2556,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2860,-0.45,-97.3,227.0,-5.3,189,2864,0.00,1.85,0.00,0.000,6,0.000,0.072,2045,1490,3464,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3160,-0.45,-97.3,246.9,-7.7,209,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1489,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.45,-97.3,273.2,-8.3,221,3478,0.00,1.85,0.00,0.000,4,0.000,0.096,2045,443,3463,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3610,-0.45,-97.3,284.0,-8.1,226,3614,0.00,1.77,0.00,0.000,6,0.000,0.054,2038,1500,3462,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3926,-0.45,-97.3,301.6,-4.9,237,3929,0.00,1.88,0.00,0.000,4,0.000,0.095,2037,444,3461,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4014,-0.45,-97.3,305.9,-5.6,240,4017,0.00,1.77,0.00,0.000,6,0.000,0.054,2030,1500,3460,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4315,-0.45,-97.3,325.9,-7.0,250,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1501,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4614,-0.45,-97.3,349.0,-7.7,260,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1501,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.45,-97.3,372.9,-8.0,270,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1501,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.45,-97.3,397.7,-8.3,280,5218,0.00,1.88,0.00,0.000,4,0.000,0.096,2030,444,3456,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5334,-0.44,-97.3,406.7,-8.6,284,5338,0.00,1.77,0.00,0.000,6,0.000,0.054,2022,1501,3456,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5635,-0.44,-97.3,428.4,-6.3,294,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1503,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5935,-0.44,-97.3,444.3,-5.0,304,5939,0.00,1.90,0.00,0.000,4,0.000,0.097,2022,437,3453,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6011,-0.43,-97.3,448.5,-5.5,307,6015,0.15,1.80,0.00,0.000,6,0.245,0.054,2049,1513,3454,0,0,0,0,0,0,14.80,14.97,28.83
$GC,6326,-0.45,-97.3,461.8,-4.5,318,6329,0.00,1.90,0.00,0.000,4,0.000,0.098,2049,443,3452,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6415,-0.46,-97.3,466.1,-5.6,321,6418,0.00,1.77,0.00,0.000,6,0.000,0.055,2044,1496,3452,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6715,-0.48,-97.3,486.3,-6.9,331,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1496,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-0.49,-97.3,510.0,-8.1,341,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1496,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.51,-97.3,531.7,-6.9,351,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1496,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7616,-0.53,-97.3,549.9,-5.8,361,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1496,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-0.54,-97.3,567.2,-5.9,371,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1496,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8215,-0.56,-97.3,585.2,-6.2,381,8217,0.12,0.00,0.00,0.000,6,0.143,0.000,1996,1496,3445,0,0,0,0,0,0,14.95,28.83,28.83
$GC,8515,-0.54,-97.3,609.1,-8.0,391,8519,0.00,1.90,0.00,0.000,4,0.000,0.099,1995,437,3445,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8590,-0.51,-97.3,615.4,-8.3,394,8595,0.15,1.80,0.00,0.000,6,0.259,0.057,2021,1502,3444,0,0,0,0,0,0,14.74,14.95,28.83
$GC,8906,-0.51,-97.3,634.0,-5.5,405,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1503,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9205,-0.51,-97.3,650.5,-5.3,415,9208,0.00,1.90,0.00,0.000,4,0.000,0.100,2021,444,3442,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9310,-0.51,-97.3,656.8,-6.1,419,9313,0.00,1.80,0.00,0.000,6,0.000,0.057,2016,1506,3442,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9624,-0.51,-97.3,676.1,-6.4,430,9628,0.00,1.80,0.00,0.000,4,0.000,0.067,2008,2565,3441,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9804,-0.51,-97.3,687.4,-6.9,436,9807,0.00,1.88,0.00,0.000,6,0.000,0.080,2008,1499,3440,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10104,-0.51,-97.3,712.3,-8.2,446,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1499,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10404,-0.51,-97.3,735.9,-7.7,456,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1499,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10705,-0.51,-97.3,757.4,-7.1,466,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1498,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11005,-0.51,-97.3,778.6,-7.2,476,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1498,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11305,-0.51,-97.3,799.8,-7.0,486,11308,0.00,1.90,0.00,0.000,4,0.000,0.101,2008,443,3436,0,0,0,0,0,0,28.83,14.82,28.83
$GC,11514,-0.48,-97.3,814.8,-7.6,493,11519,0.12,1.80,0.00,0.000,6,0.264,0.058,2026,1499,3434,0,0,0,0,0,0,14.69,14.90,28.83
$GC,11816,-0.50,-97.3,831.3,-4.8,503,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1499,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12115,-0.51,-97.3,845.9,-5.0,513,12119,0.00,1.83,0.00,0.000,4,0.000,0.071,2021,2563,3433,0,0,0,0,0,0,28.83,14.87,28.83
$GC,12235,-0.53,-97.3,851.3,-5.1,517,12238,0.00,1.90,0.00,0.000,6,0.000,0.082,2021,1493,3432,0,0,0,0,0,0,28.83,14.84,28.83
$GC,12535,-0.53,-97.3,869.5,-6.0,527,12539,0.00,1.90,0.00,0.000,4,0.000,0.105,2021,443,3431,0,0,0,0,0,0,28.83,14.79,28.83
$GC,12623,-0.53,-97.3,874.5,-6.6,530,12627,0.00,1.83,0.00,0.000,6,0.000,0.061,2013,1506,3431,0,0,0,0,0,0,28.83,14.88,28.83
$GC,12925,-0.53,-97.3,893.7,-6.0,540,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1508,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13225,-0.53,-97.3,910.1,-5.2,550,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1508,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13526,-0.53,-97.3,926.0,-5.2,560,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1508,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13825,-0.53,-97.3,942.3,-5.5,570,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1507,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14125,-0.53,-97.3,961.3,-6.8,580,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1508,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14394,begin apogee
$GC,14397,-0.18,0.0,981.8,-7.9,589,14516,0.40,0.00,110.68,2.271,6,0.216,0.000,2124,1507,3062,0,0,0,0,1,0,14.64,28.83,13.27
$STATE,14518,end apogee,CONTROL_FINISHED_OK
$STATE,14518,begin climb
$GC,14520,0.60,97.3,987.0,0.0,593,14657,0.85,0.00,128.55,2.358,6,0.145,0.000,2376,1507,2665,0,0,0,0,1,0,14.14,28.83,13.21
$GC,14935,0.56,113.1,973.7,5.4,607,14979,0.00,1.80,33.30,1.366,4,0.000,0.068,2376,2558,2601,0,0,0,0,1,0,28.83,14.45,13.62
$GC,15039,0.52,122.3,968.5,5.7,610,15076,0.00,1.92,27.48,1.121,6,0.000,0.084,2384,1500,2563,0,0,0,0,1,0,28.83,14.53,13.71
$GC,15371,0.46,122.3,944.6,7.2,621,15373,0.20,0.00,0.00,0.000,6,0.280,0.000,2339,1500,2563,0,0,0,0,0,0,14.54,28.83,28.83
$GC,15672,0.46,138.3,928.1,5.4,631,15713,0.00,0.00,33.72,1.393,6,0.000,0.000,2339,1500,2498,0,0,0,0,1,0,28.83,28.83,13.74
$GC,16001,0.47,151.6,909.6,5.5,642,16045,0.00,1.92,32.20,1.340,4,0.000,0.108,2345,441,2443,0,0,0,0,1,0,28.83,14.53,13.68
$GC,16134,0.45,151.6,902.2,6.1,646,16138,0.00,1.85,0.00,0.000,6,0.000,0.062,2345,1499,2443,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,27564,end climb,SURFACE_DEPTH_REACHED
$STATE,27564,begin surface coast
$FINISH,0.5,1.024303
$STATE,27580,end surface coast,CONTROL_FINISHED_OK
$STATE,27580,begin surface
$SM_CCo,27597,36.00,0.788,0,0,1635,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,46.88
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.70
$XPDR_PINGS,3
$SC_FREEKB,7746336
$TM_FREEKB,7334464
$24V_AH,13.2,31.824
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.025,115.250,558.900,36.000,0.000,0.000,0.000,380.775,0.750,0.000,19.085,3136.373,21663.043,834.243,2376.150,229.806,0.000,2161.677,0.000,1835.622,0.000,0.551,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.185,13.099,0.000,0.000
$MEM,345068
$DATA_FILE_SIZE,40058,1136
$CAP_FILE_SIZE,238889,0
$CFSIZE,260034560,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.042,350.6,1
$GPS,041012,051528,2451.359,-3819.863,41,0.8,41,-14.0