version: 66.11
glider: 191
mission: 5
dive: 66
start: 10 5 112 5 37 46
data:
$ID,191
$MISSION,5
$DIVE,66
$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,-3884.177
$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,35
$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
$GPS1,051012,052724,2451.030,-3829.138,39,1.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-53.5
$GPS2,051012,053717,2451.166,-3829.083,16,1.5,17,-14.1
$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,262.5,25165,-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,-61.55,0.000,6,0.000,0.000,157,1501,3460,0,0,0,0,0,0,28.83,28.83,14.92
$GC,87,-0.60,-97.3,4.1,-8.4,4,101,9.35,1.88,0.00,0.000,4,0.425,0.078,1997,440,3462,0,0,0,0,0,0,14.47,14.69,28.83
$GC,280,-0.51,-97.3,37.7,-15.0,17,284,0.15,1.80,0.00,0.000,6,0.268,0.049,2024,1507,3464,0,0,0,0,0,0,14.63,14.78,28.83
$GC,579,-0.47,-97.3,68.4,-7.9,37,582,0.00,1.80,0.00,0.000,4,0.000,0.060,2018,2567,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,805,-0.45,-97.3,84.4,-7.4,52,809,0.00,1.88,0.00,0.000,6,0.000,0.070,2018,1490,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1105,-0.42,-97.3,108.9,-8.5,72,1107,0.15,0.00,0.00,0.000,6,0.253,0.000,2052,1490,3466,0,0,0,0,0,0,14.72,28.83,28.83
$GC,1404,-0.42,-97.3,133.8,-8.5,92,1408,0.00,1.88,0.00,0.000,4,0.000,0.093,2053,439,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1479,-0.41,-97.3,140.3,-8.8,97,1483,0.00,1.77,0.00,0.000,6,0.000,0.050,2047,1499,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1779,-0.41,-97.3,161.2,-5.9,117,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1499,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2078,-0.41,-97.3,178.3,-6.4,137,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1499,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2379,-0.41,-97.3,198.3,-6.8,157,2383,0.00,1.90,0.00,0.000,4,0.000,0.095,2048,439,3466,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2498,-0.41,-97.3,207.5,-8.1,165,2502,0.00,1.77,0.00,0.000,6,0.000,0.052,2040,1498,3469,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2799,-0.41,-97.3,229.2,-7.2,185,2802,0.00,1.80,0.00,0.000,4,0.000,0.061,2031,2566,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2889,-0.42,-97.3,235.7,-7.3,191,2893,0.00,1.88,0.00,0.000,6,0.000,0.073,2031,1490,3465,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3189,-0.42,-97.3,257.8,-7.4,208,3192,0.00,1.85,0.00,0.000,4,0.000,0.095,2031,443,3464,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3308,-0.40,-97.3,266.7,-8.6,212,3313,0.15,1.77,0.00,0.000,6,0.243,0.053,2059,1499,3464,0,0,0,0,0,0,14.79,14.95,28.83
$GC,3610,-0.42,-97.3,287.9,-6.4,222,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1500,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3909,-0.45,-97.3,307.8,-6.8,232,3913,0.00,1.88,0.00,0.000,4,0.000,0.095,2060,439,3462,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3998,-0.46,-97.3,313.5,-7.4,235,4002,0.00,1.77,0.00,0.000,6,0.000,0.054,2054,1502,3460,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4300,-0.48,-97.3,335.0,-6.6,245,4303,0.00,1.77,0.00,0.000,4,0.000,0.063,2046,2556,3460,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4434,-0.51,-97.3,343.7,-6.5,250,4438,0.00,1.85,0.00,0.000,6,0.000,0.073,2046,1491,3460,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4751,-0.52,-97.3,365.5,-7.3,261,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1490,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5049,-0.54,-97.3,387.9,-7.4,271,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1490,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5350,-0.56,-97.3,409.4,-7.2,281,5352,0.12,0.00,0.00,0.000,6,0.144,0.000,1998,1490,3457,0,0,0,0,0,0,14.95,28.83,28.83
$GC,5649,-0.53,-97.3,435.6,-8.7,291,5653,0.00,1.85,0.00,0.000,4,0.000,0.096,1998,447,3455,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5768,-0.50,-97.3,445.6,-9.5,295,5773,0.15,1.77,0.00,0.000,6,0.262,0.054,2024,1502,3455,0,0,0,0,0,0,14.78,14.97,28.83
$GC,6069,-0.50,-97.3,466.7,-6.3,305,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1503,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.50,-97.3,484.9,-6.2,315,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1503,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,-0.50,-97.3,504.3,-6.7,325,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1503,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,-0.50,-97.3,526.0,-7.4,335,6972,0.00,1.90,0.00,0.000,4,0.000,0.098,2024,441,3448,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7058,-0.50,-97.3,532.4,-8.4,338,7062,0.00,1.80,0.00,0.000,6,0.000,0.055,2018,1508,3453,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7358,-0.50,-97.3,556.7,-7.4,348,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1514,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7659,-0.50,-97.3,577.1,-6.5,358,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1509,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,-0.50,-97.3,595.0,-5.7,368,7963,0.00,1.90,0.00,0.000,4,0.000,0.099,2018,449,3447,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8064,-0.48,-97.3,601.8,-6.5,372,8068,0.00,1.77,0.00,0.000,6,0.000,0.056,2011,1498,3446,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8379,-0.48,-97.3,621.4,-6.5,383,8383,0.00,1.80,0.00,0.000,4,0.000,0.067,2003,2557,3444,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8498,-0.48,-97.3,628.1,-6.4,387,8503,0.12,1.85,0.00,0.000,6,0.254,0.077,2029,1501,3445,0,0,0,0,0,0,14.74,14.89,28.83
$GC,8799,-0.48,-97.3,648.6,-6.8,397,8803,0.00,1.90,0.00,0.000,4,0.000,0.099,2030,441,3444,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8888,-0.48,-97.3,654.5,-7.6,400,8892,0.00,1.80,0.00,0.000,6,0.000,0.057,2024,1502,3443,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9188,-0.48,-97.3,677.4,-6.9,410,9192,0.00,1.90,0.00,0.000,4,0.000,0.099,2024,446,3442,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9278,-0.48,-97.3,683.2,-7.5,413,9282,0.00,1.80,0.00,0.000,6,0.000,0.057,2016,1506,3442,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9579,-0.48,-97.3,705.6,-7.0,423,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1507,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9879,-0.48,-97.3,727.9,-7.5,433,9883,0.00,1.92,0.00,0.000,4,0.000,0.100,2013,441,3439,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10014,-0.47,-97.3,738.8,-8.1,438,10017,0.00,1.80,0.00,0.000,6,0.000,0.057,2009,1500,3439,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10329,-0.47,-97.3,760.6,-6.7,449,10331,0.12,0.00,0.00,0.000,6,0.261,0.000,2035,1502,3438,0,0,0,0,0,0,14.74,28.83,28.83
$GC,10630,-0.49,-97.3,777.0,-5.4,459,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1502,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10930,-0.51,-97.3,794.2,-5.9,469,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1501,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11229,-0.53,-97.3,810.6,-5.6,479,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1501,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11530,-0.55,-97.3,827.4,-5.7,489,11534,0.00,1.92,0.00,0.000,4,0.000,0.103,2035,442,3434,0,0,0,0,0,0,28.83,14.79,28.83
$GC,11664,-0.56,-97.3,836.1,-6.6,494,11668,0.00,1.83,0.00,0.000,6,0.000,0.059,2030,1506,3433,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11981,-0.58,-97.3,854.6,-5.8,505,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1508,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12280,-0.60,-97.3,871.4,-5.6,515,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1508,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12580,-0.62,-97.3,887.4,-5.4,525,12582,0.12,0.00,0.00,0.000,6,0.151,0.000,1985,1508,3431,0,0,0,0,0,0,14.87,28.83,28.83
$GC,12880,-0.60,-97.3,909.9,-7.8,535,12884,0.00,1.92,0.00,0.000,4,0.000,0.103,1985,449,3430,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12984,-0.57,-97.3,919.8,-9.5,539,12988,0.00,1.83,0.00,0.000,6,0.000,0.060,1977,1509,3429,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13300,-0.54,-97.3,947.2,-8.6,550,13302,0.15,0.00,0.00,0.000,6,0.269,0.000,2010,1510,3429,0,0,0,0,0,0,14.61,28.83,28.83
$GC,13599,-0.54,-97.3,967.1,-6.2,560,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1510,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13837,begin apogee
$GC,13841,-0.18,0.0,981.0,-5.7,568,13961,0.43,0.00,111.72,2.327,6,0.220,0.000,2128,1510,3062,0,0,0,0,1,0,14.64,28.83,13.26
$STATE,13963,end apogee,CONTROL_FINISHED_OK
$STATE,13963,begin climb
$GC,13965,0.60,97.3,983.2,0.0,572,14102,0.85,1.92,126.07,2.306,4,0.144,0.069,2381,2556,2666,0,0,0,0,1,0,14.13,14.04,13.25
$GC,14246,0.53,97.3,971.4,6.7,582,14250,0.00,1.92,0.00,0.000,6,0.000,0.082,2388,1503,2663,0,0,0,0,0,0,28.83,14.47,28.83
$GC,14546,0.47,100.4,951.2,5.9,592,14550,0.20,1.95,0.00,0.000,4,0.278,0.106,2349,441,2660,0,0,0,0,0,0,14.54,14.64,28.83
$GC,14741,0.49,147.4,942.7,4.1,599,14821,0.00,1.83,70.25,1.997,6,0.000,0.060,2350,1501,2461,0,0,0,0,1,0,28.83,14.76,13.42
$GC,15115,0.52,187.0,926.7,4.4,611,15183,0.00,0.00,60.62,1.961,6,0.000,0.000,2349,1501,2298,0,0,0,0,1,0,28.83,28.83,13.40
$GC,15476,0.50,187.0,905.6,6.7,623,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1501,2294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15775,0.49,187.0,880.9,8.9,633,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1501,2292,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26472,end climb,SURFACE_DEPTH_REACHED
$STATE,26472,begin surface coast
$FINISH,0.3,1.024455
$STATE,26487,end surface coast,CONTROL_FINISHED_OK
$STATE,26489,begin surface
$SM_CCo,26503,23.98,0.782,0,0,1634,350.04
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$IRIDIUM_FIX,2441.81,-3822.90,041012,212121
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.59
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$TCM_TEMP,26.80
$XPDR_PINGS,0
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$TM_FREEKB,7294816
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$10V_AH,13.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.750,115.200,590.200,23.975,0.000,0.000,0.000,360.375,0.000,0.000,18.425,3023.345,20716.348,843.071,2299.032,234.609,0.000,2123.676,0.000,1773.083,0.000,0.891,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.119,13.113,0.000,0.000
$MEM,344744
$DATA_FILE_SIZE,39987,1088
$CAP_FILE_SIZE,231436,0
$CFSIZE,260034560,248901632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$CURRENT,0.056,358.2,1
$GPS,051012,130105,2450.920,-3832.202,31,1.1,31,-14.1