version: 66.11
glider: 191
mission: 5
dive: 68
start: 10 5 112 21 7 15
data:
$ID,191
$MISSION,5
$DIVE,68
$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,-3886.8845
$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,21
$R_STBD_OVSHOOT,40
$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
$GPS1,051012,205705,2450.598,-3834.877,35,0.9,35,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-50.6
$GPS2,051012,210647,2450.575,-3834.780,14,1.1,15,-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,266.3,15534,-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,22,-0.60,-97.3,0.0,0.0,0,85,0.00,0.00,-61.88,0.000,6,0.000,0.000,164,1495,3460,0,0,0,0,0,0,28.83,28.83,14.92
$GC,87,-0.60,-97.3,4.1,-8.5,4,101,9.20,1.85,0.00,0.000,4,0.419,0.076,1997,437,3462,1,0,0,0,0,0,14.40,14.68,28.83
$GC,130,-0.20,-97.3,15.8,-23.3,7,136,0.50,1.80,0.00,0.000,6,0.266,0.049,2117,1500,3464,0,0,0,0,0,0,14.54,14.74,28.83
$GC,430,-0.24,-97.3,37.5,-6.6,27,434,0.00,1.80,0.00,0.000,4,0.000,0.060,2114,2560,3465,0,0,0,0,0,0,28.83,14.80,28.83
$GC,596,-0.29,-97.3,47.4,-6.2,38,599,0.00,1.85,0.00,0.000,6,0.000,0.069,2118,1497,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,895,-0.33,-97.3,66.1,-6.4,58,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1497,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1196,-0.38,-97.3,83.8,-4.6,78,1198,0.15,0.00,0.00,0.000,6,0.119,0.000,2050,1497,3466,0,0,0,0,0,0,14.88,28.83,28.83
$GC,1495,-0.38,-97.3,102.4,-6.3,98,1499,0.00,1.88,0.00,0.000,4,0.000,0.092,2050,446,3468,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1556,-0.36,-97.3,106.7,-7.2,102,1560,0.12,1.77,0.00,0.000,6,0.249,0.050,2070,1503,3468,0,0,0,0,0,0,14.76,14.90,28.83
$GC,1856,-0.38,-97.3,122.4,-5.0,122,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1504,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.40,-97.3,137.4,-5.1,142,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1504,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2456,-0.42,-97.3,151.8,-4.5,162,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1504,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2756,-0.45,-97.3,166.6,-5.3,182,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1504,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-0.47,-97.3,184.7,-6.4,202,3059,0.00,1.80,0.00,0.000,4,0.000,0.061,2064,2568,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3130,-0.51,-97.3,189.5,-6.5,207,3135,0.12,1.85,0.00,0.000,6,0.137,0.071,2011,1500,3467,0,0,0,0,0,0,14.89,14.88,28.83
$GC,3430,-0.49,-97.3,213.9,-7.9,227,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1499,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3730,-0.47,-97.3,237.7,-8.3,247,3734,0.00,1.88,0.00,0.000,4,0.000,0.092,2012,437,3466,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3868,-0.43,-97.3,250.9,-9.9,256,3873,0.17,1.77,0.00,0.000,6,0.243,0.051,2045,1499,3465,0,0,0,0,0,0,14.75,14.91,28.83
$GC,4180,-0.43,-97.3,275.6,-7.6,267,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4480,-0.43,-97.3,295.7,-6.1,277,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1501,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4780,-0.45,-97.3,311.8,-5.2,287,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1500,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,-0.46,-97.3,329.0,-6.1,297,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1500,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5380,-0.47,-97.3,350.2,-7.4,307,5384,0.00,1.88,0.00,0.000,4,0.000,0.095,2045,444,3460,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5454,-0.47,-97.3,356.5,-8.2,310,5458,0.00,1.77,0.00,0.000,6,0.000,0.054,2040,1500,3460,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5770,-0.47,-97.3,379.6,-6.8,321,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1502,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.47,-97.3,396.9,-5.5,331,6074,0.00,1.88,0.00,0.000,4,0.000,0.095,2041,444,3457,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6175,-0.47,-97.3,403.6,-6.4,335,6179,0.00,1.77,0.00,0.000,6,0.000,0.054,2033,1502,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6490,-0.47,-97.3,423.2,-6.2,346,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1503,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6790,-0.47,-97.3,442.3,-6.1,356,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1503,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7090,-0.47,-97.3,459.9,-5.7,366,7094,0.00,1.90,0.00,0.000,4,0.000,0.096,2032,437,3454,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7164,-0.47,-97.3,464.8,-6.2,369,7168,0.00,1.80,0.00,0.000,6,0.000,0.053,2024,1509,3454,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7480,-0.47,-97.3,485.0,-6.4,380,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1510,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,-0.47,-97.3,505.1,-6.7,390,7783,0.00,1.90,0.00,0.000,4,0.000,0.096,2024,444,3450,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7885,-0.46,-97.3,513.3,-7.8,394,7889,0.00,1.77,0.00,0.000,6,0.000,0.055,2017,1497,3451,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8200,-0.46,-97.3,534.8,-6.6,405,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1497,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,-0.46,-97.3,554.1,-6.5,415,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1498,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,-0.46,-97.3,573.5,-6.2,425,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1498,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9100,-0.46,-97.3,591.6,-5.9,435,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1497,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9401,-0.46,-97.3,608.3,-5.4,445,9404,0.00,1.90,0.00,0.000,4,0.000,0.098,2016,440,3445,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9549,-0.44,-97.3,617.1,-6.5,450,9553,0.15,1.80,0.00,0.000,6,0.246,0.056,2043,1502,3445,0,0,0,0,0,0,14.74,14.93,28.83
$GC,9852,-0.47,-97.3,633.2,-5.2,460,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1503,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,-0.49,-97.3,651.5,-6.2,470,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1503,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10450,-0.51,-97.3,671.8,-7.0,480,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1503,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10750,-0.54,-97.3,691.5,-6.3,490,10754,0.00,1.92,0.00,0.000,4,0.000,0.099,2043,437,3441,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10855,-0.55,-97.3,698.2,-6.4,494,10859,0.00,1.83,0.00,0.000,6,0.000,0.057,2038,1511,3440,0,0,0,0,0,0,28.83,14.91,28.83
$GC,11172,-0.57,-97.3,714.6,-4.6,505,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1512,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11470,-0.59,-97.3,726.8,-3.8,515,11472,0.12,0.00,0.00,0.000,6,0.145,0.000,1991,1512,3439,0,0,0,0,0,0,14.90,28.83,28.83
$GC,11771,-0.57,-97.3,743.9,-6.0,525,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1512,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12070,-0.56,-97.3,763.6,-6.9,535,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1512,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12370,-0.54,-97.3,787.4,-8.2,545,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1512,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12670,-0.52,-97.3,811.9,-8.0,555,12674,0.00,1.92,0.00,0.000,4,0.000,0.100,1991,446,3433,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12775,-0.50,-97.3,821.0,-8.7,559,12780,0.17,1.80,0.00,0.000,6,0.261,0.059,2023,1498,3435,0,0,0,0,0,0,14.64,14.88,28.83
$GC,13092,-0.51,-97.3,837.0,-4.4,570,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13391,-0.52,-97.3,847.8,-3.4,580,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13690,-0.53,-97.3,858.9,-4.1,590,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13990,-0.55,-97.3,876.7,-6.7,600,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14290,-0.56,-97.3,900.7,-8.2,610,14291,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14590,-0.58,-97.3,925.8,-8.2,620,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14890,-0.59,-97.3,948.6,-7.2,630,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1499,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15191,-0.61,-97.3,966.9,-5.6,640,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1495,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15459,begin apogee
$GC,15462,-0.18,0.0,980.8,-4.9,649,15583,0.38,0.00,112.07,2.313,6,0.209,0.000,2129,1499,3062,0,0,0,0,1,0,14.64,28.83,13.26
$STATE,15585,end apogee,CONTROL_FINISHED_OK
$STATE,15585,begin climb
$GC,15586,0.60,97.3,982.2,0.0,653,15724,0.85,0.00,128.70,2.388,6,0.142,0.000,2381,1499,2665,0,0,0,0,1,0,14.13,28.83,13.21
$GC,16015,0.54,97.3,955.8,7.9,668,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1499,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16316,0.48,97.3,934.0,7.0,678,16318,0.15,0.00,0.00,0.000,6,0.283,0.000,2350,1500,2659,0,0,0,0,0,0,14.56,28.83,28.83
$GC,16616,0.47,122.1,918.4,5.0,688,16665,0.00,0.00,42.20,1.634,6,0.000,0.000,2350,1499,2564,0,0,0,0,1,0,28.83,28.83,13.66
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$STATE,29934,end climb,SURFACE_DEPTH_REACHED
$STATE,29934,begin surface coast
$FINISH,-0.1,1.024505
$STATE,29950,end surface coast,CONTROL_FINISHED_OK
$STATE,29952,begin surface
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$TM_FREEKB,7274048
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$10V_AH,13.4,0.000
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$FG_AHR_10Vo,0.000
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$MEM,344780
$DATA_FILE_SIZE,43305,1239
$CAP_FILE_SIZE,252124,0
$CFSIZE,260034560,248610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.022, 18.3,1
$GPS,061012,052859,2449.980,-3837.923,38,0.8,38,-14.1