version: 66.11
glider: 191
mission: 5
dive: 85
start: 10 11 112 13 47 35
data:
$ID,191
$MISSION,5
$DIVE,85
$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,-3910.2261
$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,36
$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
$GPS1,111012,133723,2412.742,-3844.505,41,0.8,41,-14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.7
$GPS2,111012,134706,2412.823,-3844.501,21,0.8,21,-14.3
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,SW
$TGT_LATLONG,2356.000,-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,205.9,31167,-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,-60.75,0.000,6,0.000,0.000,157,1499,3460,0,0,0,0,0,0,28.83,28.83,14.89
$GC,87,-0.60,-97.3,4.2,-7.8,4,101,9.20,1.88,0.00,0.000,4,0.415,0.079,1997,436,3462,0,0,0,0,0,0,14.43,14.66,28.83
$GC,325,-0.50,-97.3,44.2,-14.6,20,329,0.15,1.80,0.00,0.000,6,0.269,0.049,2024,1502,3464,0,0,0,0,0,0,14.59,14.77,28.83
$GC,625,-0.47,-97.3,74.1,-10.6,40,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1503,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.44,-97.3,104.4,-10.0,60,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1504,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-0.41,-97.3,129.4,-7.4,80,1227,0.12,0.00,0.00,0.000,6,0.249,0.000,2055,1504,3467,0,0,0,0,0,0,14.71,28.83,28.83
$GC,1524,-0.41,-97.3,146.6,-6.1,100,1528,0.00,1.80,0.00,0.000,4,0.000,0.058,2050,2569,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1750,-0.43,-97.3,162.0,-7.0,115,1754,0.00,1.88,0.00,0.000,6,0.000,0.069,2049,1490,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2050,-0.43,-97.3,183.4,-6.6,135,2054,0.00,1.85,0.00,0.000,4,0.000,0.092,2049,446,3466,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2185,-0.43,-97.3,192.9,-7.1,144,2188,0.00,1.77,0.00,0.000,6,0.000,0.050,2042,1505,3466,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2485,-0.43,-97.3,210.7,-5.7,164,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1506,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.43,-97.3,227.1,-6.0,184,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1506,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.43,-97.3,253.9,-9.5,204,3103,0.00,1.77,0.00,0.000,4,0.000,0.060,2034,2558,3464,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3205,-0.44,-97.3,263.8,-9.5,208,3209,0.00,1.85,0.00,0.000,6,0.000,0.072,2034,1494,3463,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3521,-0.44,-97.3,289.0,-6.7,219,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1494,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.44,-97.3,304.7,-4.9,229,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1494,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,-0.44,-97.3,324.2,-7.4,239,4124,0.00,1.88,0.00,0.000,4,0.000,0.094,2034,440,3461,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4224,-0.44,-97.3,333.9,-9.2,243,4228,0.00,1.77,0.00,0.000,6,0.000,0.051,2026,1499,3461,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4540,-0.44,-97.3,359.6,-7.6,254,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1499,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4840,-0.44,-97.3,378.4,-6.2,264,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1499,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.44,-97.3,398.1,-6.7,274,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1499,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-0.44,-97.3,419.8,-7.3,284,5444,0.00,1.90,0.00,0.000,4,0.000,0.096,2026,435,3456,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5529,-0.43,-97.3,425.8,-7.8,287,5533,0.12,1.80,0.00,0.000,6,0.245,0.053,2046,1509,3455,0,0,0,0,0,0,14.76,14.94,28.83
$GC,5832,-0.45,-97.3,444.4,-5.6,297,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1509,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,-0.47,-97.3,461.2,-5.7,307,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1509,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6431,-0.49,-97.3,479.0,-6.1,317,6435,0.00,1.92,0.00,0.000,4,0.000,0.097,2046,438,3451,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6519,-0.50,-97.3,484.4,-6.9,320,6523,0.00,1.80,0.00,0.000,6,0.000,0.053,2041,1506,3451,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6821,-0.52,-97.3,507.1,-7.2,330,6824,0.00,1.77,0.00,0.000,4,0.000,0.064,2034,2556,3450,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6911,-0.54,-97.3,512.6,-7.4,333,6914,0.00,1.85,0.00,0.000,6,0.000,0.075,2034,1500,3449,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7211,-0.55,-97.3,535.4,-7.3,343,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1499,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7511,-0.56,-97.3,556.2,-6.8,353,7514,0.00,1.90,0.00,0.000,4,0.000,0.096,2034,438,3446,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7615,-0.56,-97.3,564.0,-7.5,357,7618,0.00,1.80,0.00,0.000,6,0.000,0.054,2026,1504,3446,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7930,-0.56,-97.3,585.1,-6.8,368,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1505,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,-0.56,-97.3,605.1,-6.4,378,8233,0.00,1.90,0.00,0.000,4,0.000,0.098,2027,447,3444,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8365,-0.56,-97.3,615.1,-7.5,383,8368,0.00,1.80,0.00,0.000,6,0.000,0.055,2019,1508,3443,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8680,-0.56,-97.3,637.5,-6.7,394,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1509,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,-0.56,-97.3,656.1,-5.8,404,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1510,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9280,-0.56,-97.3,673.4,-5.6,414,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1510,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9580,-0.56,-97.3,691.4,-6.4,424,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1510,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,-0.56,-97.3,712.9,-7.6,434,9884,0.00,1.92,0.00,0.000,4,0.000,0.099,2019,446,3438,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9969,-0.56,-97.3,719.2,-8.3,437,9973,0.00,1.80,0.00,0.000,6,0.000,0.057,2011,1502,3438,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10270,-0.56,-97.3,744.8,-8.2,447,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1503,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10571,-0.56,-97.3,769.2,-7.8,457,10574,0.00,1.83,0.00,0.000,4,0.000,0.067,2003,2567,3438,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10749,-0.56,-97.3,781.0,-6.9,463,10753,0.00,1.90,0.00,0.000,6,0.000,0.080,2003,1496,3436,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11050,-0.56,-97.3,801.3,-5.9,473,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1496,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11350,-0.56,-97.3,817.3,-5.2,483,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1492,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11650,-0.56,-97.3,833.9,-5.8,493,11654,0.00,1.90,0.00,0.000,4,0.000,0.100,2003,444,3433,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11785,-0.54,-97.3,843.6,-7.2,498,11789,0.00,1.83,0.00,0.000,6,0.000,0.057,1995,1512,3432,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12101,-0.53,-97.3,868.5,-8.3,509,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1513,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12401,-0.52,-97.3,894.9,-8.8,519,12405,0.00,1.95,0.00,0.000,4,0.000,0.102,1995,443,3430,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12475,-0.50,-97.3,902.3,-9.6,522,12479,0.15,1.83,0.00,0.000,6,0.256,0.059,2020,1505,3430,0,0,0,0,0,0,14.59,14.84,28.83
$GC,12792,-0.51,-97.3,925.7,-7.0,533,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1506,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13090,-0.53,-97.3,944.9,-6.2,543,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1506,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13392,-0.54,-97.3,961.9,-5.4,553,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1504,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13690,-0.56,-97.3,978.1,-5.4,563,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1506,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13749,begin apogee
$GC,13753,-0.18,0.0,981.7,-5.8,565,13874,0.38,0.00,112.90,2.349,6,0.204,0.000,2126,1506,3062,0,0,0,0,1,0,14.62,28.83,13.21
$STATE,13876,end apogee,CONTROL_FINISHED_OK
$STATE,13876,begin climb
$GC,13877,0.60,97.3,984.5,0.0,569,14015,0.85,0.00,129.07,2.393,6,0.140,0.000,2385,1506,2665,0,0,0,0,1,0,14.12,28.83,13.18
$GC,14305,0.53,97.3,964.6,6.8,584,14309,0.00,1.98,0.00,0.000,4,0.000,0.106,2394,446,2661,0,0,0,0,0,0,28.83,14.54,28.83
$GC,14394,0.45,97.3,958.9,7.4,587,14399,0.22,1.85,0.00,0.000,6,0.265,0.060,2342,1505,2659,0,0,0,0,0,0,14.47,14.66,28.83
$GC,14697,0.44,114.5,941.1,5.3,597,14737,0.00,0.00,33.25,1.356,6,0.000,0.000,2342,1506,2596,0,0,0,0,1,0,28.83,28.83,13.71
$GC,15026,0.46,150.2,925.0,4.5,608,15091,0.00,0.00,57.78,1.927,6,0.000,0.000,2342,1506,2449,0,0,0,0,1,0,28.83,28.83,13.47
$GC,15386,0.48,180.7,908.2,4.8,620,15446,0.00,2.05,50.20,1.818,4,0.000,0.109,2348,441,2326,0,0,0,0,1,0,28.83,14.27,13.46
$GC,15474,0.45,209.1,904.6,4.9,623,15534,0.00,1.88,48.60,1.743,6,0.000,0.060,2348,1496,2209,0,0,0,0,1,0,28.83,14.41,13.39
$GC,15850,0.45,209.1,880.6,6.4,636,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1496,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16150,0.45,209.1,859.4,7.4,646,16154,0.00,1.95,0.00,0.000,4,0.000,0.106,2356,438,2204,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,27835,end climb,SURFACE_DEPTH_REACHED
$STATE,27835,begin surface coast
$FINISH,0.3,1.024490
$STATE,27851,end surface coast,CONTROL_FINISHED_OK
$STATE,27851,begin surface
$SM_CCo,27867,36.05,0.722,0,0,1634,350.04
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$IRIDIUM_FIX,2408.65,-3846.60,111012,050552
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.18
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,27.10
$XPDR_PINGS,2
$SC_FREEKB,7737504
$TM_FREEKB,7101216
$24V_AH,13.2,42.435
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.200,108.200,600.650,36.050,0.000,0.000,0.000,341.550,0.500,0.000,21.875,3160.936,21837.311,870.097,2366.733,246.361,0.000,2165.714,0.000,1859.663,0.000,0.551,0.000
$DEVICE_MAMPS,414.630,108.630,2392.920,722.160,0.000,0.000,0.000,179.775,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27891.000,6615.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.208,13.120,0.000,0.000
$MEM,344752
$DATA_FILE_SIZE,40000,1156
$CAP_FILE_SIZE,237155,0
$CFSIZE,260034560,246325248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$CURRENT,0.029,317.3,1
$GPS,111012,213358,2410.183,-3845.745,38,0.9,38,-14.3