version: 66.11
glider: 191
mission: 5
dive: 259
start: 12 8 112 13 46 35
data:
$ID,191
$MISSION,5
$DIVE,259
$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,320
$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,-4143.3125
$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,1520
$C_ROLL_CLIMB,1400
$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
$GPS1,081212,133435,2511.594,-3737.896,36,0.8,36,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.9
$GPS2,081212,134605,2511.507,-3737.940,15,1.3,15,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,NW
$TGT_LATLONG,2512.000,-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,296.6,110703,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.60,-97.3,0.0,0.0,0,87,0.00,0.00,-60.20,0.000,6,0.000,0.000,155,1514,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,90,-0.60,-97.3,4.0,-8.0,4,104,9.60,1.83,0.00,0.000,4,0.413,0.053,1982,2585,3463,1,0,0,0,0,0,13.85,14.59,28.83
$GC,328,-0.57,-97.3,30.6,-9.1,20,332,0.00,1.90,0.00,0.000,6,0.000,0.067,1982,1515,3465,0,0,0,0,0,0,28.83,14.44,28.83
$GC,628,-0.54,-97.3,59.8,-10.2,40,632,0.12,1.83,0.00,0.000,4,0.256,0.054,2003,2575,3464,0,0,0,0,0,0,14.36,14.49,28.83
$GC,703,-0.54,-97.3,66.3,-8.3,45,707,0.00,1.88,0.00,0.000,6,0.000,0.065,2003,1515,3464,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1003,-0.52,-97.3,91.4,-8.4,65,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1302,-0.52,-97.3,114.1,-6.6,85,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1515,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.52,-97.3,133.3,-7.1,105,1606,0.00,1.83,0.00,0.000,4,0.000,0.054,1995,2580,3466,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1707,-0.52,-97.3,141.2,-7.8,112,1711,0.00,1.88,0.00,0.000,6,0.000,0.065,1995,1511,3468,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2008,-0.51,-97.3,165.5,-7.9,132,2012,0.00,1.83,0.00,0.000,4,0.000,0.054,1987,2578,3466,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2127,-0.51,-97.3,175.3,-8.2,140,2132,0.15,1.85,0.00,0.000,6,0.227,0.065,2021,1521,3466,0,0,0,0,0,0,14.31,14.59,28.83
$GC,2428,-0.53,-97.3,192.0,-4.0,160,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1521,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.55,-97.3,201.0,-3.0,180,2733,0.00,1.90,0.00,0.000,4,0.000,0.087,2022,463,3467,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2803,-0.55,-97.3,204.0,-4.1,185,2806,0.00,1.77,0.00,0.000,6,0.000,0.044,2017,1520,3464,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3103,-0.56,-97.3,219.2,-5.4,205,3107,0.00,1.80,0.00,0.000,4,0.000,0.054,2009,2580,3466,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3193,-0.58,-97.3,224.2,-5.8,211,3197,0.00,1.85,0.00,0.000,6,0.000,0.064,2009,1521,3465,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3492,-0.58,-97.3,245.0,-7.7,231,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3808,-0.58,-97.3,273.6,-9.5,244,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.58,-97.3,299.1,-8.1,254,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.58,-97.3,320.3,-6.9,264,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.58,-97.3,337.9,-5.3,274,4712,0.00,1.90,0.00,0.000,4,0.000,0.089,2009,461,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4783,-0.58,-97.3,342.5,-5.9,277,4786,0.00,1.77,0.00,0.000,6,0.000,0.044,2002,1520,3462,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5098,-0.58,-97.3,361.9,-6.6,288,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1521,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,-0.58,-97.3,384.3,-7.8,298,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1521,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5698,-0.58,-97.3,407.8,-7.6,308,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1522,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,-0.58,-97.3,428.9,-6.7,318,6002,0.00,1.80,0.00,0.000,4,0.000,0.055,1993,2578,3459,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6147,-0.58,-97.3,437.3,-6.2,323,6151,0.00,1.85,0.00,0.000,6,0.000,0.067,1994,1521,3458,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6449,-0.58,-97.3,455.8,-5.6,333,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6748,-0.58,-97.3,472.1,-5.7,343,6752,0.00,1.90,0.00,0.000,4,0.000,0.090,1994,464,3457,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6853,-0.57,-97.3,479.0,-6.6,347,6856,0.00,1.77,0.00,0.000,6,0.000,0.045,1986,1519,3457,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7168,-0.57,-97.3,500.9,-7.4,358,7172,0.00,1.80,0.00,0.000,4,0.000,0.056,1979,2578,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7286,-0.57,-97.3,508.7,-7.5,362,7290,0.00,1.88,0.00,0.000,6,0.000,0.067,1978,1512,3455,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7589,-0.55,-97.3,534.6,-8.4,372,7591,0.12,0.00,0.00,0.000,6,0.253,0.000,2004,1511,3455,0,0,0,0,0,0,14.45,28.83,28.83
$GC,7890,-0.56,-97.3,554.2,-6.0,382,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1511,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8189,-0.57,-97.3,570.9,-5.5,392,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1511,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.58,-97.3,589.1,-6.4,402,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1511,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8789,-0.60,-97.3,609.0,-6.7,412,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1511,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9088,-0.61,-97.3,629.3,-6.9,422,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1511,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-0.62,-97.3,650.5,-7.0,432,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1511,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9689,-0.64,-97.3,668.7,-5.6,442,9693,0.00,1.83,0.00,0.000,4,0.000,0.058,1999,2576,3448,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9807,-0.65,-97.3,673.9,-5.0,446,9811,0.00,1.88,0.00,0.000,6,0.000,0.069,1999,1519,3448,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10109,-0.65,-97.3,687.7,-4.4,456,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10408,-0.66,-97.3,703.0,-5.6,466,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10709,-0.66,-97.3,721.5,-6.3,476,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11008,-0.67,-97.3,740.7,-6.5,486,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11309,-0.69,-97.3,761.5,-7.2,496,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11608,-0.70,-97.3,784.4,-7.7,506,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11908,-0.70,-97.3,805.6,-6.9,516,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12209,-0.71,-97.3,822.8,-5.5,526,12211,0.12,0.00,0.00,0.000,6,0.146,0.000,1955,1519,3440,0,0,0,0,0,0,14.65,28.83,28.83
$GC,12508,-0.68,-97.3,842.5,-6.4,536,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12808,-0.66,-97.3,862.1,-6.7,546,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1519,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13108,-0.63,-97.3,884.5,-7.8,556,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1519,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13409,-0.61,-97.3,909.8,-8.6,566,13411,0.15,0.00,0.00,0.000,6,0.260,0.000,1987,1519,3437,0,0,0,0,0,0,14.25,28.83,28.83
$GC,13708,-0.61,-97.3,931.1,-6.7,576,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1519,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14008,-0.61,-97.3,950.0,-6.1,586,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14308,-0.61,-97.3,966.3,-5.3,596,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1519,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14575,begin apogee
$GC,14582,-0.18,0.0,980.1,-5.0,605,14706,0.52,0.00,115.97,2.121,6,0.203,0.000,2130,1398,3062,0,0,0,0,1,0,14.10,28.83,13.00
$STATE,14708,end apogee,CONTROL_FINISHED_OK
$STATE,14708,begin climb
$GC,14711,0.60,97.3,982.9,0.0,609,14847,0.80,0.00,127.43,2.138,6,0.120,0.000,2378,1398,2665,0,0,0,0,1,0,14.09,28.83,12.93
$GC,15133,0.53,97.3,968.0,6.1,624,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1398,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15434,0.49,115.7,951.6,5.3,634,15478,0.15,0.00,36.20,1.372,6,0.278,0.000,2348,1397,2590,0,0,0,0,1,0,14.34,28.83,13.40
$GC,15766,0.48,135.2,934.5,5.2,645,15812,0.00,0.00,38.45,1.429,6,0.000,0.000,2348,1398,2511,0,0,0,0,1,0,28.83,28.83,13.36
$GC,16095,0.48,161.8,917.1,4.9,656,16153,0.00,1.88,47.05,1.600,4,0.000,0.062,2348,2452,2404,0,0,0,0,1,0,28.83,14.38,13.32
$GC,16214,0.45,190.4,911.2,4.8,660,16273,0.00,1.92,48.70,1.610,6,0.000,0.079,2354,1400,2285,0,0,0,0,1,0,28.83,14.40,13.19
$GC,16573,0.46,211.1,892.3,5.2,672,16619,0.00,0.00,39.22,1.427,6,0.000,0.000,2354,1400,2201,0,0,0,0,1,0,28.83,28.83,13.35
$GC,16906,0.46,217.8,873.9,5.8,683,16916,0.00,1.98,5.57,2.013,4,0.000,0.108,2361,348,2177,0,0,0,0,0,0,28.83,14.54,13.44
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$STATE,28963,end climb,SURFACE_DEPTH_REACHED
$STATE,28963,begin surface coast
$FINISH,0.0,1.024606
$STATE,28977,end surface coast,CONTROL_FINISHED_OK
$STATE,28977,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,52.32
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.90
$XPDR_PINGS,9
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$TM_FREEKB,5310976
$24V_AH,12.9,123.418
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.900,97.000,636.550,0.000,0.000,0.000,0.000,382.375,2.250,0.000,16.484,3221.647,22762.521,859.470,2416.450,476.120,0.000,2210.478,0.000,1900.302,0.000,0.548,0.000
$DEVICE_MAMPS,413.100,117.810,2138.175,0.000,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29025.000,6820.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.233,13.039,0.000,0.000
$MEM,344728
$DATA_FILE_SIZE,43338,1195
$CAP_FILE_SIZE,243079,0
$CFSIZE,260034560,222851072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.042,166.5,1
$GPS,081212,215204,2511.501,-3741.108,30,0.8,30,-13.8