version: 66.11
glider: 191
mission: 5
dive: 268
start: 12 11 112 15 19 40
data:
$ID,191
$MISSION,5
$DIVE,268
$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,-4155.2075
$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,47
$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
$GPS1,111212,150428,2512.995,-3804.129,39,1.0,39,-13.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-49.4
$GPS2,111212,151911,2512.843,-3804.192,16,1.6,16,-13.9
$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,289.4,66726,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-61.72,0.000,2,0.000,0.000,157,1517,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.3,-6.8,4,110,9.85,1.83,-3.80,0.000,4,0.419,0.083,1983,2573,3459,1,0,0,0,0,0,13.88,14.57,14.80
$GC,329,-0.57,-97.3,28.1,-8.9,20,333,0.00,1.88,0.00,0.000,6,0.000,0.067,1983,1518,3463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,629,-0.54,-97.3,55.9,-9.3,40,633,0.12,1.80,0.00,0.000,4,0.260,0.054,2005,2571,3463,0,0,0,0,0,0,14.33,14.52,28.83
$GC,853,-0.54,-97.3,75.3,-9.0,55,857,0.00,1.88,0.00,0.000,6,0.000,0.065,2005,1510,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1154,-0.53,-97.3,104.5,-9.7,75,1157,0.00,1.90,0.00,0.000,4,0.000,0.086,2005,458,3463,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1214,-0.50,-97.3,110.3,-9.6,79,1217,0.00,1.77,0.00,0.000,6,0.000,0.044,1997,1514,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1514,-0.49,-97.3,132.2,-6.4,99,1518,0.12,1.80,0.00,0.000,4,0.248,0.053,2019,2578,3463,0,0,0,0,0,0,14.39,14.59,28.83
$GC,1740,-0.52,-97.3,145.9,-5.7,114,1744,0.00,1.88,0.00,0.000,6,0.000,0.064,2019,1510,3464,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2041,-0.53,-97.3,161.7,-5.0,134,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1510,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.54,-97.3,180.7,-7.0,154,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1506,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.55,-97.3,201.0,-6.7,174,2643,0.00,1.88,0.00,0.000,4,0.000,0.087,2019,466,3463,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2743,-0.55,-97.3,209.1,-7.7,181,2747,0.00,1.77,0.00,0.000,6,0.000,0.044,2011,1527,3464,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3043,-0.55,-97.3,228.8,-6.1,201,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3344,-0.55,-97.3,243.8,-4.5,221,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1528,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-0.55,-97.3,257.8,-4.8,236,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.56,-97.3,275.7,-6.2,246,3949,0.00,1.77,0.00,0.000,4,0.000,0.054,2003,2578,3464,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4033,-0.58,-97.3,280.8,-6.7,249,4037,0.00,1.85,0.00,0.000,6,0.000,0.066,2003,1519,3463,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4335,-0.58,-97.3,305.2,-8.2,259,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.58,-97.3,330.2,-8.2,269,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1519,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.58,-97.3,351.7,-6.7,279,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.58,-97.3,368.7,-5.4,289,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1519,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5534,-0.58,-97.3,385.5,-5.8,299,5538,0.00,1.80,0.00,0.000,4,0.000,0.055,1996,2578,3461,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5610,-0.59,-97.3,390.0,-6.0,302,5613,0.00,1.85,0.00,0.000,6,0.000,0.067,1996,1521,3457,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5924,-0.59,-97.3,411.7,-7.0,313,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6224,-0.59,-97.3,433.5,-7.2,323,6228,0.00,1.80,0.00,0.000,4,0.000,0.054,1988,2578,3457,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6328,-0.59,-97.3,440.8,-6.9,327,6332,0.00,1.85,0.00,0.000,6,0.000,0.066,1988,1521,3456,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6644,-0.59,-97.3,460.4,-5.7,338,6648,0.00,1.90,0.00,0.000,4,0.000,0.089,1988,464,3455,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6749,-0.57,-97.3,466.8,-6.1,342,6753,0.00,1.77,0.00,0.000,6,0.000,0.044,1980,1521,3456,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7066,-0.56,-97.3,483.9,-5.5,353,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7365,-0.55,-97.3,503.1,-6.7,363,7369,0.12,1.80,0.00,0.000,4,0.249,0.057,2001,2581,3453,0,0,0,0,0,0,14.50,14.69,28.83
$GC,7499,-0.57,-97.3,511.3,-6.0,368,7502,0.00,1.88,0.00,0.000,6,0.000,0.067,2002,1518,3453,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7815,-0.57,-97.3,532.7,-6.9,379,7818,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2576,3451,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7933,-0.58,-97.3,540.3,-7.1,383,7937,0.00,1.88,0.00,0.000,6,0.000,0.067,1994,1513,3451,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8234,-0.58,-97.3,563.9,-7.5,393,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1513,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8534,-0.58,-97.3,585.7,-7.0,403,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1514,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,-0.58,-97.3,603.2,-5.3,413,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1513,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,-0.58,-97.3,616.9,-4.5,423,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1513,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9434,-0.58,-97.3,632.3,-5.7,433,9437,0.00,1.83,0.00,0.000,4,0.000,0.057,1986,2576,3446,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9524,-0.58,-97.3,637.0,-6.2,436,9528,0.00,1.88,0.00,0.000,6,0.000,0.069,1986,1519,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9823,-0.58,-97.3,660.3,-7.8,446,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1519,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,-0.58,-97.3,683.7,-7.7,456,10128,0.00,1.83,0.00,0.000,4,0.000,0.057,1978,2580,3444,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10259,-0.58,-97.3,693.5,-7.3,461,10263,0.00,1.90,0.00,0.000,6,0.000,0.069,1978,1513,3443,0,0,0,0,0,0,28.83,14.58,28.83
$GC,10574,-0.58,-97.3,714.1,-6.1,472,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1512,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10874,-0.58,-97.3,732.6,-6.4,482,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11174,-0.58,-97.3,754.5,-7.6,492,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1512,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11474,-0.58,-97.3,778.9,-8.3,502,11478,0.00,1.85,0.00,0.000,4,0.000,0.059,1970,2580,3439,0,0,0,0,0,0,28.83,14.60,28.83
$GC,11578,-0.58,-97.3,787.2,-8.0,506,11582,0.00,1.90,0.00,0.000,6,0.000,0.070,1970,1517,3439,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11896,-0.57,-97.3,811.3,-7.1,517,11898,0.15,0.00,0.00,0.000,6,0.252,0.000,2003,1517,3438,0,0,0,0,0,0,14.33,28.83,28.83
$GC,12197,-0.59,-97.3,828.7,-5.6,527,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12495,-0.61,-97.3,844.7,-5.2,537,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1517,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12795,-0.63,-97.3,860.7,-5.4,547,12799,0.00,1.85,0.00,0.000,4,0.000,0.060,1998,2577,3435,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12900,-0.66,-97.3,866.7,-5.7,551,12903,0.00,1.90,0.00,0.000,6,0.000,0.071,1998,1521,3435,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13217,-0.67,-97.3,886.8,-6.5,562,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13514,-0.68,-97.3,906.9,-6.6,572,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13815,-0.70,-97.3,926.8,-6.6,582,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1521,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14114,-0.71,-97.3,947.7,-7.2,592,14118,0.12,1.85,0.00,0.000,4,0.151,0.060,1948,2577,3432,0,0,0,0,0,0,14.62,14.49,28.83
$GC,14219,-0.71,-97.3,956.6,-8.6,596,14223,0.00,1.92,0.00,0.000,6,0.000,0.073,1948,1519,3431,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,14471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14471,begin apogee
$GC,14477,-0.18,0.0,980.5,-9.6,605,14601,0.68,0.00,114.43,2.124,6,0.225,0.000,2123,1397,3062,0,0,0,0,1,0,14.02,28.83,12.98
$STATE,14602,end apogee,CONTROL_FINISHED_OK
$STATE,14602,begin climb
$GC,14605,0.60,97.3,986.7,0.0,609,14744,0.82,1.92,127.65,2.118,4,0.121,0.059,2378,2453,2666,0,0,0,0,1,0,14.09,14.01,12.93
$GC,14849,0.63,197.6,989.0,1.8,617,14988,0.00,1.92,129.18,2.114,6,0.000,0.076,2386,1402,2257,0,0,0,0,1,0,28.83,14.35,12.97
$GC,15299,0.58,197.6,952.8,9.2,633,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1402,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15600,0.53,197.6,925.1,9.2,643,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1402,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15899,0.49,197.6,899.0,8.4,653,15901,0.17,0.00,0.00,0.000,6,0.269,0.000,2348,1402,2247,0,0,0,0,0,0,14.38,28.83,28.83
$GC,16201,0.49,202.5,880.5,5.8,663,16205,0.00,0.00,2.55,1.981,6,0.000,0.000,2348,1402,2235,0,0,0,0,0,0,28.83,28.83,13.44
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$STATE,28049,end climb,SURFACE_DEPTH_REACHED
$STATE,28050,begin surface coast
$FINISH,0.9,1.025289
$STATE,28066,end surface coast,CONTROL_FINISHED_OK
$STATE,28066,begin surface
$SM_CCo,28145,0.00,0.000,0,0,1601,358.14
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$IRIDIUM_FIX,2505.59,-3804.62,111212,151538
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.66
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.70
$XPDR_PINGS,2
$SC_FREEKB,7667200
$TM_FREEKB,5216544
$24V_AH,12.9,127.852
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.675,112.075,602.625,0.000,0.000,0.000,0.000,504.200,0.500,0.000,17.676,3188.801,21982.266,824.643,2520.086,497.536,0.000,2291.906,0.000,1878.421,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.162,13.048,0.000,0.000
$MEM,344720
$DATA_FILE_SIZE,43357,1168
$CAP_FILE_SIZE,243165,0
$CFSIZE,260034560,221618176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,1,0
$CURRENT,0.047,161.4,1
$GPS,111212,231004,2512.595,-3807.260,37,0.8,38,-13.9