version: 66.11
glider: 191
mission: 5
dive: 300
start: 12 22 112 19 37 16
data:
$ID,191
$MISSION,5
$DIVE,300
$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,-4937.1211
$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
$GPS1,221212,192459,2429.533,-3836.961,40,0.8,41,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-58.4
$GPS2,221212,193647,2429.462,-3836.989,16,1.4,16,-14.2
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,S
$TGT_LATLONG,2357.000,-3800.000
$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,136.1,86798,-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,-61.47,0.000,2,0.000,0.000,157,1520,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.60,-97.3,3.3,-6.6,4,109,10.15,1.95,-2.92,0.000,4,0.430,0.114,1995,462,3458,1,0,0,0,0,0,13.86,14.47,14.78
$GC,328,-0.56,-97.3,29.5,-9.5,20,332,0.00,1.80,0.00,0.000,6,0.000,0.044,1991,1517,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,628,-0.54,-97.3,54.4,-8.0,40,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-0.51,-97.3,79.0,-8.7,60,932,0.15,1.92,0.00,0.000,4,0.241,0.086,2024,461,3463,0,0,0,0,0,0,14.35,14.35,28.83
$GC,1062,-0.51,-97.3,89.0,-7.0,69,1066,0.00,1.80,0.00,0.000,6,0.000,0.043,2018,1526,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1363,-0.51,-97.3,108.0,-6.2,89,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1525,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.52,-97.3,126.8,-6.5,109,1667,0.00,1.92,0.00,0.000,4,0.000,0.086,2019,462,3462,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1738,-0.52,-97.3,132.4,-7.5,114,1742,0.00,1.80,0.00,0.000,6,0.000,0.043,2011,1524,3463,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2038,-0.52,-97.3,153.4,-7.1,134,2042,0.00,1.80,0.00,0.000,4,0.000,0.055,2003,2575,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2113,-0.54,-97.3,158.6,-6.9,139,2117,0.00,1.88,0.00,0.000,6,0.000,0.063,2003,1513,3463,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2414,-0.54,-97.3,178.9,-6.6,159,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1513,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,-0.54,-97.3,198.6,-6.5,179,2717,0.00,1.90,0.00,0.000,4,0.000,0.085,2003,461,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2803,-0.54,-97.3,205.4,-7.9,185,2806,0.00,1.77,0.00,0.000,6,0.000,0.042,1996,1521,3463,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3103,-0.54,-97.3,227.2,-7.2,205,3107,0.00,1.80,0.00,0.000,4,0.000,0.054,1987,2577,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3208,-0.54,-97.3,235.0,-7.4,212,3211,0.00,1.85,0.00,0.000,6,0.000,0.063,1987,1522,3463,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3524,-0.54,-97.3,256.1,-6.1,230,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-0.54,-97.3,272.4,-5.2,240,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1521,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-0.54,-97.3,291.0,-6.8,250,4128,0.00,1.80,0.00,0.000,4,0.000,0.054,1980,2578,3462,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4227,-0.54,-97.3,299.2,-7.8,254,4232,0.15,1.85,0.00,0.000,6,0.227,0.065,2014,1519,3462,0,0,0,0,0,0,14.38,14.64,28.83
$GC,4545,-0.56,-97.3,322.5,-7.4,265,4549,0.00,1.90,0.00,0.000,4,0.000,0.086,2014,462,3462,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4662,-0.56,-97.3,330.9,-8.0,269,4666,0.00,1.77,0.00,0.000,6,0.000,0.044,2009,1520,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4964,-0.57,-97.3,353.4,-6.8,279,4967,0.00,1.80,0.00,0.000,4,0.000,0.056,2001,2577,3462,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5113,-0.59,-97.3,362.0,-6.4,284,5116,0.00,1.85,0.00,0.000,6,0.000,0.066,2000,1520,3461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5413,-0.59,-97.3,381.2,-6.0,294,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5713,-0.59,-97.3,400.4,-6.6,304,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.59,-97.3,421.4,-7.1,314,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.59,-97.3,439.2,-5.5,324,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,-0.60,-97.3,454.1,-4.8,334,6619,0.00,1.80,0.00,0.000,4,0.000,0.056,1994,2577,3456,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6702,-0.61,-97.3,458.0,-5.2,337,6706,0.00,1.88,0.00,0.000,6,0.000,0.067,1993,1516,3456,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7004,-0.61,-97.3,478.2,-6.7,347,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7303,-0.61,-97.3,498.7,-6.9,357,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,-0.61,-97.3,519.4,-6.8,367,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7904,-0.61,-97.3,538.2,-5.9,377,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8203,-0.61,-97.3,555.0,-5.6,387,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1516,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8503,-0.61,-97.3,573.0,-6.2,397,8507,0.00,1.83,0.00,0.000,4,0.000,0.058,1986,2576,3451,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8622,-0.63,-97.3,579.3,-6.0,401,8626,0.00,1.88,0.00,0.000,6,0.000,0.068,1986,1520,3449,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8924,-0.63,-97.3,598.5,-6.0,411,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,-0.63,-97.3,618.1,-6.7,421,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9523,-0.63,-97.3,639.8,-7.4,431,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,-0.63,-97.3,661.5,-7.1,441,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1520,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,-0.63,-97.3,681.2,-6.5,451,10128,0.00,1.85,0.00,0.000,4,0.000,0.059,1979,2581,3446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10212,-0.63,-97.3,686.0,-6.5,454,10216,0.00,1.90,0.00,0.000,6,0.000,0.069,1978,1516,3446,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10513,-0.63,-97.3,707.2,-6.8,464,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1515,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10813,-0.63,-97.3,729.2,-7.8,474,10816,0.00,1.92,0.00,0.000,4,0.000,0.093,1978,464,3444,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10889,-0.62,-97.3,735.5,-8.3,477,10892,0.00,1.80,0.00,0.000,6,0.000,0.047,1971,1518,3443,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11203,-0.62,-97.3,759.0,-7.4,488,11206,0.00,1.85,0.00,0.000,4,0.000,0.060,1963,2580,3442,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11293,-0.62,-97.3,764.3,-7.0,491,11297,0.00,1.90,0.00,0.000,6,0.000,0.070,1963,1518,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11593,-0.60,-97.3,785.6,-6.7,501,11595,0.12,0.00,0.00,0.000,6,0.262,0.000,1989,1518,3441,0,0,0,0,0,0,14.36,28.83,28.83
$GC,11894,-0.60,-97.3,803.0,-5.9,511,11898,0.00,1.85,0.00,0.000,4,0.000,0.060,1983,2578,3440,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11998,-0.62,-97.3,809.2,-6.0,515,12002,0.00,1.90,0.00,0.000,6,0.000,0.070,1983,1520,3440,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12313,-0.62,-97.3,829.0,-6.4,526,12317,0.00,1.95,0.00,0.000,4,0.000,0.093,1983,463,3439,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12402,-0.62,-97.3,834.7,-7.3,529,12406,0.00,1.83,0.00,0.000,6,0.000,0.047,1976,1524,3439,0,0,0,0,0,0,28.83,14.56,28.83
$GC,12703,-0.62,-97.3,858.1,-7.7,539,12707,0.00,1.85,0.00,0.000,4,0.000,0.060,1967,2580,3438,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12869,-0.62,-97.3,871.3,-8.1,545,12873,0.00,1.90,0.00,0.000,6,0.000,0.071,1968,1522,3438,0,0,0,0,0,0,28.83,14.46,28.83
$GC,13183,-0.62,-97.3,898.1,-8.5,556,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1522,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13483,-0.62,-97.3,923.8,-8.6,566,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1522,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13783,-0.62,-97.3,946.3,-7.0,576,13787,0.00,1.88,0.00,0.000,4,0.000,0.060,1960,2581,3434,0,0,0,0,0,0,28.83,14.42,28.83
$GC,13888,-0.62,-97.3,953.0,-6.3,580,13892,0.12,1.92,0.00,0.000,6,0.250,0.072,1985,1518,3434,0,0,0,0,0,0,14.13,14.42,28.83
$GC,14206,-0.63,-97.3,966.7,-3.5,591,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14505,-0.64,-97.3,975.1,-2.6,601,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1519,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14710,begin apogee
$GC,14717,-0.18,0.0,980.9,-3.0,608,14840,0.52,0.00,114.97,2.006,6,0.197,0.000,2129,1389,3062,0,0,0,0,1,0,14.07,28.83,12.96
$STATE,14842,end apogee,CONTROL_FINISHED_OK
$STATE,14842,begin climb
$GC,14845,0.60,97.3,982.5,0.0,612,14983,0.80,2.03,127.05,1.989,4,0.121,0.101,2386,349,2665,0,0,0,0,1,0,14.11,14.02,12.96
$GC,15207,0.54,123.1,973.4,5.0,624,15265,0.00,1.83,44.85,1.503,6,0.000,0.050,2386,1408,2561,0,0,0,0,1,0,28.83,14.56,13.21
$GC,15583,0.52,155.6,953.8,4.7,637,15643,0.00,0.00,52.92,1.634,6,0.000,0.000,2386,1407,2427,0,0,0,0,1,0,28.83,28.83,13.23
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$STATE,29081,end climb,SURFACE_DEPTH_REACHED
$STATE,29081,begin surface coast
$FINISH,0.2,1.025331
$STATE,29113,end surface coast,CONTROL_FINISHED_OK
$STATE,29113,begin surface
$SM_CCo,29195,0.00,0.000,0,0,1735,325.51
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$IRIDIUM_FIX,2422.84,-3837.37,221212,111125
$TT8_MAMPS,0.023219,0.023219
$HUMID,53.66
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,25.70
$XPDR_PINGS,5
$SC_FREEKB,7654912
$TM_FREEKB,4873984
$24V_AH,13.0,143.169
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.925,127.700,657.325,0.000,0.000,0.000,0.000,381.050,1.250,0.000,18.054,3292.309,22633.311,926.426,2475.755,557.956,0.000,2321.294,0.000,1965.317,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.252,13.037,0.000,0.000
$MEM,345592
$DATA_FILE_SIZE,43307,1203
$CAP_FILE_SIZE,251269,0
$CFSIZE,260034560,217112576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,12,1,0
$CURRENT,0.052,191.9,1
$GPS,231212,034506,2427.000,-3834.369,33,0.8,34,-14.2