version: 66.11
glider: 191
mission: 5
dive: 305
start: 12 24 112 12 50 13
data:
$ID,191
$MISSION,5
$DIVE,305
$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,-4943.5991
$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,24
$R_STBD_OVSHOOT,46
$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
$GPS1,241212,123753,2418.479,-3823.790,40,0.8,41,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-56.5
$GPS2,241212,124942,2418.413,-3823.779,19,1.3,20,-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,146.3,56501,-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,-60.80,0.000,2,0.000,0.000,159,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.60,-97.3,3.8,-7.8,4,105,9.82,1.90,0.00,0.000,4,0.415,0.076,1996,454,3459,1,0,0,0,0,0,13.83,14.50,28.83
$GC,192,-0.56,-97.3,19.7,-10.7,11,196,0.00,1.83,0.00,0.000,6,0.000,0.047,1990,1517,3461,0,0,0,0,0,0,28.83,14.53,28.83
$GC,492,-0.53,-97.3,48.7,-9.2,31,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1519,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.51,-97.3,77.1,-9.3,51,794,0.15,0.00,0.00,0.000,6,0.239,0.000,2024,1519,3459,0,0,0,0,0,0,14.31,28.83,28.83
$GC,1092,-0.52,-97.3,102.9,-8.0,71,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1518,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.53,-97.3,121.8,-5.1,91,1396,0.00,1.83,0.00,0.000,4,0.000,0.054,2019,2580,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1513,-0.56,-97.3,127.7,-5.0,99,1517,0.00,1.88,0.00,0.000,6,0.000,0.063,2019,1517,3462,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1812,-0.57,-97.3,143.9,-5.9,119,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1517,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-0.58,-97.3,164.2,-7.1,139,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1517,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.60,-97.3,179.7,-4.6,159,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1517,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-0.62,-97.3,197.6,-6.6,179,2716,0.00,1.90,0.00,0.000,4,0.000,0.086,2019,466,3462,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2787,-0.62,-97.3,203.4,-7.8,184,2790,0.00,1.80,0.00,0.000,6,0.000,0.043,2012,1535,3462,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3088,-0.63,-97.3,226.2,-7.7,204,3092,0.00,1.95,0.00,0.000,4,0.000,0.085,2012,460,3462,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3161,-0.63,-97.3,232.3,-8.3,209,3165,0.00,1.80,0.00,0.000,6,0.000,0.043,2003,1526,3462,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3462,-0.63,-97.3,255.6,-7.8,227,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3762,-0.63,-97.3,278.2,-7.6,237,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4062,-0.63,-97.3,300.1,-7.1,247,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.63,-97.3,318.2,-5.7,257,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4662,-0.63,-97.3,331.3,-4.0,267,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1526,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.63,-97.3,345.0,-4.9,277,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1526,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5262,-0.63,-97.3,367.4,-8.7,287,5265,0.00,1.77,0.00,0.000,4,0.000,0.056,1996,2575,3457,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5351,-0.64,-97.3,374.2,-9.1,290,5355,0.00,1.88,0.00,0.000,6,0.000,0.067,1996,1515,3457,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5652,-0.64,-97.3,399.8,-7.3,300,5656,0.00,1.90,0.00,0.000,4,0.000,0.087,1996,460,3457,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5727,-0.64,-97.3,405.0,-6.9,303,5730,0.00,1.77,0.00,0.000,6,0.000,0.044,1988,1518,3457,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6045,-0.64,-97.3,421.5,-4.9,314,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6342,-0.64,-97.3,437.7,-5.8,324,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1520,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,-0.64,-97.3,456.7,-6.7,334,6646,0.00,1.80,0.00,0.000,4,0.000,0.057,1980,2576,3455,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6731,-0.64,-97.3,461.9,-6.8,337,6735,0.00,1.88,0.00,0.000,6,0.000,0.067,1979,1516,3454,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7032,-0.64,-97.3,484.5,-7.1,347,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,-0.64,-97.3,505.9,-7.4,357,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,-0.64,-97.3,531.0,-8.9,367,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7932,-0.64,-97.3,558.6,-9.4,377,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1516,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8232,-0.64,-97.3,584.4,-8.0,387,8235,0.00,1.92,0.00,0.000,4,0.000,0.089,1980,460,3448,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8307,-0.63,-97.3,590.5,-8.1,390,8311,0.00,1.80,0.00,0.000,6,0.000,0.046,1972,1519,3450,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8625,-0.62,-97.3,611.6,-6.3,401,8628,0.00,1.83,0.00,0.000,4,0.000,0.057,1964,2580,3449,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8741,-0.62,-97.3,617.5,-5.6,405,8745,0.00,1.90,0.00,0.000,6,0.000,0.067,1965,1512,3449,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9044,-0.60,-97.3,636.7,-6.4,415,9048,0.12,1.90,0.00,0.000,4,0.257,0.090,1990,467,3447,0,0,0,0,0,0,14.42,14.46,28.83
$GC,9118,-0.59,-97.3,641.4,-6.3,418,9122,0.00,1.80,0.00,0.000,6,0.000,0.046,1986,1520,3446,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9433,-0.59,-97.3,661.5,-6.7,429,9437,0.00,1.83,0.00,0.000,4,0.000,0.057,1978,2579,3446,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9508,-0.59,-97.3,666.9,-7.0,432,9512,0.00,1.88,0.00,0.000,6,0.000,0.067,1978,1522,3445,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9823,-0.59,-97.3,690.5,-7.6,443,9826,0.00,1.92,0.00,0.000,4,0.000,0.090,1978,466,3445,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9899,-0.57,-97.3,696.7,-8.1,446,9903,0.15,1.80,0.00,0.000,6,0.234,0.047,2003,1520,3445,0,0,0,0,0,0,14.28,14.63,28.83
$GC,10214,-0.59,-97.3,717.0,-6.3,457,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1521,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,-0.61,-97.3,735.7,-6.2,467,10518,0.00,1.83,0.00,0.000,4,0.000,0.058,1998,2577,3443,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10602,-0.64,-97.3,740.3,-6.2,470,10605,0.00,1.90,0.00,0.000,6,0.000,0.070,1998,1517,3442,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10904,-0.65,-97.3,759.9,-6.1,480,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1517,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11203,-0.66,-97.3,777.4,-5.7,490,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1516,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11503,-0.68,-97.3,793.9,-5.6,500,11507,0.00,1.95,0.00,0.000,4,0.000,0.093,1998,460,3439,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11578,-0.68,-97.3,798.6,-6.1,503,11582,0.00,1.83,0.00,0.000,6,0.000,0.047,1990,1518,3439,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11892,-0.68,-97.3,817.8,-6.2,514,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1518,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12193,-0.68,-97.3,837.6,-6.8,524,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1518,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12492,-0.68,-97.3,857.0,-6.1,534,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1523,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12793,-0.68,-97.3,872.6,-4.8,544,12797,0.00,1.85,0.00,0.000,4,0.000,0.060,1983,2578,3436,0,0,0,0,0,0,28.83,14.52,28.83
$GC,12882,-0.69,-97.3,875.8,-4.5,547,12886,0.00,1.92,0.00,0.000,6,0.000,0.071,1983,1515,3435,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13183,-0.69,-97.3,892.5,-5.6,557,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1514,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13483,-0.69,-97.3,910.5,-6.1,567,13487,0.00,1.95,0.00,0.000,4,0.000,0.095,1983,465,3433,0,0,0,0,0,0,28.83,14.32,28.83
$GC,13588,-0.69,-97.3,918.2,-7.4,571,13591,0.00,1.83,0.00,0.000,6,0.000,0.049,1975,1519,3433,0,0,0,0,0,0,28.83,14.53,28.83
$GC,13903,-0.69,-97.3,941.0,-7.4,582,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1520,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14202,-0.69,-97.3,963.3,-7.4,592,14206,0.00,1.85,0.00,0.000,4,0.000,0.061,1967,2574,3431,0,0,0,0,0,0,28.83,14.45,28.83
$GC,14308,-0.69,-97.3,971.0,-7.4,596,14312,0.00,1.92,0.00,0.000,6,0.000,0.073,1967,1520,3431,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,14440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14440,begin apogee
$GC,14447,-0.18,0.0,981.4,-7.5,601,14574,0.60,0.00,115.28,2.049,6,0.204,0.000,2127,1390,3063,0,0,0,0,1,0,14.02,28.83,12.94
$STATE,14576,end apogee,CONTROL_FINISHED_OK
$STATE,14576,begin climb
$GC,14579,0.60,97.3,986.3,0.0,605,14715,0.82,0.00,127.75,2.016,6,0.119,0.000,2379,1389,2665,0,0,0,0,1,0,14.13,28.83,12.94
$GC,15013,0.57,129.3,978.6,4.7,620,15072,0.00,0.00,52.17,1.622,6,0.000,0.000,2379,1389,2535,0,0,0,0,1,0,28.83,28.83,13.19
$GC,15375,0.51,129.3,955.7,6.8,632,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1389,2531,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,28721,end climb,SURFACE_DEPTH_REACHED
$STATE,28721,begin surface coast
$FINISH,0.1,1.007354
$STATE,28737,end surface coast,CONTROL_FINISHED_OK
$STATE,28737,begin surface
$SM_CCo,28817,0.00,0.000,0,0,1716,330.17
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$TT8_MAMPS,0.023219,0.023219
$HUMID,54.68
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.60
$XPDR_PINGS,2
$SC_FREEKB,7652992
$TM_FREEKB,4820448
$24V_AH,12.9,145.544
$10V_AH,12.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.550,112.700,652.125,0.000,0.000,0.000,0.000,376.250,0.500,0.000,21.124,3248.816,22367.922,891.201,2442.106,562.991,0.000,2260.994,0.000,1927.753,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28782.000,6835.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.134,13.034,0.000,0.000
$MEM,345540
$DATA_FILE_SIZE,43321,1195
$CAP_FILE_SIZE,248548,0
$CFSIZE,260034560,216428544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.043,223.7,1
$GPS,241212,205152,2415.824,-3821.681,39,1.0,40,-14.2