version: 66.11
glider: 191
mission: 5
dive: 416
start: 1 31 113 5 26 48
data:
$ID,191
$MISSION,5
$DIVE,416
$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,-5128.1826
$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,25
$R_STBD_OVSHOOT,51
$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,10
$MINV_10V,10
$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,1
$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
$GPS1,310113,051654,2445.685,-3730.034,41,0.8,41,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-56.7
$GPS2,310113,052618,2445.668,-3730.028,14,0.8,15,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,324.6,71303,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-60.42,0.000,2,0.000,0.000,150,1515,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.60,-97.3,3.9,-7.8,4,102,9.80,1.92,-0.82,0.000,4,0.404,0.106,1996,461,3461,1,0,0,0,0,0,13.68,14.47,14.76
$GC,308,-0.57,-97.3,27.9,-8.1,19,312,0.00,1.80,0.00,0.000,6,0.000,0.043,1990,1518,3463,0,0,0,0,0,0,28.83,14.45,28.83
$GC,609,-0.55,-97.3,54.2,-9.2,39,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.53,-97.3,77.7,-8.0,59,910,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1519,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.51,-97.3,103.2,-8.8,79,1213,0.12,1.92,0.00,0.000,4,0.247,0.083,2018,461,3463,0,0,0,0,0,0,14.35,14.35,28.83
$GC,1298,-0.51,-97.3,110.9,-8.6,85,1302,0.00,1.80,0.00,0.000,6,0.000,0.042,2012,1525,3463,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1598,-0.51,-97.3,132.8,-7.3,105,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-0.51,-97.3,153.7,-6.2,125,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-0.51,-97.3,171.4,-6.2,145,2202,0.00,1.95,0.00,0.000,4,0.000,0.083,2012,457,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2411,-0.51,-97.3,186.5,-7.6,159,2415,0.00,1.80,0.00,0.000,6,0.000,0.042,2004,1521,3464,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2709,-0.51,-97.3,205.9,-5.8,179,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1523,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.51,-97.3,222.4,-5.6,199,3012,0.00,1.92,0.00,0.000,4,0.000,0.083,2004,463,3464,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3159,-0.51,-97.3,232.4,-6.9,209,3163,0.00,1.77,0.00,0.000,6,0.000,0.042,1996,1520,3464,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3473,-0.51,-97.3,254.2,-7.0,228,3477,0.00,1.92,0.00,0.000,4,0.000,0.083,1996,460,3464,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3579,-0.51,-97.3,262.3,-7.7,232,3584,0.15,1.80,0.00,0.000,6,0.229,0.042,2022,1528,3464,0,0,0,0,0,0,14.22,14.59,28.83
$GC,3897,-0.56,-97.3,281.0,-6.1,243,3904,0.00,1.95,0.00,0.000,4,0.000,0.084,2022,458,3463,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3969,-0.61,-97.3,285.1,-6.7,245,3973,0.00,1.80,0.00,0.000,6,0.000,0.041,2018,1528,3463,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4270,-0.67,-97.3,305.9,-6.6,255,4274,0.15,1.95,0.00,0.000,4,0.119,0.083,1955,458,3463,0,0,0,0,0,0,14.66,14.38,28.83
$GC,4418,-0.64,-97.3,316.8,-8.3,260,4422,0.15,1.80,0.00,0.000,6,0.249,0.042,1978,1521,3462,0,0,0,0,0,0,14.19,14.61,28.83
$GC,4721,-0.64,-97.3,338.1,-6.5,270,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-0.64,-97.3,359.1,-7.3,280,5022,0.00,1.92,0.00,0.000,4,0.000,0.083,1978,464,3459,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5095,-0.62,-97.3,365.5,-8.3,283,5098,0.00,1.80,0.00,0.000,6,0.000,0.042,1973,1523,3461,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5411,-0.61,-97.3,391.6,-8.4,294,5415,0.00,1.92,0.00,0.000,4,0.000,0.083,1973,464,3458,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5485,-0.59,-97.3,398.2,-8.8,297,5490,0.12,1.80,0.00,0.000,6,0.250,0.043,1992,1526,3460,0,0,0,0,0,0,14.21,14.59,28.83
$GC,5801,-0.59,-97.3,420.5,-6.6,308,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1528,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6098,-0.59,-97.3,439.2,-6.1,318,6102,0.00,1.95,0.00,0.000,4,0.000,0.085,1992,460,3458,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6175,-0.59,-97.3,444.3,-6.8,321,6179,0.00,1.80,0.00,0.000,6,0.000,0.044,1986,1520,3458,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6488,-0.59,-97.3,464.5,-6.6,332,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1521,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6789,-0.59,-97.3,484.4,-6.4,342,6793,0.00,1.92,0.00,0.000,4,0.000,0.085,1986,465,3457,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6938,-0.58,-97.3,494.1,-7.2,347,6941,0.00,1.80,0.00,0.000,6,0.000,0.044,1978,1522,3456,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7239,-0.58,-97.3,514.1,-6.3,357,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,-0.58,-97.3,534.2,-7.0,367,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7838,-0.58,-97.3,555.7,-7.2,377,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1524,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,-0.58,-97.3,575.3,-6.2,387,8143,0.00,1.95,0.00,0.000,4,0.000,0.086,1979,463,3452,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8228,-0.57,-97.3,580.2,-6.4,390,8232,0.15,1.80,0.00,0.000,6,0.240,0.044,2003,1519,3452,0,0,0,0,0,0,14.14,14.53,28.83
$GC,8532,-0.61,-97.3,595.1,-4.9,400,8541,0.00,1.95,0.00,0.000,4,0.000,0.086,2004,459,3451,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8589,-0.66,-97.3,598.5,-5.2,402,8593,0.00,1.80,0.00,0.000,6,0.000,0.044,2000,1520,3451,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8907,-0.71,-97.3,618.9,-7.2,413,8911,0.12,1.95,0.00,0.000,4,0.138,0.087,1951,463,3451,0,0,0,0,0,0,14.62,14.29,28.83
$GC,9118,-0.67,-97.3,638.5,-10.4,420,9122,0.00,1.83,0.00,0.000,6,0.000,0.044,1943,1524,3449,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9416,-0.64,-97.3,668.7,-9.1,430,9418,0.15,0.00,0.00,0.000,6,0.252,0.000,1977,1527,3449,0,0,0,0,0,0,14.22,28.83,28.83
$GC,9715,-0.64,-97.3,689.7,-6.4,440,9719,0.00,1.98,0.00,0.000,4,0.000,0.088,1976,460,3448,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9820,-0.63,-97.3,696.5,-6.6,444,9824,0.00,1.83,0.00,0.000,6,0.000,0.046,1971,1521,3447,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10136,-0.63,-97.3,713.9,-5.6,455,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1522,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10436,-0.63,-97.3,732.9,-6.6,465,10439,0.00,1.98,0.00,0.000,4,0.000,0.089,1971,460,3446,0,0,0,0,0,0,28.83,14.23,28.83
$GC,10541,-0.61,-97.3,741.0,-7.7,469,10545,0.00,1.83,0.00,0.000,6,0.000,0.046,1963,1520,3445,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10857,-0.60,-97.3,765.2,-7.7,480,10862,0.12,1.85,0.00,0.000,4,0.253,0.057,1984,2578,3444,0,0,0,0,0,0,14.27,14.39,28.83
$GC,10915,-0.60,-97.3,768.5,-7.6,482,10919,0.00,1.92,0.00,0.000,6,0.000,0.068,1984,1516,3443,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11216,-0.60,-97.3,791.1,-7.1,492,11220,0.00,1.95,0.00,0.000,4,0.000,0.091,1984,467,3443,0,0,0,0,0,0,28.83,14.20,28.83
$GC,11306,-0.60,-97.3,797.2,-7.9,495,11309,0.00,1.83,0.00,0.000,6,0.000,0.047,1977,1522,3443,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11607,-0.60,-97.3,821.1,-7.5,505,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1523,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11905,-0.60,-97.3,843.5,-7.5,515,11909,0.00,1.98,0.00,0.000,4,0.000,0.091,1977,467,3441,0,0,0,0,0,0,28.83,14.17,28.83
$GC,12011,-0.60,-97.3,852.2,-8.3,519,12015,0.00,1.83,0.00,0.000,6,0.000,0.047,1969,1519,3440,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12326,-0.60,-97.3,877.2,-7.8,530,12330,0.00,1.98,0.00,0.000,4,0.000,0.091,1969,466,3439,0,0,0,0,0,0,28.83,14.15,28.83
$GC,12401,-0.59,-97.3,883.4,-8.2,533,12405,0.15,1.83,0.00,0.000,6,0.244,0.047,1993,1519,3438,0,0,0,0,0,0,14.00,14.43,28.83
$GC,12720,-0.61,-97.3,903.3,-6.0,544,12727,0.00,1.98,0.00,0.000,4,0.000,0.092,1993,466,3438,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12806,-0.62,-97.3,909.2,-6.4,547,12809,0.00,1.85,0.00,0.000,6,0.000,0.047,1989,1527,3438,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13124,-0.63,-97.3,928.2,-6.1,558,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1528,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13421,-0.64,-97.3,945.6,-5.7,568,13425,0.00,2.00,0.00,0.000,4,0.000,0.093,1989,467,3435,0,0,0,0,0,0,28.83,14.12,28.83
$GC,13480,-0.64,-97.3,948.7,-6.1,570,13484,0.00,1.85,0.00,0.000,6,0.000,0.048,1981,1523,3435,0,0,0,0,0,0,28.83,14.37,28.83
$GC,13781,-0.64,-97.3,968.4,-6.3,580,13784,0.00,2.00,0.00,0.000,4,0.000,0.093,1982,462,3438,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13839,-0.64,-97.3,971.4,-6.5,582,13843,0.00,1.85,0.00,0.000,6,0.000,0.048,1974,1520,3434,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,13957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13957,begin apogee
$GC,13966,-0.18,0.0,980.3,-6.6,586,14093,0.57,0.00,115.32,1.860,6,0.207,0.000,2123,1395,3062,0,0,0,0,1,0,13.78,28.83,12.93
$STATE,14095,end apogee,CONTROL_FINISHED_OK
$STATE,14095,begin climb
$GC,14098,0.60,97.3,985.4,0.0,590,14235,0.82,2.03,126.05,1.851,4,0.119,0.097,2386,345,2665,0,0,0,0,1,0,14.20,14.14,12.99
$GC,14380,0.57,150.9,985.5,3.8,600,14470,0.00,1.85,76.25,1.703,6,0.000,0.048,2386,1414,2447,0,0,0,0,1,0,28.83,14.52,13.05
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$STATE,29141,end climb,SURFACE_DEPTH_REACHED
$STATE,29141,begin surface coast
$FINISH,0.2,1.011615
$STATE,29161,end surface coast,CONTROL_FINISHED_OK
$STATE,29161,begin surface
$SM_CCo,29181,24.33,0.682,0,0,1756,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,55.86
$INTERNAL_PRESSURE,9.29205
$TCM_TEMP,25.80
$XPDR_PINGS,4
$SC_FREEKB,7610368
$24V_AH,12.9,197.557
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.275,166.800,596.525,24.325,0.000,0.000,0.000,299.875,1.000,0.000,16.197,3418.379,22308.664,933.661,2404.592,691.028,0.000,2278.161,0.000,2030.274,0.000,0.550,0.000
$DEVICE_MAMPS,403.920,107.100,1966.815,681.615,0.000,0.000,0.000,169.065,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,29213.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.175,0.000,0.000,0.000
$MEM,345568
$DATA_FILE_SIZE,43340,1214
$CAP_FILE_SIZE,260608,0
$CFSIZE,260034560,201166848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,10,1,0
$CURRENT,0.032, 38.7,1
$GPS,310113,133459,2447.847,-3732.115,40,0.9,40,-13.8