version: 66.11
glider: 191
mission: 5
dive: 419
start: 2 1 113 6 15 36
data:
$ID,191
$MISSION,5
$DIVE,419
$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,-5131.959
$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,26
$R_STBD_OVSHOOT,48
$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
$GPS1,010213,060535,2451.594,-3735.764,33,0.8,33,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-55.8
$GPS2,010213,061506,2451.686,-3735.784,20,0.9,20,-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,316.1,56607,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.60,-97.3,0.0,0.0,0,82,0.00,0.00,-58.50,0.000,6,0.000,0.000,157,1517,3460,0,0,0,0,0,0,28.83,28.83,14.78
$GC,86,-0.60,-97.3,4.1,-9.0,4,100,9.88,1.90,0.00,0.000,4,0.409,0.077,1996,461,3462,1,0,0,0,0,0,13.64,14.42,28.83
$GC,323,-0.57,-97.3,30.8,-8.2,20,327,0.00,1.80,0.00,0.000,6,0.000,0.041,1991,1521,3464,0,0,0,0,0,0,28.83,14.51,28.83
$GC,624,-0.55,-97.3,54.3,-7.8,40,627,0.00,1.92,0.00,0.000,4,0.000,0.083,1991,466,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,715,-0.52,-97.3,62.2,-9.0,46,719,0.15,1.80,0.00,0.000,6,0.238,0.041,2016,1526,3463,0,0,0,0,0,0,14.14,14.53,28.83
$GC,1015,-0.52,-97.3,83.0,-7.1,66,1018,0.00,1.92,0.00,0.000,4,0.000,0.082,2016,465,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1074,-0.52,-97.3,87.5,-7.6,70,1077,0.00,1.80,0.00,0.000,6,0.000,0.041,2010,1528,3464,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1375,-0.52,-97.3,109.2,-6.9,90,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1530,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1674,-0.52,-97.3,130.4,-7.4,110,1677,0.00,1.95,0.00,0.000,4,0.000,0.083,2010,460,3464,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1809,-0.52,-97.3,142.3,-9.2,119,1813,0.00,1.80,0.00,0.000,6,0.000,0.041,2003,1527,3464,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2108,-0.52,-97.3,164.9,-7.1,139,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1528,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2408,-0.52,-97.3,182.9,-5.7,159,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1529,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-0.52,-97.3,200.6,-6.3,179,2713,0.00,1.92,0.00,0.000,4,0.000,0.083,2002,465,3465,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2814,-0.52,-97.3,208.8,-7.9,186,2817,0.00,1.77,0.00,0.000,6,0.000,0.041,1995,1524,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3114,-0.52,-97.3,232.0,-7.9,206,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3413,-0.52,-97.3,256.2,-8.2,224,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1525,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-0.52,-97.3,279.7,-7.8,234,3719,0.00,1.92,0.00,0.000,4,0.000,0.083,1995,464,3464,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3773,-0.52,-97.3,283.3,-7.9,236,3777,0.15,1.77,0.00,0.000,6,0.227,0.041,2020,1519,3464,0,0,0,0,0,0,14.21,14.58,28.83
$GC,4077,-0.55,-97.3,304.7,-6.5,246,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1521,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.57,-97.3,323.5,-6.0,256,4378,0.00,1.92,0.00,0.000,4,0.000,0.083,2020,463,3463,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4433,-0.60,-97.3,326.4,-6.0,258,4437,0.00,1.77,0.00,0.000,6,0.000,0.041,2016,1521,3462,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4738,-0.62,-97.3,344.5,-5.5,268,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1522,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5035,-0.64,-97.3,361.5,-5.7,278,5038,0.00,1.92,0.00,0.000,4,0.000,0.084,2015,466,3461,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5124,-0.65,-97.3,366.1,-6.1,281,5127,0.00,1.80,0.00,0.000,6,0.000,0.041,2007,1528,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5427,-0.67,-97.3,383.9,-5.6,291,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1530,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5725,-0.68,-97.3,401.6,-6.1,301,5729,0.12,1.80,0.00,0.000,4,0.138,0.054,1953,2579,3459,0,0,0,0,0,0,14.64,14.50,28.83
$GC,5828,-0.68,-97.3,410.1,-8.0,305,5832,0.00,1.88,0.00,0.000,6,0.000,0.063,1953,1521,3459,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6148,-0.65,-97.3,438.6,-9.4,316,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1520,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6444,-0.62,-97.3,467.3,-9.7,326,6446,0.15,0.00,0.00,0.000,6,0.248,0.000,1985,1520,3458,0,0,0,0,0,0,14.20,28.83,28.83
$GC,6744,-0.62,-97.3,492.5,-8.3,336,6747,0.00,1.92,0.00,0.000,4,0.000,0.086,1985,464,3457,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6849,-0.62,-97.3,502.2,-9.2,340,6853,0.00,1.80,0.00,0.000,6,0.000,0.043,1979,1524,3457,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7163,-0.62,-97.3,528.2,-8.2,351,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1525,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,-0.62,-97.3,551.3,-7.5,361,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1525,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7763,-0.62,-97.3,574.1,-7.5,371,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1523,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8064,-0.62,-97.3,596.5,-7.6,381,8068,0.00,1.95,0.00,0.000,4,0.000,0.087,1980,464,3453,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8184,-0.61,-97.3,605.0,-8.0,385,8188,0.00,1.80,0.00,0.000,6,0.000,0.044,1972,1519,3452,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8483,-0.61,-97.3,629.9,-7.9,395,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1520,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8785,-0.61,-97.3,653.0,-7.6,405,8788,0.00,1.95,0.00,0.000,4,0.000,0.087,1972,463,3451,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8889,-0.59,-97.3,661.5,-8.1,409,8893,0.15,1.80,0.00,0.000,6,0.243,0.044,1996,1520,3450,0,0,0,0,0,0,14.09,14.52,28.83
$GC,9207,-0.61,-97.3,680.3,-5.6,420,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9505,-0.63,-97.3,695.9,-5.0,430,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1520,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9805,-0.68,-97.3,711.5,-5.4,440,9809,0.00,1.98,0.00,0.000,4,0.000,0.089,1996,459,3448,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9923,-0.71,-97.3,718.0,-6.2,444,9926,0.00,1.83,0.00,0.000,6,0.000,0.044,1992,1524,3447,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10224,-0.76,-97.3,738.4,-6.9,454,10229,0.15,1.98,0.00,0.000,4,0.128,0.089,1937,464,3446,0,0,0,0,0,0,14.55,14.21,28.83
$GC,10452,-0.71,-97.3,759.1,-9.6,462,10461,0.15,1.83,0.00,0.000,6,0.272,0.045,1958,1519,3445,0,0,0,0,0,0,13.80,14.31,28.83
$GC,10782,-0.70,-97.3,787.1,-8.5,473,10786,0.00,1.85,0.00,0.000,4,0.000,0.057,1953,2577,3442,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10839,-0.68,-97.3,790.7,-8.2,475,10842,0.00,1.92,0.00,0.000,6,0.000,0.067,1953,1514,3444,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11140,-0.66,-97.3,817.5,-8.3,485,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1514,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11441,-0.65,-97.3,840.5,-7.5,495,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1514,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11740,-0.63,-97.3,862.7,-7.3,505,11742,0.15,0.00,0.00,0.000,6,0.255,0.000,1984,1513,3441,0,0,0,0,0,0,14.12,28.83,28.83
$GC,12041,-0.64,-97.3,881.1,-6.1,515,12044,0.00,1.98,0.00,0.000,4,0.000,0.093,1990,463,3440,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12098,-0.64,-97.3,884.1,-6.3,517,12102,0.00,1.83,0.00,0.000,6,0.000,0.046,1979,1520,3440,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12401,-0.64,-97.3,903.7,-6.2,527,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12700,-0.64,-97.3,920.7,-5.5,537,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13001,-0.64,-97.3,935.7,-4.8,547,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1521,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13300,-0.64,-97.3,951.3,-5.3,557,13303,0.00,2.00,0.00,0.000,4,0.000,0.093,1979,463,3435,0,0,0,0,0,0,28.83,14.08,28.83
$GC,13359,-0.64,-97.3,953.9,-5.5,559,13362,0.00,1.85,0.00,0.000,6,0.000,0.047,1971,1521,3435,0,0,0,0,0,0,28.83,14.34,28.83
$GC,13661,-0.64,-97.3,973.8,-6.8,569,13662,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13747,begin apogee
$GC,13755,-0.18,0.0,980.2,-7.0,572,13882,0.60,0.00,115.43,1.857,6,0.209,0.000,2126,1395,3062,0,0,0,0,1,0,13.76,28.83,12.91
$STATE,13883,end apogee,CONTROL_FINISHED_OK
$STATE,13883,begin climb
$GC,13888,0.60,97.3,986.4,0.0,576,14025,0.82,1.92,126.12,1.848,4,0.116,0.058,2380,2457,2666,0,0,0,0,1,0,14.19,14.18,12.95
$GC,14245,0.62,173.4,987.9,2.8,589,14357,0.00,1.92,102.22,1.820,6,0.000,0.075,2388,1403,2354,0,0,0,0,1,0,28.83,14.42,13.00
$GC,14650,0.56,173.4,963.9,6.8,602,14654,0.00,1.98,0.00,0.000,4,0.000,0.099,2396,348,2348,0,0,0,0,0,0,28.83,14.42,28.83
$GC,14725,0.49,173.4,958.0,7.8,605,14729,0.20,1.83,0.00,0.000,6,0.256,0.048,2352,1409,2346,0,0,0,0,0,0,14.19,14.57,28.83
$GC,15045,0.47,173.4,937.5,6.4,616,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1410,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15340,0.46,179.8,919.5,5.8,626,15346,0.00,0.00,3.80,1.966,6,0.000,0.000,2352,1410,2328,0,0,0,0,0,0,28.83,28.83,13.34
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$STATE,28874,end climb,SURFACE_DEPTH_REACHED
$STATE,28874,begin surface coast
$FINISH,0.2,1.025644
$STATE,28906,end surface coast,CONTROL_FINISHED_OK
$STATE,28910,begin surface
$SM_CCo,28931,21.88,0.690,0,0,1755,320.12
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$IRIDIUM_FIX,2441.81,-3732.09,310113,212133
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.51
$INTERNAL_PRESSURE,9.28228
$TCM_TEMP,25.60
$XPDR_PINGS,5
$SC_FREEKB,7609216
$24V_AH,12.9,198.797
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.350,173.900,558.200,21.875,0.000,0.000,0.000,297.050,1.250,0.000,21.620,3405.420,22160.873,880.869,2388.487,674.891,0.000,2210.747,0.000,2000.230,0.000,0.548,0.000
$DEVICE_MAMPS,408.510,107.865,1966.050,690.030,0.000,0.000,0.000,173.655,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28965.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.222,0.000,0.000,0.000
$MEM,345524
$DATA_FILE_SIZE,43202,1206
$CAP_FILE_SIZE,261649,0
$CFSIZE,260034560,200806400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,8,1,0
$CURRENT,0.044, 26.8,1
$GPS,010213,141934,2453.615,-3738.130,38,0.8,38,-13.8