version: 66.11
glider: 191
mission: 5
dive: 425
start: 2 3 113 7 52 14
data:
$ID,191
$MISSION,5
$DIVE,425
$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,-5139.5063
$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,49
$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
$GPS1,030213,074205,2504.125,-3749.651,29,1.0,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-50.3
$GPS2,030213,075144,2504.163,-3749.678,23,1.0,23,-13.9
$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,316.2,23811,-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,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.75,0.000,6,0.000,0.000,155,1516,3460,0,0,0,0,0,0,28.83,28.83,14.74
$GC,87,-0.60,-97.3,4.7,-10.2,4,102,9.80,1.88,0.00,0.000,4,0.403,0.071,1996,461,3463,1,0,0,0,0,0,13.66,14.42,28.83
$GC,324,-0.57,-97.3,31.6,-7.9,20,328,0.00,1.80,0.00,0.000,6,0.000,0.043,1991,1518,3465,0,0,0,0,0,0,28.83,14.45,28.83
$GC,625,-0.55,-97.3,55.0,-7.8,40,628,0.00,1.95,0.00,0.000,4,0.000,0.084,1991,457,3465,0,0,0,0,0,0,28.83,14.25,28.83
$GC,701,-0.52,-97.3,61.3,-8.7,45,705,0.15,1.80,0.00,0.000,6,0.239,0.042,2016,1519,3465,0,0,0,0,0,0,14.13,14.46,28.83
$GC,1000,-0.52,-97.3,80.4,-6.0,65,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.52,-97.3,98.2,-6.0,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.52,-97.3,115.3,-5.1,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1520,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.54,-97.3,132.0,-5.3,125,1905,0.00,1.92,0.00,0.000,4,0.000,0.083,2016,464,3468,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2049,-0.54,-97.3,141.6,-6.7,135,2053,0.00,1.80,0.00,0.000,6,0.000,0.041,2011,1528,3465,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2350,-0.55,-97.3,164.6,-8.1,155,2353,0.00,1.80,0.00,0.000,4,0.000,0.051,2003,2579,3465,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2425,-0.57,-97.3,170.8,-8.3,160,2428,0.00,1.88,0.00,0.000,6,0.000,0.061,2003,1519,3465,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2724,-0.57,-97.3,193.6,-6.8,180,2728,0.00,1.92,0.00,0.000,4,0.000,0.083,2003,460,3465,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2844,-0.57,-97.3,202.8,-7.5,188,2848,0.00,1.80,0.00,0.000,6,0.000,0.041,1995,1529,3465,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3144,-0.57,-97.3,222.8,-6.6,208,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1530,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.57,-97.3,243.3,-7.0,228,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1535,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.57,-97.3,266.6,-7.5,242,3764,0.00,1.95,0.00,0.000,4,0.000,0.083,1995,460,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3834,-0.57,-97.3,272.6,-7.8,245,3838,0.00,1.80,0.00,0.000,6,0.000,0.041,1987,1524,3466,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4151,-0.57,-97.3,296.2,-7.3,256,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1525,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4449,-0.57,-97.3,317.8,-7.2,266,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1526,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.57,-97.3,339.9,-7.5,276,4755,0.00,1.95,0.00,0.000,4,0.000,0.084,1987,461,3463,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4840,-0.57,-97.3,346.1,-8.1,279,4843,0.00,1.80,0.00,0.000,6,0.000,0.041,1979,1526,3463,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5140,-0.57,-97.3,368.9,-6.9,289,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1527,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-0.57,-97.3,388.3,-6.3,299,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1527,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,-0.57,-97.3,407.2,-6.3,309,5743,0.00,1.95,0.00,0.000,4,0.000,0.085,1979,463,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5860,-0.55,-97.3,415.0,-7.4,313,5865,0.15,1.80,0.00,0.000,6,0.244,0.042,2004,1522,3460,0,0,0,0,0,0,14.13,14.55,28.83
$GC,6162,-0.57,-97.3,435.1,-6.3,323,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1520,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6462,-0.58,-97.3,451.9,-5.2,333,6465,0.00,1.95,0.00,0.000,4,0.000,0.086,2004,461,3459,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6520,-0.60,-97.3,454.6,-5.3,335,6523,0.00,1.80,0.00,0.000,6,0.000,0.043,1999,1521,3459,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6824,-0.61,-97.3,471.1,-5.2,345,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1522,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,-0.62,-97.3,489.7,-6.8,355,7124,0.00,1.95,0.00,0.000,4,0.000,0.086,1999,461,3458,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7226,-0.62,-97.3,498.0,-7.9,359,7229,0.00,1.80,0.00,0.000,6,0.000,0.043,1991,1519,3458,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7540,-0.62,-97.3,521.7,-7.3,370,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1521,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7841,-0.62,-97.3,541.0,-6.0,380,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1521,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,-0.62,-97.3,558.3,-5.8,390,8144,0.00,1.95,0.00,0.000,4,0.000,0.086,1991,465,3453,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8244,-0.62,-97.3,565.4,-6.8,394,8248,0.00,1.80,0.00,0.000,6,0.000,0.044,1984,1519,3454,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8560,-0.62,-97.3,586.4,-6.9,405,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1520,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,-0.62,-97.3,608.0,-7.4,415,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1520,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,-0.62,-97.3,628.8,-6.6,425,9164,0.00,1.98,0.00,0.000,4,0.000,0.088,1983,460,3452,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9205,-0.62,-97.3,631.9,-6.5,427,9209,0.00,1.83,0.00,0.000,6,0.000,0.044,1975,1520,3451,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9522,-0.62,-97.3,650.8,-5.8,438,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.62,-97.3,667.2,-5.4,448,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1521,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10120,-0.62,-97.3,683.3,-5.3,458,10123,0.00,1.98,0.00,0.000,4,0.000,0.089,1976,463,3448,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10195,-0.62,-97.3,687.8,-5.9,461,10199,0.00,1.83,0.00,0.000,6,0.000,0.044,1968,1521,3448,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10513,-0.61,-97.3,708.0,-6.8,472,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1522,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10810,-0.61,-97.3,729.8,-7.6,482,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1519,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11110,-0.61,-97.3,755.0,-8.7,492,11114,0.00,1.98,0.00,0.000,4,0.000,0.090,1968,466,3445,0,0,0,0,0,0,28.83,14.17,28.83
$GC,11169,-0.60,-97.3,759.2,-9.0,494,11173,0.15,1.83,0.00,0.000,6,0.252,0.047,1988,1518,3445,0,0,0,0,0,0,13.95,14.41,28.83
$GC,11474,-0.61,-97.3,785.4,-8.2,504,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1519,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11770,-0.62,-97.3,807.7,-6.9,514,11773,0.00,1.98,0.00,0.000,4,0.000,0.091,1991,466,3444,0,0,0,0,0,0,28.83,14.11,28.83
$GC,11874,-0.62,-97.3,815.2,-7.1,518,11878,0.00,1.85,0.00,0.000,6,0.000,0.047,1985,1529,3443,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12194,-0.62,-97.3,833.5,-5.5,529,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1531,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12490,-0.62,-97.3,851.5,-6.0,539,12494,0.00,2.03,0.00,0.000,4,0.000,0.092,1985,462,3442,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12582,-0.62,-97.3,856.0,-6.1,542,12585,0.00,1.85,0.00,0.000,6,0.000,0.047,1978,1524,3441,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12880,-0.62,-97.3,873.3,-5.3,552,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13181,-0.62,-97.3,889.0,-5.3,562,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1525,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13480,-0.62,-97.3,905.9,-5.9,572,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1525,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13780,-0.62,-97.3,924.5,-6.5,582,13784,0.00,2.03,0.00,0.000,4,0.000,0.093,1977,461,3437,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13869,-0.62,-97.3,930.4,-7.5,585,13873,0.00,1.85,0.00,0.000,6,0.000,0.047,1970,1519,3436,0,0,0,0,0,0,28.83,14.22,28.83
$GC,14170,-0.62,-97.3,954.3,-7.7,595,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1520,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14470,-0.62,-97.3,977.8,-7.8,605,14474,0.00,2.03,0.00,0.000,4,0.000,0.093,1970,461,3435,0,0,0,0,0,0,28.83,13.99,28.83
$STATE,14512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14512,begin apogee
$GC,14521,-0.18,0.0,981.5,-7.9,607,14647,0.65,0.00,115.70,1.864,6,0.218,0.000,2132,1410,3061,0,0,0,0,1,0,13.66,28.83,12.89
$STATE,14649,end apogee,CONTROL_FINISHED_OK
$STATE,14649,begin climb
$GC,14653,0.60,97.3,987.3,0.0,611,14791,0.80,1.88,126.62,1.854,4,0.111,0.057,2380,2448,2665,0,0,0,0,1,0,14.19,14.17,12.96
$GC,14936,0.62,180.0,991.4,2.6,621,15055,0.00,1.92,108.90,1.818,6,0.000,0.075,2387,1396,2329,0,0,0,0,1,0,28.83,14.40,13.00
$GC,15355,0.57,180.0,966.4,6.3,635,15359,0.00,1.98,0.00,0.000,4,0.000,0.099,2396,344,2322,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,28630,end climb,SURFACE_DEPTH_REACHED
$STATE,28630,begin surface coast
$FINISH,0.4,1.025558
$STATE,28662,end surface coast,CONTROL_FINISHED_OK
$STATE,28662,begin surface
$SM_CCo,28681,12.43,0.728,0,0,1756,320.12
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$TT8_MAMPS,0.023219,0.023219
$HUMID,55.74
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$TCM_TEMP,25.70
$XPDR_PINGS,2
$SC_FREEKB,7606912
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$10V_AH,10.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.875,155.925,538.250,12.425,0.000,0.000,0.000,304.225,0.500,0.000,23.733,3338.156,22080.693,812.507,2364.779,662.195,0.000,2133.359,0.000,1970.217,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345548
$DATA_FILE_SIZE,43310,1199
$CAP_FILE_SIZE,252294,0
$CFSIZE,260034560,200089600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,6,1,0
$CURRENT,0.053,338.9,1
$GPS,030213,155153,2506.375,-3752.654,39,0.9,39,-13.9