version: 66.11
glider: 191
mission: 5
dive: 439
start: 2 8 113 0 19 18
data:
$ID,191
$MISSION,5
$DIVE,439
$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,-5157.1079
$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,50
$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
$GPS1,080213,000928,2502.168,-3811.311,39,0.8,39,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.0
$GPS2,080213,001848,2502.165,-3811.355,18,1.0,18,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,211.0,72074,-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,-57.17,0.000,6,0.000,0.000,153,1516,3460,0,0,0,0,0,0,28.83,28.83,14.74
$GC,87,-0.60,-97.3,4.8,-9.9,4,101,9.95,1.90,0.00,0.000,4,0.408,0.072,1995,456,3463,1,0,0,0,0,0,13.65,14.42,28.83
$GC,324,-0.57,-97.3,31.2,-7.8,20,328,0.00,1.80,0.00,0.000,6,0.000,0.042,1990,1510,3464,0,0,0,0,0,0,28.83,14.50,28.83
$GC,625,-0.55,-97.3,54.0,-7.5,40,628,0.00,1.92,0.00,0.000,4,0.000,0.083,1990,464,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,716,-0.52,-97.3,61.4,-8.4,46,720,0.15,1.80,0.00,0.000,6,0.234,0.043,2015,1520,3464,0,0,0,0,0,0,14.13,14.50,28.83
$GC,1016,-0.53,-97.3,80.8,-6.4,66,1020,0.00,1.95,0.00,0.000,4,0.000,0.083,2015,460,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1104,-0.53,-97.3,87.6,-7.6,72,1108,0.00,1.80,0.00,0.000,6,0.000,0.041,2010,1522,3464,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1405,-0.53,-97.3,110.7,-8.0,92,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1524,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-0.55,-97.3,134.9,-8.1,112,1708,0.00,1.92,0.00,0.000,4,0.000,0.083,2009,464,3465,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1885,-0.55,-97.3,150.3,-8.5,124,1889,0.00,1.80,0.00,0.000,6,0.000,0.041,2002,1529,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2184,-0.55,-97.3,173.2,-7.5,144,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1530,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.59,-97.3,191.7,-5.7,164,2489,0.00,1.95,0.00,0.000,4,0.000,0.083,2002,462,3465,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2650,-0.59,-97.3,200.7,-4.9,175,2654,0.00,1.80,0.00,0.000,6,0.000,0.041,1994,1527,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2950,-0.59,-97.3,214.8,-5.1,195,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1528,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.59,-97.3,232.6,-6.6,215,3253,0.00,1.95,0.00,0.000,4,0.000,0.084,1994,460,3465,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3385,-0.57,-97.3,242.9,-8.0,224,3389,0.00,1.80,0.00,0.000,6,0.000,0.041,1986,1525,3465,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3702,-0.57,-97.3,267.8,-8.1,238,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3999,-0.57,-97.3,291.0,-7.6,248,4003,0.00,1.95,0.00,0.000,4,0.000,0.083,1986,458,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4120,-0.56,-97.3,299.5,-8.1,252,4124,0.12,1.80,0.00,0.000,6,0.241,0.042,2004,1522,3467,0,0,0,0,0,0,14.19,14.55,28.83
$GC,4423,-0.58,-97.3,319.4,-6.1,262,4426,0.00,1.92,0.00,0.000,4,0.000,0.084,2010,464,3463,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4481,-0.59,-97.3,322.6,-6.3,264,4484,0.00,1.80,0.00,0.000,6,0.000,0.041,1999,1529,3463,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4780,-0.60,-97.3,342.9,-6.4,274,4784,0.00,1.95,0.00,0.000,4,0.000,0.084,1999,463,3462,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4870,-0.60,-97.3,348.2,-6.8,277,4874,0.00,1.80,0.00,0.000,6,0.000,0.041,1991,1527,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5170,-0.60,-97.3,368.7,-6.4,287,5173,0.00,1.95,0.00,0.000,4,0.000,0.084,1992,463,3462,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5229,-0.60,-97.3,371.9,-6.7,289,5233,0.00,1.80,0.00,0.000,6,0.000,0.041,1983,1527,3461,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5531,-0.60,-97.3,392.9,-6.7,299,5535,0.00,1.95,0.00,0.000,4,0.000,0.085,1983,463,3460,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5619,-0.59,-97.3,398.5,-7.3,302,5623,0.00,1.80,0.00,0.000,6,0.000,0.041,1975,1524,3460,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5921,-0.59,-97.3,420.6,-6.8,312,5925,0.00,1.95,0.00,0.000,4,0.000,0.085,1976,462,3459,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5995,-0.57,-97.3,426.3,-7.5,315,6000,0.15,1.80,0.00,0.000,6,0.236,0.042,2000,1522,3459,0,0,0,0,0,0,14.13,14.52,28.83
$GC,6313,-0.62,-97.3,448.2,-7.3,326,6317,0.00,1.95,0.00,0.000,4,0.000,0.084,2000,465,3459,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6401,-0.66,-97.3,454.0,-7.5,329,6405,0.00,1.80,0.00,0.000,6,0.000,0.042,1995,1525,3459,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6702,-0.70,-97.3,477.3,-7.3,339,6705,0.00,1.95,0.00,0.000,4,0.000,0.085,1995,464,3459,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6822,-0.73,-97.3,485.1,-7.4,343,6826,0.12,1.80,0.00,0.000,6,0.137,0.043,1945,1522,3458,0,0,0,0,0,0,14.42,14.52,28.83
$GC,7124,-0.70,-97.3,508.1,-7.0,353,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1523,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7423,-0.67,-97.3,529.0,-7.0,363,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1523,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,-0.64,-97.3,552.2,-8.2,373,7723,0.15,0.00,0.00,0.000,6,0.254,0.000,1976,1523,3455,0,0,0,0,0,0,14.21,28.83,28.83
$GC,8022,-0.64,-97.3,575.1,-7.8,383,8026,0.00,1.95,0.00,0.000,4,0.000,0.086,1976,466,3455,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8201,-0.63,-97.3,589.5,-8.7,389,8204,0.00,1.80,0.00,0.000,6,0.000,0.044,1971,1520,3454,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8501,-0.63,-97.3,614.2,-7.5,399,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1521,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,-0.63,-97.3,633.9,-6.2,409,8806,0.00,1.95,0.00,0.000,4,0.000,0.085,1971,465,3452,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8906,-0.61,-97.3,640.6,-6.5,413,8910,0.00,1.80,0.00,0.000,6,0.000,0.044,1963,1520,3449,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9225,-0.60,-97.3,657.0,-5.0,424,9227,0.15,0.00,0.00,0.000,6,0.246,0.000,1996,1519,3451,0,0,0,0,0,0,14.17,28.83,28.83
$GC,9522,-0.65,-97.3,673.3,-6.3,434,9526,0.00,1.98,0.00,0.000,4,0.000,0.088,1996,460,3450,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9687,-0.68,-97.3,685.4,-7.5,440,9691,0.00,1.83,0.00,0.000,6,0.000,0.044,1992,1520,3450,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10003,-0.73,-97.3,710.6,-8.3,451,10008,0.12,1.95,0.00,0.000,4,0.140,0.088,1946,466,3449,0,0,0,0,0,0,14.59,14.21,28.83
$GC,10230,-0.69,-97.3,732.3,-9.6,459,10234,0.00,1.83,0.00,0.000,6,0.000,0.045,1938,1521,3448,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10546,-0.67,-97.3,758.5,-7.7,470,10551,0.15,1.98,0.00,0.000,4,0.260,0.089,1975,464,3446,0,0,0,0,0,0,14.09,14.16,28.83
$GC,10605,-0.64,-97.3,761.8,-7.3,472,10609,0.00,1.83,0.00,0.000,6,0.000,0.045,1964,1520,3446,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10904,-0.64,-97.3,779.9,-5.5,482,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1521,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11206,-0.64,-97.3,795.7,-5.4,492,11210,0.00,1.98,0.00,0.000,4,0.000,0.090,1964,466,3445,0,0,0,0,0,0,28.83,14.14,28.83
$GC,11294,-0.62,-97.3,800.4,-5.9,495,11298,0.12,1.85,0.00,0.000,6,0.262,0.046,1981,1523,3444,0,0,0,0,0,0,13.95,14.38,28.83
$GC,11599,-0.67,-97.3,819.0,-6.2,505,11606,0.00,2.00,0.00,0.000,4,0.000,0.090,1981,459,3443,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11699,-0.69,-97.3,825.6,-7.0,508,11702,0.00,1.85,0.00,0.000,6,0.000,0.046,1977,1524,3443,0,0,0,0,0,0,28.83,14.39,28.83
$GC,12000,-0.73,-97.3,850.0,-8.1,518,12003,0.00,2.00,0.00,0.000,4,0.000,0.090,1977,463,3442,0,0,0,0,0,0,28.83,14.10,28.83
$GC,12106,-0.75,-97.3,859.0,-8.5,522,12110,0.00,1.85,0.00,0.000,6,0.000,0.046,1970,1525,3442,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12422,-0.78,-97.3,883.8,-7.7,533,12426,0.00,2.00,0.00,0.000,4,0.000,0.091,1970,466,3440,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12510,-0.80,-97.3,889.8,-7.9,536,12513,0.00,1.85,0.00,0.000,6,0.000,0.047,1962,1526,3440,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12809,-0.80,-97.3,912.0,-6.9,546,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1528,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13110,-0.80,-97.3,932.9,-7.0,556,13114,0.00,2.00,0.00,0.000,4,0.000,0.092,1962,467,3438,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13169,-0.79,-97.3,936.3,-7.2,558,13172,0.00,1.85,0.00,0.000,6,0.000,0.047,1954,1521,3441,0,0,0,0,0,0,28.83,14.33,28.83
$GC,13472,-0.77,-97.3,958.9,-7.1,568,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1523,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13771,-0.76,-97.3,979.2,-6.6,578,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1522,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13796,begin apogee
$GC,13804,-0.18,0.0,981.0,-6.5,579,13932,0.68,0.00,115.97,1.865,6,0.217,0.000,2125,1397,3062,0,0,0,0,1,0,13.71,28.83,12.89
$STATE,13934,end apogee,CONTROL_FINISHED_OK
$STATE,13934,begin climb
$GC,13938,0.60,97.3,985.1,0.0,583,14075,0.82,1.92,126.03,1.836,4,0.108,0.057,2383,2459,2665,0,0,0,0,1,0,14.21,14.19,12.96
$GC,14295,0.58,141.5,979.9,4.2,596,14371,0.00,1.95,65.62,1.630,6,0.000,0.074,2391,1392,2485,0,0,0,0,1,0,28.83,14.42,13.07
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$STATE,28078,end climb,SURFACE_DEPTH_REACHED
$STATE,28078,begin surface coast
$FINISH,0.1,1.025691
$STATE,28094,end surface coast,CONTROL_FINISHED_OK
$STATE,28095,begin surface
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$HUMID,57.67
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$XPDR_PINGS,5
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$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$MEM,345556
$DATA_FILE_SIZE,43289,1163
$CAP_FILE_SIZE,257256,0
$CFSIZE,260034560,198418432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,11,1,0
$CURRENT,0.094,345.2,1
$GPS,080213,081004,2500.960,-3812.314,29,0.8,29,-14.0