version: 66.11
glider: 191
mission: 5
dive: 442
start: 2 9 113 0 25 43
data:
$ID,191
$MISSION,5
$DIVE,442
$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,-5160.8813
$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,58
$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
$GPS1,090213,001529,2458.434,-3814.107,38,0.8,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-52.8
$GPS2,090213,002513,2458.473,-3814.096,19,1.3,19,-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,223.7,64017,-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,-57.20,0.000,6,0.000,0.000,153,1532,3459,0,0,0,0,0,0,28.83,28.83,14.74
$GC,87,-0.60,-97.3,4.7,-10.1,4,102,9.95,1.92,0.00,0.000,4,0.409,0.076,1997,463,3461,1,0,0,0,0,0,13.63,14.42,28.83
$GC,309,-0.57,-97.3,31.2,-8.6,19,313,0.00,1.77,0.00,0.000,6,0.000,0.041,1992,1511,3463,0,0,0,0,0,0,28.83,14.50,28.83
$GC,610,-0.56,-97.3,54.2,-7.5,39,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1512,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,910,-0.55,-97.3,78.9,-8.4,59,911,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1513,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1210,-0.53,-97.3,104.4,-8.4,79,1213,0.00,1.92,0.00,0.000,4,0.000,0.083,1992,460,3464,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1270,-0.51,-97.3,109.5,-8.5,83,1274,0.15,1.80,0.00,0.000,6,0.236,0.041,2017,1526,3464,0,0,0,0,0,0,14.15,14.54,28.83
$GC,1570,-0.53,-97.3,126.8,-5.2,103,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.58,-97.3,143.5,-6.7,123,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1527,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2170,-0.64,-97.3,164.1,-6.8,143,2174,0.12,1.95,0.00,0.000,4,0.133,0.083,1968,457,3464,0,0,0,0,0,0,14.62,14.32,28.83
$GC,2395,-0.61,-97.3,182.7,-8.5,158,2399,0.15,1.80,0.00,0.000,6,0.239,0.042,1992,1521,3464,0,0,0,0,0,0,14.12,14.53,28.83
$GC,2696,-0.61,-97.3,202.1,-6.2,178,2699,0.00,1.92,0.00,0.000,4,0.000,0.083,1993,464,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2815,-0.61,-97.3,211.0,-7.6,186,2818,0.00,1.77,0.00,0.000,6,0.000,0.041,1987,1520,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3115,-0.61,-97.3,233.7,-7.6,206,3118,0.00,1.92,0.00,0.000,4,0.000,0.083,1987,464,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3175,-0.59,-97.3,238.8,-8.4,210,3179,0.00,1.77,0.00,0.000,6,0.000,0.041,1980,1519,3464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3478,-0.59,-97.3,261.3,-7.1,225,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1520,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.59,-97.3,279.6,-5.7,235,3778,0.00,1.92,0.00,0.000,4,0.000,0.084,1979,464,3463,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3924,-0.57,-97.3,288.8,-6.8,240,3928,0.12,1.77,0.00,0.000,6,0.252,0.043,1997,1519,3463,0,0,0,0,0,0,14.18,14.57,28.83
$GC,4228,-0.58,-97.3,308.2,-6.4,250,4232,0.00,1.95,0.00,0.000,4,0.000,0.084,1997,460,3462,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4284,-0.58,-97.3,311.3,-6.6,252,4288,0.00,1.80,0.00,0.000,6,0.000,0.041,1992,1526,3462,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4587,-0.58,-97.3,331.0,-5.7,262,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1527,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,-0.58,-97.3,346.6,-5.3,272,4889,0.00,1.95,0.00,0.000,4,0.000,0.086,1993,463,3461,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5035,-0.58,-97.3,356.2,-7.2,277,5039,0.00,1.80,0.00,0.000,6,0.000,0.042,1984,1526,3461,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5335,-0.58,-97.3,380.8,-8.0,287,5339,0.00,1.95,0.00,0.000,4,0.000,0.085,1984,464,3460,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5454,-0.58,-97.3,389.9,-8.6,291,5458,0.00,1.80,0.00,0.000,6,0.000,0.042,1977,1526,3460,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5757,-0.58,-97.3,413.2,-7.0,301,5760,0.00,1.95,0.00,0.000,4,0.000,0.085,1976,463,3458,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5875,-0.57,-97.3,420.7,-7.1,305,5879,0.15,1.80,0.00,0.000,6,0.242,0.042,2001,1523,3458,0,0,0,0,0,0,14.11,14.53,28.83
$GC,6180,-0.62,-97.3,439.2,-6.0,315,6187,0.00,1.95,0.00,0.000,4,0.000,0.085,2001,467,3458,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6281,-0.65,-97.3,444.7,-6.1,318,6284,0.00,1.80,0.00,0.000,6,0.000,0.042,1996,1524,3458,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6582,-0.70,-97.3,464.3,-6.3,328,6586,0.00,1.95,0.00,0.000,4,0.000,0.085,1996,464,3457,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6716,-0.73,-97.3,473.5,-6.9,333,6720,0.12,1.80,0.00,0.000,6,0.141,0.042,1945,1523,3457,0,0,0,0,0,0,14.40,14.52,28.83
$GC,7034,-0.70,-97.3,496.6,-7.2,344,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1524,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7332,-0.67,-97.3,518.4,-7.4,354,7335,0.00,1.95,0.00,0.000,4,0.000,0.086,1946,465,3455,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7466,-0.63,-97.3,530.4,-8.9,359,7470,0.20,1.80,0.00,0.000,6,0.254,0.043,1981,1520,3455,0,0,0,0,0,0,13.97,14.52,28.83
$GC,7785,-0.63,-97.3,555.4,-8.1,370,7792,0.00,1.95,0.00,0.000,4,0.000,0.086,1981,464,3454,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7855,-0.63,-97.3,560.6,-8.3,372,7858,0.00,1.80,0.00,0.000,6,0.000,0.044,1976,1520,3454,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8156,-0.63,-97.3,584.6,-7.3,382,8160,0.00,1.95,0.00,0.000,4,0.000,0.087,1976,466,3453,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8214,-0.63,-97.3,588.0,-7.3,384,8218,0.00,1.80,0.00,0.000,6,0.000,0.044,1968,1520,3452,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8516,-0.63,-97.3,611.0,-7.3,394,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1521,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8816,-0.63,-97.3,633.0,-7.5,404,8820,0.00,1.95,0.00,0.000,4,0.000,0.087,1968,465,3450,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8921,-0.61,-97.3,641.8,-8.3,408,8925,0.12,1.83,0.00,0.000,6,0.261,0.044,1985,1525,3450,0,0,0,0,0,0,14.04,14.46,28.83
$GC,9239,-0.65,-97.3,665.0,-7.6,419,9246,0.00,1.98,0.00,0.000,4,0.000,0.088,1985,463,3450,0,0,0,0,0,0,28.83,14.21,28.83
$GC,9356,-0.68,-97.3,674.6,-8.0,423,9359,0.00,1.83,0.00,0.000,6,0.000,0.043,1981,1527,3449,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9675,-0.72,-97.3,698.2,-7.5,434,9682,0.00,1.98,0.00,0.000,4,0.000,0.089,1981,466,3448,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9805,-0.74,-97.3,707.4,-7.6,438,9809,0.00,1.83,0.00,0.000,6,0.000,0.044,1974,1526,3448,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10107,-0.77,-97.3,729.9,-7.1,448,10111,0.00,1.98,0.00,0.000,4,0.000,0.088,1974,466,3447,0,0,0,0,0,0,28.83,14.15,28.83
$GC,10224,-0.77,-97.3,737.8,-7.5,452,10228,0.00,1.83,0.00,0.000,6,0.000,0.044,1966,1522,3446,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10525,-0.77,-97.3,759.5,-6.9,462,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1524,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10826,-0.77,-97.3,779.6,-6.6,472,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1524,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11125,-0.77,-97.3,798.6,-6.2,482,11129,0.00,1.98,0.00,0.000,4,0.000,0.090,1966,468,3443,0,0,0,0,0,0,28.83,14.13,28.83
$GC,11262,-0.76,-97.3,807.3,-6.6,487,11265,0.00,1.83,0.00,0.000,6,0.000,0.047,1959,1520,3443,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11578,-0.74,-97.3,829.1,-7.1,498,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1521,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11876,-0.74,-97.3,852.0,-7.7,508,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1521,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12175,-0.74,-97.3,874.4,-7.4,518,12179,0.00,2.00,0.00,0.000,4,0.000,0.091,1959,461,3440,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12281,-0.72,-97.3,882.8,-8.0,522,12285,0.00,1.85,0.00,0.000,6,0.000,0.047,1951,1522,3439,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12599,-0.71,-97.3,904.4,-6.6,533,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12896,-0.69,-97.3,925.4,-7.3,543,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1524,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13197,-0.68,-97.3,947.8,-7.5,553,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1524,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13496,-0.67,-97.3,970.1,-7.3,563,13500,0.00,2.00,0.00,0.000,4,0.000,0.093,1951,467,3436,0,0,0,0,0,0,28.83,14.01,28.83
$GC,13616,-0.64,-97.3,978.1,-7.6,567,13620,0.17,1.85,0.00,0.000,6,0.256,0.048,1980,1520,3435,0,0,0,0,0,0,13.76,14.32,28.83
$STATE,13642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13643,begin apogee
$GC,13650,-0.18,0.0,981.1,-7.4,568,13777,0.55,0.00,114.93,1.846,6,0.205,0.000,2126,1395,3062,0,0,0,0,1,0,13.75,28.83,12.90
$STATE,13779,end apogee,CONTROL_FINISHED_OK
$STATE,13779,begin climb
$GC,13783,0.60,97.3,985.6,0.0,572,13921,0.82,1.92,126.15,1.836,4,0.111,0.057,2380,2459,2663,0,0,0,0,1,0,14.21,14.19,12.95
$GC,14141,0.59,155.6,982.4,3.6,585,14232,0.00,1.92,81.55,1.720,6,0.000,0.074,2392,1401,2427,0,0,0,0,1,0,28.83,14.42,13.03
$GC,14546,0.54,170.6,960.6,5.4,599,14586,0.00,0.00,32.62,1.186,6,0.000,0.000,2392,1401,2365,0,0,0,0,1,0,28.83,28.83,13.19
$GC,14878,0.48,170.6,940.5,6.4,610,14883,0.20,1.98,0.00,0.000,4,0.264,0.098,2354,349,2364,0,0,0,0,0,0,14.16,14.37,28.83
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$STATE,27628,end climb,SURFACE_DEPTH_REACHED
$STATE,27628,begin surface coast
$FINISH,0.1,1.025676
$STATE,27645,end surface coast,CONTROL_FINISHED_OK
$STATE,27645,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,57.71
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,25.30
$XPDR_PINGS,1
$SC_FREEKB,7600384
$24V_AH,12.9,208.261
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.925,170.925,763.875,0.000,0.000,0.000,0.000,313.875,0.250,0.000,20.171,3252.415,20922.590,1072.301,2361.839,686.438,0.000,2419.743,0.000,1964.768,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.131,0.000,0.000,0.000
$MEM,345536
$DATA_FILE_SIZE,43313,1137
$CAP_FILE_SIZE,250567,0
$CFSIZE,260034560,198062080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,13,1,0
$CURRENT,0.074,355.3,1
$GPS,090213,080904,2457.227,-3815.108,31,1.2,31,-14.0