version: 66.10
glider: 176
mission: 5
dive: 121
start: 4 3 112 5 5 47
data:
$ID,176
$MISSION,5
$DIVE,121
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7580.5845
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2510
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,030412,045836,2004.127,12318.979,36,0.9,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.9
$GPS2,030412,050520,2004.092,12319.165,14,1.0,14,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1930.000,12325.000
$TGT_RADIUS,2000.000
$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,203.8,63954,-13.1,-7.500
$D_GRID,5252
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.38,0.000,2,0.000,0.000,190,2646,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.2,-6.7,7,98,8.60,0.00,-23.25,0.000,6,0.237,0.000,2344,2646,3527,0,0,0,0,0,0,25.56,28.83,26.46
$GC,404,-0.51,-146.0,108.8,-30.3,70,411,0.00,1.70,0.00,0.000,4,0.000,0.052,2336,3776,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,453,-0.51,-146.0,124.8,-28.5,79,460,0.08,1.73,0.00,0.000,6,0.194,0.024,2354,2538,3527,0,0,0,0,0,0,26.17,26.39,28.83
$GC,764,-0.51,-146.0,196.5,-21.0,140,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2534,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1073,-0.51,-146.0,257.7,-19.1,172,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2534,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.51,-146.0,310.3,-16.1,202,1383,0.00,1.92,0.00,0.000,4,0.000,0.028,2354,1151,3528,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1445,-0.51,-146.0,320.6,-12.9,209,1455,0.00,2.22,0.00,0.000,6,0.000,0.047,2347,2628,3528,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1757,-0.51,-146.0,368.4,-14.1,240,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-0.51,-146.0,409.1,-12.3,270,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-0.51,-146.0,448.0,-12.8,300,2366,0.00,2.08,0.00,0.000,4,0.000,0.025,2347,1153,3526,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2471,-0.51,-146.0,460.4,-10.2,311,2479,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2629,3525,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2779,-0.51,-146.0,493.8,-11.3,342,2782,0.00,1.73,0.00,0.000,4,0.000,0.055,2340,3774,3523,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2802,-0.51,-146.0,496.3,-11.6,344,2809,0.00,1.73,0.00,0.000,6,0.000,0.023,2340,2514,3522,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3109,-0.51,-146.0,534.5,-12.6,375,3113,0.00,1.92,0.00,0.000,4,0.000,0.026,2340,1144,3521,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3218,-0.51,-146.0,546.4,-10.7,385,3227,0.08,2.25,0.00,0.000,6,0.184,0.045,2355,2634,3521,0,0,0,0,0,0,26.32,26.44,28.83
$GC,3525,-0.51,-146.0,578.0,-9.2,416,3527,0.05,0.00,0.00,0.000,6,0.178,0.000,2302,2634,3518,0,0,0,0,0,0,26.71,28.83,28.83
$GC,3836,-0.51,-146.0,618.7,-13.2,440,3842,0.15,2.10,0.00,0.000,4,0.155,0.024,2354,1151,3515,0,0,0,0,0,0,26.33,26.56,28.83
$GC,3896,-0.51,-146.0,624.5,-10.3,443,3902,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2633,3515,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4216,-0.51,-146.0,654.2,-9.0,459,4221,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1152,3513,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4255,-0.51,-146.0,657.5,-8.6,461,4261,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2630,3512,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4576,-0.51,-146.0,685.5,-9.5,477,4582,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1152,3510,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4628,-0.51,-146.0,689.2,-9.3,479,4635,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3509,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4936,-0.51,-146.0,718.2,-9.2,495,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5236,-0.51,-146.0,744.2,-8.8,510,5242,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1150,3505,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5278,-0.51,-146.0,747.6,-8.7,512,5283,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2634,3505,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5591,-0.51,-146.0,775.1,-8.6,528,5597,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1145,3502,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5638,-0.51,-146.0,778.3,-8.3,530,5643,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2629,3502,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5951,-0.51,-146.0,803.3,-7.6,546,5957,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1154,3499,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5999,-0.51,-146.0,806.4,-7.8,548,6003,0.00,2.25,0.00,0.000,6,0.000,0.049,2348,2626,3499,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6306,-0.51,-146.0,832.6,-8.5,563,6311,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1154,3498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6345,-0.51,-146.0,836.1,-8.7,565,6351,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2633,3498,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6666,-0.51,-146.0,864.3,-8.8,581,6671,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1145,3496,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6693,-0.51,-146.0,866.0,-8.7,582,6698,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2626,3496,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7001,-0.51,-146.0,892.9,-8.6,597,7007,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1155,3494,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7061,-0.51,-146.0,898.2,-8.7,600,7067,0.00,2.28,0.00,0.000,6,0.000,0.049,2348,2633,3494,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7381,-0.51,-146.0,925.1,-8.3,616,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2633,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,-0.51,-146.0,950.2,-8.2,631,7687,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1151,3490,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7721,-0.51,-146.0,953.4,-8.0,633,7726,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2628,3490,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8041,-0.51,-146.0,977.3,-7.2,649,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2628,3489,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8219,begin apogee
$GC,8225,-0.17,0.0,991.1,-7.7,658,8355,0.32,0.10,122.32,1.740,6,0.111,0.070,2463,2535,2928,0,0,0,0,0,0,26.12,24.58,23.55
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8358,0.51,146.0,995.2,0.0,664,8506,0.60,2.45,138.32,1.702,4,0.052,0.033,2709,1065,2332,0,0,0,0,0,0,24.84,23.99,22.86
$GC,8557,0.51,146.0,985.1,11.9,674,8566,0.17,2.40,0.00,0.000,6,0.182,0.047,2668,2521,2326,0,0,0,0,0,0,24.52,24.73,28.83
$GC,8864,0.51,146.0,944.1,12.5,690,8868,0.00,1.95,0.00,0.000,4,0.000,0.057,2667,3767,2323,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8938,0.51,146.0,935.1,14.1,693,8945,0.00,1.95,0.00,0.000,6,0.000,0.026,2677,2446,2321,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9246,0.51,146.0,892.0,13.4,709,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2442,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9546,0.51,146.0,850.8,13.7,724,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2442,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,0.51,146.0,808.9,14.0,739,9850,0.00,2.05,0.00,0.000,4,0.000,0.034,2685,1053,2317,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9875,0.51,146.0,805.9,13.9,740,9880,0.08,2.25,0.00,0.000,6,0.207,0.047,2670,2524,2316,0,0,0,0,0,0,26.01,26.16,28.83
$GC,10183,0.51,146.0,766.5,12.5,755,10189,0.00,2.17,0.00,0.000,4,0.000,0.031,2681,1052,2315,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10230,0.51,146.0,761.6,12.4,757,10235,0.05,2.25,0.00,0.000,6,0.223,0.047,2670,2520,2314,0,0,0,0,0,0,26.10,26.19,28.83
$GC,10538,0.51,146.0,722.9,11.8,772,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2520,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10838,0.51,146.0,690.5,10.6,787,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2520,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11137,0.51,146.0,658.3,11.0,802,11143,0.00,2.17,0.00,0.000,4,0.000,0.032,2680,1054,2314,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11178,0.51,146.0,654.2,10.4,804,11184,0.05,2.22,0.00,0.000,6,0.223,0.046,2670,2520,2313,0,0,0,0,0,0,26.15,26.24,28.83
$GC,11497,0.51,146.0,620.3,10.4,820,11501,0.00,1.90,0.00,0.000,4,0.000,0.055,2670,3765,2313,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11533,0.51,146.0,615.9,11.1,822,11537,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2440,2313,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11841,0.51,146.0,580.2,11.0,846,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2436,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12142,0.51,146.0,549.9,10.0,876,12151,0.00,2.00,0.00,0.000,4,0.000,0.054,2679,3756,2312,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12234,0.51,146.0,539.4,11.5,885,12238,0.05,1.90,0.00,0.000,6,0.194,0.023,2663,2445,2312,0,0,0,0,0,0,26.01,26.50,28.83
$GC,12546,0.51,146.0,512.7,7.8,916,12556,0.05,2.03,0.00,0.000,4,0.179,0.031,2711,1056,2311,0,0,0,0,0,0,26.60,26.34,28.83
$GC,12638,0.51,146.0,504.4,9.1,925,12648,0.17,2.22,0.00,0.000,6,0.171,0.044,2665,2520,2311,0,0,0,0,0,0,25.86,26.27,28.83
$GC,12949,0.51,146.0,478.9,8.8,956,12953,0.00,1.90,0.00,0.000,4,0.000,0.054,2664,3782,2311,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13094,0.51,146.0,463.3,10.8,970,13101,0.00,1.90,0.00,0.000,6,0.000,0.024,2674,2434,2311,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13400,0.51,146.0,437.5,7.7,1001,13409,0.00,2.03,0.00,0.000,4,0.000,0.034,2684,1053,2311,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18572,begin surface coast
$FINISH,0.8,1.022360
$STATE,18595,end surface coast,CONTROL_FINISHED_OK
$STATE,18595,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,41.96
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$XPDR_PINGS,0
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$10V_AH,10.1,16.022
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329428
$DATA_FILE_SIZE,130448,1741
$CAP_FILE_SIZE,192128,0
$CFSIZE,260165632,212062208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,146.1,1
$GPS,030412,101724,2001.332,12318.852,23,1.0,41,-2.4