version: 66.10
glider: 176
mission: 5
dive: 196
start: 4 20 112 3 28 5
data:
$ID,176
$MISSION,5
$DIVE,196
$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,-7689.7036
$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,2514
$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
$GPS1,200412,032007,1819.683,12435.766,36,0.8,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.9
$GPS2,200412,032738,1819.716,12435.765,11,1.6,11,-2.1
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,174.7,55050,-13.1,-7.500
$D_GRID,5465
$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,-40.30,0.000,2,0.000,0.000,188,2702,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.2,-5.8,7,105,8.62,2.28,-23.73,0.000,4,0.233,0.041,2346,1158,3527,0,0,0,0,0,0,25.40,26.15,26.51
$GC,111,-0.51,-146.0,13.9,-21.4,12,119,0.10,2.22,0.00,0.000,6,0.201,0.039,2358,2638,3527,0,0,0,0,0,0,25.83,26.09,28.83
$GC,423,-0.51,-146.0,125.1,-29.2,73,431,0.00,2.15,0.00,0.000,4,0.000,0.026,2358,1148,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,477,-0.51,-146.0,138.1,-18.3,83,484,0.00,2.25,0.00,0.000,6,0.000,0.042,2348,2639,3528,0,0,0,0,0,0,28.83,26.25,28.83
$GC,790,-0.51,-146.0,209.6,-21.6,140,799,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1156,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,905,-0.51,-146.0,228.2,-14.8,151,912,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2637,3529,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1213,-0.51,-146.0,284.1,-17.4,182,1222,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1154,3529,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1255,-0.51,-146.0,291.1,-16.3,186,1264,0.08,2.20,0.00,0.000,6,0.186,0.044,2356,2633,3529,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1565,-0.51,-146.0,335.6,-14.2,217,1576,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1148,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1598,-0.51,-146.0,340.2,-13.6,220,1607,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2636,3529,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1908,-0.51,-146.0,378.8,-11.7,251,1917,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1152,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1962,-0.51,-146.0,384.2,-10.4,256,1969,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2638,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2271,-0.51,-146.0,421.0,-12.4,287,2279,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1149,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2312,-0.51,-146.0,426.0,-11.6,291,2321,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2633,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2624,-0.51,-146.0,461.1,-10.8,322,2633,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1148,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2655,-0.51,-146.0,464.5,-10.6,325,2665,0.00,2.22,0.00,0.000,6,0.000,0.043,2356,2638,3523,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2966,-0.51,-146.0,495.7,-9.9,356,2970,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1152,3521,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3007,-0.51,-146.0,500.1,-10.4,360,3016,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2640,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3317,-0.51,-146.0,531.9,-10.1,391,3326,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1154,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3353,-0.51,-146.0,535.0,-10.1,394,3360,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2630,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3658,-0.51,-146.0,563.5,-8.8,425,3662,0.00,1.70,0.00,0.000,4,0.000,0.055,2357,3766,3515,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3680,-0.51,-146.0,565.4,-8.9,427,3683,0.00,1.70,0.00,0.000,6,0.000,0.023,2356,2500,3515,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3993,-0.51,-146.0,592.2,-8.4,458,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2484,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4311,-0.51,-146.0,620.0,-8.8,479,4317,0.00,1.98,0.00,0.000,4,0.000,0.055,2356,3772,3510,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4350,-0.51,-146.0,623.6,-8.7,481,4354,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2513,3510,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4671,-0.51,-146.0,650.6,-8.3,497,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2496,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4972,-0.51,-146.0,675.9,-8.4,512,4978,0.00,1.95,0.00,0.000,4,0.000,0.054,2357,3766,3505,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4994,-0.51,-146.0,677.6,-8.5,513,4998,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2486,3505,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5311,-0.51,-146.0,705.5,-8.8,529,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2482,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5612,-0.51,-146.0,730.4,-7.8,544,5617,0.00,1.98,0.00,0.000,4,0.000,0.056,2356,3765,3501,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5644,-0.51,-146.0,731.9,-7.7,545,5652,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2495,3501,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5951,-0.51,-146.0,754.4,-6.6,561,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2494,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6252,-0.51,-146.0,773.6,-6.4,576,6258,0.00,1.95,0.00,0.000,4,0.000,0.055,2356,3763,3497,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6292,-0.51,-146.0,776.4,-6.6,578,6295,0.00,1.70,0.00,0.000,6,0.000,0.024,2356,2502,3496,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6614,-0.51,-146.0,798.7,-7.4,594,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2468,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6914,-0.51,-146.0,822.1,-8.0,609,6919,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3758,3493,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6973,-0.51,-146.0,827.0,-8.1,612,6976,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2510,3493,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7295,-0.51,-146.0,852.0,-7.6,628,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2488,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7594,-0.51,-146.0,872.6,-6.5,643,7600,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3765,3490,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7627,-0.51,-146.0,873.9,-6.5,644,7634,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2488,3489,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7935,-0.51,-146.0,893.7,-6.1,660,7938,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3773,3488,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7978,-0.51,-146.0,896.4,-6.2,662,7982,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2510,3487,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8300,-0.51,-146.0,917.3,-6.6,678,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2473,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8600,-0.51,-146.0,937.3,-6.6,693,8606,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3753,3485,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8623,-0.51,-146.0,938.7,-6.5,694,8626,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2503,3485,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8940,-0.51,-146.0,958.7,-6.0,710,8946,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3485,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8968,-0.51,-146.0,960.0,-6.1,711,8972,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2513,3484,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9281,-0.51,-146.0,978.1,-5.4,727,9286,0.00,1.98,0.00,0.000,4,0.000,0.057,2357,3760,3484,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9314,-0.51,-146.0,979.3,-5.6,728,9320,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2488,3484,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9498,begin apogee
$GC,9503,-0.17,0.0,990.8,-5.8,738,9628,0.30,0.00,121.00,1.743,6,0.107,0.000,2464,2488,2928,0,0,0,0,0,0,26.01,28.83,23.26
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9633,0.51,146.0,994.3,0.0,744,9782,0.60,2.38,140.88,1.701,4,0.047,0.031,2719,1061,2332,0,0,0,0,0,0,24.75,23.85,22.54
$GC,9838,0.51,146.0,980.9,13.3,755,9843,0.20,2.38,0.00,0.000,6,0.173,0.045,2669,2518,2325,0,0,0,0,0,0,24.43,24.70,28.83
$GC,10157,0.51,146.0,940.0,12.5,771,10162,0.00,1.95,0.00,0.000,4,0.000,0.054,2669,3772,2322,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10198,0.51,146.0,934.4,13.2,773,10202,0.00,1.98,0.00,0.000,6,0.000,0.025,2679,2454,2321,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10516,0.51,146.0,891.8,13.3,789,10521,0.00,2.05,0.00,0.000,4,0.000,0.031,2689,1049,2319,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10539,0.51,146.0,889.2,13.2,790,10544,0.08,2.28,0.00,0.000,6,0.197,0.045,2674,2527,2318,0,0,0,0,0,0,25.89,26.02,28.83
$GC,10852,0.51,146.0,848.1,12.9,806,10857,0.00,1.92,0.00,0.000,4,0.000,0.054,2674,3774,2317,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10891,0.51,146.0,842.4,13.6,808,10896,0.00,1.92,0.00,0.000,6,0.000,0.025,2682,2445,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11212,0.51,146.0,802.2,11.7,824,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2441,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11511,0.51,146.0,767.2,11.2,839,11517,0.00,2.08,0.00,0.000,4,0.000,0.054,2682,3765,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11600,0.51,146.0,756.3,13.7,843,11605,0.10,1.90,0.00,0.000,6,0.213,0.024,2670,2440,2314,0,0,0,0,0,0,25.95,26.35,28.83
$GC,11907,0.51,146.0,724.7,9.4,858,11912,0.00,2.05,0.00,0.000,4,0.000,0.054,2670,3764,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11954,0.51,146.0,720.1,10.3,860,11957,0.00,1.88,0.00,0.000,6,0.000,0.024,2679,2449,2314,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12267,0.51,146.0,687.0,10.4,876,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2445,2314,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19466,end climb,SURFACE_DEPTH_REACHED
$STATE,19466,begin surface coast
$FINISH,2.3,1.021755
$STATE,19481,end surface coast,CONTROL_FINISHED_OK
$STATE,19481,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.49
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,10.1,25.514
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.900,166.850,437.025,0.000,0.000,43.251,30.191,232.656,0.000,0.000,14.506,4345.630,11244.652,589.043,3403.504,397.605,0.000,2191.983,0.000,2872.111,0.000,0.543,0.000
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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,329408
$DATA_FILE_SIZE,127157,1719
$CAP_FILE_SIZE,198028,0
$CFSIZE,260165632,204009472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,221.9,1
$GPS,200412,085507,1817.078,12436.034,33,1.1,33,-2.1