version: 66.10
glider: 176
mission: 5
dive: 214
start: 4 24 112 8 36 52
data:
$ID,176
$MISSION,5
$DIVE,214
$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,-3
$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,-7715.0488
$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
$GPS1,240412,082831,1752.994,12424.577,39,1.4,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.6
$GPS2,240412,083625,1753.018,12424.600,9,1.1,14,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,287.8,236172,-13.1,-7.500
$D_GRID,4432
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.53,0.000,2,0.000,0.000,177,2643,2269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.1,-6.9,8,110,8.68,2.22,-27.05,0.000,4,0.230,0.041,2346,1148,3528,0,0,0,0,0,0,25.41,26.19,26.56
$GC,333,-0.51,-146.0,65.9,-23.5,53,341,0.10,2.28,0.00,0.000,6,0.179,0.049,2361,2633,3528,0,0,0,0,0,0,26.01,26.19,28.83
$GC,661,-0.51,-146.0,159.8,-25.8,114,669,0.05,2.10,0.00,0.000,4,0.175,0.023,2315,1151,3528,0,0,0,0,0,0,26.62,26.45,28.83
$GC,696,-0.51,-146.0,168.9,-24.6,120,703,0.17,2.22,0.00,0.000,6,0.158,0.045,2354,2629,3528,0,0,0,0,0,0,26.01,26.31,28.83
$GC,1007,-0.51,-146.0,237.2,-17.9,163,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2629,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1308,-0.51,-146.0,290.2,-18.0,193,1317,0.00,2.08,0.00,0.000,4,0.000,0.027,2354,1163,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1431,-0.51,-146.0,307.2,-12.1,205,1440,0.00,2.20,0.00,0.000,6,0.000,0.045,2348,2630,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1740,-0.51,-146.0,357.3,-16.2,236,1748,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1145,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1792,-0.51,-146.0,364.6,-13.8,241,1802,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2633,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2101,-0.51,-146.0,404.2,-12.4,272,2110,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1150,3525,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2135,-0.51,-146.0,407.9,-12.2,275,2142,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2633,3525,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2443,-0.51,-146.0,446.7,-13.2,306,2447,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1148,3522,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2504,-0.51,-146.0,454.4,-11.8,312,2513,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2630,3522,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2814,-0.51,-146.0,492.9,-11.9,343,2823,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1149,3520,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2878,-0.51,-146.0,499.5,-10.4,349,2886,0.00,2.25,0.00,0.000,6,0.000,0.047,2343,2628,3519,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3185,-0.51,-146.0,534.6,-11.1,380,3189,0.00,1.73,0.00,0.000,4,0.000,0.055,2336,3769,3517,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3208,-0.51,-146.0,537.1,-11.4,382,3216,0.05,1.73,0.00,0.000,6,0.126,0.022,2360,2485,3516,0,0,0,0,0,0,26.39,26.65,28.83
$GC,3516,-0.51,-146.0,565.5,-8.6,413,3518,0.05,0.00,0.00,0.000,6,0.174,0.000,2304,2485,3513,0,0,0,0,0,0,26.69,28.83,28.83
$GC,3817,-0.51,-146.0,605.0,-12.8,441,3819,0.17,0.00,0.00,0.000,6,0.145,0.000,2358,2484,3511,0,0,0,0,0,0,26.27,28.83,28.83
$GC,4117,-0.51,-146.0,630.3,-8.2,456,4123,0.00,1.95,0.00,0.000,4,0.000,0.056,2357,3774,3508,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4169,-0.51,-146.0,633.6,-8.3,458,4176,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2481,3507,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4477,-0.51,-146.0,660.4,-8.4,474,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2481,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.51,-146.0,683.8,-7.4,489,4783,0.00,1.98,0.00,0.000,4,0.000,0.056,2357,3766,3502,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4800,-0.51,-146.0,685.3,-7.3,490,4804,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2491,3501,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5119,-0.51,-146.0,707.4,-6.8,506,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2488,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5417,-0.51,-146.0,729.6,-7.8,521,5423,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3773,3497,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5480,-0.51,-146.0,734.3,-8.0,524,5484,0.00,1.73,0.00,0.000,6,0.000,0.023,2357,2484,3497,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5799,-0.51,-146.0,760.8,-8.1,540,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2478,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6097,-0.51,-146.0,785.3,-8.1,555,6103,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3492,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6152,-0.51,-146.0,788.3,-7.8,557,6159,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2468,3491,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6458,-0.51,-146.0,809.9,-6.2,573,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2468,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6758,-0.51,-146.0,827.5,-5.9,588,6763,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3763,3489,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6785,-0.51,-146.0,828.7,-5.8,589,6789,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2503,3488,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7098,-0.51,-146.0,847.5,-5.8,605,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2469,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,-0.51,-146.0,866.1,-6.5,620,7403,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3763,3485,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7451,-0.51,-146.0,868.8,-6.6,622,7458,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2468,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7758,-0.51,-146.0,890.1,-6.7,638,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2468,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8058,-0.51,-146.0,909.0,-6.1,653,8064,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3762,3482,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8098,-0.51,-146.0,911.6,-6.2,655,8102,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2475,3481,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8420,-0.51,-146.0,930.3,-5.8,671,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2471,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8720,-0.51,-146.0,947.4,-5.8,686,8726,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3764,3479,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8764,-0.51,-146.0,949.8,-5.7,688,8767,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2504,3479,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9080,-0.51,-146.0,969.0,-6.2,704,9085,0.00,2.03,0.00,0.000,4,0.000,0.056,2356,3763,3478,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9121,-0.51,-146.0,971.6,-6.3,706,9125,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2505,3478,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,9420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9420,begin apogee
$GC,9425,-0.17,0.0,990.9,-6.3,721,9553,0.30,0.08,120.10,1.735,6,0.105,0.095,2466,2436,2929,0,0,0,0,0,0,26.03,24.50,23.27
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9556,0.51,146.0,995.1,0.0,727,9706,0.60,2.35,140.85,1.697,4,0.048,0.055,2705,3763,2332,0,0,0,0,0,0,24.77,23.81,22.51
$GC,9746,0.51,146.0,984.1,13.4,737,9751,0.10,2.05,0.00,0.000,6,0.178,0.024,2675,2466,2328,0,0,0,0,0,0,24.36,24.72,28.83
$GC,10059,0.51,146.0,940.2,13.3,753,10065,0.00,2.08,0.00,0.000,4,0.000,0.055,2675,3771,2321,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10118,0.51,146.0,931.3,14.5,756,10125,0.05,1.95,0.00,0.000,6,0.262,0.026,2675,2441,2320,0,0,0,0,0,0,25.85,26.04,28.83
$GC,10439,0.51,146.0,891.1,12.1,772,10445,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1046,2318,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10491,0.51,146.0,886.7,11.6,774,10499,0.05,2.28,0.00,0.000,6,0.228,0.047,2674,2517,2316,0,0,0,0,0,0,25.98,26.08,28.83
$GC,10800,0.51,146.0,848.1,11.9,790,10805,0.00,1.95,0.00,0.000,4,0.000,0.056,2674,3773,2316,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10866,0.51,146.0,839.8,13.4,793,10870,0.00,1.92,0.00,0.000,6,0.000,0.025,2683,2445,2315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11181,0.51,146.0,800.6,11.9,809,11187,0.00,2.00,0.00,0.000,4,0.000,0.030,2693,1051,2315,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11233,0.51,146.0,796.2,11.5,811,11240,0.10,2.25,0.00,0.000,6,0.187,0.046,2670,2518,2313,0,0,0,0,0,0,25.92,26.15,28.83
$GC,11539,0.51,146.0,762.8,9.9,827,11543,0.00,1.92,0.00,0.000,4,0.000,0.056,2670,3767,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11575,0.51,146.0,758.7,10.5,829,11579,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2447,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11893,0.51,146.0,723.7,10.8,845,11898,0.00,2.05,0.00,0.000,4,0.000,0.055,2680,3766,2312,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11954,0.51,146.0,715.9,12.5,848,11959,0.05,1.92,0.00,0.000,6,0.191,0.024,2674,2444,2313,0,0,0,0,0,0,26.06,26.40,28.83
$GC,12272,0.51,146.0,680.4,10.4,864,12273,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2440,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12571,0.51,146.0,648.1,11.2,879,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2440,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12873,0.51,146.0,615.9,10.7,894,12878,0.00,2.03,0.00,0.000,4,0.000,0.032,2684,1054,2311,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12900,0.51,146.0,613.8,10.6,895,12905,0.03,2.25,0.00,0.000,6,0.276,0.045,2673,2518,2311,0,0,0,0,0,0,26.08,26.14,28.83
$GC,13207,0.51,146.0,583.8,8.8,918,13215,0.00,1.92,0.00,0.000,4,0.000,0.054,2673,3773,2311,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19726,end climb,SURFACE_DEPTH_REACHED
$STATE,19726,begin surface coast
$FINISH,0.8,1.009089
$STATE,19772,end surface coast,CONTROL_FINISHED_OK
$STATE,19773,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,41.53
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,25.50
$XPDR_PINGS,0
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$10V_AH,10.1,27.843
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.950,162.625,434.825,0.000,0.000,32.680,39.527,250.118,0.000,0.000,16.842,4450.841,11273.893,603.078,3548.675,413.993,0.000,2239.291,0.000,2961.260,0.000,0.542,0.000
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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,330020
$DATA_FILE_SIZE,130481,1770
$CAP_FILE_SIZE,205239,0
$CFSIZE,260165632,202051584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,135.5,1
$GPS,240412,140837,1752.928,12422.770,26,1.5,26,-2.0