version: 66.10
glider: 176
mission: 5
dive: 216
start: 4 24 112 19 50 52
data:
$ID,176
$MISSION,5
$DIVE,216
$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,-7717.7549
$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
$GPS1,240412,194306,1753.966,12420.539,35,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.0
$GPS2,240412,195025,1754.002,12420.607,10,1.3,15,-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,289.1,228938,-13.1,-7.500
$D_GRID,4654
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,60,0.00,0.00,-40.83,0.000,2,0.000,0.000,188,2680,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.2,-7.4,7,108,8.77,2.25,-24.48,0.000,4,0.238,0.042,2354,1155,3527,0,0,0,0,0,0,25.37,26.20,26.55
$GC,305,-0.51,-146.0,60.4,-22.0,50,312,0.00,2.25,0.00,0.000,6,0.000,0.047,2343,2633,3528,0,0,0,0,0,0,28.83,26.19,28.83
$GC,618,-0.51,-146.0,158.0,-27.3,111,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-0.51,-146.0,234.5,-21.9,159,940,0.00,2.10,0.00,0.000,4,0.000,0.026,2343,1151,3529,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1056,-0.51,-146.0,253.9,-14.2,171,1063,0.10,2.22,0.00,0.000,6,0.167,0.044,2359,2633,3529,0,0,0,0,0,0,26.20,26.36,28.83
$GC,1363,-0.51,-146.0,304.9,-16.0,202,1368,0.05,2.10,0.00,0.000,4,0.175,0.024,2307,1159,3529,0,0,0,0,0,0,26.69,26.51,28.83
$GC,1416,-0.51,-146.0,314.3,-18.0,207,1425,0.17,2.22,0.00,0.000,6,0.146,0.047,2358,2628,3528,0,0,0,0,0,0,26.11,26.36,28.83
$GC,1726,-0.51,-146.0,360.7,-13.3,238,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-0.51,-146.0,398.4,-10.8,268,2037,0.00,2.10,0.00,0.000,4,0.000,0.027,2357,1150,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2092,-0.51,-146.0,405.0,-9.3,274,2101,0.00,2.20,0.00,0.000,6,0.000,0.047,2357,2619,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2400,-0.51,-146.0,439.5,-10.9,305,2403,0.00,1.73,0.00,0.000,4,0.000,0.053,2348,3770,3524,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2462,-0.51,-146.0,446.3,-11.0,311,2465,0.00,1.67,0.00,0.000,6,0.000,0.022,2348,2511,3522,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2775,-0.51,-146.0,481.9,-11.6,342,2784,0.00,1.95,0.00,0.000,4,0.000,0.054,2344,3774,3521,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2806,-0.51,-146.0,486.0,-12.0,345,2810,0.00,1.73,0.00,0.000,6,0.000,0.022,2343,2510,3521,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3117,-0.51,-146.0,523.8,-11.6,376,3121,0.00,1.90,0.00,0.000,4,0.000,0.027,2344,1152,3518,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3144,-0.51,-146.0,526.8,-11.6,378,3153,0.00,2.22,0.00,0.000,6,0.000,0.047,2343,2631,3518,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3454,-0.51,-146.0,560.3,-10.9,409,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2631,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.51,-146.0,591.2,-9.9,439,3763,0.00,2.10,0.00,0.000,4,0.000,0.027,2343,1157,3512,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3796,-0.51,-146.0,595.1,-9.2,443,3805,0.00,2.22,0.00,0.000,6,0.000,0.045,2343,2629,3512,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4117,-0.51,-146.0,626.2,-9.9,462,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.51,-146.0,655.3,-9.5,477,4422,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1152,3507,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4464,-0.51,-146.0,659.1,-9.5,479,4468,0.00,2.25,0.00,0.000,6,0.000,0.046,2343,2629,3507,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4772,-0.51,-146.0,689.9,-10.0,494,4778,0.00,2.10,0.00,0.000,4,0.000,0.026,2343,1157,3504,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4799,-0.51,-146.0,692.0,-10.2,495,4803,0.00,2.25,0.00,0.000,6,0.000,0.046,2343,2634,3504,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5107,-0.51,-146.0,721.2,-9.0,510,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2634,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5407,-0.51,-146.0,745.9,-8.0,525,5412,0.00,2.15,0.00,0.000,4,0.000,0.027,2343,1137,3498,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5446,-0.51,-146.0,749.2,-8.2,527,5452,0.00,2.28,0.00,0.000,6,0.000,0.045,2343,2628,3499,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5766,-0.51,-146.0,776.4,-8.5,543,5772,0.00,2.15,0.00,0.000,4,0.000,0.027,2343,1145,3496,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5800,-0.51,-146.0,778.1,-8.5,544,5807,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2633,3496,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6106,-0.51,-146.0,805.1,-8.7,560,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,-0.51,-146.0,831.5,-8.9,575,6412,0.00,2.15,0.00,0.000,4,0.000,0.028,2343,1150,3491,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6440,-0.51,-146.0,833.3,-9.0,576,6447,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2635,3492,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6746,-0.51,-146.0,860.0,-8.2,592,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2635,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,-0.51,-146.0,884.4,-8.1,607,7052,0.00,2.15,0.00,0.000,4,0.000,0.027,2343,1154,3488,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7070,-0.51,-146.0,885.9,-8.0,608,7074,0.00,2.25,0.00,0.000,6,0.000,0.045,2343,2627,3488,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7382,-0.51,-146.0,910.4,-7.6,624,7388,0.00,2.15,0.00,0.000,4,0.000,0.028,2343,1151,3487,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7405,-0.51,-146.0,912.0,-7.6,625,7410,0.00,2.25,0.00,0.000,6,0.000,0.047,2343,2628,3487,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7724,-0.51,-146.0,936.1,-7.6,641,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.51,-146.0,959.7,-8.2,656,8028,0.00,2.15,0.00,0.000,4,0.000,0.028,2343,1151,3483,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8063,-0.51,-146.0,962.8,-8.0,658,8069,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2633,3483,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8383,-0.51,-146.0,987.5,-7.5,674,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2634,3482,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8421,begin apogee
$GC,8426,-0.17,0.0,990.4,-7.4,676,8554,0.35,0.15,121.15,1.730,6,0.105,0.084,2468,2535,2929,0,0,0,0,0,0,25.98,24.56,23.30
$STATE,8555,end apogee,CONTROL_FINISHED_OK
$STATE,8555,begin climb
$GC,8557,0.51,146.0,994.6,0.0,682,8706,0.57,2.45,140.25,1.690,4,0.048,0.031,2708,1061,2332,0,0,0,0,0,0,24.81,23.89,22.55
$GC,8741,0.51,146.0,985.6,11.0,692,8746,0.15,2.42,0.00,0.000,6,0.174,0.044,2673,2524,2327,0,0,0,0,0,0,24.36,24.58,28.83
$GC,9060,0.51,146.0,947.5,11.5,708,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2525,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9359,0.51,146.0,914.2,11.2,723,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2525,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,0.51,146.0,880.1,11.6,738,9666,0.00,1.90,0.00,0.000,4,0.000,0.054,2673,3776,2318,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9687,0.51,146.0,877.6,11.8,739,9691,0.00,1.92,0.00,0.000,6,0.000,0.024,2681,2444,2317,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9999,0.51,146.0,838.5,12.2,755,10005,0.00,2.05,0.00,0.000,4,0.000,0.054,2680,3765,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10022,0.51,146.0,836.0,12.2,756,10027,0.03,1.92,0.00,0.000,6,0.155,0.025,2666,2438,2316,0,0,0,0,0,0,25.94,26.35,28.83
$GC,10339,0.51,146.0,800.5,10.4,772,10346,0.05,2.03,0.00,0.000,4,0.181,0.028,2712,1041,2315,0,0,0,0,0,0,26.52,26.30,28.83
$GC,10380,0.51,146.0,796.1,10.7,774,10386,0.15,2.25,0.00,0.000,6,0.177,0.044,2673,2519,2314,0,0,0,0,0,0,25.80,26.17,28.83
$GC,10701,0.51,146.0,763.2,9.7,790,10704,0.00,1.92,0.00,0.000,4,0.000,0.055,2673,3758,2314,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10735,0.51,146.0,760.8,9.9,791,10742,0.00,1.90,0.00,0.000,6,0.000,0.025,2682,2445,2313,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11043,0.51,146.0,726.5,10.7,807,11048,0.00,2.03,0.00,0.000,4,0.000,0.030,2693,1052,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11070,0.51,146.0,724.3,10.8,808,11074,0.10,2.28,0.00,0.000,6,0.179,0.046,2669,2527,2313,0,0,0,0,0,0,25.94,26.15,28.83
$GC,11377,0.51,146.0,690.9,10.8,823,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2527,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11678,0.51,146.0,658.9,10.5,838,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2527,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11977,0.51,146.0,627.2,10.7,853,11978,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2527,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12277,0.51,146.0,597.4,9.4,869,12287,0.00,2.15,0.00,0.000,4,0.000,0.029,2680,1054,2311,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12302,0.51,146.0,595.3,9.1,871,12309,0.00,2.22,0.00,0.000,6,0.000,0.043,2680,2520,2311,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12609,0.51,146.0,565.5,9.2,902,12618,0.00,2.17,0.00,0.000,4,0.000,0.031,2691,1044,2311,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12684,0.51,146.0,559.1,8.8,909,12693,0.10,2.25,0.00,0.000,6,0.177,0.042,2666,2524,2311,0,0,0,0,0,0,25.93,26.15,28.83
$GC,12991,0.51,146.0,532.1,8.3,940,12993,0.05,0.00,0.00,0.000,6,0.173,0.000,2713,2525,2311,0,0,0,0,0,0,26.62,28.83,28.83
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$STATE,18559,end climb,SURFACE_DEPTH_REACHED
$STATE,18559,begin surface coast
$FINISH,1.7,1.021408
$STATE,18576,end surface coast,CONTROL_FINISHED_OK
$STATE,18576,begin surface
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$TT8_MAMPS,0.026215,0.026215
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$XPDR_PINGS,0
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$10V_AH,10.1,28.095
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329992
$DATA_FILE_SIZE,124110,1675
$CAP_FILE_SIZE,190158,0
$CFSIZE,260165632,201850880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,113.7,1
$GPS,250412,010255,1754.368,12418.608,39,1.9,39,-2.0