version: 66.10
glider: 176
mission: 5
dive: 217
start: 4 25 112 1 16 3
data:
$ID,176
$MISSION,5
$DIVE,217
$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,-7719.0142
$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
$GPS1,250412,010255,1754.368,12418.608,39,1.9,39,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.8
$GPS2,250412,011537,1754.296,12418.743,11,0.9,16,-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,290.8,225653,-13.1,-7.500
$D_GRID,4935
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-39.92,0.000,2,0.000,0.000,190,2523,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.4,-7.8,7,104,8.80,1.98,-24.90,0.000,4,0.238,0.038,2347,1134,3526,0,0,0,0,0,0,25.38,26.21,26.55
$GC,273,-0.51,-146.0,52.1,-22.0,44,280,0.10,2.28,0.00,0.000,6,0.181,0.044,2361,2638,3527,0,0,0,0,0,0,25.99,26.20,28.83
$GC,584,-0.51,-146.0,140.8,-26.0,105,592,0.08,2.12,0.00,0.000,4,0.133,0.021,2310,1135,3526,0,0,0,0,0,0,26.57,26.45,28.83
$GC,605,-0.51,-146.0,146.0,-25.1,108,612,0.20,2.25,0.00,0.000,6,0.157,0.043,2358,2640,3527,0,0,0,0,0,0,25.96,26.32,28.83
$GC,920,-0.51,-146.0,211.6,-20.5,165,924,0.00,2.12,0.00,0.000,4,0.000,0.025,2359,1142,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1055,-0.51,-146.0,231.3,-12.9,178,1062,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2636,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1362,-0.51,-146.0,287.3,-18.2,209,1372,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1140,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1396,-0.51,-146.0,292.4,-16.7,212,1404,0.00,2.28,0.00,0.000,6,0.000,0.045,2346,2630,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1705,-0.51,-146.0,340.1,-14.2,243,1713,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1149,3526,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1726,-0.51,-146.0,343.2,-13.9,245,1730,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2632,3525,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2037,-0.51,-146.0,387.0,-14.0,276,2046,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1150,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2090,-0.51,-146.0,393.5,-12.3,281,2100,0.00,2.20,0.00,0.000,6,0.000,0.044,2344,2629,3524,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2398,-0.51,-146.0,433.3,-12.4,312,2402,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1145,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2471,-0.51,-146.0,441.3,-10.6,319,2480,0.05,2.22,0.00,0.000,6,0.133,0.043,2357,2632,3521,0,0,0,0,0,0,26.20,26.37,28.83
$GC,2780,-0.51,-146.0,472.0,-9.8,350,2784,0.00,1.73,0.00,0.000,4,0.000,0.054,2349,3765,3519,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2804,-0.51,-146.0,474.3,-10.1,352,2811,0.00,1.73,0.00,0.000,6,0.000,0.023,2350,2482,3518,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3112,-0.51,-146.0,505.2,-10.1,383,3120,0.00,1.88,0.00,0.000,4,0.000,0.026,2353,1153,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3153,-0.51,-146.0,509.2,-9.6,387,3162,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2629,3515,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3465,-0.51,-146.0,540.4,-9.6,418,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.51,-146.0,569.3,-8.9,449,3784,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1158,3510,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3810,-0.51,-146.0,572.4,-8.8,452,3816,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2630,3511,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4117,-0.51,-146.0,600.6,-9.1,483,4123,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1154,3508,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4139,-0.51,-146.0,602.4,-9.2,484,4144,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2631,3508,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4457,-0.51,-146.0,632.0,-9.6,500,4461,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1156,3505,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4507,-0.51,-146.0,636.2,-9.9,502,4511,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2631,3505,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4814,-0.51,-146.0,667.8,-10.1,517,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5115,-0.51,-146.0,696.5,-9.3,532,5120,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1157,3499,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5162,-0.51,-146.0,700.1,-9.1,534,5167,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2631,3499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5470,-0.51,-146.0,727.1,-8.4,549,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2631,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.51,-146.0,751.5,-7.9,564,5776,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1154,3495,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5818,-0.51,-146.0,754.7,-7.9,566,5822,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2633,3494,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6130,-0.51,-146.0,779.6,-7.9,582,6136,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1150,3492,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6158,-0.51,-146.0,781.3,-8.0,583,6163,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2633,3491,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6466,-0.51,-146.0,805.4,-7.3,598,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6765,-0.51,-146.0,825.5,-6.7,613,6771,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1150,3487,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6809,-0.51,-146.0,828.1,-6.6,615,6813,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2630,3488,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7122,-0.51,-146.0,849.4,-6.8,631,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.51,-146.0,870.7,-7.2,646,7427,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1153,3484,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7468,-0.51,-146.0,873.5,-7.0,648,7472,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2631,3484,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7780,-0.51,-146.0,897.5,-7.8,664,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2632,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.51,-146.0,922.3,-8.2,679,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2632,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8381,-0.51,-146.0,946.7,-8.0,694,8386,0.00,2.15,0.00,0.000,4,0.000,0.028,2347,1154,3480,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8423,-0.51,-146.0,949.6,-7.5,696,8427,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2626,3480,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8737,-0.51,-146.0,972.3,-7.0,712,8742,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1151,3479,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8759,-0.51,-146.0,973.6,-6.9,713,8763,0.00,2.30,0.00,0.000,6,0.000,0.049,2347,2635,3479,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,8988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8988,begin apogee
$GC,8995,-0.17,0.0,990.3,-7.2,725,9121,0.32,0.15,120.32,1.733,6,0.105,0.085,2464,2535,2929,0,0,0,0,0,0,26.00,24.55,23.27
$STATE,9122,end apogee,CONTROL_FINISHED_OK
$STATE,9122,begin climb
$GC,9124,0.51,146.0,994.8,0.0,731,9273,0.60,2.15,140.50,1.694,4,0.051,0.054,2700,3763,2332,0,0,0,0,0,0,24.77,23.82,22.51
$GC,9285,0.51,146.0,989.0,8.9,740,9292,0.17,2.05,0.00,0.000,6,0.187,0.024,2669,2452,2331,0,0,0,0,0,0,24.04,24.33,28.83
$GC,9605,0.51,146.0,950.6,11.9,756,9611,0.00,2.08,0.00,0.000,4,0.000,0.031,2680,1054,2323,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9659,0.51,146.0,946.0,11.9,758,9666,0.00,2.28,0.00,0.000,6,0.000,0.046,2679,2516,2320,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9966,0.51,146.0,905.8,12.7,774,9971,0.00,1.92,0.00,0.000,4,0.000,0.054,2680,3765,2319,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10025,0.51,146.0,897.1,14.2,777,10030,0.08,1.92,0.00,0.000,6,0.223,0.024,2674,2449,2318,0,0,0,0,0,0,25.98,26.25,28.83
$GC,10348,0.51,146.0,860.0,10.7,793,10352,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1051,2317,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10377,0.51,146.0,857.8,10.6,794,10382,0.05,2.28,0.00,0.000,6,0.225,0.046,2673,2526,2316,0,0,0,0,0,0,26.05,26.13,28.83
$GC,10685,0.51,146.0,825.2,10.8,809,10691,0.00,2.15,0.00,0.000,4,0.000,0.030,2682,1053,2315,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10717,0.51,146.0,823.1,10.9,810,10724,0.00,2.28,0.00,0.000,6,0.000,0.046,2682,2526,2314,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11025,0.51,146.0,785.5,12.3,826,11031,0.00,1.90,0.00,0.000,4,0.000,0.054,2682,3765,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11054,0.51,146.0,782.7,12.8,827,11058,0.10,1.90,0.00,0.000,6,0.211,0.024,2670,2439,2314,0,0,0,0,0,0,25.99,26.40,28.83
$GC,11361,0.51,146.0,745.9,11.2,842,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2435,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11661,0.51,146.0,714.9,10.2,857,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2435,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11960,0.51,146.0,686.3,9.5,872,11966,0.00,2.05,0.00,0.000,4,0.000,0.055,2670,3764,2313,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11992,0.51,146.0,684.2,9.7,873,12000,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2436,2313,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12299,0.51,146.0,650.7,10.6,889,12305,0.00,2.08,0.00,0.000,4,0.000,0.054,2680,3767,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12354,0.51,146.0,645.5,11.3,891,12362,0.08,1.88,0.00,0.000,6,0.226,0.023,2674,2439,2313,0,0,0,0,0,0,26.15,26.45,28.83
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$STATE,19103,end climb,SURFACE_DEPTH_REACHED
$STATE,19103,begin surface coast
$FINISH,0.7,1.012616
$STATE,19129,end surface coast,CONTROL_FINISHED_OK
$STATE,19129,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.79
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.1,28.222
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.825,170.525,427.325,0.000,0.000,88.886,109.023,275.330,0.000,0.000,19.480,4299.698,11063.732,604.762,3545.140,421.361,0.000,2165.885,0.000,2824.122,0.000,0.542,0.000
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$MEM,329984
$DATA_FILE_SIZE,127295,1711
$CAP_FILE_SIZE,197859,0
$CFSIZE,260165632,201732096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,116.7,1
$GPS,250412,063707,1754.573,12416.777,29,1.0,29,-2.0