version: 66.10
glider: 176
mission: 5
dive: 219
start: 4 25 112 12 17 17
data:
$ID,176
$MISSION,5
$DIVE,219
$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,-7721.7173
$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
$GPS1,250412,120937,1754.608,12415.223,41,1.0,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.0
$GPS2,250412,121650,1754.591,12415.224,11,1.9,11,-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,298.5,219604,-13.1,-7.500
$D_GRID,4856
$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,-45.97,0.000,2,0.000,0.000,183,2643,2389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.5,-8.4,8,109,8.90,2.17,-22.88,0.000,4,0.239,0.040,2354,1159,3527,0,0,0,0,0,0,25.39,26.19,26.57
$GC,266,-0.51,-146.0,54.7,-22.1,43,273,0.00,2.22,0.00,0.000,6,0.000,0.044,2343,2633,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,577,-0.51,-146.0,149.9,-28.4,104,584,0.00,2.10,0.00,0.000,4,0.000,0.026,2342,1152,3527,0,0,0,0,0,0,28.83,26.43,28.83
$GC,647,-0.51,-146.0,164.1,-17.1,117,656,0.10,2.22,0.00,0.000,6,0.173,0.043,2359,2636,3527,0,0,0,0,0,0,26.13,26.32,28.83
$GC,973,-0.51,-146.0,224.9,-18.8,165,983,0.05,2.10,0.00,0.000,4,0.177,0.023,2311,1155,3527,0,0,0,0,0,0,26.67,26.48,28.83
$GC,1079,-0.51,-146.0,243.0,-17.3,175,1087,0.17,2.20,0.00,0.000,6,0.148,0.044,2357,2632,3527,0,0,0,0,0,0,26.10,26.38,28.83
$GC,1387,-0.51,-146.0,293.1,-16.7,206,1391,0.00,2.10,0.00,0.000,4,0.000,0.027,2357,1152,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1531,-0.51,-146.0,310.4,-11.1,220,1539,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2635,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1838,-0.51,-146.0,355.5,-13.0,251,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2635,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,-0.51,-146.0,392.8,-12.4,281,2150,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1152,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2254,-0.51,-146.0,405.4,-10.8,292,2263,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2633,3523,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2565,-0.51,-146.0,442.7,-11.6,323,2573,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1150,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2597,-0.51,-146.0,446.2,-10.9,326,2606,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2626,3520,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2906,-0.51,-146.0,478.0,-10.3,357,2909,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1145,3518,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2980,-0.51,-146.0,484.6,-8.7,364,2987,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2635,3518,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3287,-0.51,-146.0,514.5,-9.6,395,3296,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1142,3515,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3319,-0.51,-146.0,517.4,-9.2,398,3329,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2630,3515,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3628,-0.51,-146.0,547.1,-9.8,429,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2631,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.51,-146.0,578.2,-10.5,459,3938,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1147,3510,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3984,-0.51,-146.0,583.4,-10.0,464,3991,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2629,3510,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4291,-0.51,-146.0,614.0,-9.7,488,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.51,-146.0,641.8,-8.7,503,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.51,-146.0,666.3,-8.0,518,4898,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1155,3501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4950,-0.51,-146.0,670.8,-7.6,521,4956,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2636,3501,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5271,-0.51,-146.0,698.8,-9.6,537,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5571,-0.51,-146.0,728.6,-10.1,552,5574,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1150,3496,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5632,-0.51,-146.0,734.5,-9.8,555,5638,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2635,3496,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5953,-0.51,-146.0,762.6,-8.1,571,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-0.51,-146.0,784.6,-7.2,586,6257,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1156,3491,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6303,-0.51,-146.0,787.5,-7.2,588,6307,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3491,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6609,-0.51,-146.0,809.2,-7.0,603,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,-0.51,-146.0,832.2,-8.2,618,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,-0.51,-146.0,858.7,-9.0,633,7216,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1151,3486,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7262,-0.51,-146.0,862.2,-8.9,635,7269,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3486,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7569,-0.51,-146.0,888.8,-7.9,651,7573,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1154,3484,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7604,-0.51,-146.0,890.5,-7.8,652,7611,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3484,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7912,-0.51,-146.0,912.7,-6.5,668,7915,0.00,1.77,0.00,0.000,4,0.000,0.059,2344,3770,3483,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7941,-0.51,-146.0,914.1,-6.6,669,7944,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2508,3483,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8254,-0.51,-146.0,934.4,-6.5,685,8259,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3760,3481,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8281,-0.51,-146.0,935.5,-6.3,686,8284,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2498,3481,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8595,-0.51,-146.0,956.5,-6.8,702,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2481,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,-0.51,-146.0,975.9,-6.5,717,8899,0.00,2.00,0.00,0.000,4,0.000,0.057,2337,3763,3479,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8948,-0.51,-146.0,978.8,-6.8,719,8955,0.08,1.73,0.00,0.000,6,0.165,0.025,2361,2488,3478,0,0,0,0,0,0,26.30,26.53,28.83
$STATE,9153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9153,begin apogee
$GC,9158,-0.17,0.0,990.6,-4.9,730,9283,0.30,0.00,120.40,1.734,6,0.103,0.000,2471,2488,2928,0,0,0,0,0,0,26.06,28.83,23.25
$STATE,9285,end apogee,CONTROL_FINISHED_OK
$STATE,9285,begin climb
$GC,9287,0.51,146.0,994.3,0.0,736,9432,0.57,0.00,141.02,1.693,6,0.050,0.000,2700,2487,2332,0,0,0,0,0,0,24.76,28.83,22.50
$GC,9731,0.51,146.0,947.7,14.1,759,9733,0.12,0.00,0.00,0.000,6,0.185,0.000,2670,2488,2323,0,0,0,0,0,0,25.68,28.83,28.83
$GC,10030,0.51,146.0,914.6,10.4,774,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2488,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10331,0.51,146.0,882.4,10.6,789,10337,0.00,1.98,0.00,0.000,4,0.000,0.055,2670,3765,2318,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10412,0.51,146.0,871.8,13.1,793,10416,0.00,1.90,0.00,0.000,6,0.000,0.025,2679,2449,2317,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10730,0.51,146.0,832.0,12.2,809,10735,0.00,2.03,0.00,0.000,4,0.000,0.030,2690,1040,2316,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10790,0.51,146.0,824.9,11.8,812,10797,0.08,2.30,0.00,0.000,6,0.196,0.045,2675,2526,2315,0,0,0,0,0,0,26.01,26.15,28.83
$GC,11109,0.51,146.0,786.9,11.8,828,11113,0.00,1.90,0.00,0.000,4,0.000,0.054,2674,3766,2315,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11134,0.51,146.0,784.9,11.9,829,11138,0.00,1.90,0.00,0.000,6,0.000,0.024,2684,2439,2314,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11441,0.51,146.0,747.1,11.7,844,11447,0.03,2.08,0.00,0.000,4,0.313,0.052,2674,3767,2313,0,0,0,0,0,0,26.49,26.08,28.83
$GC,11483,0.51,146.0,742.2,11.8,846,11487,0.03,1.92,0.00,0.000,6,0.223,0.024,2676,2446,2314,0,0,0,0,0,0,26.21,26.41,28.83
$GC,11802,0.51,146.0,708.4,10.3,862,11807,0.00,2.00,0.00,0.000,4,0.000,0.030,2686,1052,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11822,0.51,146.0,706.3,10.3,863,11828,0.03,2.22,0.00,0.000,6,0.183,0.046,2676,2514,2313,0,0,0,0,0,0,26.03,26.15,28.83
$GC,12142,0.51,146.0,673.1,9.9,879,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2514,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12441,0.51,146.0,643.9,9.2,894,12446,0.00,2.15,0.00,0.000,4,0.000,0.030,2686,1051,2313,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12473,0.51,146.0,642.1,9.1,895,12481,0.08,2.25,0.00,0.000,6,0.191,0.045,2671,2521,2312,0,0,0,0,0,0,26.01,26.14,28.83
$GC,12781,0.51,146.0,615.2,8.5,911,12786,0.00,1.90,0.00,0.000,4,0.000,0.054,2670,3764,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12823,0.51,146.0,611.1,9.5,913,12827,0.00,1.90,0.00,0.000,6,0.000,0.022,2680,2434,2312,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13132,0.51,146.0,581.3,10.6,938,13141,0.00,2.05,0.00,0.000,4,0.000,0.053,2679,3761,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13187,0.51,146.0,574.9,12.7,943,13194,0.08,1.88,0.00,0.000,6,0.225,0.021,2672,2431,2311,0,0,0,0,0,0,26.16,26.47,28.83
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$STATE,19486,end climb,SURFACE_DEPTH_REACHED
$STATE,19488,begin surface coast
$FINISH,0.7,1.021084
$STATE,19524,end surface coast,CONTROL_FINISHED_OK
$STATE,19524,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,10.1,28.480
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330020
$DATA_FILE_SIZE,130888,1751
$CAP_FILE_SIZE,199705,0
$CFSIZE,260165632,201519104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,221.0,1
$GPS,250412,174506,1755.169,12412.696,34,0.9,39,-2.0