version: 66.10
glider: 176
mission: 5
dive: 250
start: 5 2 112 23 27 54
data:
$ID,176
$MISSION,5
$DIVE,250
$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,-7761.9355
$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,48
$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
$GPS1,020512,232007,1817.444,12300.745,25,1.4,25,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.5
$GPS2,020512,232726,1817.563,12300.712,13,1.4,13,-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,258.4,82015,-13.1,-7.500
$D_GRID,3827
$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,16,-0.51,-146.0,0.0,0.0,0,70,0.00,0.00,-51.35,0.000,2,0.000,0.000,184,2706,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.51,-146.0,3.4,-7.9,9,115,8.70,2.28,-23.88,0.000,4,0.233,0.037,2352,1146,3527,0,0,0,0,0,0,25.33,26.25,26.60
$GC,153,-0.51,-146.0,28.3,-36.4,17,160,0.08,2.25,0.00,0.000,6,0.208,0.045,2357,2629,3527,0,0,0,0,0,0,25.99,26.15,28.83
$GC,483,-0.51,-146.0,132.3,-28.6,78,505,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1148,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,548,-0.51,-146.0,148.6,-20.9,87,555,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2633,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,880,-0.51,-146.0,218.7,-19.5,140,884,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1157,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1004,-0.51,-146.0,236.5,-13.0,152,1011,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2643,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1313,-0.51,-146.0,289.6,-17.4,183,1323,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1145,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1397,-0.51,-146.0,302.1,-13.7,191,1406,0.05,2.25,0.00,0.000,6,0.135,0.042,2357,2630,3527,0,0,0,0,0,0,26.22,26.39,28.83
$GC,1707,-0.51,-146.0,342.0,-11.8,222,1716,0.00,2.08,0.00,0.000,4,0.000,0.025,2357,1160,3526,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1748,-0.51,-146.0,346.7,-10.7,226,1757,0.00,2.20,0.00,0.000,6,0.000,0.042,2357,2632,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2060,-0.51,-146.0,378.5,-9.7,257,2069,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1155,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2162,-0.51,-146.0,387.6,-8.0,267,2172,0.00,2.20,0.00,0.000,6,0.000,0.041,2348,2632,3524,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2471,-0.51,-146.0,419.7,-10.5,298,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2632,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-0.51,-146.0,451.0,-10.0,328,2784,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1158,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2847,-0.51,-146.0,458.4,-9.4,335,2857,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2633,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3157,-0.51,-146.0,490.1,-10.2,366,3159,0.00,0.00,-0.10,0.000,6,0.000,0.000,2348,2633,3539,0,0,0,0,0,0,28.83,28.83,26.08
$GC,3458,-0.51,-146.0,518.8,-9.0,396,3467,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1152,3536,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3570,-0.51,-146.0,528.6,-7.9,407,3580,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2635,3535,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3882,-0.51,-146.0,556.5,-9.3,438,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2635,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4191,-0.51,-146.0,586.2,-9.9,469,4200,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1151,3530,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4272,-0.51,-146.0,593.8,-9.0,477,4281,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2633,3530,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4584,-0.51,-146.0,623.3,-9.6,496,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.51,-146.0,650.3,-8.5,511,4889,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1149,3524,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4916,-0.51,-146.0,651.9,-8.4,512,4923,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2627,3524,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5223,-0.51,-146.0,677.5,-7.7,528,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.51,-146.0,700.9,-7.7,543,5528,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1147,3519,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5551,-0.51,-146.0,702.4,-7.7,544,5555,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2632,3519,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5857,-0.51,-146.0,726.9,-7.6,559,5863,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1151,3517,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5890,-0.51,-146.0,728.5,-7.7,560,5897,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2633,3517,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6200,-0.51,-146.0,752.1,-7.5,576,6205,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1154,3514,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6240,-0.51,-146.0,755.1,-7.6,578,6244,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2627,3514,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6553,-0.51,-146.0,781.0,-8.6,594,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2628,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,-0.51,-146.0,805.1,-7.7,609,6859,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1152,3510,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6895,-0.51,-146.0,808.1,-7.5,611,6899,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3510,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7208,-0.51,-146.0,829.6,-6.7,627,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2628,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7509,-0.51,-146.0,849.2,-6.7,642,7515,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1165,3506,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7551,-0.51,-146.0,852.0,-6.8,644,7555,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2627,3506,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7865,-0.51,-146.0,875.1,-7.8,660,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2627,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,-0.51,-146.0,899.6,-8.2,675,8167,0.00,2.12,0.00,0.000,4,0.000,0.027,2346,1157,3503,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8198,-0.51,-146.0,901.5,-8.3,676,8205,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2629,3503,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8506,-0.51,-146.0,924.7,-6.9,692,8512,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1153,3502,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8545,-0.51,-146.0,927.4,-6.9,694,8551,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2633,3502,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8865,-0.51,-146.0,947.5,-6.2,710,8871,0.00,2.17,0.00,0.000,4,0.000,0.026,2345,1149,3501,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8888,-0.51,-146.0,948.7,-6.1,711,8892,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2627,3501,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9200,-0.51,-146.0,969.0,-6.4,727,9206,0.00,2.17,0.00,0.000,4,0.000,0.027,2345,1148,3500,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9228,-0.51,-146.0,970.3,-6.5,728,9232,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2633,3500,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9513,begin apogee
$GC,9519,-0.17,0.0,990.3,-6.7,742,9656,0.32,0.15,126.30,1.733,6,0.106,0.084,2462,2532,2928,0,0,0,0,0,0,25.98,24.43,23.03
$STATE,9657,end apogee,CONTROL_FINISHED_OK
$STATE,9657,begin climb
$GC,9660,0.51,146.0,995.6,0.0,749,9807,0.60,0.00,142.57,1.687,6,0.051,0.000,2698,2532,2332,0,0,0,0,0,0,24.75,28.83,22.37
$GC,10095,0.51,146.0,951.3,13.8,771,10097,0.12,0.00,0.00,0.000,6,0.187,0.000,2668,2532,2321,0,0,0,0,0,0,25.72,28.83,28.83
$GC,10396,0.51,146.0,917.2,11.1,786,10400,0.00,2.17,0.00,0.000,4,0.000,0.030,2678,1051,2319,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10445,0.51,146.0,912.8,10.7,788,10449,0.00,2.28,0.00,0.000,6,0.000,0.047,2679,2517,2317,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10752,0.51,146.0,875.8,11.7,803,10756,0.00,1.92,0.00,0.000,4,0.000,0.055,2678,3764,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10809,0.51,146.0,867.9,13.6,806,10815,0.08,1.92,0.00,0.000,6,0.228,0.025,2672,2449,2315,0,0,0,0,0,0,26.06,26.32,28.83
$GC,11128,0.51,146.0,832.2,10.7,822,11134,0.00,2.05,0.00,0.000,4,0.000,0.054,2673,3765,2314,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11156,0.51,146.0,829.9,10.8,823,11160,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2447,2313,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11464,0.51,146.0,790.9,12.7,838,11470,0.00,2.05,0.00,0.000,4,0.000,0.054,2682,3775,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11563,0.51,146.0,776.2,14.9,843,11570,0.10,1.92,0.00,0.000,6,0.207,0.024,2669,2438,2313,0,0,0,0,0,0,26.02,26.39,28.83
$GC,11884,0.51,146.0,737.3,12.1,859,11890,0.00,2.00,0.00,0.000,4,0.000,0.030,2679,1055,2312,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11931,0.51,146.0,732.6,12.1,861,11935,0.00,2.28,0.00,0.000,6,0.000,0.047,2679,2523,2312,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12241,0.51,146.0,694.8,11.7,876,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2523,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12538,0.51,146.0,661.6,10.8,891,12542,0.00,1.92,0.00,0.000,4,0.000,0.054,2679,3776,2311,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12562,0.51,146.0,659.8,10.9,892,12566,0.08,1.92,0.00,0.000,6,0.223,0.023,2673,2441,2310,0,0,0,0,0,0,26.15,26.45,28.83
$GC,12876,0.51,146.0,628.1,9.3,908,12881,0.00,2.05,0.00,0.000,4,0.000,0.054,2673,3764,2310,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12927,0.51,146.0,623.9,9.7,910,12934,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2428,2310,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,19898,end climb,SURFACE_DEPTH_REACHED
$STATE,19898,begin surface coast
$FINISH,0.8,1.010277
$STATE,19968,end surface coast,CONTROL_FINISHED_OK
$STATE,19969,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.94
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$TCM_TEMP,26.10
$XPDR_PINGS,0
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$10V_AH,10.0,32.631
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.950,175.075,477.850,0.000,0.000,29.251,18.201,239.305,0.000,0.000,17.708,4541.236,11202.064,658.783,3608.993,439.686,0.000,2342.746,0.000,2991.404,0.000,0.542,0.000
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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,329416
$DATA_FILE_SIZE,133777,1805
$CAP_FILE_SIZE,208265,0
$CFSIZE,260165632,198029312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,339.3,1
$GPS,030512,050307,1818.124,12257.699,37,1.2,37,-2.0