version: 66.10
glider: 176
mission: 5
dive: 259
start: 5 5 112 4 38 53
data:
$ID,176
$MISSION,5
$DIVE,259
$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,-5
$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,-7773.4512
$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,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2450
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,050512,043101,1829.164,12230.837,40,1.1,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.2
$GPS2,050512,043826,1829.355,12230.725,16,0.9,16,-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,235.6,25529,-13.1,-7.500
$D_GRID,1069
$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,-45.83,0.000,2,0.000,0.000,191,2561,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.5,-8.6,8,106,8.70,1.60,-23.80,0.000,4,0.235,0.064,2343,3589,3527,0,0,0,0,0,0,25.31,26.10,26.58
$GC,204,-0.51,-146.0,50.2,-34.4,30,212,0.00,1.62,0.00,0.000,6,0.000,0.023,2343,2402,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,533,-0.51,-146.0,158.2,-24.9,91,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2397,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-0.51,-146.0,220.8,-16.1,140,846,0.00,1.38,0.00,0.000,4,0.000,0.024,2343,1390,3528,0,0,0,0,0,0,28.83,26.54,28.83
$GC,866,-0.51,-146.0,224.0,-16.2,142,875,0.05,1.73,0.00,0.000,6,0.142,0.044,2355,2527,3528,0,0,0,0,0,0,26.17,26.36,28.83
$GC,1174,-0.51,-146.0,264.7,-11.2,173,1177,0.00,1.58,0.00,0.000,4,0.000,0.024,2356,1385,3528,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1294,-0.51,-146.0,277.1,-10.0,185,1298,0.00,1.70,0.00,0.000,6,0.000,0.044,2349,2530,3528,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1605,-0.51,-146.0,311.6,-10.5,216,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2531,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1908,-0.51,-146.0,341.6,-9.7,246,1912,0.00,1.58,0.00,0.000,4,0.000,0.024,2348,1395,3525,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1983,-0.51,-146.0,348.8,-9.3,253,1990,0.00,1.70,0.00,0.000,6,0.000,0.046,2348,2534,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2289,-0.51,-146.0,381.3,-10.7,284,2292,0.00,1.60,0.00,0.000,4,0.000,0.024,2348,1387,3522,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2362,-0.51,-146.0,388.7,-10.5,291,2365,0.00,1.75,0.00,0.000,6,0.000,0.047,2348,2533,3522,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2673,-0.51,-146.0,422.3,-10.4,322,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2536,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-0.51,-146.0,455.7,-11.6,352,2979,0.00,1.60,-0.10,0.000,4,0.000,0.070,2342,3591,3538,0,0,0,0,0,0,28.83,26.23,26.06
$GC,3007,-0.51,-146.0,459.8,-12.2,355,3011,0.05,1.60,0.00,0.000,6,0.208,0.022,2359,2399,3538,0,0,0,0,0,0,26.43,26.62,28.83
$GC,3318,-0.51,-146.0,491.3,-10.0,386,3321,0.00,1.85,0.00,0.000,4,0.000,0.054,2357,3591,3535,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3434,-0.51,-146.0,502.5,-9.6,397,3441,0.00,1.62,0.00,0.000,6,0.000,0.022,2357,2390,3533,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3742,-0.51,-146.0,528.4,-7.5,428,3745,0.00,1.85,0.00,0.000,4,0.000,0.055,2357,3582,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3874,-0.51,-146.0,538.1,-7.0,441,3878,0.00,1.62,0.00,0.000,6,0.000,0.023,2357,2409,3529,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4186,-0.51,-146.0,559.7,-7.1,472,4189,0.00,1.85,0.00,0.000,4,0.000,0.055,2357,3589,3527,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4237,-0.51,-146.0,563.1,-7.0,477,4240,0.00,1.60,0.00,0.000,6,0.000,0.023,2357,2404,3526,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4548,-0.51,-146.0,584.2,-6.7,508,4552,0.00,1.85,0.00,0.000,4,0.000,0.055,2357,3572,3524,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4623,-0.51,-146.0,589.1,-6.8,515,4630,0.00,1.60,0.00,0.000,6,0.000,0.022,2357,2391,3523,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4943,-0.51,-146.0,611.1,-6.9,539,4948,0.00,1.88,0.00,0.000,4,0.000,0.056,2357,3590,3521,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5029,-0.51,-146.0,617.0,-7.2,543,5033,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2394,3520,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5343,-0.51,-146.0,638.2,-6.5,559,5348,0.00,1.88,0.00,0.000,4,0.000,0.056,2357,3587,3518,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5466,-0.51,-146.0,645.6,-6.1,565,5469,0.00,1.60,0.00,0.000,6,0.000,0.024,2357,2402,3517,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5783,-0.51,-146.0,664.0,-5.4,581,5786,0.00,1.85,0.00,0.000,4,0.000,0.056,2357,3580,3516,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5872,-0.51,-146.0,668.7,-5.9,585,5875,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2407,3514,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6185,-0.51,-146.0,691.7,-7.3,601,6188,0.00,1.83,0.00,0.000,4,0.000,0.056,2357,3584,3513,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6259,-0.51,-146.0,696.2,-7.5,604,6265,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2385,3513,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6565,-0.51,-146.0,720.7,-7.8,620,6571,0.00,1.88,0.00,0.000,4,0.000,0.056,2357,3583,3511,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6640,-0.51,-146.0,725.1,-7.6,623,6646,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2385,3511,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6947,-0.51,-146.0,745.2,-5.9,639,6953,0.00,1.88,0.00,0.000,4,0.000,0.056,2357,3582,3510,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7007,-0.51,-146.0,748.9,-6.1,642,7011,0.00,1.60,0.00,0.000,6,0.000,0.024,2357,2402,3510,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7329,-0.51,-146.0,768.1,-5.7,658,7333,0.00,1.85,0.00,0.000,4,0.000,0.056,2357,3580,3508,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7403,-0.51,-146.0,771.6,-5.8,661,7410,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2382,3508,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7712,-0.51,-146.0,787.7,-4.9,677,7717,0.00,1.88,0.00,0.000,4,0.000,0.057,2357,3579,3506,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7780,-0.51,-146.0,790.4,-4.5,680,7783,0.00,1.60,0.00,0.000,6,0.000,0.024,2357,2409,3505,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8093,-0.51,-146.0,802.3,-2.9,696,8096,0.00,1.85,0.00,0.000,4,0.000,0.057,2357,3582,3504,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8137,-0.51,-146.0,803.8,-3.2,698,8140,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2404,3504,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8454,-0.51,-146.0,822.9,-5.8,714,8457,0.00,1.85,0.00,0.000,4,0.000,0.057,2357,3578,3504,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8524,-0.51,-146.0,826.2,-5.6,717,8528,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2430,3503,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8835,-0.51,-146.0,844.7,-6.1,733,8839,0.00,1.83,0.00,0.000,4,0.000,0.057,2357,3582,3503,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8891,-0.51,-146.0,846.9,-5.9,735,8898,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2393,3502,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9198,-0.51,-146.0,860.5,-6.0,751,9201,0.00,1.90,0.00,0.000,4,0.000,0.057,2357,3580,3502,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9247,-0.51,-146.0,863.7,-6.8,753,9251,0.00,1.60,0.00,0.000,6,0.000,0.024,2357,2419,3501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9562,-0.51,-146.0,882.2,-5.8,769,9566,0.00,1.83,0.00,0.000,4,0.000,0.057,2357,3579,3500,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9597,-0.51,-146.0,883.7,-6.1,770,9605,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2401,3500,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9906,-0.51,-146.0,904.1,-5.5,786,9911,0.00,1.88,0.00,0.000,4,0.000,0.058,2357,3584,3499,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9964,-0.51,-146.0,907.6,-5.5,789,9968,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2417,3498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10285,-0.51,-146.0,930.6,-6.4,805,10289,0.00,1.85,0.00,0.000,4,0.000,0.058,2357,3582,3498,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10328,-0.51,-146.0,933.0,-5.9,807,10332,0.00,1.62,0.00,0.000,6,0.000,0.024,2357,2421,3497,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10650,-0.51,-146.0,947.8,-3.8,823,10653,0.00,1.85,0.00,0.000,4,0.000,0.057,2357,3587,3497,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10694,-0.51,-146.0,949.8,-4.4,825,10698,0.00,1.65,0.00,0.000,6,0.000,0.025,2357,2416,3496,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11012,-0.51,-146.0,963.0,-4.0,841,11016,0.00,1.88,0.00,0.000,4,0.000,0.061,2356,3573,3496,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11056,-0.51,-146.0,965.8,-5.6,843,11060,0.00,1.60,0.00,0.000,6,0.000,0.024,2357,2407,3496,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11379,-0.51,-146.0,985.5,-6.4,859,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2403,3496,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11435,begin apogee
$GC,11440,-0.17,0.0,990.5,-8.3,862,11579,0.30,0.08,127.03,1.734,6,0.109,0.096,2465,2388,2928,0,0,0,0,0,0,25.97,24.20,22.80
$STATE,11580,end apogee,CONTROL_FINISHED_OK
$STATE,11580,begin climb
$GC,11582,0.51,146.0,997.7,0.0,869,11730,0.60,0.00,144.32,1.691,6,0.049,0.000,2703,2387,2332,0,0,0,0,0,0,24.58,28.83,22.18
$GC,12018,0.51,146.0,959.5,15.1,891,12022,0.12,1.50,0.00,0.000,4,0.194,0.026,2675,1343,2321,0,0,0,0,0,0,25.59,25.89,28.83
$GC,12068,0.51,146.0,954.1,14.2,893,12072,0.00,1.75,0.00,0.000,6,0.000,0.047,2675,2471,2319,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12380,0.51,146.0,916.5,12.3,909,12383,0.00,1.62,0.00,0.000,4,0.000,0.054,2676,3522,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12428,0.51,146.0,911.4,11.9,911,12433,0.03,1.65,0.00,0.000,6,0.224,0.024,2676,2392,2317,0,0,0,0,0,0,26.06,26.26,28.83
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$STATE,21853,end climb,SURFACE_DEPTH_REACHED
$STATE,21853,begin surface coast
$FINISH,0.7,1.008212
$STATE,21889,end surface coast,CONTROL_FINISHED_OK
$STATE,21889,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,41.21
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,26.00
$XPDR_PINGS,0
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$10V_AH,10.0,33.890
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.150,159.075,466.450,0.000,0.000,30.478,25.158,236.565,2.500,0.000,19.756,4942.226,12340.507,564.991,4051.163,476.840,0.000,2392.618,0.000,3439.975,0.000,19.161,0.000
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$MEM,323652
$DATA_FILE_SIZE,140684,1910
$CAP_FILE_SIZE,232301,0
$CFSIZE,260165632,196960256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,350.6,1
$GPS,050512,104606,1830.101,12228.193,34,1.2,39,-2.0