version: 66.10
glider: 176
mission: 5
dive: 271
start: 5 7 112 9 36 47
data:
$ID,176
$MISSION,5
$DIVE,271
$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,225
$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,-7796.021
$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
$GPS1,070512,092807,1851.685,12219.991,28,1.0,28,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.6
$GPS2,070512,093619,1851.979,12219.886,10,1.4,10,-2.1
$SPEED_LIMITS,0.130,0.278
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,100.7,259224,-10.0,-7.500
$D_GRID,1610
$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,-0.52,-219.0,0.0,0.0,0,59,0.00,0.00,-39.78,0.000,2,0.000,0.000,182,2549,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.52,-219.0,3.3,-7.8,7,112,8.70,1.67,-30.52,0.000,4,0.234,0.041,2347,1367,3825,0,0,0,0,0,0,25.30,26.30,26.61
$GC,119,-0.52,-219.0,22.4,-41.2,16,141,0.00,1.77,0.00,0.000,6,0.000,0.047,2339,2526,3825,0,0,0,0,0,0,28.83,26.14,28.83
$GC,447,-0.52,-219.0,146.6,-29.5,77,454,0.05,1.58,0.00,0.000,4,0.262,0.047,2342,3587,3825,0,0,0,0,0,0,26.50,26.26,28.83
$GC,497,-0.52,-219.0,160.2,-24.1,86,506,0.00,1.60,0.00,0.000,6,0.000,0.022,2342,2414,3825,0,0,0,0,0,0,28.83,26.56,28.83
$GC,825,-0.52,-219.0,226.3,-16.8,132,829,0.00,1.75,0.00,0.000,4,0.000,0.049,2333,3585,3826,0,0,0,0,0,0,28.83,26.31,28.83
$GC,927,-0.52,-219.0,241.2,-14.2,142,931,0.10,1.55,0.00,0.000,6,0.151,0.022,2364,2408,3825,0,0,0,0,0,0,26.34,26.61,28.83
$GC,1238,-0.52,-219.0,276.6,-11.3,173,1243,0.10,1.80,0.00,0.000,4,0.104,0.048,2280,3592,3824,0,0,0,0,0,0,26.65,26.32,28.83
$GC,1307,-0.52,-219.0,287.6,-18.0,179,1312,0.22,1.58,0.00,0.000,6,0.131,0.022,2354,2405,3824,0,0,0,0,0,0,26.15,26.63,28.83
$GC,1619,-0.52,-219.0,318.4,-9.0,210,1622,0.00,1.77,0.00,0.000,4,0.000,0.050,2348,3583,3822,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1703,-0.52,-219.0,325.7,-8.9,218,1711,0.00,1.60,0.00,0.000,6,0.000,0.022,2348,2396,3822,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2010,-0.52,-219.0,360.2,-11.3,249,2013,0.00,1.83,0.00,0.000,4,0.000,0.053,2348,3586,3819,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2132,-0.52,-219.0,371.6,-8.4,261,2135,0.00,1.60,0.00,0.000,6,0.000,0.023,2348,2402,3819,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2442,-0.52,-219.0,397.8,-7.7,292,2446,0.00,1.83,0.00,0.000,4,0.000,0.053,2347,3585,3816,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2567,-0.52,-219.0,407.3,-7.9,304,2574,0.00,1.60,0.00,0.000,6,0.000,0.023,2347,2401,3814,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2875,-0.52,-219.0,431.7,-7.5,335,2880,0.00,1.85,-0.08,0.000,4,0.000,0.067,2345,3574,3838,0,0,0,0,0,0,28.83,26.24,25.61
$GC,2981,-0.52,-219.0,439.3,-7.2,345,2984,0.00,1.58,0.00,0.000,6,0.000,0.023,2345,2388,3837,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3291,-0.52,-219.0,467.5,-9.5,376,3295,0.00,1.83,0.00,0.000,4,0.000,0.054,2345,3581,3834,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3412,-0.52,-219.0,478.6,-9.0,388,3416,0.00,1.58,0.00,0.000,6,0.000,0.024,2345,2403,3833,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3723,-0.52,-219.0,506.7,-9.0,419,3727,0.00,1.85,0.00,0.000,4,0.000,0.055,2345,3575,3832,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3855,-0.52,-219.0,518.0,-8.2,432,3858,0.00,1.58,0.00,0.000,6,0.000,0.024,2345,2386,3830,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4167,-0.52,-219.0,540.3,-6.1,463,4175,0.00,1.88,0.00,0.000,4,0.000,0.055,2344,3588,3827,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4278,-0.52,-219.0,546.7,-5.4,474,4282,0.00,1.60,0.00,0.000,6,0.000,0.024,2344,2402,3826,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4589,-0.52,-219.0,562.5,-4.5,505,4593,0.00,1.83,0.00,0.000,4,0.000,0.056,2344,3584,3824,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4664,-0.52,-219.0,565.8,-4.6,512,4671,0.00,1.62,0.00,0.000,6,0.000,0.024,2345,2392,3823,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4971,-0.52,-219.0,582.8,-6.8,543,4975,0.00,1.85,0.00,0.000,4,0.000,0.056,2344,3580,3821,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5043,-0.52,-219.0,587.9,-7.2,550,5046,0.00,1.58,0.00,0.000,6,0.000,0.024,2345,2403,3820,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5366,-0.52,-219.0,617.4,-9.5,573,5370,0.00,1.88,0.00,0.000,4,0.000,0.056,2344,3583,3818,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5447,-0.52,-219.0,624.9,-9.0,577,5451,0.00,1.62,0.00,0.000,6,0.000,0.024,2344,2407,3817,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5770,-0.52,-219.0,649.5,-6.9,593,5774,0.00,1.85,0.00,0.000,4,0.000,0.057,2344,3573,3815,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5852,-0.52,-219.0,654.9,-6.5,597,5855,0.00,1.55,0.00,0.000,6,0.000,0.023,2344,2400,3815,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6174,-0.52,-219.0,674.5,-6.1,613,6178,0.00,1.85,0.00,0.000,4,0.000,0.056,2344,3581,3813,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6245,-0.52,-219.0,678.0,-5.7,616,6248,0.00,1.60,0.00,0.000,6,0.000,0.024,2344,2393,3812,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6558,-0.52,-219.0,696.6,-5.8,632,6561,0.00,1.90,0.00,0.000,4,0.000,0.057,2344,3578,3810,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6642,-0.52,-219.0,701.2,-5.4,636,6645,0.00,1.60,0.00,0.000,6,0.000,0.024,2344,2402,3809,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6964,-0.52,-219.0,721.5,-5.9,652,6967,0.00,1.40,0.00,0.000,4,0.000,0.027,2344,1409,3808,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6989,-0.52,-219.0,722.8,-5.7,653,6992,0.00,1.73,0.00,0.000,6,0.000,0.046,2344,2535,3808,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7306,-0.52,-219.0,741.6,-5.3,669,7310,0.00,1.62,0.00,0.000,4,0.000,0.026,2345,1394,3807,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7361,-0.52,-219.0,743.3,-4.6,671,7367,0.00,1.73,0.00,0.000,6,0.000,0.046,2344,2538,3806,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7669,-0.52,-219.0,759.6,-5.4,687,7673,0.00,1.60,0.00,0.000,4,0.000,0.054,2344,3588,3805,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7900,-0.52,-219.0,773.4,-6.2,698,7903,0.00,1.60,0.00,0.000,6,0.000,0.024,2349,2403,3804,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8211,-0.52,-219.0,795.2,-6.8,714,8215,0.00,1.42,0.00,0.000,4,0.000,0.028,2353,1406,3803,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8296,-0.52,-219.0,800.9,-7.0,718,8300,0.00,1.73,0.00,0.000,6,0.000,0.046,2353,2528,3802,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8614,-0.52,-219.0,822.2,-6.7,734,8617,0.00,1.60,0.00,0.000,4,0.000,0.026,2353,1407,3801,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8775,-0.52,-219.0,833.2,-7.3,742,8779,0.00,1.70,0.00,0.000,6,0.000,0.045,2353,2532,3800,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9098,-0.52,-219.0,859.3,-8.8,758,9102,0.00,1.62,0.00,0.000,4,0.000,0.026,2353,1413,3799,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9282,-0.52,-219.0,876.1,-9.2,767,9286,0.00,1.73,0.00,0.000,6,0.000,0.047,2353,2528,3799,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9599,-0.52,-219.0,902.0,-7.7,783,9603,0.00,1.60,0.00,0.000,4,0.000,0.027,2353,1407,3798,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9714,-0.52,-219.0,910.3,-8.1,788,9721,0.00,1.70,0.00,0.000,6,0.000,0.048,2353,2528,3798,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10021,-0.52,-219.0,935.0,-7.6,804,10024,0.00,1.60,0.00,0.000,4,0.000,0.026,2353,1406,3797,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10166,-0.52,-219.0,946.4,-8.1,811,10170,0.00,1.73,0.00,0.000,6,0.000,0.047,2353,2536,3797,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10483,-0.52,-219.0,973.0,-8.3,827,10487,0.00,1.62,0.00,0.000,4,0.000,0.027,2353,1397,3796,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10626,-0.52,-219.0,986.0,-9.6,834,10630,0.00,1.75,0.00,0.000,6,0.000,0.046,2353,2527,3795,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,10682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10682,begin apogee
$GC,10689,-0.17,0.0,991.3,-9.0,837,10887,0.28,0.15,191.90,1.719,6,0.059,0.082,2490,2482,2928,0,0,0,0,0,0,26.44,23.79,22.32
$STATE,10888,end apogee,CONTROL_FINISHED_OK
$STATE,10888,begin climb
$GC,10890,0.52,219.0,1005.0,0.0,847,11110,0.55,1.80,210.45,1.683,4,0.046,0.054,2709,3516,2035,0,0,0,0,0,0,24.06,23.68,22.22
$GC,11175,0.52,219.0,977.6,20.3,861,11180,0.17,1.70,0.00,0.000,6,0.181,0.024,2674,2400,2031,0,0,0,0,0,0,24.60,24.98,28.83
$GC,11488,0.52,219.0,933.6,12.6,877,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2396,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11787,0.52,219.0,893.5,13.7,892,11791,0.00,1.75,0.00,0.000,4,0.000,0.053,2674,3518,2023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11831,0.52,219.0,887.2,14.7,894,11835,0.00,1.65,0.00,0.000,6,0.000,0.025,2682,2401,2023,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12149,0.52,219.0,839.5,15.7,910,12153,0.00,1.75,0.00,0.000,4,0.000,0.054,2682,3518,2022,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12238,0.52,219.0,825.6,17.0,914,12242,0.05,1.65,0.00,0.000,6,0.176,0.024,2673,2397,2023,0,0,0,0,0,0,26.09,26.39,28.83
$GC,12551,0.52,219.0,778.4,15.1,930,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2393,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12850,0.52,219.0,737.4,12.9,945,12854,0.00,1.75,0.00,0.000,4,0.000,0.051,2673,3531,2021,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12954,0.52,219.0,722.5,15.0,950,12958,0.00,1.67,0.00,0.000,6,0.000,0.026,2682,2396,2021,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13272,0.52,219.0,683.7,12.3,966,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2391,2020,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16441,0.52,219.0,339.9,9.6,1247,16444,0.00,1.75,0.00,0.000,4,0.000,0.049,2680,3530,2020,0,0,0,0,0,0,28.83,26.09,28.83
$GC,16577,0.52,219.0,324.3,12.2,1260,16584,0.03,1.62,0.00,0.000,6,0.299,0.022,2676,2373,2020,0,0,0,0,0,0,26.29,26.49,28.83
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$STATE,19888,end climb,SURFACE_DEPTH_REACHED
$STATE,19888,begin surface coast
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$STATE,19960,end surface coast,CONTROL_FINISHED_OK
$STATE,19961,begin surface
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$10V_AH,10.0,35.283
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324064
$DATA_FILE_SIZE,133719,1779
$CAP_FILE_SIZE,220533,0
$CFSIZE,260165632,195788800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.375,297.1,1
$GPS,070512,151137,1853.895,12220.360,24,1.3,24,-2.1