version: 66.10
glider: 176
mission: 5
dive: 142
start: 4 7 112 21 29 10
data:
$ID,176
$MISSION,5
$DIVE,142
$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,-7607.3857
$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,2510
$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
$GPS1,070412,212106,2004.057,12359.432,40,1.4,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-67.2
$GPS2,070412,212844,2004.102,12359.414,11,1.5,11,-2.5
$SPEED_LIMITS,0.130,0.234
$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,32.8,41070,-13.1,-7.500
$D_GRID,5392
$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,-146.0,0.0,0.0,0,67,0.00,0.00,-48.70,0.000,2,0.000,0.000,178,2650,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.51,-146.0,3.7,-7.2,8,107,8.75,1.75,-17.02,0.000,4,0.237,0.068,2336,3770,3527,0,0,0,0,0,0,25.46,25.98,26.42
$GC,251,-0.51,-146.0,63.0,-29.9,39,258,0.08,1.73,0.00,0.000,6,0.203,0.023,2352,2535,3527,0,0,0,0,0,0,26.01,26.25,28.83
$GC,562,-0.51,-146.0,141.5,-22.7,100,569,0.00,1.95,0.00,0.000,4,0.000,0.024,2353,1144,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,632,-0.51,-146.0,154.2,-15.5,113,639,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2628,3528,0,0,0,0,0,0,28.83,26.21,28.83
$GC,942,-0.51,-146.0,215.1,-18.1,166,952,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1154,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1024,-0.51,-146.0,227.9,-14.4,174,1035,0.08,2.25,0.00,0.000,6,0.187,0.046,2355,2634,3527,0,0,0,0,0,0,26.17,26.29,28.83
$GC,1335,-0.51,-146.0,281.8,-16.8,205,1339,0.05,2.12,0.00,0.000,4,0.177,0.024,2310,1165,3527,0,0,0,0,0,0,26.63,26.45,28.83
$GC,1349,-0.51,-146.0,283.8,-16.7,206,1358,0.17,2.25,0.00,0.000,6,0.152,0.045,2356,2637,3528,0,0,0,0,0,0,26.06,26.33,28.83
$GC,1656,-0.51,-146.0,331.5,-14.1,237,1661,0.05,2.12,0.00,0.000,4,0.177,0.024,2307,1160,3527,0,0,0,0,0,0,26.65,26.48,28.83
$GC,1742,-0.51,-146.0,344.4,-15.5,245,1749,0.17,2.25,0.00,0.000,6,0.148,0.047,2357,2634,3527,0,0,0,0,0,0,26.09,26.34,28.83
$GC,2048,-0.51,-146.0,384.6,-13.0,276,2052,0.08,2.12,0.00,0.000,4,0.132,0.024,2300,1163,3527,0,0,0,0,0,0,26.65,26.49,28.83
$GC,2133,-0.51,-146.0,397.2,-15.1,284,2141,0.20,2.25,0.00,0.000,6,0.145,0.047,2352,2627,3527,0,0,0,0,0,0,26.08,26.34,28.83
$GC,2443,-0.51,-146.0,437.5,-13.0,315,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2627,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.51,-146.0,478.3,-12.9,346,2761,0.00,2.10,0.00,0.000,4,0.000,0.024,2352,1145,3524,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2813,-0.51,-146.0,485.5,-10.5,352,2822,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2637,3524,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3124,-0.51,-146.0,521.9,-11.5,383,3128,0.00,1.70,0.00,0.000,4,0.000,0.055,2341,3766,3523,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3198,-0.51,-146.0,529.7,-10.4,390,3206,0.00,1.73,0.00,0.000,6,0.000,0.023,2340,2504,3522,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3505,-0.51,-146.0,563.8,-11.2,421,3509,0.00,1.92,0.00,0.000,4,0.000,0.026,2341,1150,3520,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3554,-0.51,-146.0,568.4,-10.1,425,3562,0.05,2.28,0.00,0.000,6,0.132,0.046,2368,2625,3519,0,0,0,0,0,0,26.15,26.34,28.83
$GC,3862,-0.51,-146.0,591.6,-7.1,456,3871,0.10,2.10,0.00,0.000,4,0.106,0.023,2301,1143,3518,0,0,0,0,0,0,26.65,26.52,28.83
$GC,3906,-0.51,-146.0,595.6,-9.8,460,3914,0.15,2.28,0.00,0.000,6,0.118,0.046,2359,2619,3518,0,0,0,0,0,0,26.05,26.33,28.83
$GC,4225,-0.51,-146.0,618.4,-7.2,479,4231,0.08,2.08,0.00,0.000,4,0.133,0.023,2303,1151,3515,0,0,0,0,0,0,26.67,26.51,28.83
$GC,4286,-0.51,-146.0,624.5,-9.4,482,4291,0.15,2.28,0.00,0.000,6,0.119,0.045,2356,2625,3515,0,0,0,0,0,0,26.03,26.32,28.83
$GC,4605,-0.51,-146.0,650.6,-8.2,498,4611,0.05,2.10,0.00,0.000,4,0.179,0.023,2308,1151,3513,0,0,0,0,0,0,26.69,26.50,28.83
$GC,4646,-0.51,-146.0,654.7,-9.1,500,4651,0.17,2.28,0.00,0.000,6,0.138,0.047,2359,2633,3512,0,0,0,0,0,0,26.07,26.29,28.83
$GC,4964,-0.51,-146.0,680.3,-8.1,516,4970,0.08,2.12,0.00,0.000,4,0.133,0.024,2304,1145,3509,0,0,0,0,0,0,26.66,26.49,28.83
$GC,4987,-0.51,-146.0,682.2,-8.4,517,4992,0.17,2.28,0.00,0.000,6,0.138,0.047,2358,2629,3510,0,0,0,0,0,0,26.06,26.29,28.83
$GC,5301,-0.51,-146.0,708.5,-8.1,533,5307,0.08,2.10,0.00,0.000,4,0.132,0.024,2304,1151,3507,0,0,0,0,0,0,26.66,26.48,28.83
$GC,5333,-0.51,-146.0,710.5,-8.3,534,5342,0.17,2.28,0.00,0.000,6,0.138,0.049,2358,2629,3508,0,0,0,0,0,0,26.04,26.26,28.83
$GC,5640,-0.51,-146.0,736.0,-7.5,550,5645,0.08,2.12,0.00,0.000,4,0.132,0.024,2305,1156,3505,0,0,0,0,0,0,26.65,26.47,28.83
$GC,5686,-0.51,-146.0,740.2,-8.7,552,5691,0.20,2.28,0.00,0.000,6,0.134,0.048,2357,2628,3505,0,0,0,0,0,0,26.01,26.26,28.83
$GC,5999,-0.51,-146.0,765.3,-7.7,568,6003,0.08,2.12,0.00,0.000,4,0.132,0.024,2306,1161,3503,0,0,0,0,0,0,26.65,26.46,28.83
$GC,6053,-0.51,-146.0,769.7,-8.8,570,6062,0.17,2.28,0.00,0.000,6,0.135,0.050,2358,2625,3503,0,0,0,0,0,0,26.03,26.22,28.83
$GC,6361,-0.51,-146.0,794.7,-7.2,586,6363,0.08,0.00,0.00,0.000,6,0.132,0.000,2305,2625,3501,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6661,-0.51,-146.0,827.5,-10.9,601,6668,0.12,2.10,0.00,0.000,4,0.158,0.024,2349,1153,3499,0,0,0,0,0,0,26.33,26.45,28.83
$GC,6703,-0.51,-146.0,831.0,-9.9,603,6707,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2625,3499,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7023,-0.51,-146.0,854.3,-7.3,619,7028,0.00,2.08,0.00,0.000,4,0.000,0.025,2348,1160,3498,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7076,-0.51,-146.0,857.3,-7.5,621,7083,0.00,2.25,0.00,0.000,6,0.000,0.049,2348,2625,3498,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7381,-0.51,-146.0,883.3,-8.6,637,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2626,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.51,-146.0,910.3,-9.1,652,7687,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1144,3495,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7721,-0.51,-146.0,913.9,-9.2,654,7727,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2632,3495,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8041,-0.51,-146.0,941.8,-8.1,670,8047,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1152,3493,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8070,-0.51,-146.0,943.5,-8.2,671,8074,0.00,2.30,0.00,0.000,6,0.000,0.049,2347,2632,3493,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8378,-0.51,-146.0,967.1,-7.1,686,8384,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1154,3492,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8411,-0.51,-146.0,968.6,-7.1,687,8418,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2626,3492,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,8716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8716,begin apogee
$GC,8722,-0.17,0.0,990.4,-7.0,703,8851,0.32,0.10,122.35,1.742,6,0.112,0.070,2462,2535,2928,0,0,0,0,0,0,26.01,24.51,23.41
$STATE,8852,end apogee,CONTROL_FINISHED_OK
$STATE,8852,begin climb
$GC,8855,0.51,146.0,994.4,0.0,709,9002,0.60,2.45,139.65,1.701,4,0.050,0.033,2708,1063,2332,0,0,0,0,0,0,24.78,23.88,22.70
$GC,9072,0.51,146.0,982.2,12.8,720,9080,0.17,2.40,0.00,0.000,6,0.184,0.046,2667,2518,2325,0,0,0,0,0,0,24.50,24.76,28.83
$GC,9380,0.51,146.0,942.0,12.2,736,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2518,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,0.51,146.0,906.6,11.7,751,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2518,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9980,0.51,146.0,871.2,12.1,766,9985,0.00,1.92,0.00,0.000,4,0.000,0.056,2667,3771,2319,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10028,0.51,146.0,865.7,12.8,768,10032,0.00,1.92,0.00,0.000,6,0.000,0.026,2676,2452,2318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10337,0.51,146.0,822.5,14.3,783,10342,0.00,2.05,0.00,0.000,4,0.000,0.032,2686,1047,2317,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10377,0.51,146.0,816.9,14.2,785,10382,0.08,2.28,0.00,0.000,6,0.207,0.046,2670,2517,2317,0,0,0,0,0,0,25.91,26.08,28.83
$GC,10691,0.51,146.0,773.2,13.5,801,10696,0.00,1.92,0.00,0.000,4,0.000,0.055,2670,3764,2316,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10742,0.51,146.0,767.1,14.4,803,10749,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2446,2316,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11051,0.51,146.0,724.5,12.4,819,11056,0.00,2.03,0.00,0.000,4,0.000,0.031,2690,1049,2315,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11082,0.51,146.0,721.9,12.4,820,11090,0.10,2.28,0.00,0.000,6,0.188,0.046,2667,2520,2314,0,0,0,0,0,0,25.89,26.12,28.83
$GC,11391,0.51,146.0,686.9,10.9,836,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2520,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11691,0.51,146.0,657.3,9.2,851,11696,0.00,1.90,0.00,0.000,4,0.000,0.054,2667,3764,2313,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11752,0.51,146.0,651.2,10.0,854,11756,0.00,1.90,0.00,0.000,6,0.000,0.024,2677,2441,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12070,0.51,146.0,623.2,8.4,870,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2437,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12370,0.51,146.0,596.7,9.4,886,12380,0.00,2.03,0.00,0.000,4,0.000,0.033,2687,1047,2312,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12456,0.51,146.0,589.0,9.4,894,12465,0.10,2.25,0.00,0.000,6,0.184,0.045,2664,2518,2312,0,0,0,0,0,0,25.94,26.16,28.83
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$STATE,18953,end climb,SURFACE_DEPTH_REACHED
$STATE,18953,begin surface coast
$FINISH,0.9,1.011363
$STATE,18989,end surface coast,CONTROL_FINISHED_OK
$STATE,18989,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.08
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.1,18.666
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329624
$DATA_FILE_SIZE,130469,1762
$CAP_FILE_SIZE,201563,0
$CFSIZE,260165632,209801216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,111.0,1
$GPS,080412,024737,2005.808,12401.490,30,1.9,30,-2.5