version: 66.10
glider: 176
mission: 5
dive: 153
start: 4 10 112 7 53 57
data:
$ID,176
$MISSION,5
$DIVE,153
$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,-7624.7075
$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
$GPS1,100412,074424,2007.997,12420.997,40,0.9,40,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.5
$GPS2,100412,075332,2007.998,12420.974,9,1.3,9,-2.5
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,182.6,256766,-13.1,-7.500
$D_GRID,5440
$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,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,65,0.00,0.00,-45.88,0.000,2,0.000,0.000,184,2656,2595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.4,-7.1,8,105,8.80,2.20,-19.92,0.000,4,0.239,0.041,2343,1153,3526,0,0,0,0,0,0,25.41,26.06,26.42
$GC,183,-0.51,-146.0,29.7,-25.0,26,190,0.10,2.28,0.00,0.000,6,0.191,0.047,2355,2633,3527,0,0,0,0,0,0,25.79,26.01,28.83
$GC,494,-0.51,-146.0,116.7,-28.2,87,503,0.05,2.15,0.00,0.000,4,0.179,0.025,2314,1146,3527,0,0,0,0,0,0,26.46,26.27,28.83
$GC,560,-0.51,-146.0,131.8,-20.6,99,567,0.17,2.28,0.00,0.000,6,0.156,0.045,2354,2634,3528,0,0,0,0,0,0,25.90,26.18,28.83
$GC,871,-0.51,-146.0,194.5,-19.6,160,877,0.00,2.12,0.00,0.000,4,0.000,0.028,2355,1158,3529,0,0,0,0,0,0,28.83,26.36,28.83
$GC,937,-0.51,-146.0,205.1,-14.3,169,946,0.00,2.28,0.00,0.000,6,0.000,0.045,2346,2633,3528,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1246,-0.51,-146.0,258.4,-16.2,200,1254,0.00,2.10,0.00,0.000,4,0.000,0.028,2346,1159,3528,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1297,-0.51,-146.0,266.5,-15.0,205,1307,0.00,2.22,0.00,0.000,6,0.000,0.047,2343,2628,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1607,-0.51,-146.0,315.6,-14.5,236,1616,0.00,2.12,0.00,0.000,4,0.000,0.028,2343,1151,3528,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1669,-0.51,-146.0,323.3,-11.8,242,1679,0.05,2.22,0.00,0.000,6,0.135,0.047,2355,2628,3528,0,0,0,0,0,0,26.15,26.32,28.83
$GC,1978,-0.51,-146.0,361.9,-12.7,273,1981,0.00,1.70,0.00,0.000,4,0.000,0.056,2356,3767,3527,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2009,-0.51,-146.0,365.9,-12.6,276,2014,0.05,1.67,0.00,0.000,6,0.180,0.023,2312,2519,3527,0,0,0,0,0,0,26.45,26.59,28.83
$GC,2321,-0.51,-146.0,418.5,-17.6,307,2325,0.12,1.92,0.00,0.000,4,0.165,0.025,2354,1156,3526,0,0,0,0,0,0,26.33,26.48,28.83
$GC,2356,-0.51,-146.0,423.4,-15.9,310,2363,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2628,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2663,-0.51,-146.0,459.2,-10.4,341,2666,0.00,1.70,0.00,0.000,4,0.000,0.057,2348,3766,3524,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2694,-0.51,-146.0,462.3,-10.7,344,2697,0.00,1.70,0.00,0.000,6,0.000,0.023,2348,2517,3524,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3004,-0.51,-146.0,493.0,-10.4,375,3008,0.00,1.92,0.00,0.000,4,0.000,0.028,2348,1157,3523,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3073,-0.51,-146.0,499.8,-9.6,381,3082,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2631,3522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3381,-0.51,-146.0,535.1,-11.8,412,3390,0.00,2.15,0.00,0.000,4,0.000,0.028,2348,1146,3520,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3432,-0.51,-146.0,540.7,-10.9,417,3442,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2637,3519,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3743,-0.51,-146.0,576.2,-10.7,448,3747,0.00,1.70,0.00,0.000,4,0.000,0.054,2341,3777,3517,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3776,-0.51,-146.0,579.7,-11.2,451,3784,0.00,1.75,0.00,0.000,6,0.000,0.023,2341,2504,3517,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4096,-0.51,-146.0,613.2,-10.4,477,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2504,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4395,-0.51,-146.0,644.1,-9.7,492,4401,0.00,1.95,0.00,0.000,4,0.000,0.054,2332,3776,3513,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4427,-0.51,-146.0,646.1,-9.6,493,4435,0.05,1.75,0.00,0.000,6,0.133,0.023,2355,2496,3512,0,0,0,0,0,0,26.36,26.63,28.83
$GC,4735,-0.51,-146.0,668.5,-6.3,509,4741,0.05,1.90,0.00,0.000,4,0.176,0.025,2307,1154,3510,0,0,0,0,0,0,26.68,26.43,28.83
$GC,4802,-0.51,-146.0,673.6,-8.0,512,4807,0.17,2.25,0.00,0.000,6,0.138,0.047,2359,2634,3510,0,0,0,0,0,0,26.03,26.27,28.83
$GC,5110,-0.51,-146.0,695.0,-7.2,527,5112,0.08,0.00,0.00,0.000,6,0.132,0.000,2301,2635,3507,0,0,0,0,0,0,26.65,28.83,28.83
$GC,5409,-0.51,-146.0,732.2,-12.4,542,5416,0.15,2.15,0.00,0.000,4,0.153,0.026,2353,1160,3505,0,0,0,0,0,0,26.25,26.41,28.83
$GC,5492,-0.51,-146.0,739.1,-8.5,546,5496,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2636,3505,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5805,-0.51,-146.0,761.3,-6.5,562,5811,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1165,3503,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5832,-0.51,-146.0,762.6,-6.5,563,5836,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2631,3503,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6141,-0.51,-146.0,782.9,-6.8,578,6145,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1159,3502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6171,-0.51,-146.0,784.6,-6.9,579,6175,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3502,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6478,-0.51,-146.0,811.4,-9.4,594,6483,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1152,3500,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6511,-0.51,-146.0,813.2,-9.4,595,6518,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2631,3499,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6818,-0.51,-146.0,843.1,-9.2,611,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7118,-0.51,-146.0,869.2,-8.5,626,7123,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1159,3496,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7151,-0.51,-146.0,870.9,-8.4,627,7159,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2635,3495,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7457,-0.51,-146.0,897.4,-8.3,643,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2634,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,-0.51,-146.0,923.1,-8.5,658,7764,0.00,2.15,0.00,0.000,4,0.000,0.028,2347,1158,3493,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7826,-0.51,-146.0,928.1,-8.5,661,7830,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2629,3493,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8132,-0.51,-146.0,954.3,-8.4,676,8138,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1161,3491,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8160,-0.51,-146.0,956.1,-8.4,677,8164,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2629,3492,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8468,-0.51,-146.0,982.8,-8.4,692,8472,0.00,2.15,0.00,0.000,4,0.000,0.028,2347,1150,3490,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8497,-0.51,-146.0,984.7,-8.4,693,8501,0.00,2.30,0.00,0.000,6,0.000,0.048,2346,2633,3491,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8563,begin apogee
$GC,8569,-0.17,0.0,990.9,-8.3,696,8698,0.32,0.10,122.10,1.747,6,0.110,0.070,2461,2533,2928,0,0,0,0,0,0,26.00,24.49,23.37
$STATE,8699,end apogee,CONTROL_FINISHED_OK
$STATE,8700,begin climb
$GC,8701,0.51,146.0,996.1,0.0,702,8851,0.60,2.47,139.82,1.708,4,0.052,0.032,2706,1062,2332,0,0,0,0,0,0,24.76,23.87,22.65
$GC,8911,0.51,146.0,985.5,11.7,713,8916,0.15,2.38,0.00,0.000,6,0.182,0.046,2671,2518,2325,0,0,0,0,0,0,24.46,24.70,28.83
$GC,9224,0.51,146.0,947.0,12.5,729,9229,0.00,1.98,0.00,0.000,4,0.000,0.055,2671,3775,2321,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9248,0.51,146.0,944.3,12.7,730,9253,0.05,1.95,0.00,0.000,6,0.267,0.025,2671,2456,2321,0,0,0,0,0,0,25.66,25.87,28.83
$GC,9561,0.51,146.0,906.3,11.9,746,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2452,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9860,0.51,146.0,871.7,11.3,761,9866,0.00,2.08,0.00,0.000,4,0.000,0.054,2671,3774,2318,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9963,0.51,146.0,858.3,13.6,766,9968,0.03,1.95,0.00,0.000,6,0.230,0.025,2673,2458,2317,0,0,0,0,0,0,26.01,26.21,28.83
$GC,10281,0.51,146.0,821.0,11.6,782,10287,0.00,2.05,0.00,0.000,4,0.000,0.031,2683,1051,2316,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10301,0.51,146.0,818.6,11.7,783,10307,0.08,2.25,0.00,0.000,6,0.200,0.047,2667,2517,2316,0,0,0,0,0,0,25.94,26.07,28.83
$GC,10620,0.51,146.0,781.4,11.3,799,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2517,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10921,0.51,146.0,747.0,12.0,814,10927,0.00,1.92,0.00,0.000,4,0.000,0.055,2667,3764,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10964,0.51,146.0,741.5,12.9,816,10968,0.00,1.88,0.00,0.000,6,0.000,0.026,2677,2455,2314,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11275,0.51,146.0,701.2,12.8,832,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2450,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11576,0.51,146.0,664.3,11.7,847,11581,0.00,2.03,0.00,0.000,4,0.000,0.054,2677,3764,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11623,0.51,146.0,658.9,12.5,849,11628,0.05,1.92,0.00,0.000,6,0.198,0.024,2672,2454,2313,0,0,0,0,0,0,26.02,26.36,28.83
$GC,11935,0.51,146.0,624.4,9.9,865,11941,0.00,2.05,0.00,0.000,4,0.000,0.033,2681,1058,2312,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12025,0.51,146.0,617.0,9.1,869,12036,0.05,2.22,0.00,0.000,6,0.220,0.046,2670,2517,2312,0,0,0,0,0,0,26.04,26.12,28.83
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$STATE,18960,end climb,SURFACE_DEPTH_REACHED
$STATE,18960,begin surface coast
$FINISH,0.8,1.011500
$STATE,18987,end surface coast,CONTROL_FINISHED_OK
$STATE,18987,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.39764
$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,10.2,20.044
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.150,182.325,338.350,32.625,0.000,56.226,48.311,239.398,0.000,0.000,11.864,4517.637,10514.506,574.497,3528.526,416.797,0.000,2226.253,0.000,3007.387,0.000,0.542,0.000
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$MEM,329460
$DATA_FILE_SIZE,130632,1777
$CAP_FILE_SIZE,207326,0
$CFSIZE,260165632,208621568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164, 58.7,1
$GPS,100412,131225,2006.583,12422.630,40,1.4,40,-2.5