version: 66.10
glider: 176
mission: 5
dive: 154
start: 4 10 112 13 23 39
data:
$ID,176
$MISSION,5
$DIVE,154
$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,-7625.9624
$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
$GPS1,100412,131225,2006.583,12422.630,40,1.4,40,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.5
$GPS2,100412,132313,2006.621,12422.679,8,1.5,13,-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,216.4,253952,-13.1,-7.500
$D_GRID,5365
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-146.0,0.0,0.0,0,67,0.00,0.00,-45.35,0.000,2,0.000,0.000,183,2689,2595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.51,-146.0,3.3,-5.6,8,107,8.62,2.25,-20.62,0.000,4,0.235,0.041,2346,1148,3527,0,0,0,0,0,0,25.41,26.08,26.42
$GC,310,-0.51,-146.0,57.0,-19.8,54,318,0.08,2.28,0.00,0.000,6,0.200,0.047,2352,2633,3529,0,0,0,0,0,0,25.94,26.09,28.83
$GC,621,-0.51,-146.0,136.7,-24.2,115,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2633,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,932,-0.51,-146.0,199.6,-20.3,176,938,0.00,2.12,0.00,0.000,4,0.000,0.027,2352,1152,3529,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1019,-0.51,-146.0,213.3,-13.4,185,1026,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2630,3529,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1327,-0.51,-146.0,269.3,-17.1,216,1335,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1148,3529,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1341,-0.51,-146.0,270.7,-17.2,217,1348,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2629,3529,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1648,-0.51,-146.0,324.3,-18.7,248,1657,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1147,3529,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1733,-0.51,-146.0,336.3,-13.0,256,1740,0.08,2.25,0.00,0.000,6,0.188,0.044,2354,2636,3529,0,0,0,0,0,0,26.20,26.34,28.83
$GC,2039,-0.51,-146.0,380.1,-13.5,287,2043,0.00,1.70,0.00,0.000,4,0.000,0.051,2347,3771,3527,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2061,-0.51,-146.0,382.9,-13.3,289,2064,0.00,1.70,0.00,0.000,6,0.000,0.023,2346,2508,3527,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2374,-0.51,-146.0,423.0,-12.8,320,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2488,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.51,-146.0,464.5,-12.6,351,2693,0.00,1.95,0.00,0.000,4,0.000,0.050,2336,3768,3526,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2736,-0.51,-146.0,471.7,-13.4,356,2740,0.08,1.73,0.00,0.000,6,0.176,0.023,2358,2494,3525,0,0,0,0,0,0,26.39,26.63,28.83
$GC,3048,-0.51,-146.0,505.8,-9.9,387,3059,0.08,1.90,0.00,0.000,4,0.131,0.025,2303,1151,3523,0,0,0,0,0,0,26.67,26.48,28.83
$GC,3094,-0.51,-146.0,511.3,-13.0,391,3103,0.20,2.25,0.00,0.000,6,0.139,0.044,2354,2637,3523,0,0,0,0,0,0,26.05,26.34,28.83
$GC,3402,-0.51,-146.0,545.3,-10.5,422,3411,0.00,2.15,0.00,0.000,4,0.000,0.026,2354,1146,3522,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3443,-0.51,-146.0,549.4,-10.0,426,3452,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2632,3521,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3753,-0.51,-146.0,581.4,-10.6,457,3762,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1146,3519,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3807,-0.51,-146.0,586.6,-10.3,462,3815,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2628,3519,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4115,-0.51,-146.0,620.6,-11.4,484,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4415,-0.51,-146.0,655.5,-11.6,499,4421,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1148,3514,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4469,-0.51,-146.0,660.2,-11.7,501,4476,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2635,3514,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4774,-0.51,-146.0,693.6,-9.6,517,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2636,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,-0.51,-146.0,719.7,-8.4,532,5081,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1159,3508,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5114,-0.51,-146.0,723.1,-8.5,534,5120,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2628,3509,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5434,-0.51,-146.0,752.1,-9.1,550,5440,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1150,3506,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5498,-0.51,-146.0,757.2,-8.6,553,5502,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3506,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5810,-0.51,-146.0,782.0,-7.3,569,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6111,-0.51,-146.0,800.8,-6.1,584,6116,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1162,3502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6138,-0.51,-146.0,802.1,-6.3,585,6142,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2626,3502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6446,-0.51,-146.0,823.3,-7.2,600,6451,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1161,3500,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6488,-0.51,-146.0,826.3,-7.4,602,6493,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3501,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6800,-0.51,-146.0,850.7,-8.0,618,6806,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1159,3499,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6828,-0.51,-146.0,852.4,-8.0,619,6832,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3498,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7136,-0.51,-146.0,876.3,-7.2,634,7140,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1151,3497,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7166,-0.51,-146.0,877.9,-7.3,635,7170,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2626,3497,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7473,-0.51,-146.0,899.6,-7.0,650,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7773,-0.51,-146.0,922.3,-7.8,665,7779,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1153,3493,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7817,-0.51,-146.0,925.6,-7.9,667,7821,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2626,3493,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8130,-0.51,-146.0,949.2,-7.2,683,8134,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1150,3492,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8173,-0.51,-146.0,952.4,-7.2,685,8178,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2622,3492,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8492,-0.51,-146.0,973.6,-6.6,701,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2623,3491,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8750,begin apogee
$GC,8756,-0.17,0.0,990.8,-6.8,714,8885,0.32,0.10,121.85,1.746,6,0.111,0.070,2459,2527,2929,0,0,0,0,0,0,25.97,24.49,23.37
$STATE,8886,end apogee,CONTROL_FINISHED_OK
$STATE,8886,begin climb
$GC,8888,0.51,146.0,994.2,0.0,720,9033,0.60,0.00,140.48,1.707,6,0.051,0.000,2695,2528,2332,0,0,0,0,0,0,24.76,28.83,22.65
$GC,9331,0.51,146.0,948.8,12.7,743,9337,0.12,2.25,0.00,0.000,4,0.194,0.029,2671,1054,2323,0,0,0,0,0,0,25.42,25.66,28.83
$GC,9359,0.51,146.0,946.3,12.5,744,9363,0.00,2.33,0.00,0.000,6,0.000,0.047,2671,2522,2321,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9667,0.51,146.0,913.8,10.4,759,9673,0.00,2.22,0.00,0.000,4,0.000,0.031,2681,1050,2319,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9699,0.51,146.0,911.6,10.6,760,9706,0.05,2.30,0.00,0.000,6,0.218,0.046,2670,2521,2319,0,0,0,0,0,0,25.84,25.91,28.83
$GC,10006,0.51,146.0,875.8,11.6,776,10012,0.00,1.92,0.00,0.000,4,0.000,0.054,2669,3765,2318,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10071,0.51,146.0,867.7,13.2,779,10074,0.00,1.92,0.00,0.000,6,0.000,0.025,2679,2446,2317,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10382,0.51,146.0,825.8,13.6,795,10388,0.00,2.05,0.00,0.000,4,0.000,0.032,2690,1049,2316,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10402,0.51,146.0,823.1,13.5,796,10409,0.10,2.30,0.00,0.000,6,0.191,0.046,2667,2527,2316,0,0,0,0,0,0,25.84,26.07,28.83
$GC,10723,0.51,146.0,783.2,12.4,812,10728,0.00,1.92,0.00,0.000,4,0.000,0.054,2667,3770,2315,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10782,0.51,146.0,774.9,13.4,815,10785,0.00,1.92,0.00,0.000,6,0.000,0.025,2676,2436,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11100,0.51,146.0,737.1,11.8,831,11105,0.00,2.00,0.00,0.000,4,0.000,0.032,2687,1057,2314,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11120,0.51,146.0,734.8,11.8,832,11125,0.05,2.28,0.00,0.000,6,0.171,0.046,2671,2511,2314,0,0,0,0,0,0,25.89,26.10,28.83
$GC,11439,0.51,146.0,698.6,11.5,848,11443,0.00,1.92,0.00,0.000,4,0.000,0.054,2670,3771,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11509,0.51,146.0,689.9,13.5,851,11512,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2454,2313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11821,0.51,146.0,649.8,12.8,867,11827,0.05,2.05,0.00,0.000,4,0.260,0.052,2670,3775,2312,0,0,0,0,0,0,26.45,26.03,28.83
$GC,11901,0.51,146.0,639.3,13.2,871,11907,0.00,1.92,0.00,0.000,6,0.000,0.024,2679,2443,2312,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12221,0.51,146.0,608.3,8.4,887,12226,0.00,2.03,0.00,0.000,4,0.000,0.052,2679,3764,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12275,0.51,146.0,604.7,8.6,889,12284,0.10,1.90,0.00,0.000,6,0.213,0.023,2667,2437,2312,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12581,0.51,146.0,580.3,7.8,918,12589,0.00,2.05,0.00,0.000,4,0.000,0.052,2667,3770,2312,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,18880,end climb,SURFACE_DEPTH_REACHED
$STATE,18880,begin surface coast
$FINISH,0.9,1.023237
$STATE,18906,end surface coast,CONTROL_FINISHED_OK
$STATE,18906,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.91
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.1,20.171
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.700,163.150,355.875,23.225,0.000,83.608,51.286,241.201,0.000,0.000,15.667,4380.591,10730.265,577.137,3475.747,398.145,0.000,2153.289,0.000,2910.620,0.000,0.540,0.000
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$MEM,329420
$DATA_FILE_SIZE,127195,1729
$CAP_FILE_SIZE,198253,0
$CFSIZE,260165632,208519168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 95.8,1
$GPS,100412,184037,2004.508,12422.539,40,0.8,40,-2.5