version: 66.10
glider: 176
mission: 5
dive: 157
start: 4 11 112 5 27 44
data:
$ID,176
$MISSION,5
$DIVE,157
$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,-7629.9258
$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
$GPS1,110412,051507,1959.715,12424.068,30,1.7,30,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.3
$GPS2,110412,052716,1959.657,12424.177,10,5.8,29,-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,204.7,240881,-13.1,-7.500
$D_GRID,5612
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.58,0.000,2,0.000,0.000,190,2685,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.51,-146.0,3.2,-6.1,8,103,8.77,2.30,-22.20,0.000,4,0.240,0.039,2342,1142,3527,0,0,0,0,0,0,25.43,26.08,26.43
$GC,196,-0.51,-146.0,29.5,-20.4,29,204,0.10,2.28,0.00,0.000,6,0.183,0.044,2356,2630,3527,0,0,0,0,0,0,25.84,26.03,28.83
$GC,527,-0.51,-146.0,117.9,-26.1,90,534,0.05,1.73,0.00,0.000,4,0.175,0.049,2303,3777,3527,0,0,0,0,0,0,26.47,26.13,28.83
$GC,596,-0.51,-146.0,138.5,-26.9,103,604,0.17,1.70,0.00,0.000,6,0.158,0.024,2354,2534,3528,0,0,0,0,0,0,25.93,26.39,28.83
$GC,914,-0.51,-146.0,206.5,-20.3,162,918,0.00,1.98,0.00,0.000,4,0.000,0.024,2354,1113,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1008,-0.51,-146.0,218.8,-11.0,171,1015,0.00,2.30,0.00,0.000,6,0.000,0.045,2345,2630,3527,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1317,-0.51,-146.0,273.2,-18.3,202,1326,0.00,2.08,0.00,0.000,4,0.000,0.026,2345,1148,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1401,-0.51,-146.0,285.5,-12.5,210,1409,0.05,2.28,0.00,0.000,6,0.139,0.046,2355,2625,3527,0,0,0,0,0,0,26.13,26.31,28.83
$GC,1708,-0.51,-146.0,331.4,-15.5,241,1712,0.00,1.75,0.00,0.000,4,0.000,0.053,2347,3771,3527,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1729,-0.51,-146.0,334.7,-15.3,243,1733,0.00,1.70,0.00,0.000,6,0.000,0.022,2347,2511,3527,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2041,-0.51,-146.0,377.0,-12.9,274,2049,0.00,1.88,0.00,0.000,4,0.000,0.024,2346,1141,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2102,-0.51,-146.0,383.8,-10.3,280,2111,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2628,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2413,-0.51,-146.0,418.4,-11.1,311,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.51,-146.0,455.5,-13.4,341,2724,0.00,2.10,0.00,0.000,4,0.000,0.024,2343,1147,3523,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2800,-0.51,-146.0,466.4,-12.2,349,2809,0.08,2.25,0.00,0.000,6,0.180,0.045,2355,2634,3523,0,0,0,0,0,0,26.21,26.33,28.83
$GC,3107,-0.51,-146.0,505.6,-10.8,380,3111,0.05,1.73,0.00,0.000,4,0.178,0.053,2293,3759,3521,0,0,0,0,0,0,26.68,26.25,28.83
$GC,3139,-0.51,-146.0,509.7,-12.2,383,3144,0.15,1.70,0.00,0.000,6,0.123,0.023,2349,2505,3521,0,0,0,0,0,0,26.13,26.61,28.83
$GC,3451,-0.51,-146.0,541.2,-9.7,414,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2501,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-0.51,-146.0,574.6,-11.2,444,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2501,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.51,-146.0,609.0,-10.7,472,4075,0.00,1.92,0.00,0.000,4,0.000,0.026,2349,1141,3515,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4109,-0.51,-146.0,612.8,-10.7,474,4114,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2624,3514,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4429,-0.51,-146.0,647.5,-11.0,490,4434,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1152,3512,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4488,-0.51,-146.0,653.9,-10.8,493,4493,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3512,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4809,-0.51,-146.0,683.7,-8.6,509,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2626,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5108,-0.51,-146.0,708.1,-8.3,524,5114,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1151,3507,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5148,-0.51,-146.0,711.5,-8.4,526,5152,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2625,3507,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5471,-0.51,-146.0,740.9,-9.5,542,5475,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1152,3504,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5500,-0.51,-146.0,743.2,-9.6,543,5504,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2628,3504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5808,-0.51,-146.0,771.5,-8.7,558,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6108,-0.51,-146.0,793.7,-6.9,573,6114,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1150,3500,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6152,-0.51,-146.0,796.3,-6.6,575,6158,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2625,3500,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6469,-0.51,-146.0,817.1,-6.7,591,6474,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1151,3498,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6507,-0.51,-146.0,819.9,-6.9,593,6513,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2625,3498,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6827,-0.51,-146.0,846.7,-9.5,609,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2625,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-0.51,-146.0,876.2,-9.8,624,7134,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1152,3494,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7155,-0.51,-146.0,878.2,-9.9,625,7159,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2625,3494,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7462,-0.51,-146.0,906.8,-8.7,640,7468,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1153,3493,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7504,-0.51,-146.0,910.1,-8.6,642,7509,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2626,3493,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7823,-0.51,-146.0,936.1,-7.9,658,7826,0.00,1.77,0.00,0.000,4,0.000,0.060,2344,3771,3491,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7852,-0.51,-146.0,937.8,-7.8,659,7855,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2497,3490,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8165,-0.51,-146.0,961.7,-7.4,675,8170,0.00,2.00,0.00,0.000,4,0.000,0.058,2344,3778,3489,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8197,-0.51,-146.0,963.1,-7.4,676,8204,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2498,3489,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8504,-0.51,-146.0,987.1,-7.7,692,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2498,3488,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8542,begin apogee
$GC,8548,-0.17,0.0,990.2,-7.7,694,8676,0.32,0.00,122.07,1.743,6,0.111,0.000,2459,2497,2928,0,0,0,0,0,0,25.97,28.83,23.39
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8678,begin climb
$GC,8680,0.51,146.0,994.2,0.0,700,8827,0.60,2.38,140.68,1.703,4,0.050,0.034,2709,1057,2332,0,0,0,0,0,0,24.78,23.88,22.68
$GC,8876,0.51,146.0,983.8,11.9,710,8887,0.17,2.42,0.00,0.000,6,0.180,0.046,2667,2522,2327,0,0,0,0,0,0,24.38,24.62,28.83
$GC,9188,0.51,146.0,942.4,13.0,726,9194,0.00,1.95,0.00,0.000,4,0.000,0.057,2667,3766,2321,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9221,0.51,146.0,939.7,13.1,727,9227,0.00,1.92,0.00,0.000,6,0.000,0.025,2676,2452,2321,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9527,0.51,146.0,895.2,13.7,743,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2448,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9827,0.51,146.0,852.9,14.1,758,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2448,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10127,0.51,146.0,810.2,14.1,773,10133,0.00,2.08,0.00,0.000,4,0.000,0.055,2676,3772,2317,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10189,0.51,146.0,800.4,15.9,776,10194,0.05,1.95,0.00,0.000,6,0.200,0.026,2671,2449,2316,0,0,0,0,0,0,25.94,26.27,28.83
$GC,10507,0.51,146.0,759.0,12.3,792,10513,0.00,2.05,0.00,0.000,4,0.000,0.031,2681,1054,2316,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10547,0.51,146.0,754.2,12.3,794,10553,0.05,2.28,0.00,0.000,6,0.220,0.046,2670,2516,2315,0,0,0,0,0,0,26.03,26.10,28.83
$GC,10867,0.51,146.0,717.1,11.3,810,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11167,0.51,146.0,681.4,11.7,825,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11467,0.51,146.0,646.5,11.8,840,11472,0.00,2.17,0.00,0.000,4,0.000,0.031,2681,1055,2313,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11520,0.51,146.0,641.8,11.6,842,11528,0.05,2.25,0.00,0.000,6,0.219,0.045,2669,2519,2312,0,0,0,0,0,0,26.06,26.13,28.83
$GC,11827,0.51,146.0,607.6,10.7,858,11833,0.00,2.20,0.00,0.000,4,0.000,0.031,2680,1048,2312,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11900,0.51,146.0,601.9,9.8,861,11907,0.03,2.28,0.00,0.000,6,0.274,0.044,2670,2525,2312,0,0,0,0,0,0,26.07,26.14,28.83
$GC,12208,0.51,146.0,571.9,9.7,891,12217,0.00,2.17,0.00,0.000,4,0.000,0.031,2680,1055,2312,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12309,0.51,146.0,562.2,9.0,901,12319,0.05,2.22,0.00,0.000,6,0.216,0.044,2668,2521,2312,0,0,0,0,0,0,26.06,26.14,28.83
$GC,12619,0.51,146.0,527.3,11.9,932,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2521,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12923,0.51,146.0,497.7,8.7,962,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2522,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18395,end climb,SURFACE_DEPTH_REACHED
$STATE,18395,begin surface coast
$FINISH,0.7,1.013203
$STATE,18457,end surface coast,CONTROL_FINISHED_OK
$STATE,18457,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.67
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.1,20.543
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.875,145.950,343.075,43.450,0.000,89.478,109.531,242.274,0.000,0.000,33.115,4325.192,10459.648,562.049,3483.000,388.174,0.000,2093.326,0.000,2829.353,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,127109,1711
$CAP_FILE_SIZE,189842,0
$CFSIZE,260165632,208211968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 97.0,1
$GPS,110412,103731,1957.361,12424.007,38,1.8,38,-2.5