version: 66.10
glider: 176
mission: 5
dive: 169
start: 4 13 112 23 8 53
data:
$ID,176
$MISSION,5
$DIVE,169
$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,-7646.0713
$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,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
$GPS1,130412,230024,1929.017,12429.566,36,1.9,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.9
$GPS2,130412,230826,1928.954,12429.695,13,1.9,13,-2.4
$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,199.0,183501,-13.1,-7.500
$D_GRID,5335
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.05,0.000,2,0.000,0.000,178,2682,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.1,-6.1,7,105,8.68,2.22,-24.83,0.000,4,0.233,0.041,2349,1150,3527,0,0,0,0,0,0,25.43,26.14,26.48
$GC,142,-0.51,-146.0,23.0,-28.8,18,150,0.08,2.25,0.00,0.000,6,0.205,0.046,2354,2627,3528,0,0,0,0,0,0,25.89,26.04,28.83
$GC,454,-0.51,-146.0,107.9,-23.9,79,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2628,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-0.51,-146.0,182.0,-21.0,140,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2628,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1072,-0.51,-146.0,245.0,-18.6,179,1081,0.00,2.10,0.00,0.000,4,0.000,0.027,2354,1144,3527,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1106,-0.51,-146.0,250.7,-18.6,182,1113,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2635,3528,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1415,-0.51,-146.0,304.9,-16.8,213,1418,0.00,1.70,0.00,0.000,4,0.000,0.051,2340,3776,3528,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1486,-0.51,-146.0,316.9,-16.2,220,1491,0.08,1.70,0.00,0.000,6,0.185,0.022,2359,2517,3527,0,0,0,0,0,0,26.36,26.60,28.83
$GC,1798,-0.51,-146.0,359.7,-13.6,251,1802,0.05,1.92,0.00,0.000,4,0.179,0.021,2314,1135,3527,0,0,0,0,0,0,26.68,26.54,28.83
$GC,1866,-0.51,-146.0,369.9,-15.3,257,1876,0.15,2.25,0.00,0.000,6,0.150,0.044,2356,2628,3527,0,0,0,0,0,0,26.10,26.36,28.83
$GC,2175,-0.51,-146.0,410.4,-12.6,288,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.51,-146.0,445.0,-11.8,318,2486,0.00,2.08,0.00,0.000,4,0.000,0.024,2356,1143,3524,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2541,-0.51,-146.0,451.8,-10.1,324,2548,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2628,3524,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2849,-0.51,-146.0,487.2,-11.5,355,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,-0.51,-146.0,517.4,-10.0,385,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2628,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.51,-146.0,546.4,-9.5,415,3459,0.00,2.08,0.00,0.000,4,0.000,0.025,2356,1152,3518,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3514,-0.51,-146.0,552.0,-8.3,421,3522,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2632,3517,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3822,-0.51,-146.0,576.8,-7.9,452,3825,0.00,1.73,0.00,0.000,4,0.000,0.057,2357,3765,3515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3852,-0.51,-146.0,579.2,-7.7,455,3856,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2503,3515,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4175,-0.51,-146.0,606.4,-9.4,484,4181,0.00,1.88,0.00,0.000,4,0.000,0.026,2357,1147,3513,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4206,-0.51,-146.0,608.2,-9.4,485,4214,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2628,3513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4515,-0.51,-146.0,637.7,-8.8,501,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2628,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.51,-146.0,662.4,-8.2,516,4820,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1140,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4855,-0.51,-146.0,665.5,-8.0,518,4860,0.00,2.30,0.00,0.000,6,0.000,0.046,2356,2625,3508,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5174,-0.51,-146.0,689.4,-7.4,534,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2625,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5475,-0.51,-146.0,712.2,-7.7,549,5480,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1146,3503,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5507,-0.51,-146.0,713.7,-7.7,550,5513,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2632,3503,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5814,-0.51,-146.0,740.0,-8.4,566,5820,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1145,3501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5854,-0.51,-146.0,743.4,-8.5,568,5858,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2630,3501,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6175,-0.51,-146.0,770.3,-8.2,584,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2631,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6476,-0.51,-146.0,793.9,-7.6,599,6482,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1147,3496,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6515,-0.51,-146.0,796.9,-7.5,601,6521,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,2626,3496,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6836,-0.51,-146.0,819.3,-6.7,617,6841,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1142,3494,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6864,-0.51,-146.0,820.6,-6.7,618,6868,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2633,3494,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7171,-0.51,-146.0,840.8,-6.3,633,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7471,-0.51,-146.0,859.6,-6.3,648,7476,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1148,3491,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7512,-0.51,-146.0,862.3,-6.5,650,7518,0.03,2.25,0.00,0.000,6,0.112,0.047,2317,2619,3492,0,0,0,0,0,0,26.06,26.15,28.83
$GC,7831,-0.51,-146.0,893.7,-10.6,666,7833,0.15,0.00,0.00,0.000,6,0.145,0.000,2363,2620,3489,0,0,0,0,0,0,26.31,28.83,28.83
$GC,8132,-0.51,-146.0,914.9,-6.9,681,8138,0.08,2.10,0.00,0.000,4,0.130,0.024,2312,1146,3488,0,0,0,0,0,0,26.64,26.40,28.83
$GC,8164,-0.51,-146.0,916.5,-7.0,682,8172,0.17,2.28,0.00,0.000,6,0.132,0.047,2359,2626,3488,0,0,0,0,0,0,25.90,26.11,28.83
$GC,8472,-0.51,-146.0,939.6,-6.8,698,8474,0.05,0.00,0.00,0.000,6,0.177,0.000,2313,2626,3486,0,0,0,0,0,0,26.66,28.83,28.83
$GC,8772,-0.51,-146.0,970.6,-10.6,713,8778,0.12,2.10,0.00,0.000,4,0.148,0.024,2356,1158,3485,0,0,0,0,0,0,26.34,26.38,28.83
$GC,8819,-0.51,-146.0,974.3,-10.0,715,8823,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,2633,3485,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,9030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9030,begin apogee
$GC,9036,-0.17,0.0,990.5,-7.3,726,9165,0.30,0.12,121.75,1.747,6,0.106,0.089,2465,2531,2928,0,0,0,0,0,0,26.06,24.57,23.37
$STATE,9166,end apogee,CONTROL_FINISHED_OK
$STATE,9166,begin climb
$GC,9168,0.51,146.0,995.6,0.0,732,9317,0.60,2.42,139.62,1.707,4,0.048,0.031,2717,1061,2332,0,0,0,0,0,0,24.82,23.91,22.66
$GC,9343,0.51,146.0,989.9,9.6,741,9351,0.17,2.42,0.00,0.000,6,0.180,0.045,2675,2514,2327,0,0,0,0,0,0,24.22,24.44,28.83
$GC,9650,0.51,146.0,949.1,12.5,757,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2514,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9951,0.51,146.0,911.4,12.8,772,9956,0.00,1.92,0.00,0.000,4,0.000,0.055,2676,3766,2321,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9991,0.51,146.0,905.5,13.6,774,9997,0.05,1.92,0.00,0.000,6,0.267,0.026,2675,2448,2320,0,0,0,0,0,0,25.91,26.12,28.83
$GC,10311,0.51,146.0,863.4,13.4,790,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2443,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10611,0.51,146.0,824.5,12.6,805,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2444,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10910,0.51,146.0,788.6,11.8,820,10915,0.00,2.05,0.00,0.000,4,0.000,0.054,2675,3770,2316,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10943,0.51,146.0,786.0,11.9,821,10951,0.05,1.92,0.00,0.000,6,0.269,0.025,2674,2439,2316,0,0,0,0,0,0,26.08,26.32,28.83
$GC,11251,0.51,146.0,748.4,11.6,837,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2438,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11550,0.51,146.0,714.9,11.1,852,11556,0.00,2.05,0.00,0.000,4,0.000,0.031,2684,1052,2315,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11605,0.51,146.0,710.8,10.6,854,11612,0.05,2.28,0.00,0.000,6,0.222,0.046,2673,2525,2314,0,0,0,0,0,0,26.02,26.10,28.83
$GC,11912,0.51,146.0,678.0,10.2,870,11917,0.00,1.90,0.00,0.000,4,0.000,0.054,2673,3766,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11979,0.51,146.0,670.5,12.0,873,11983,0.00,1.92,0.00,0.000,6,0.000,0.024,2682,2443,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12292,0.51,146.0,632.3,11.7,889,12297,0.00,2.05,0.00,0.000,4,0.000,0.054,2682,3765,2312,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12339,0.51,146.0,626.9,12.5,891,12343,0.05,1.92,0.00,0.000,6,0.194,0.024,2676,2442,2312,0,0,0,0,0,0,26.04,26.40,28.83
$GC,12652,0.51,146.0,591.4,11.3,910,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2438,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12954,0.51,146.0,561.1,9.8,940,12962,0.00,2.03,0.00,0.000,4,0.000,0.032,2686,1053,2312,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12985,0.51,146.0,558.1,9.4,943,12995,0.08,2.25,0.00,0.000,6,0.193,0.044,2670,2526,2311,0,0,0,0,0,0,25.99,26.13,28.83
$GC,13295,0.51,146.0,531.3,8.6,974,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2527,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19592,end climb,SURFACE_DEPTH_REACHED
$STATE,19592,begin surface coast
$FINISH,0.8,1.021992
$STATE,19630,end surface coast,CONTROL_FINISHED_OK
$STATE,19631,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
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$XPDR_PINGS,0
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$10V_AH,10.1,22.084
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329404
$DATA_FILE_SIZE,134191,1823
$CAP_FILE_SIZE,201936,0
$CFSIZE,260165632,206893056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,123.8,1
$GPS,140412,043736,1925.730,12430.385,40,0.9,40,-2.4