version: 66.10
glider: 176
mission: 5
dive: 180
start: 4 16 112 11 38 16
data:
$ID,176
$MISSION,5
$DIVE,180
$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,-7660.8574
$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
$GPS1,160412,113001,1857.532,12432.973,38,1.5,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.2
$GPS2,160412,113749,1857.505,12433.024,11,1.2,16,-2.3
$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,178.2,125067,-13.1,-7.500
$D_GRID,5527
$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,17,-0.51,-146.0,0.0,0.0,0,60,0.00,0.00,-41.12,0.000,2,0.000,0.000,190,2639,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.3,-6.9,7,100,8.60,1.75,-21.40,0.000,4,0.233,0.063,2339,3773,3528,0,0,0,0,0,0,25.45,26.05,26.49
$GC,158,-0.51,-146.0,34.2,-37.3,18,165,0.08,1.73,0.00,0.000,6,0.207,0.023,2354,2519,3528,0,0,0,0,0,0,26.01,26.27,28.83
$GC,469,-0.51,-146.0,133.6,-28.2,79,476,0.00,1.95,0.00,0.000,4,0.000,0.027,2354,1143,3528,0,0,0,0,0,0,28.83,26.34,28.83
$GC,540,-0.51,-146.0,149.9,-18.4,92,546,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2629,3528,0,0,0,0,0,0,28.83,26.24,28.83
$GC,856,-0.51,-146.0,229.0,-22.9,142,864,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1148,3528,0,0,0,0,0,0,28.83,26.42,28.83
$GC,927,-0.51,-146.0,241.5,-14.5,149,938,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2634,3528,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1237,-0.51,-146.0,296.5,-17.9,180,1246,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1155,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1322,-0.51,-146.0,307.8,-11.6,188,1329,0.10,2.22,0.00,0.000,6,0.165,0.043,2362,2641,3528,0,0,0,0,0,0,26.19,26.36,28.83
$GC,1628,-0.51,-146.0,349.2,-13.1,219,1630,0.08,0.00,0.00,0.000,6,0.132,0.000,2303,2641,3527,0,0,0,0,0,0,26.65,28.83,28.83
$GC,1930,-0.51,-146.0,406.9,-19.1,249,1940,0.15,2.10,0.00,0.000,4,0.162,0.024,2352,1151,3527,0,0,0,0,0,0,26.25,26.49,28.83
$GC,2035,-0.51,-146.0,420.7,-11.3,259,2042,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2631,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2343,-0.51,-146.0,460.0,-12.4,290,2352,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1153,3525,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2397,-0.51,-146.0,466.0,-11.6,295,2404,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2637,3524,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2706,-0.51,-146.0,503.5,-11.8,326,2715,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1149,3522,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2760,-0.51,-146.0,509.0,-10.2,331,2768,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2628,3522,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3068,-0.51,-146.0,539.4,-9.7,362,3077,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1153,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3110,-0.51,-146.0,543.3,-9.4,366,3119,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2636,3519,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3420,-0.51,-146.0,574.7,-10.4,397,3430,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1142,3517,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3473,-0.51,-146.0,580.0,-10.1,402,3482,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2629,3517,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3794,-0.51,-146.0,613.1,-10.4,428,3798,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1149,3514,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3829,-0.51,-146.0,615.5,-10.5,429,3837,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2633,3513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4135,-0.51,-146.0,647.5,-10.3,445,4141,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1152,3511,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4177,-0.51,-146.0,651.5,-10.3,447,4182,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2626,3511,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4496,-0.51,-146.0,682.8,-9.4,463,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2626,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4796,-0.51,-146.0,709.9,-8.7,478,4801,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1145,3505,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4843,-0.51,-146.0,713.5,-8.7,480,4847,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2628,3505,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5151,-0.51,-146.0,741.0,-9.1,495,5157,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1150,3503,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5192,-0.51,-146.0,744.6,-9.2,497,5197,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2630,3503,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5511,-0.51,-146.0,772.9,-9.0,513,5516,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1158,3501,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5533,-0.51,-146.0,774.6,-9.1,514,5537,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2627,3500,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5846,-0.51,-146.0,800.6,-8.0,530,5852,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1156,3498,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5868,-0.51,-146.0,802.2,-8.1,531,5872,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2626,3498,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6181,-0.51,-146.0,826.4,-7.4,547,6187,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1159,3496,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6213,-0.51,-146.0,827.9,-7.5,548,6220,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2627,3495,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6521,-0.51,-146.0,851.5,-7.5,564,6527,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1163,3493,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6568,-0.51,-146.0,854.4,-7.4,566,6573,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6875,-0.51,-146.0,877.9,-7.8,581,6881,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1155,3492,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6904,-0.51,-146.0,879.6,-7.9,582,6908,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2633,3492,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7210,-0.51,-146.0,905.0,-8.3,597,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7510,-0.51,-146.0,928.4,-7.6,612,7516,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1158,3488,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7544,-0.51,-146.0,929.9,-7.5,613,7552,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2634,3488,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7851,-0.51,-146.0,952.6,-7.0,629,7857,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1152,3486,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7884,-0.51,-146.0,953.9,-6.9,630,7891,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2630,3486,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8192,-0.51,-146.0,975.5,-6.8,646,8196,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1155,3485,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8237,-0.51,-146.0,978.5,-6.7,648,8241,0.00,2.25,0.00,0.000,6,0.000,0.048,2345,2626,3485,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,8427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8427,begin apogee
$GC,8433,-0.17,0.0,991.3,-6.8,658,8562,0.35,0.12,121.32,1.743,6,0.106,0.096,2468,2535,2929,0,0,0,0,0,0,25.95,24.54,23.38
$STATE,8563,end apogee,CONTROL_FINISHED_OK
$STATE,8563,begin climb
$GC,8565,0.51,146.0,994.5,0.0,664,8715,0.57,2.40,139.75,1.701,4,0.050,0.030,2708,1062,2332,0,0,0,0,0,0,24.81,23.90,22.65
$GC,8740,0.51,146.0,987.1,10.2,673,8749,0.15,2.42,0.00,0.000,6,0.177,0.046,2674,2517,2328,0,0,0,0,0,0,24.25,24.45,28.83
$GC,9047,0.51,146.0,944.7,13.1,689,9053,0.00,2.22,0.00,0.000,4,0.000,0.032,2684,1047,2323,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9071,0.51,146.0,942.0,13.1,690,9075,0.03,2.30,0.00,0.000,6,0.268,0.047,2674,2522,2322,0,0,0,0,0,0,25.71,25.79,28.83
$GC,9383,0.51,146.0,900.7,12.9,706,9387,0.00,1.92,0.00,0.000,4,0.000,0.054,2674,3765,2320,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9428,0.51,146.0,894.6,14.0,708,9431,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2442,2319,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9740,0.51,146.0,851.3,13.6,724,9744,0.00,2.08,0.00,0.000,4,0.000,0.054,2681,3764,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9774,0.51,146.0,847.9,14.0,725,9783,0.05,1.92,0.00,0.000,6,0.196,0.025,2676,2448,2318,0,0,0,0,0,0,25.94,26.26,28.83
$GC,10082,0.51,146.0,804.3,13.4,741,10088,0.00,2.08,0.00,0.000,4,0.000,0.030,2685,1041,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10124,0.51,146.0,799.3,12.9,743,10129,0.08,2.28,0.00,0.000,6,0.203,0.045,2671,2523,2316,0,0,0,0,0,0,25.96,26.11,28.83
$GC,10437,0.51,146.0,761.0,11.8,759,10440,0.00,1.92,0.00,0.000,4,0.000,0.054,2670,3773,2315,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10507,0.51,146.0,753.9,12.1,762,10514,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2443,2315,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10815,0.51,146.0,716.9,11.2,778,10821,0.00,2.03,0.00,0.000,4,0.000,0.054,2679,3762,2314,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10853,0.51,146.0,711.7,12.0,780,10859,0.08,1.88,0.00,0.000,6,0.229,0.024,2674,2439,2314,0,0,0,0,0,0,26.07,26.37,28.83
$GC,11174,0.51,146.0,675.4,11.8,796,11179,0.00,2.08,0.00,0.000,4,0.000,0.054,2674,3765,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11235,0.51,146.0,667.3,13.1,799,11240,0.00,1.90,0.00,0.000,6,0.000,0.024,2684,2446,2314,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11554,0.51,146.0,628.5,12.0,815,11560,0.00,2.00,0.00,0.000,4,0.000,0.053,2683,3759,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11586,0.51,146.0,625.9,12.3,816,11594,0.10,1.90,0.00,0.000,6,0.212,0.023,2671,2438,2313,0,0,0,0,0,0,25.98,26.39,28.83
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$STATE,18712,end climb,SURFACE_DEPTH_REACHED
$STATE,18712,begin surface coast
$FINISH,0.7,0.998922
$STATE,18768,end surface coast,CONTROL_FINISHED_OK
$STATE,18769,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.53
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.1,23.484
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.650,193.250,401.100,4.450,0.000,32.260,48.901,237.742,0.000,0.000,18.658,4401.905,10285.560,601.008,3525.699,416.893,0.000,2240.543,0.000,2954.616,0.000,0.542,0.000
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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,329416
$DATA_FILE_SIZE,130645,1740
$CAP_FILE_SIZE,206408,0
$CFSIZE,260165632,205705216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,224.7,1
$GPS,160412,165237,1854.729,12433.008,39,1.1,39,-2.2