version: 66.10
glider: 176
mission: 5
dive: 182
start: 4 16 112 22 26 28
data:
$ID,176
$MISSION,5
$DIVE,182
$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,-7670.8511
$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
$GPS1,160412,221807,1852.950,12433.073,34,1.3,34,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.2
$GPS2,160412,222602,1852.941,12433.112,15,1.8,15,-2.2
$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,162.3,116614,-13.1,-7.500
$D_GRID,5567
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-46.22,0.000,2,0.000,0.000,189,2656,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.4,-7.5,8,104,8.65,1.73,-22.20,0.000,4,0.233,0.064,2341,3774,3526,0,0,0,0,0,0,25.43,26.06,26.50
$GC,262,-0.51,-146.0,67.7,-32.4,42,270,0.05,1.73,0.00,0.000,6,0.235,0.024,2354,2527,3526,0,0,0,0,0,0,26.12,26.32,28.83
$GC,574,-0.51,-146.0,164.0,-26.5,103,581,0.00,1.95,0.00,0.000,4,0.000,0.027,2354,1147,3527,0,0,0,0,0,0,28.83,26.38,28.83
$GC,629,-0.51,-146.0,176.3,-18.8,113,637,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2640,3527,0,0,0,0,0,0,28.83,26.27,28.83
$GC,940,-0.51,-146.0,247.8,-20.7,153,949,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1153,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1045,-0.51,-146.0,264.7,-14.8,163,1052,0.10,2.22,0.00,0.000,6,0.168,0.044,2363,2635,3527,0,0,0,0,0,0,26.17,26.36,28.83
$GC,1352,-0.51,-146.0,317.0,-15.9,194,1357,0.08,2.12,0.00,0.000,4,0.132,0.024,2307,1146,3527,0,0,0,0,0,0,26.64,26.48,28.83
$GC,1445,-0.51,-146.0,333.1,-16.9,203,1455,0.15,2.22,0.00,0.000,6,0.154,0.044,2354,2634,3526,0,0,0,0,0,0,26.09,26.35,28.83
$GC,1755,-0.51,-146.0,379.2,-13.4,234,1764,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1149,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1799,-0.51,-146.0,384.3,-12.3,238,1806,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2633,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2106,-0.51,-146.0,422.5,-12.2,269,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2408,-0.51,-146.0,455.6,-10.4,299,2417,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1161,3523,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2482,-0.51,-146.0,461.8,-7.5,306,2489,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2631,3522,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2790,-0.51,-146.0,491.3,-10.3,337,2800,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1153,3520,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2872,-0.51,-146.0,499.6,-9.6,345,2883,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2632,3519,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3182,-0.51,-146.0,534.3,-11.4,376,3191,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1145,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3237,-0.51,-146.0,539.8,-10.4,381,3245,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2633,3517,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3543,-0.51,-146.0,573.6,-11.0,412,3552,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1148,3514,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3614,-0.51,-146.0,581.2,-10.2,419,3623,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2633,3514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3925,-0.51,-146.0,615.7,-10.9,443,3931,0.00,2.15,0.00,0.000,4,0.000,0.028,2345,1156,3511,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3987,-0.51,-146.0,621.7,-10.3,446,3991,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2647,3511,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4305,-0.51,-146.0,652.8,-9.9,462,4311,0.00,2.17,0.00,0.000,4,0.000,0.028,2344,1156,3508,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4368,-0.51,-146.0,658.5,-9.6,465,4372,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2628,3507,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4680,-0.51,-146.0,687.5,-8.8,481,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4980,-0.51,-146.0,711.5,-7.8,496,4985,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1154,3502,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5023,-0.51,-146.0,714.6,-8.0,498,5027,0.00,2.22,0.00,0.000,6,0.000,0.046,2344,2628,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5335,-0.51,-146.0,739.7,-8.2,514,5341,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1155,3500,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5398,-0.51,-146.0,744.2,-7.9,517,5403,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3500,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5710,-0.51,-146.0,769.5,-8.1,533,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.51,-146.0,793.7,-8.1,548,6015,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1146,3495,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6084,-0.51,-146.0,798.5,-8.1,551,6090,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3494,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6390,-0.51,-146.0,825.4,-8.7,567,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,-0.51,-146.0,851.0,-8.6,582,6696,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1158,3491,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6744,-0.51,-146.0,854.2,-8.3,584,6750,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3491,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7050,-0.51,-146.0,879.6,-8.0,600,7055,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1148,3489,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7092,-0.51,-146.0,882.7,-7.7,602,7097,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2636,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7411,-0.51,-146.0,906.8,-7.4,618,7416,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1155,3486,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7470,-0.51,-146.0,911.1,-7.3,621,7476,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2631,3486,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7791,-0.51,-146.0,934.7,-7.4,637,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2632,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,-0.51,-146.0,957.4,-7.7,652,8096,0.00,2.17,0.00,0.000,4,0.000,0.028,2344,1149,3484,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8143,-0.51,-146.0,960.4,-7.6,654,8150,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3484,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8453,-0.51,-146.0,984.9,-7.8,670,8458,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1166,3483,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8484,-0.51,-146.0,986.7,-7.9,671,8491,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2626,3484,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8530,begin apogee
$GC,8535,-0.17,0.0,991.4,-8.0,674,8665,0.35,0.12,121.12,1.743,6,0.108,0.096,2468,2535,2928,0,0,0,0,0,0,25.94,24.53,23.35
$STATE,8666,end apogee,CONTROL_FINISHED_OK
$STATE,8666,begin climb
$GC,8668,0.51,146.0,996.0,0.0,680,8817,0.57,2.42,139.95,1.702,4,0.049,0.030,2709,1062,2332,0,0,0,0,0,0,24.82,23.89,22.64
$GC,8918,0.51,146.0,978.7,13.4,693,8923,0.15,2.33,0.00,0.000,6,0.177,0.046,2673,2515,2324,0,0,0,0,0,0,24.79,25.05,28.83
$GC,9225,0.51,146.0,936.2,13.8,708,9229,0.00,1.95,0.00,0.000,4,0.000,0.056,2672,3767,2321,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9300,0.51,146.0,926.3,15.6,711,9306,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2450,2320,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9606,0.51,146.0,878.9,14.7,727,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2446,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9907,0.51,146.0,836.1,13.7,742,9912,0.00,2.08,0.00,0.000,4,0.000,0.053,2680,3773,2317,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9955,0.51,146.0,829.8,14.7,744,9959,0.10,1.95,0.00,0.000,6,0.216,0.025,2668,2444,2317,0,0,0,0,0,0,25.89,26.27,28.83
$GC,10267,0.51,146.0,788.6,12.1,760,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2440,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10568,0.51,146.0,752.0,12.0,775,10573,0.00,2.05,0.00,0.000,4,0.000,0.054,2668,3768,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10589,0.51,146.0,749.6,12.0,776,10593,0.00,1.95,0.00,0.000,6,0.000,0.024,2677,2440,2314,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10908,0.51,146.0,710.8,11.4,792,10913,0.00,2.05,0.00,0.000,4,0.000,0.054,2677,3758,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10955,0.51,146.0,705.8,11.8,794,10960,0.08,1.90,0.00,0.000,6,0.232,0.024,2673,2445,2313,0,0,0,0,0,0,26.07,26.36,28.83
$GC,11262,0.51,146.0,672.7,9.7,809,11268,0.00,2.08,0.00,0.000,4,0.000,0.054,2673,3771,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11329,0.51,146.0,665.8,11.0,812,11333,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2436,2313,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11642,0.51,146.0,631.9,10.6,828,11648,0.00,2.08,0.00,0.000,4,0.000,0.053,2682,3775,2313,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11763,0.51,146.0,615.9,13.4,834,11769,0.10,1.90,0.00,0.000,6,0.210,0.023,2670,2436,2312,0,0,0,0,0,0,26.00,26.41,28.83
$GC,12074,0.51,146.0,588.4,8.5,856,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2432,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12376,0.51,146.0,561.4,9.6,886,12385,0.00,2.05,0.00,0.000,4,0.000,0.050,2670,3765,2312,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12418,0.51,146.0,556.3,11.6,890,12427,0.00,1.90,0.00,0.000,6,0.000,0.022,2679,2427,2312,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12727,0.51,146.0,521.8,11.0,921,12737,0.00,2.08,0.00,0.000,4,0.000,0.050,2679,3768,2311,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,18404,end climb,SURFACE_DEPTH_REACHED
$STATE,18404,begin surface coast
$FINISH,0.7,1.018187
$STATE,18431,end surface coast,CONTROL_FINISHED_OK
$STATE,18431,begin surface
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$HUMID,42.24
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$XPDR_PINGS,0
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$10V_AH,10.1,23.736
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329436
$DATA_FILE_SIZE,127133,1682
$CAP_FILE_SIZE,196604,0
$CFSIZE,260165632,205500416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,280.5,1
$GPS,170412,033530,1850.925,12434.006,55,0.9,60,-2.2