version: 66.10
glider: 176
mission: 5
dive: 183
start: 4 17 112 3 43 11
data:
$ID,176
$MISSION,5
$DIVE,183
$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,-7672.2061
$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
$GPS1,170412,033530,1850.925,12434.006,55,0.9,60,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.5
$GPS2,170412,034244,1850.822,12434.071,11,1.6,11,-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,176.1,112653,-13.1,-7.500
$D_GRID,5795
$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,-41.10,0.000,2,0.000,0.000,188,2721,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.5,-7.9,7,100,8.65,1.65,-21.35,0.000,4,0.233,0.066,2342,3775,3528,0,0,0,0,0,0,25.42,26.04,26.50
$GC,257,-0.51,-146.0,67.4,-31.6,38,264,0.05,1.73,0.00,0.000,6,0.235,0.023,2353,2529,3528,0,0,0,0,0,0,26.13,26.33,28.83
$GC,569,-0.51,-146.0,161.9,-23.1,99,576,0.00,1.92,0.00,0.000,4,0.000,0.026,2354,1149,3529,0,0,0,0,0,0,28.83,26.38,28.83
$GC,613,-0.51,-146.0,171.5,-20.9,107,620,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2635,3528,0,0,0,0,0,0,28.83,26.24,28.83
$GC,922,-0.51,-146.0,244.1,-21.7,149,932,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1149,3529,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1028,-0.51,-146.0,261.1,-14.2,159,1036,0.10,2.22,0.00,0.000,6,0.168,0.044,2363,2630,3529,0,0,0,0,0,0,26.15,26.33,28.83
$GC,1335,-0.51,-146.0,312.8,-16.3,190,1339,0.08,2.12,0.00,0.000,4,0.132,0.024,2307,1155,3528,0,0,0,0,0,0,26.64,26.47,28.83
$GC,1430,-0.51,-146.0,328.9,-16.5,199,1437,0.17,2.25,0.00,0.000,6,0.148,0.047,2357,2629,3528,0,0,0,0,0,0,26.07,26.33,28.83
$GC,1737,-0.51,-146.0,374.6,-14.4,230,1741,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1155,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1820,-0.51,-146.0,384.3,-10.7,238,1829,0.00,2.22,0.00,0.000,6,0.000,0.046,2357,2627,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2128,-0.51,-146.0,422.5,-12.4,269,2132,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1154,3526,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2170,-0.51,-146.0,427.5,-11.9,273,2181,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2633,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2480,-0.51,-146.0,463.6,-11.2,304,2488,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1143,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2532,-0.51,-146.0,469.1,-10.8,309,2542,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2627,3523,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2842,-0.51,-146.0,502.1,-10.1,340,2851,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1146,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2897,-0.51,-146.0,507.2,-9.6,345,2905,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2633,3521,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3203,-0.51,-146.0,535.0,-8.5,376,3212,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1135,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3234,-0.51,-146.0,537.7,-8.8,379,3243,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2628,3519,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3545,-0.51,-146.0,565.1,-8.6,410,3554,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1141,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3599,-0.51,-146.0,569.6,-8.6,415,3607,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2627,3516,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3907,-0.51,-146.0,595.1,-8.7,446,3916,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1144,3513,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3951,-0.51,-146.0,598.5,-8.3,450,3958,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2630,3513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4259,-0.51,-146.0,623.7,-8.1,467,4263,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1144,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4280,-0.51,-146.0,625.6,-8.2,468,4286,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3511,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4601,-0.51,-146.0,650.3,-7.9,484,4606,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1141,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4665,-0.51,-146.0,655.0,-7.8,487,4669,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3508,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4977,-0.51,-146.0,681.4,-8.9,503,4982,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1141,3505,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4999,-0.51,-146.0,683.1,-8.9,504,5004,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2623,3505,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5318,-0.51,-146.0,710.8,-8.7,520,5321,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1138,3503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5341,-0.51,-146.0,712.6,-8.5,521,5345,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2632,3502,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5659,-0.51,-146.0,739.3,-8.2,537,5664,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1146,3500,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5707,-0.51,-146.0,742.6,-8.2,539,5712,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2626,3501,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6015,-0.51,-146.0,767.0,-7.5,554,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6314,-0.51,-146.0,788.2,-6.9,569,6318,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1149,3496,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6350,-0.51,-146.0,789.8,-6.9,570,6357,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2629,3496,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6656,-0.51,-146.0,810.8,-6.7,586,6662,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1136,3494,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6689,-0.51,-146.0,812.1,-6.8,587,6696,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2628,3494,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6997,-0.51,-146.0,833.1,-6.5,603,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2628,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,-0.51,-146.0,853.7,-7.0,618,7302,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1137,3491,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7325,-0.51,-146.0,855.2,-7.2,619,7329,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2625,3491,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7632,-0.51,-146.0,877.5,-7.2,634,7637,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1149,3489,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7654,-0.51,-146.0,878.9,-7.3,635,7658,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,2626,3489,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7967,-0.51,-146.0,901.5,-7.2,651,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2626,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,-0.51,-146.0,922.3,-6.9,666,8273,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1150,3486,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8306,-0.51,-146.0,924.9,-6.6,668,8312,0.00,2.30,0.00,0.000,6,0.000,0.048,2356,2633,3486,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8627,-0.51,-146.0,945.0,-5.9,684,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2634,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8926,-0.51,-146.0,962.4,-6.0,699,8932,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1151,3484,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8967,-0.51,-146.0,964.7,-5.7,701,8972,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,2625,3484,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9286,-0.51,-146.0,982.0,-5.2,717,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2625,3483,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9464,begin apogee
$GC,9470,-0.17,0.0,990.7,-4.7,726,9600,0.30,0.15,121.38,1.745,6,0.106,0.086,2465,2540,2929,0,0,0,0,0,0,26.02,24.51,23.30
$STATE,9601,end apogee,CONTROL_FINISHED_OK
$STATE,9601,begin climb
$GC,9603,0.51,146.0,992.9,0.0,732,9752,0.60,2.10,140.95,1.705,4,0.048,0.053,2703,3760,2332,0,0,0,0,0,0,24.78,23.79,22.58
$GC,9778,0.51,146.0,983.0,11.6,741,9786,0.17,2.05,0.00,0.000,6,0.197,0.025,2674,2451,2329,0,0,0,0,0,0,24.16,24.49,28.83
$GC,10085,0.51,146.0,937.7,13.2,757,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2448,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10385,0.51,146.0,899.8,12.4,772,10390,0.00,2.05,0.00,0.000,4,0.000,0.054,2674,3764,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10448,0.51,146.0,891.1,13.8,775,10452,0.00,1.92,0.00,0.000,6,0.000,0.025,2683,2452,2318,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10760,0.51,146.0,851.9,11.9,791,10766,0.00,2.03,0.00,0.000,4,0.000,0.054,2683,3764,2317,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10790,0.51,146.0,849.3,12.1,792,10800,0.10,1.90,0.00,0.000,6,0.215,0.025,2671,2441,2317,0,0,0,0,0,0,25.84,26.22,28.83
$GC,11100,0.51,146.0,815.7,9.9,808,11104,0.00,2.05,0.00,0.000,4,0.000,0.054,2671,3764,2316,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11124,0.51,146.0,813.5,10.2,809,11128,0.00,1.90,0.00,0.000,6,0.000,0.025,2680,2452,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11442,0.51,146.0,780.7,10.6,825,11448,0.00,2.08,0.00,0.000,4,0.000,0.054,2681,3775,2315,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11489,0.51,146.0,775.8,11.7,827,11494,0.05,1.95,0.00,0.000,6,0.193,0.025,2674,2454,2314,0,0,0,0,0,0,25.98,26.32,28.83
$GC,11801,0.51,146.0,738.7,11.8,843,11807,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1042,2314,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11824,0.51,146.0,736.3,11.8,844,11829,0.05,2.30,0.00,0.000,6,0.220,0.046,2673,2541,2313,0,0,0,0,0,0,26.02,26.10,28.83
$GC,12142,0.51,146.0,699.2,11.1,860,12145,0.00,1.90,0.00,0.000,4,0.000,0.054,2673,3777,2313,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,20037,end climb,SURFACE_DEPTH_REACHED
$STATE,20037,begin surface coast
$FINISH,0.7,1.021930
$STATE,20070,end surface coast,CONTROL_FINISHED_OK
$STATE,20070,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.31
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.50
$XPDR_PINGS,0
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$10V_AH,10.1,23.871
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.300,194.150,422.975,0.000,0.000,30.864,23.594,235.500,0.000,0.000,13.961,4651.217,11223.506,597.998,3653.810,423.816,0.000,2332.049,0.000,3087.144,0.000,0.543,0.000
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$MEM,329400
$DATA_FILE_SIZE,137091,1834
$CAP_FILE_SIZE,216416,0
$CFSIZE,260165632,205365248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,243.5,1
$GPS,170412,092006,1848.291,12434.180,35,0.8,40,-2.2