version: 66.10
glider: 176
mission: 5
dive: 197
start: 4 20 112 9 7 42
data:
$ID,176
$MISSION,5
$DIVE,197
$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,-7690.9629
$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
$GPS1,200412,085507,1817.078,12436.034,33,1.1,33,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.8
$GPS2,200412,090714,1817.124,12436.252,14,1.1,14,-2.1
$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,180.4,50282,-13.1,-7.500
$D_GRID,5417
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.45,0.000,2,0.000,0.000,191,2549,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.5,-8.3,7,99,8.70,1.95,-21.20,0.000,4,0.236,0.068,2340,3777,3528,0,0,0,0,0,0,25.39,26.03,26.51
$GC,157,-0.51,-146.0,36.2,-42.5,18,165,0.08,1.73,0.00,0.000,6,0.215,0.024,2355,2534,3527,0,0,0,0,0,0,26.01,26.27,28.83
$GC,468,-0.51,-146.0,147.9,-28.1,79,475,0.00,1.95,0.00,0.000,4,0.000,0.024,2355,1138,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,543,-0.51,-146.0,164.8,-16.1,93,551,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2634,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,854,-0.51,-146.0,239.1,-21.7,138,863,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1144,3527,0,0,0,0,0,0,28.83,26.47,28.83
$GC,928,-0.51,-146.0,251.7,-15.4,145,936,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2634,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1236,-0.51,-146.0,310.8,-17.9,176,1244,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1137,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1278,-0.51,-146.0,317.5,-15.9,180,1287,0.10,2.25,0.00,0.000,6,0.161,0.044,2363,2636,3527,0,0,0,0,0,0,26.20,26.36,28.83
$GC,1587,-0.51,-146.0,355.9,-12.1,211,1591,0.08,2.10,0.00,0.000,4,0.132,0.022,2305,1163,3527,0,0,0,0,0,0,26.66,26.53,28.83
$GC,1662,-0.51,-146.0,366.0,-14.0,218,1671,0.17,2.22,0.00,0.000,6,0.142,0.044,2358,2628,3527,0,0,0,0,0,0,26.12,26.36,28.83
$GC,1968,-0.51,-146.0,402.2,-11.8,249,1978,0.00,2.10,0.00,0.000,4,0.000,0.024,2358,1135,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2064,-0.51,-146.0,411.9,-10.1,258,2071,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2627,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2372,-0.51,-146.0,444.2,-10.0,289,2382,0.00,2.08,0.00,0.000,4,0.000,0.024,2357,1143,3523,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2415,-0.51,-146.0,448.5,-10.0,293,2425,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2628,3522,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2726,-0.51,-146.0,478.2,-9.5,324,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.51,-146.0,506.6,-9.4,354,3036,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1150,3518,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3090,-0.51,-146.0,512.0,-8.1,360,3098,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2631,3517,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3398,-0.51,-146.0,538.7,-8.7,391,3402,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1137,3514,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3433,-0.51,-146.0,541.3,-8.8,394,3440,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2636,3514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3739,-0.51,-146.0,567.4,-8.4,425,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2636,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-0.51,-146.0,592.3,-8.0,455,4049,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1144,3510,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4084,-0.51,-146.0,595.7,-8.3,459,4091,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2623,3509,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4403,-0.51,-146.0,622.1,-8.7,478,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2623,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4702,-0.51,-146.0,649.1,-9.3,493,4708,0.00,2.10,0.00,0.000,4,0.000,0.024,2356,1146,3504,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4730,-0.51,-146.0,650.9,-9.4,494,4734,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2630,3504,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5043,-0.51,-146.0,678.5,-8.0,510,5048,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1151,3502,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5082,-0.51,-146.0,681.6,-7.7,512,5087,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2636,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5403,-0.51,-146.0,704.0,-6.9,528,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2636,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5702,-0.51,-146.0,726.6,-7.9,543,5708,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1144,3497,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5755,-0.51,-146.0,729.8,-8.1,545,5763,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2629,3496,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6063,-0.51,-146.0,754.0,-7.4,561,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6362,-0.51,-146.0,775.1,-6.9,576,6368,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1141,3493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6415,-0.51,-146.0,777.9,-6.9,578,6422,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2626,3493,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6724,-0.51,-146.0,799.9,-7.1,594,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2626,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-0.51,-146.0,821.9,-7.2,609,7028,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1151,3489,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7066,-0.51,-146.0,824.7,-7.0,611,7070,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2627,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7378,-0.51,-146.0,846.9,-7.0,627,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7678,-0.51,-146.0,869.1,-7.8,642,7684,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1141,3485,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7707,-0.51,-146.0,870.7,-7.8,643,7711,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2633,3485,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8014,-0.51,-146.0,894.8,-7.2,658,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8313,-0.51,-146.0,914.7,-6.4,673,8319,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1148,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8347,-0.51,-146.0,916.1,-6.3,674,8355,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2626,3484,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8654,-0.51,-146.0,935.1,-5.6,690,8659,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1149,3482,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8686,-0.51,-146.0,936.1,-5.6,691,8693,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2626,3482,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8996,-0.51,-146.0,952.2,-4.8,707,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,-0.51,-146.0,967.2,-5.0,722,9300,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1152,3480,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9336,-0.51,-146.0,969.6,-5.4,724,9341,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2626,3479,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9648,-0.51,-146.0,987.8,-5.9,740,9654,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1146,3478,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,9687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9687,begin apogee
$GC,9694,-0.17,0.0,990.3,-6.0,742,9822,0.30,0.08,119.75,1.743,6,0.106,0.095,2465,2438,2928,0,0,0,0,0,0,26.02,24.49,23.29
$STATE,9823,end apogee,CONTROL_FINISHED_OK
$STATE,9823,begin climb
$GC,9825,0.51,146.0,995.1,0.0,748,9970,0.60,0.00,140.98,1.704,6,0.050,0.000,2702,2438,2333,0,0,0,0,0,0,24.79,28.83,22.56
$GC,10268,0.51,146.0,950.7,13.7,771,10274,0.12,2.08,0.00,0.000,4,0.191,0.029,2677,1048,2323,0,0,0,0,0,0,25.55,25.79,28.83
$GC,10291,0.51,146.0,948.2,13.3,772,10295,0.00,2.30,0.00,0.000,6,0.000,0.047,2677,2515,2321,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10603,0.51,146.0,913.5,11.1,788,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2515,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10904,0.51,146.0,879.1,11.6,803,10909,0.00,1.95,0.00,0.000,4,0.000,0.056,2677,3774,2318,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10945,0.51,146.0,873.5,12.7,805,10950,0.05,1.95,0.00,0.000,6,0.193,0.025,2671,2452,2318,0,0,0,0,0,0,25.94,26.25,28.83
$GC,11264,0.51,146.0,835.0,12.0,821,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2448,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11563,0.51,146.0,797.9,12.2,836,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2448,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,0.51,146.0,761.3,12.0,851,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2448,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12164,0.51,146.0,728.2,10.7,866,12170,0.00,2.03,0.00,0.000,4,0.000,0.054,2671,3770,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12191,0.51,146.0,725.8,10.8,867,12194,0.00,1.90,0.00,0.000,6,0.000,0.023,2680,2438,2314,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12503,0.51,146.0,692.1,10.2,883,12508,0.00,2.08,0.00,0.000,4,0.000,0.054,2681,3776,2314,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12524,0.51,146.0,689.7,10.5,884,12530,0.10,1.90,0.00,0.000,6,0.213,0.022,2668,2438,2314,0,0,0,0,0,0,25.99,26.41,28.83
$GC,12844,0.51,146.0,657.9,10.0,900,12849,0.00,2.03,0.00,0.000,4,0.000,0.053,2668,3769,2314,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12885,0.51,146.0,653.2,10.7,902,12889,0.00,1.92,0.00,0.000,6,0.000,0.022,2678,2445,2314,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,20328,end climb,SURFACE_DEPTH_REACHED
$STATE,20328,begin surface coast
$FINISH,0.7,1.010906
$STATE,20367,end surface coast,CONTROL_FINISHED_OK
$STATE,20367,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,10.1,25.648
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.325,167.875,410.375,0.000,0.000,85.485,120.998,245.535,0.000,0.000,17.485,4637.500,11785.365,608.629,3689.781,418.673,0.000,2245.727,0.000,2978.823,0.000,0.543,0.000
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$MEM,329420
$DATA_FILE_SIZE,137139,1844
$CAP_FILE_SIZE,207664,0
$CFSIZE,260165632,203886592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,292.3,1
$GPS,200412,144937,1814.860,12435.969,41,1.0,41,-2.1