version: 66.10
glider: 176
mission: 5
dive: 206
start: 4 22 112 11 18 42
data:
$ID,176
$MISSION,5
$DIVE,206
$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,-7704.5166
$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
$GPS1,220412,110437,1757.114,12436.908,26,1.5,26,-2.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.3
$GPS2,220412,111814,1757.048,12436.874,12,1.6,12,-2.0
$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,209.6,13465,-13.1,-7.500
$D_GRID,4281
$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,-41.15,0.000,2,0.000,0.000,189,2676,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.2,-5.4,7,105,8.70,2.22,-24.80,0.000,4,0.234,0.041,2354,1147,3527,0,0,0,0,0,0,25.41,26.19,26.54
$GC,178,-0.51,-146.0,40.0,-31.1,25,186,0.00,2.25,0.00,0.000,6,0.000,0.045,2343,2629,3527,0,0,0,0,0,0,28.83,26.13,28.83
$GC,506,-0.51,-146.0,157.7,-26.7,86,514,0.03,2.12,0.00,0.000,4,0.324,0.024,2354,1144,3527,0,0,0,0,0,0,26.47,26.40,28.83
$GC,586,-0.51,-146.0,173.8,-14.5,101,594,0.00,2.25,0.00,0.000,6,0.000,0.043,2347,2636,3527,0,0,0,0,0,0,28.83,26.29,28.83
$GC,896,-0.51,-146.0,238.6,-19.0,143,905,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1144,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,981,-0.51,-146.0,249.8,-12.4,151,987,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2629,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1288,-0.51,-146.0,301.0,-17.5,182,1297,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1153,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1410,-0.51,-146.0,317.0,-11.6,194,1419,0.05,2.20,0.00,0.000,6,0.139,0.042,2355,2632,3526,0,0,0,0,0,0,26.20,26.39,28.83
$GC,1719,-0.51,-146.0,359.5,-14.1,225,1723,0.00,2.12,0.00,0.000,4,0.000,0.025,2355,1138,3524,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1792,-0.51,-146.0,368.3,-11.1,232,1801,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2630,3524,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2100,-0.51,-146.0,410.3,-13.2,263,2104,0.00,1.70,0.00,0.000,4,0.000,0.054,2342,3768,3522,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2133,-0.51,-146.0,414.2,-12.7,266,2141,0.00,1.73,0.00,0.000,6,0.000,0.021,2342,2489,3521,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2441,-0.51,-146.0,449.5,-11.6,297,2446,0.05,1.90,0.00,0.000,4,0.236,0.023,2357,1137,3519,0,0,0,0,0,0,26.64,26.54,28.83
$GC,2470,-0.51,-146.0,452.4,-11.0,299,2478,0.00,2.28,0.00,0.000,6,0.000,0.044,2357,2623,3519,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2779,-0.51,-146.0,482.0,-10.0,330,2783,0.00,2.10,0.00,0.000,4,0.000,0.024,2357,1145,3517,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2823,-0.51,-146.0,485.8,-9.3,334,2830,0.00,2.28,0.00,0.000,6,0.000,0.044,2357,2630,3517,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3131,-0.51,-146.0,512.6,-8.1,365,3140,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1141,3514,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3168,-0.51,-146.0,515.1,-7.8,368,3175,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2629,3514,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3473,-0.51,-146.0,540.4,-8.8,399,3476,0.00,1.73,0.00,0.000,4,0.000,0.057,2356,3766,3511,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3524,-0.51,-146.0,544.8,-8.7,404,3528,0.00,1.70,0.00,0.000,6,0.000,0.023,2356,2509,3510,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3836,-0.51,-146.0,572.4,-8.9,435,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2489,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4137,-0.51,-146.0,598.3,-8.6,465,4146,0.00,1.98,0.00,0.000,4,0.000,0.055,2356,3776,3504,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4161,-0.51,-146.0,600.3,-8.5,467,4165,0.00,1.75,0.00,0.000,6,0.000,0.022,2356,2478,3504,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4480,-0.51,-146.0,625.3,-7.7,483,4486,0.00,2.00,0.00,0.000,4,0.000,0.054,2356,3773,3502,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4532,-0.51,-146.0,628.5,-7.7,485,4540,0.00,1.73,0.00,0.000,6,0.000,0.023,2356,2463,3501,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4839,-0.51,-146.0,652.8,-7.5,501,4844,0.00,2.03,0.00,0.000,4,0.000,0.055,2356,3766,3499,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4867,-0.51,-146.0,654.3,-7.6,502,4870,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2488,3498,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5180,-0.51,-146.0,678.5,-7.6,518,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2482,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,-0.51,-146.0,702.3,-8.0,533,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2482,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5779,-0.51,-146.0,725.8,-7.6,548,5785,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3766,3492,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5812,-0.51,-146.0,727.4,-7.6,549,5821,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2488,3492,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6119,-0.51,-146.0,750.8,-7.4,565,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2488,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-0.51,-146.0,773.6,-7.6,580,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2488,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6720,-0.51,-146.0,796.1,-7.4,595,6725,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3776,3486,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6741,-0.51,-146.0,797.5,-7.3,596,6745,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2491,3486,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7060,-0.51,-146.0,820.3,-7.0,612,7065,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3778,3485,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7087,-0.51,-146.0,821.6,-6.9,613,7090,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2510,3484,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7400,-0.51,-146.0,842.7,-6.3,629,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2473,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7700,-0.51,-146.0,860.6,-5.8,644,7705,0.00,2.00,0.00,0.000,4,0.000,0.055,2356,3759,3482,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7740,-0.51,-146.0,862.9,-5.8,646,7743,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2504,3481,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8061,-0.51,-146.0,882.5,-6.4,662,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2481,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8363,-0.51,-146.0,903.2,-7.2,677,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2481,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8661,-0.51,-146.0,925.1,-7.4,692,8666,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3762,3478,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8689,-0.51,-146.0,926.6,-7.4,693,8692,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2512,3477,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9002,-0.51,-146.0,947.9,-6.3,709,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2488,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9301,-0.51,-146.0,965.2,-5.5,724,9307,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3762,3475,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9324,-0.51,-146.0,966.5,-5.5,725,9328,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2479,3475,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9642,-0.51,-146.0,983.4,-5.1,741,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2475,3474,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9779,begin apogee
$GC,9785,-0.17,0.0,990.3,-5.0,748,9911,0.30,0.05,119.57,1.746,6,0.106,0.048,2465,2439,2928,0,0,0,0,0,0,26.02,24.43,23.27
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9914,0.51,146.0,993.3,0.0,754,10063,0.60,0.00,141.27,1.704,6,0.047,0.000,2709,2439,2332,0,0,0,0,0,0,24.79,28.83,22.53
$GC,10362,0.51,146.0,941.3,14.8,777,10364,0.15,0.00,0.00,0.000,6,0.183,0.000,2672,2439,2324,0,0,0,0,0,0,25.56,28.83,28.83
$GC,10661,0.51,146.0,906.3,11.2,792,10667,0.00,2.08,0.00,0.000,4,0.000,0.056,2672,3766,2320,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10729,0.51,146.0,898.4,12.6,795,10733,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2456,2318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11042,0.51,146.0,862.0,11.1,811,11048,0.00,2.08,0.00,0.000,4,0.000,0.030,2690,1046,2318,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11089,0.51,146.0,857.6,11.1,813,11094,0.10,2.28,0.00,0.000,6,0.184,0.046,2667,2517,2317,0,0,0,0,0,0,25.88,26.09,28.83
$GC,11397,0.51,146.0,823.6,11.2,828,11403,0.05,1.90,0.00,0.000,4,0.174,0.053,2700,3764,2316,0,0,0,0,0,0,26.46,26.04,28.83
$GC,11424,0.51,146.0,820.9,11.7,829,11429,0.15,1.92,0.00,0.000,6,0.194,0.024,2672,2439,2316,0,0,0,0,0,0,25.79,26.32,28.83
$GC,11731,0.51,146.0,783.8,11.1,844,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2435,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12032,0.51,146.0,753.2,9.7,859,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2435,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12332,0.51,146.0,724.2,9.8,874,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2435,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12631,0.51,146.0,694.6,10.2,889,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2435,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12932,0.51,146.0,661.5,11.0,904,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2435,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13231,0.51,146.0,630.0,10.2,919,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2435,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13532,0.51,146.0,601.9,9.4,934,13537,0.00,2.08,0.00,0.000,4,0.000,0.054,2672,3773,2313,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,20144,begin surface coast
$FINISH,0.8,1.021564
$STATE,20185,end surface coast,CONTROL_FINISHED_OK
$STATE,20186,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.98
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.50
$XPDR_PINGS,0
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$10V_AH,10.3,26.802
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329436
$DATA_FILE_SIZE,133544,1798
$CAP_FILE_SIZE,199305,0
$CFSIZE,260165632,202924032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,298.3,1
$GPS,220412,165731,1755.026,12435.369,37,1.3,37,-2.0