version: 66.10
glider: 176
mission: 5
dive: 247
start: 5 2 112 5 58 52
data:
$ID,176
$MISSION,5
$DIVE,247
$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,-7758.0742
$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,48
$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
$GPS1,020512,055031,1813.661,12310.900,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.7
$GPS2,020512,055826,1813.737,12310.955,14,1.2,14,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,276.1,101323,-13.1,-7.500
$D_GRID,3906
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-51.72,0.000,2,0.000,0.000,177,2698,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.51,-146.0,3.1,-7.0,9,117,8.77,2.25,-26.08,0.000,4,0.234,0.039,2355,1146,3526,0,0,0,0,0,0,25.36,26.22,26.60
$GC,195,-0.51,-146.0,33.2,-23.2,25,201,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2634,3527,0,0,0,0,0,0,28.83,26.17,28.83
$GC,520,-0.51,-146.0,139.4,-29.0,86,526,0.00,1.67,0.00,0.000,4,0.000,0.048,2339,3772,3526,0,0,0,0,0,0,28.83,26.28,28.83
$GC,538,-0.51,-146.0,144.8,-27.7,89,546,0.08,1.70,0.00,0.000,6,0.200,0.022,2356,2512,3526,0,0,0,0,0,0,26.27,26.54,28.83
$GC,855,-0.51,-146.0,211.0,-18.3,145,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2509,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1157,-0.51,-146.0,260.1,-16.3,175,1168,0.00,1.92,0.00,0.000,4,0.000,0.028,2356,1145,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1220,-0.51,-146.0,269.3,-12.5,181,1229,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2630,3526,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1531,-0.51,-146.0,319.1,-14.9,212,1540,0.00,2.12,0.00,0.000,4,0.000,0.028,2348,1136,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1614,-0.51,-146.0,329.6,-11.6,220,1623,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2633,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1923,-0.51,-146.0,366.0,-11.0,251,1933,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1134,3524,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2006,-0.51,-146.0,374.1,-8.7,259,2009,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2629,3524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2317,-0.51,-146.0,405.7,-10.6,290,2326,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1136,3521,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2419,-0.51,-146.0,415.5,-9.3,300,2428,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2629,3520,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2728,-0.51,-146.0,446.3,-9.9,331,2738,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1139,3517,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2761,-0.51,-146.0,449.6,-9.7,334,2770,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2629,3517,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3070,-0.51,-146.0,480.2,-10.0,365,3075,0.00,2.12,-0.10,0.000,4,0.000,0.037,2347,1153,3537,0,0,0,0,0,0,28.83,26.50,26.08
$GC,3132,-0.51,-146.0,486.1,-9.4,371,3143,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2633,3537,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3443,-0.51,-146.0,516.7,-9.5,402,3451,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1148,3534,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3514,-0.51,-146.0,523.7,-9.4,409,3523,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2630,3533,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3825,-0.51,-146.0,554.2,-9.7,440,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4125,-0.51,-146.0,580.3,-7.6,470,4134,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1149,3528,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4159,-0.51,-146.0,582.8,-8.0,473,4166,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2626,3528,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4469,-0.51,-146.0,608.8,-8.9,499,4472,0.00,1.75,0.00,0.000,4,0.000,0.057,2345,3773,3525,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4503,-0.51,-146.0,610.8,-8.8,500,4509,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2503,3524,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4811,-0.51,-146.0,640.2,-9.2,516,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2503,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5110,-0.51,-146.0,664.1,-7.5,531,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2502,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.51,-146.0,685.8,-7.2,546,5416,0.00,1.92,0.00,0.000,4,0.000,0.026,2344,1147,3517,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5439,-0.51,-146.0,687.3,-7.3,547,5443,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2633,3517,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5745,-0.51,-146.0,712.0,-8.3,562,5750,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1147,3514,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5773,-0.51,-146.0,713.6,-8.3,563,5777,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2632,3514,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6081,-0.51,-146.0,739.6,-8.4,578,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6380,-0.51,-146.0,765.7,-8.8,593,6385,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1144,3510,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6422,-0.51,-146.0,769.2,-8.8,595,6426,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2632,3510,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6740,-0.51,-146.0,796.5,-8.5,611,6744,0.00,1.77,0.00,0.000,4,0.000,0.060,2344,3771,3508,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6764,-0.51,-146.0,798.4,-8.5,612,6768,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2505,3507,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7082,-0.51,-146.0,823.7,-7.6,628,7087,0.00,1.98,0.00,0.000,4,0.000,0.058,2343,3763,3506,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7126,-0.51,-146.0,826.5,-7.4,630,7129,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2510,3505,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7442,-0.51,-146.0,849.0,-7.1,646,7447,0.00,1.92,0.00,0.000,4,0.000,0.028,2343,1148,3504,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7466,-0.51,-146.0,850.5,-7.1,647,7470,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7777,-0.51,-146.0,873.4,-7.3,663,7783,0.00,2.15,0.00,0.000,4,0.000,0.027,2343,1152,3503,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7817,-0.51,-146.0,876.4,-7.4,665,7823,0.00,2.30,0.00,0.000,6,0.000,0.048,2343,2633,3503,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8138,-0.51,-146.0,898.8,-6.6,681,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,-0.51,-146.0,919.7,-6.9,696,8444,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1147,3500,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8480,-0.51,-146.0,922.5,-7.0,698,8484,0.00,2.30,0.00,0.000,6,0.000,0.047,2343,2633,3500,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8793,-0.51,-146.0,944.8,-7.4,714,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9092,-0.51,-146.0,967.9,-7.8,729,9098,0.00,2.17,0.00,0.000,4,0.000,0.026,2343,1144,3497,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9135,-0.51,-146.0,971.1,-7.9,731,9140,0.00,2.30,0.00,0.000,6,0.000,0.048,2343,2628,3497,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,9386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9386,begin apogee
$GC,9391,-0.17,0.0,991.5,-7.9,744,9523,0.35,0.12,125.28,1.732,6,0.104,0.096,2469,2537,2928,0,0,0,0,0,0,25.96,24.44,23.08
$STATE,9524,end apogee,CONTROL_FINISHED_OK
$STATE,9524,begin climb
$GC,9526,0.51,146.0,996.5,0.0,750,9677,0.57,2.45,141.52,1.689,4,0.050,0.032,2707,1062,2332,0,0,0,0,0,0,24.72,23.85,22.38
$GC,9718,0.51,146.0,990.3,8.7,758,9723,0.15,2.40,0.00,0.000,6,0.174,0.047,2671,2513,2326,0,0,0,0,0,0,24.41,24.63,28.83
$GC,10030,0.51,146.0,950.7,11.8,774,10036,0.00,1.98,0.00,0.000,4,0.000,0.058,2671,3775,2320,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10071,0.51,146.0,945.3,12.8,776,10076,0.00,1.95,0.00,0.000,6,0.000,0.025,2680,2446,2319,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10391,0.51,146.0,906.0,11.8,792,10397,0.00,2.05,0.00,0.000,4,0.000,0.054,2680,3766,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10418,0.51,146.0,903.4,12.1,793,10422,0.10,1.92,0.00,0.000,6,0.211,0.025,2667,2451,2317,0,0,0,0,0,0,25.92,26.28,28.83
$GC,10730,0.51,146.0,866.8,11.0,809,10736,0.05,2.05,0.00,0.000,4,0.181,0.052,2701,3764,2315,0,0,0,0,0,0,26.46,26.10,28.83
$GC,10751,0.51,146.0,864.4,11.4,810,10755,0.15,1.92,0.00,0.000,6,0.193,0.024,2673,2449,2315,0,0,0,0,0,0,25.84,26.34,28.83
$GC,11073,0.51,146.0,826.8,11.3,826,11079,0.00,2.08,0.00,0.000,4,0.000,0.032,2683,1051,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11122,0.51,146.0,822.4,11.2,828,11126,0.00,2.28,0.00,0.000,6,0.000,0.045,2683,2527,2313,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11428,0.51,146.0,785.6,11.9,843,11432,0.00,1.90,0.00,0.000,4,0.000,0.055,2683,3766,2314,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11464,0.51,146.0,780.6,12.7,845,11470,0.10,1.90,0.00,0.000,6,0.207,0.024,2670,2452,2313,0,0,0,0,0,0,26.03,26.41,28.83
$GC,11785,0.51,146.0,746.7,10.3,861,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2448,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12085,0.51,146.0,715.7,9.8,876,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2448,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12384,0.51,146.0,685.3,9.6,891,12389,0.00,2.05,0.00,0.000,4,0.000,0.032,2680,1053,2311,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12445,0.51,146.0,679.6,9.5,894,12450,0.00,2.28,0.00,0.000,6,0.000,0.045,2680,2524,2311,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,20130,end climb,SURFACE_DEPTH_REACHED
$STATE,20130,begin surface coast
$FINISH,0.7,1.008847
$STATE,20191,end surface coast,CONTROL_FINISHED_OK
$STATE,20191,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.58
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,22.4,50.399
$10V_AH,10.2,32.224
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.850,186.050,466.300,0.000,0.000,25.623,40.532,247.600,0.000,0.000,17.044,4570.915,11358.893,628.663,3704.437,442.727,0.000,2333.311,0.000,3025.760,0.000,0.542,0.000
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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,329392
$DATA_FILE_SIZE,133954,1816
$CAP_FILE_SIZE,214317,0
$CFSIZE,260165632,198361088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,318.0,1
$GPS,020512,113737,1814.688,12307.528,29,1.0,29,-2.0