version: 66.10
glider: 176
mission: 5
dive: 249
start: 5 2 112 17 33 51
data:
$ID,176
$MISSION,5
$DIVE,249
$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,-7760.582
$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
$GPS1,020512,172555,1815.649,12304.360,40,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.6
$GPS2,020512,173325,1815.707,12304.337,9,1.5,9,-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,276.6,89146,-13.1,-7.500
$D_GRID,3973
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-42.05,0.000,2,0.000,0.000,182,2702,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.51,-146.0,3.1,-6.5,7,107,8.73,2.25,-26.62,0.000,4,0.233,0.037,2349,1143,3526,0,0,0,0,0,0,25.34,26.23,26.60
$GC,240,-0.51,-146.0,50.4,-21.8,34,248,0.08,2.25,0.00,0.000,6,0.200,0.046,2355,2631,3526,0,0,0,0,0,0,26.07,26.22,28.83
$GC,568,-0.51,-146.0,148.5,-28.5,95,575,0.00,2.10,0.00,0.000,4,0.000,0.024,2356,1146,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,593,-0.51,-146.0,154.6,-24.1,99,600,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2631,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,915,-0.51,-146.0,225.2,-19.4,149,924,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1147,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1019,-0.51,-146.0,241.0,-13.4,159,1026,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2632,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1327,-0.51,-146.0,292.9,-16.0,190,1331,0.00,2.10,0.00,0.000,4,0.000,0.028,2344,1154,3526,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1428,-0.51,-146.0,305.5,-11.3,200,1438,0.08,2.22,0.00,0.000,6,0.181,0.042,2359,2642,3526,0,0,0,0,0,0,26.28,26.41,28.83
$GC,1738,-0.51,-146.0,340.2,-11.0,231,1748,0.05,2.12,0.00,0.000,4,0.177,0.023,2304,1149,3525,0,0,0,0,0,0,26.70,26.53,28.83
$GC,1800,-0.51,-146.0,348.8,-14.7,237,1811,0.20,2.22,0.00,0.000,6,0.135,0.041,2356,2640,3525,0,0,0,0,0,0,26.13,26.41,28.83
$GC,2111,-0.51,-146.0,384.9,-11.0,268,2120,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1150,3522,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2164,-0.51,-146.0,390.2,-10.1,273,2173,0.00,2.25,0.00,0.000,6,0.000,0.042,2356,2630,3522,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2472,-0.51,-146.0,420.7,-9.9,304,2481,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1148,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2544,-0.51,-146.0,427.7,-9.3,311,2554,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2630,3519,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2856,-0.51,-146.0,459.2,-10.1,342,2864,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1152,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2919,-0.51,-146.0,465.2,-9.5,348,2927,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2635,3516,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3228,-0.51,-146.0,494.6,-10.1,379,3238,0.00,2.12,-0.08,0.000,4,0.000,0.037,2356,1159,3543,0,0,0,0,0,0,28.83,26.48,25.60
$GC,3255,-0.51,-146.0,496.9,-9.9,381,3264,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2634,3543,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3561,-0.51,-146.0,526.7,-8.9,412,3570,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1142,3541,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3603,-0.51,-146.0,530.2,-8.8,416,3612,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2636,3540,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3912,-0.51,-146.0,557.0,-8.7,447,3921,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1151,3536,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3936,-0.51,-146.0,559.0,-9.1,449,3944,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2635,3536,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4243,-0.51,-146.0,586.8,-8.9,480,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2636,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4543,-0.51,-146.0,611.1,-7.6,503,4549,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1149,3531,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4584,-0.51,-146.0,614.1,-7.3,505,4588,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2635,3531,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4906,-0.51,-146.0,635.3,-6.2,521,4912,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1149,3528,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4935,-0.51,-146.0,636.5,-6.1,522,4939,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2628,3528,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5241,-0.51,-146.0,657.5,-7.2,537,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5541,-0.51,-146.0,681.0,-8.0,552,5547,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1149,3524,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5564,-0.51,-146.0,682.6,-8.1,553,5569,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2634,3523,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5876,-0.51,-146.0,707.8,-8.0,569,5881,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1152,3521,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5924,-0.51,-146.0,711.1,-8.2,571,5928,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2632,3520,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6233,-0.51,-146.0,735.7,-7.6,586,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6531,-0.51,-146.0,758.6,-7.6,601,6537,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1154,3517,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6571,-0.51,-146.0,761.7,-7.5,603,6575,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2634,3517,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6894,-0.51,-146.0,785.0,-6.9,619,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2634,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7193,-0.51,-146.0,803.7,-5.9,634,7199,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1148,3513,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7247,-0.51,-146.0,806.0,-5.9,636,7253,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2632,3513,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7553,-0.51,-146.0,824.0,-5.5,652,7556,0.00,1.73,0.00,0.000,4,0.000,0.057,2356,3767,3511,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7582,-0.51,-146.0,825.1,-5.5,653,7585,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2508,3510,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7895,-0.51,-146.0,841.7,-4.9,669,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2475,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,-0.51,-146.0,857.8,-5.8,684,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2475,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,-0.51,-146.0,877.8,-7.1,699,8500,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3770,3506,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8523,-0.51,-146.0,879.1,-7.1,700,8526,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2503,3506,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8834,-0.51,-146.0,900.6,-6.2,716,8839,0.00,1.88,0.00,0.000,4,0.000,0.028,2356,1156,3506,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8854,-0.51,-146.0,901.9,-6.2,717,8860,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2629,3505,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9175,-0.51,-146.0,918.8,-4.9,733,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9474,-0.51,-146.0,933.6,-5.0,748,9480,0.00,2.15,0.00,0.000,4,0.000,0.028,2357,1156,3503,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9503,-0.51,-146.0,934.8,-5.3,749,9507,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2629,3503,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9809,-0.51,-146.0,954.2,-6.8,764,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10109,-0.51,-146.0,976.3,-7.4,779,10115,0.00,2.15,0.00,0.000,4,0.000,0.028,2356,1159,3502,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10142,-0.51,-146.0,977.8,-7.7,780,10149,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2633,3502,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,10307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10307,begin apogee
$GC,10312,-0.17,0.0,991.5,-7.5,789,10451,0.30,0.15,127.35,1.739,6,0.101,0.084,2466,2535,2928,0,0,0,0,0,0,26.05,24.39,22.98
$STATE,10452,end apogee,CONTROL_FINISHED_OK
$STATE,10452,begin climb
$GC,10454,0.51,146.0,998.8,0.0,796,10605,0.60,2.12,141.98,1.697,4,0.051,0.054,2699,3766,2333,0,0,0,0,0,0,24.70,23.74,22.32
$GC,10652,0.51,146.0,990.0,10.8,805,10656,0.15,2.03,0.00,0.000,6,0.190,0.024,2675,2458,2329,0,0,0,0,0,0,24.41,24.76,28.83
$GC,10965,0.51,146.0,953.6,11.5,821,10968,0.00,2.08,0.00,0.000,4,0.000,0.031,2685,1051,2322,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10986,0.51,146.0,951.0,11.4,822,10993,0.05,2.30,0.00,0.000,6,0.216,0.046,2673,2526,2320,0,0,0,0,0,0,25.86,25.94,28.83
$GC,11307,0.51,146.0,911.7,12.9,838,11313,0.00,1.92,0.00,0.000,4,0.000,0.054,2673,3776,2319,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11334,0.51,146.0,908.9,13.0,839,11337,0.00,1.95,0.00,0.000,6,0.000,0.025,2682,2440,2318,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11646,0.51,146.0,867.1,12.8,855,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2436,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11947,0.51,146.0,830.8,11.8,870,11953,0.00,2.05,0.00,0.000,4,0.000,0.055,2682,3762,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11986,0.51,146.0,825.4,12.7,872,11992,0.10,1.92,0.00,0.000,6,0.204,0.024,2668,2437,2316,0,0,0,0,0,0,26.01,26.36,28.83
$GC,12307,0.51,146.0,791.5,10.5,888,12312,0.00,2.03,0.00,0.000,4,0.000,0.030,2678,1043,2315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12346,0.51,146.0,787.7,10.0,890,12352,0.00,2.30,0.00,0.000,6,0.000,0.047,2678,2523,2314,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,20622,end climb,SURFACE_DEPTH_REACHED
$STATE,20623,begin surface coast
$FINISH,0.8,1.008395
$STATE,20645,end surface coast,CONTROL_FINISHED_OK
$STATE,20645,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.41
$INTERNAL_PRESSURE,9.53436
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$XPDR_PINGS,0
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$10V_AH,10.1,32.497
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329432
$DATA_FILE_SIZE,133680,1818
$CAP_FILE_SIZE,213087,0
$CFSIZE,260165632,198131712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,335.6,1
$GPS,020512,232007,1817.444,12300.745,25,1.4,25,-2.0