version: 66.10
glider: 176
mission: 5
dive: 251
start: 5 3 112 5 11 5
data:
$ID,176
$MISSION,5
$DIVE,251
$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,-7763.2886
$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
$GPS1,030512,050307,1818.124,12257.699,37,1.2,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.0
$GPS2,030512,051038,1818.234,12257.730,12,1.2,12,-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,261.4,76655,-13.1,-7.500
$D_GRID,3843
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.83,0.000,2,0.000,0.000,191,2667,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.1,-7.2,8,114,8.68,1.73,-29.92,0.000,4,0.234,0.066,2342,3775,3526,0,0,0,0,0,0,25.37,26.12,26.62
$GC,140,-0.51,-146.0,21.3,-39.5,20,148,0.05,1.70,0.00,0.000,6,0.239,0.021,2352,2518,3526,0,0,0,0,0,0,26.17,26.37,28.83
$GC,470,-0.51,-146.0,132.8,-29.2,81,476,0.00,1.92,0.00,0.000,4,0.000,0.024,2353,1131,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,503,-0.51,-146.0,141.5,-25.6,84,510,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2629,3526,0,0,0,0,0,0,28.83,26.32,28.83
$GC,814,-0.51,-146.0,214.7,-20.2,138,818,0.00,2.08,0.00,0.000,4,0.000,0.025,2347,1154,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,858,-0.51,-146.0,223.1,-20.0,142,867,0.10,2.20,0.00,0.000,6,0.167,0.042,2363,2633,3526,0,0,0,0,0,0,26.22,26.40,28.83
$GC,1166,-0.51,-146.0,265.9,-12.6,173,1175,0.08,2.10,0.00,0.000,4,0.131,0.024,2304,1154,3526,0,0,0,0,0,0,26.67,26.51,28.83
$GC,1252,-0.51,-146.0,278.4,-15.8,181,1259,0.17,2.20,0.00,0.000,6,0.145,0.043,2358,2631,3526,0,0,0,0,0,0,26.15,26.40,28.83
$GC,1559,-0.51,-146.0,318.2,-11.2,212,1563,0.00,2.10,0.00,0.000,4,0.000,0.025,2358,1151,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1655,-0.51,-146.0,327.4,-9.5,221,1662,0.00,2.22,0.00,0.000,6,0.000,0.043,2357,2637,3524,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1963,-0.51,-146.0,360.3,-10.2,252,1972,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1156,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2007,-0.51,-146.0,364.6,-10.0,256,2014,0.00,2.20,0.00,0.000,6,0.000,0.041,2348,2632,3522,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2315,-0.51,-146.0,400.8,-11.7,287,2324,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1142,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2359,-0.51,-146.0,405.3,-10.8,291,2366,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2629,3519,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2667,-0.51,-146.0,439.2,-11.3,322,2677,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1151,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2699,-0.51,-146.0,442.9,-11.3,325,2708,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2630,3516,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3009,-0.51,-146.0,475.1,-10.0,356,3014,0.00,2.12,-0.10,0.000,4,0.000,0.037,2348,1156,3537,0,0,0,0,0,0,28.83,26.48,26.09
$GC,3064,-0.51,-146.0,479.9,-9.1,361,3071,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2641,3537,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3372,-0.51,-146.0,510.0,-9.6,392,3380,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1148,3533,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3415,-0.51,-146.0,514.1,-9.7,396,3423,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2631,3533,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3724,-0.51,-146.0,546.4,-10.4,427,3733,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1135,3530,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3795,-0.51,-146.0,553.1,-9.2,434,3805,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2635,3529,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4108,-0.51,-146.0,581.7,-9.1,465,4116,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1155,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4141,-0.51,-146.0,584.6,-8.7,468,4148,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2634,3526,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4450,-0.51,-146.0,613.8,-9.6,492,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.51,-146.0,640.2,-8.6,507,4756,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1156,3520,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4802,-0.51,-146.0,643.5,-8.4,509,4809,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2632,3520,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5109,-0.51,-146.0,667.3,-7.2,525,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.51,-146.0,690.2,-7.8,540,5416,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1151,3515,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5449,-0.51,-146.0,693.3,-7.9,542,5453,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2628,3515,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5770,-0.51,-146.0,719.5,-8.3,558,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,-0.51,-146.0,744.2,-8.5,573,6076,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1163,3511,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6118,-0.51,-146.0,747.6,-8.4,575,6122,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2629,3511,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6426,-0.51,-146.0,773.9,-8.1,590,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6725,-0.51,-146.0,797.5,-7.8,605,6731,0.00,2.17,0.00,0.000,4,0.000,0.027,2344,1145,3506,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6769,-0.51,-146.0,800.6,-7.7,607,6773,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3506,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7084,-0.51,-146.0,824.7,-7.2,623,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7382,-0.51,-146.0,845.1,-6.7,638,7388,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1157,3503,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7422,-0.51,-146.0,847.8,-6.5,640,7428,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3503,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7743,-0.51,-146.0,868.0,-6.3,656,7748,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1154,3502,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7770,-0.51,-146.0,869.2,-6.3,657,7774,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3501,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8078,-0.51,-146.0,889.4,-6.2,672,8084,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1159,3500,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8118,-0.51,-146.0,891.7,-6.1,674,8123,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2625,3500,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8437,-0.51,-146.0,909.9,-5.7,690,8440,0.00,1.75,0.00,0.000,4,0.000,0.058,2344,3764,3497,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8463,-0.51,-146.0,911.2,-5.7,691,8467,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2510,3497,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8780,-0.51,-146.0,931.1,-6.6,707,8784,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3496,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8825,-0.51,-146.0,933.8,-6.5,709,8828,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2508,3495,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9144,-0.51,-146.0,954.6,-6.5,725,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2480,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9442,-0.51,-146.0,974.8,-6.7,740,9447,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3494,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9482,-0.51,-146.0,977.5,-6.7,742,9485,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2507,3493,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9681,begin apogee
$GC,9686,-0.17,0.0,991.3,-6.9,752,9815,0.32,0.00,124.93,1.732,6,0.105,0.000,2462,2486,2928,0,0,0,0,0,0,25.98,28.83,23.06
$STATE,9818,end apogee,CONTROL_FINISHED_OK
$STATE,9818,begin climb
$GC,9820,0.51,146.0,996.0,0.0,758,9972,0.62,2.25,141.85,1.688,4,0.050,0.055,2699,3752,2332,0,0,0,0,0,0,24.68,23.78,22.37
$GC,10013,0.51,146.0,988.1,10.5,767,10021,0.15,2.03,0.00,0.000,6,0.190,0.024,2675,2444,2328,0,0,0,0,0,0,24.40,24.75,28.83
$GC,10321,0.51,146.0,950.3,11.2,783,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2443,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10621,0.51,146.0,915.9,11.6,798,10627,0.00,2.08,0.00,0.000,4,0.000,0.054,2675,3769,2318,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10673,0.51,146.0,910.5,12.4,800,10680,0.05,1.92,0.00,0.000,6,0.264,0.024,2674,2442,2318,0,0,0,0,0,0,26.06,26.26,28.83
$GC,10981,0.51,146.0,872.4,11.8,816,10987,0.00,2.03,0.00,0.000,4,0.000,0.031,2684,1052,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11008,0.51,146.0,870.1,11.7,817,11013,0.05,2.28,0.00,0.000,6,0.223,0.047,2673,2525,2315,0,0,0,0,0,0,26.08,26.16,28.83
$GC,11316,0.51,146.0,832.8,11.4,832,11320,0.00,2.20,0.00,0.000,4,0.000,0.030,2684,1046,2314,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11337,0.51,146.0,830.3,11.3,833,11344,0.03,2.28,0.00,0.000,6,0.269,0.045,2673,2517,2313,0,0,0,0,0,0,26.12,26.17,28.83
$GC,11658,0.51,146.0,794.4,11.2,849,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2517,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11961,0.51,146.0,761.9,10.7,864,11966,0.00,2.15,0.00,0.000,4,0.000,0.030,2684,1053,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11978,0.51,146.0,759.7,10.6,865,11985,0.05,2.28,0.00,0.000,6,0.221,0.046,2672,2521,2312,0,0,0,0,0,0,26.09,26.17,28.83
$GC,12298,0.51,146.0,726.4,10.0,881,12304,0.00,1.92,0.00,0.000,4,0.000,0.055,2672,3773,2311,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,20525,end climb,SURFACE_DEPTH_REACHED
$STATE,20526,begin surface coast
$FINISH,0.8,1.020773
$STATE,20556,end surface coast,CONTROL_FINISHED_OK
$STATE,20557,begin surface
$SM_CCo,20634,0.00,0.000,0,0,790,524.70
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.10
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,22.4,51.206
$10V_AH,10.0,32.768
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.575,202.900,489.700,0.000,0.000,32.957,27.136,241.468,0.250,0.000,14.812,4665.614,11540.838,686.635,3708.574,450.189,0.000,2425.615,0.000,3108.046,0.000,0.544,0.000
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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,329440
$DATA_FILE_SIZE,137274,1854
$CAP_FILE_SIZE,220353,0
$CFSIZE,260165632,197902336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,344.8,1
$GPS,030512,105607,1819.676,12254.574,39,0.9,39,-2.0