version: 66.10
glider: 176
mission: 5
dive: 289
start: 5 10 112 14 45 5
data:
$ID,176
$MISSION,5
$DIVE,289
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$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,163
$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,-7902.938
$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,2600
$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
$GPS1,100512,143737,1918.316,12237.170,38,0.8,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.4
$GPS2,100512,144438,1918.228,12237.256,13,0.9,13,-2.2
$SPEED_LIMITS,0.163,0.289
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,106.6,207183,-14.0,-9.429
$D_GRID,2790
$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,-0.59,-194.6,0.0,0.0,0,83,0.00,0.00,-63.38,0.000,2,0.000,0.000,191,2669,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-194.6,3.5,-7.8,11,129,8.60,2.28,-24.77,0.000,4,0.235,0.044,2323,1146,3725,0,0,0,0,0,0,25.33,26.26,26.67
$GC,263,-0.59,-194.6,60.6,-31.0,38,270,0.08,2.22,0.00,0.000,6,0.205,0.044,2330,2624,3726,0,0,0,0,0,0,26.12,26.28,28.83
$GC,591,-0.59,-194.6,163.1,-24.9,99,598,0.00,2.10,0.00,0.000,4,0.000,0.024,2330,1142,3726,0,0,0,0,0,0,28.83,26.49,28.83
$GC,772,-0.59,-194.6,193.1,-14.2,134,779,0.00,2.20,0.00,0.000,6,0.000,0.041,2320,2624,3726,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1084,-0.59,-194.6,264.1,-20.6,168,1093,0.00,2.05,0.00,0.000,4,0.000,0.024,2320,1149,3726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1125,-0.59,-194.6,271.4,-16.8,172,1134,0.00,2.20,0.00,0.000,6,0.000,0.044,2318,2619,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1437,-0.59,-194.6,323.2,-16.4,203,1445,0.00,2.08,0.00,0.000,4,0.000,0.024,2318,1139,3725,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1479,-0.59,-194.6,329.4,-15.0,207,1487,0.00,2.20,0.00,0.000,6,0.000,0.042,2317,2619,3725,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1790,-0.59,-194.6,371.4,-13.0,238,1793,0.00,1.73,0.00,0.000,4,0.000,0.053,2308,3774,3724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1814,-0.59,-194.6,374.6,-13.4,240,1822,0.10,1.70,0.00,0.000,6,0.158,0.021,2339,2457,3724,0,0,0,0,0,0,26.36,26.67,28.83
$GC,2120,-0.59,-194.6,408.7,-10.4,271,2130,0.08,2.00,0.00,0.000,4,0.130,0.051,2273,3766,3721,0,0,0,0,0,0,26.66,26.30,28.83
$GC,2145,-0.59,-194.6,411.4,-11.3,273,2154,0.12,1.73,0.00,0.000,6,0.109,0.021,2330,2474,3721,0,0,0,0,0,0,26.19,26.64,28.83
$GC,2452,-0.59,-194.6,448.5,-12.7,304,2456,0.00,1.98,0.00,0.000,4,0.000,0.053,2321,3769,3720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2494,-0.59,-194.6,454.1,-13.6,308,2498,0.00,1.70,0.00,0.000,6,0.000,0.021,2321,2495,3719,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2805,-0.59,-194.6,493.2,-11.6,339,2809,0.00,1.98,0.00,0.000,4,0.000,0.054,2318,3766,3717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2846,-0.59,-194.6,497.5,-10.6,343,2849,0.00,1.73,0.00,0.000,6,0.000,0.021,2318,2490,3717,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3158,-0.59,-194.6,526.0,-8.5,374,3161,0.00,1.90,0.00,0.000,4,0.000,0.026,2318,1136,3714,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3179,-0.59,-194.6,527.8,-8.4,376,3188,0.00,2.25,0.00,0.000,6,0.000,0.044,2318,2618,3714,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3489,-0.59,-194.6,554.9,-9.3,407,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2618,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3790,-0.59,-194.6,585.7,-11.0,437,3799,0.00,2.10,0.00,0.000,4,0.000,0.024,2318,1142,3708,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3835,-0.59,-194.6,590.4,-11.0,441,3843,0.00,2.25,0.00,0.000,6,0.000,0.046,2318,2625,3707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4142,-0.59,-194.6,625.8,-11.6,461,4146,0.00,1.77,0.00,0.000,4,0.000,0.058,2318,3762,3704,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4171,-0.59,-194.6,628.2,-11.6,462,4175,0.00,1.73,0.00,0.000,6,0.000,0.023,2317,2474,3703,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4485,-0.59,-194.6,662.1,-10.3,478,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2468,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.59,-194.6,689.1,-8.5,493,4789,0.00,2.03,0.00,0.000,4,0.000,0.055,2309,3774,3698,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4806,-0.59,-194.6,690.9,-8.5,494,4810,0.05,1.77,0.00,0.000,6,0.128,0.023,2332,2484,3697,0,0,0,0,0,0,26.35,26.62,28.83
$GC,5125,-0.59,-194.6,713.9,-7.6,510,5130,0.00,1.90,0.00,0.000,4,0.000,0.028,2332,1145,3695,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5204,-0.59,-194.6,720.4,-8.1,514,5210,0.03,2.22,0.00,0.000,6,0.110,0.046,2287,2614,3695,0,0,0,0,0,0,26.17,26.27,28.83
$GC,5525,-0.59,-194.6,757.9,-11.8,530,5531,0.12,1.75,0.00,0.000,4,0.160,0.054,2322,3770,3692,0,0,0,0,0,0,26.31,26.15,28.83
$GC,5556,-0.59,-194.6,760.2,-11.8,531,5563,0.00,1.75,0.00,0.000,6,0.000,0.023,2323,2468,3691,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5864,-0.59,-194.6,789.5,-9.1,547,5869,0.00,1.90,0.00,0.000,4,0.000,0.028,2322,1138,3689,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5905,-0.59,-194.6,793.2,-9.2,549,5910,0.00,2.25,0.00,0.000,6,0.000,0.046,2320,2616,3689,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6223,-0.59,-194.6,824.4,-9.8,565,6229,0.00,2.12,0.00,0.000,4,0.000,0.027,2320,1138,3687,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6297,-0.59,-194.6,830.4,-10.0,568,6304,0.00,2.28,0.00,0.000,6,0.000,0.047,2320,2624,3687,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6604,-0.59,-194.6,860.8,-9.2,584,6608,0.00,1.75,0.00,0.000,4,0.000,0.059,2318,3763,3685,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6635,-0.59,-194.6,863.2,-9.3,585,6638,0.00,1.73,0.00,0.000,6,0.000,0.024,2317,2500,3684,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6948,-0.59,-194.6,891.0,-8.5,601,6954,0.00,1.90,0.00,0.000,4,0.000,0.027,2317,1136,3683,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6995,-0.59,-194.6,894.2,-8.2,603,6999,0.00,2.28,0.00,0.000,6,0.000,0.047,2317,2617,3682,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7302,-0.59,-194.6,916.1,-6.6,618,7308,0.00,2.15,0.00,0.000,4,0.000,0.027,2317,1137,3681,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7396,-0.59,-194.6,921.7,-7.0,622,7405,0.00,2.28,0.00,0.000,6,0.000,0.047,2317,2617,3680,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7702,-0.59,-194.6,945.1,-7.5,638,7706,0.00,2.15,0.00,0.000,4,0.000,0.027,2317,1148,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7773,-0.59,-194.6,950.0,-7.9,641,7777,0.00,2.28,0.00,0.000,6,0.000,0.047,2317,2622,3678,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8079,-0.59,-194.6,976.0,-8.5,656,8085,0.00,2.15,0.00,0.000,4,0.000,0.027,2317,1147,3676,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8141,-0.59,-194.6,980.7,-8.1,659,8146,0.00,2.28,0.00,0.000,6,0.000,0.047,2317,2622,3676,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,8278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8284,-0.17,0.0,991.4,-7.7,666,8460,0.40,0.15,164.48,1.715,6,0.105,0.082,2461,2539,2928,0,0,0,0,0,0,25.96,24.16,22.67
$STATE,8461,end apogee,CONTROL_FINISHED_OK
$STATE,8461,begin climb
$GC,8464,0.59,194.6,999.6,0.0,675,8659,0.68,0.00,187.52,1.668,6,0.047,0.000,2726,2539,2134,0,0,0,0,0,0,24.55,28.83,22.31
$GC,8959,0.59,194.6,931.6,17.5,700,8965,0.12,1.90,0.00,0.000,4,0.191,0.054,2689,3767,2124,0,0,0,0,0,0,25.82,25.98,28.83
$GC,8993,0.59,194.6,928.0,17.7,701,9000,0.00,1.92,0.00,0.000,6,0.000,0.026,2699,2457,2124,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9299,0.59,194.6,883.2,13.6,717,9304,0.00,2.08,0.00,0.000,4,0.000,0.033,2708,1053,2121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9327,0.59,194.6,880.5,13.5,718,9331,0.00,2.28,0.00,0.000,6,0.000,0.047,2709,2526,2119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9635,0.59,194.6,834.7,14.8,733,9640,0.00,1.90,0.00,0.000,4,0.000,0.054,2708,3767,2118,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9694,0.59,194.6,824.3,16.8,736,9700,0.10,1.90,0.00,0.000,6,0.210,0.025,2696,2454,2119,0,0,0,0,0,0,26.04,26.40,28.83
$GC,10014,0.59,194.6,776.3,15.0,752,10019,0.00,2.00,0.00,0.000,4,0.000,0.030,2706,1052,2117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10077,0.59,194.6,767.9,14.2,755,10081,0.00,2.25,0.00,0.000,6,0.000,0.047,2706,2517,2116,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10389,0.59,194.6,719.8,15.8,771,10394,0.00,1.90,0.00,0.000,4,0.000,0.054,2705,3771,2116,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10450,0.59,194.6,708.9,17.7,774,10457,0.08,1.90,0.00,0.000,6,0.230,0.024,2699,2449,2116,0,0,0,0,0,0,26.15,26.44,28.83
$GC,10769,0.59,194.6,663.0,13.3,790,10775,0.00,2.03,0.00,0.000,4,0.000,0.054,2700,3765,2116,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10791,0.59,194.6,660.2,13.4,791,10796,0.03,1.92,0.00,0.000,6,0.221,0.024,2702,2440,2116,0,0,0,0,0,0,26.25,26.45,28.83
$GC,11110,0.59,194.6,619.0,12.8,807,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2436,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11409,0.59,194.6,581.9,12.8,829,11419,0.00,2.08,0.00,0.000,4,0.000,0.053,2702,3774,2115,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11472,0.59,194.6,572.6,15.9,835,11481,0.05,1.92,0.00,0.000,6,0.257,0.024,2700,2433,2115,0,0,0,0,0,0,26.24,26.47,28.83
$GC,11781,0.59,194.6,529.6,13.7,866,11790,0.00,2.08,0.00,0.000,4,0.000,0.051,2700,3774,2115,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11854,0.59,194.6,518.4,15.4,873,11863,0.00,1.90,0.00,0.000,6,0.000,0.022,2709,2437,2114,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12163,0.59,194.6,481.1,11.3,904,12171,0.00,2.03,0.00,0.000,4,0.000,0.050,2709,3766,2114,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,14392,0.64,231.7,252.6,9.3,1125,14404,0.00,1.95,5.47,1.006,4,0.000,0.049,2720,3777,1984,0,0,0,0,0,0,28.83,26.27,24.42
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$STATE,16579,end climb,SURFACE_DEPTH_REACHED
$STATE,16579,begin surface coast
$FINISH,0.6,1.021502
$STATE,16608,end surface coast,CONTROL_FINISHED_OK
$STATE,16608,begin surface
$SM_CCo,16685,0.00,0.000,0,0,859,507.77
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.17
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,25.00
$XPDR_PINGS,0
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$10V_AH,9.9,37.096
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.575,162.925,556.200,0.000,0.000,26.967,41.083,212.843,0.000,0.000,15.561,3725.296,9188.707,694.164,3107.259,365.165,0.000,2162.658,0.000,2547.815,0.000,0.543,0.000
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$SENSOR_SECS,1007.809,2022.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324040
$DATA_FILE_SIZE,110654,1485
$CAP_FILE_SIZE,181039,0
$CFSIZE,260165632,194240512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,323.2,1
$GPS,100512,192407,1919.628,12238.281,28,1.0,28,-2.2