version: 66.10
glider: 176
mission: 5
dive: 299
start: 5 12 112 14 11 47
data:
$ID,176
$MISSION,5
$DIVE,299
$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,-7915.5137
$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
$GPS1,120512,140430,1927.634,12248.427,35,1.7,35,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.8
$GPS2,120512,141120,1927.821,12248.440,8,1.4,8,-2.3
$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,81.8,181503,-14.0,-9.429
$D_GRID,4712
$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,-64.30,0.000,2,0.000,0.000,176,2661,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-194.6,3.5,-7.5,11,125,8.62,1.75,-24.55,0.000,4,0.233,0.067,2320,3781,3725,0,0,0,0,0,0,25.25,26.14,26.67
$GC,203,-0.59,-194.6,46.1,-33.4,29,210,0.00,1.73,0.00,0.000,6,0.000,0.023,2320,2508,3726,0,0,0,0,0,0,28.83,26.45,28.83
$GC,530,-0.59,-194.6,170.2,-28.8,90,538,0.00,1.92,0.00,0.000,4,0.000,0.024,2320,1119,3726,0,0,0,0,0,0,28.83,26.50,28.83
$GC,615,-0.59,-194.6,190.5,-17.7,106,623,0.10,2.25,0.00,0.000,6,0.167,0.044,2338,2617,3726,0,0,0,0,0,0,26.16,26.32,28.83
$GC,926,-0.59,-194.6,254.9,-19.3,141,936,0.08,2.10,0.00,0.000,4,0.129,0.021,2285,1134,3726,0,0,0,0,0,0,26.65,26.51,28.83
$GC,990,-0.59,-194.6,266.9,-18.0,147,999,0.12,2.28,0.00,0.000,6,0.120,0.045,2327,2614,3726,0,0,0,0,0,0,26.10,26.33,28.83
$GC,1298,-0.59,-194.6,324.7,-18.4,178,1308,0.00,2.10,0.00,0.000,4,0.000,0.024,2327,1134,3725,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1343,-0.59,-194.6,332.1,-17.6,182,1351,0.00,2.22,0.00,0.000,6,0.000,0.043,2321,2617,3726,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1650,-0.59,-194.6,390.7,-18.0,213,1659,0.00,2.10,0.00,0.000,4,0.000,0.024,2321,1136,3724,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1681,-0.59,-194.6,395.5,-16.1,216,1690,0.00,2.25,0.00,0.000,6,0.000,0.044,2320,2628,3725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1992,-0.59,-194.6,435.8,-13.2,247,2001,0.00,2.12,0.00,0.000,4,0.000,0.024,2320,1136,3723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2055,-0.59,-194.6,442.7,-10.1,253,2063,0.00,2.22,0.00,0.000,6,0.000,0.044,2320,2617,3723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2363,-0.59,-194.6,480.9,-12.7,284,2372,0.00,2.12,0.00,0.000,4,0.000,0.024,2319,1124,3720,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2387,-0.59,-194.6,483.5,-12.5,286,2396,0.00,2.25,0.00,0.000,6,0.000,0.045,2319,2616,3720,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2694,-0.59,-194.6,521.1,-12.6,317,2703,0.00,2.10,0.00,0.000,4,0.000,0.024,2318,1136,3718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2757,-0.59,-194.6,527.8,-10.1,323,2766,0.00,2.22,0.00,0.000,6,0.000,0.045,2318,2614,3717,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3066,-0.59,-194.6,562.2,-11.6,354,3069,0.00,1.75,0.00,0.000,4,0.000,0.057,2317,3765,3714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3110,-0.59,-194.6,566.7,-10.9,358,3118,0.00,1.75,0.00,0.000,6,0.000,0.023,2317,2468,3714,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3426,-0.59,-194.6,603.3,-11.7,389,3432,0.00,2.03,0.00,0.000,4,0.000,0.054,2309,3775,3712,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3495,-0.59,-194.6,610.3,-11.8,392,3500,0.10,1.73,0.00,0.000,6,0.150,0.023,2340,2462,3711,0,0,0,0,0,0,26.32,26.62,28.83
$GC,3802,-0.59,-194.6,635.3,-6.7,407,3807,0.08,2.03,0.00,0.000,4,0.128,0.054,2275,3766,3708,0,0,0,0,0,0,26.63,26.17,28.83
$GC,3874,-0.59,-194.6,641.7,-9.4,410,3878,0.17,1.73,0.00,0.000,6,0.132,0.024,2331,2483,3707,0,0,0,0,0,0,26.17,26.59,28.83
$GC,4180,-0.59,-194.6,662.7,-6.7,425,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2480,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-0.59,-194.6,688.7,-9.6,440,4485,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3764,3701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4553,-0.59,-194.6,694.9,-10.1,443,4560,0.00,1.73,0.00,0.000,6,0.000,0.024,2331,2488,3700,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4860,-0.59,-194.6,730.0,-11.2,459,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2488,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.59,-194.6,759.7,-8.9,474,5166,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3769,3695,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5200,-0.59,-194.6,763.1,-8.4,476,5203,0.00,1.75,0.00,0.000,6,0.000,0.024,2331,2503,3695,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5521,-0.59,-194.6,786.7,-6.7,492,5526,0.00,2.03,0.00,0.000,4,0.000,0.057,2331,3771,3693,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5584,-0.59,-194.6,790.5,-6.4,495,5588,0.00,1.73,0.00,0.000,6,0.000,0.025,2331,2508,3691,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5902,-0.59,-194.6,812.5,-7.0,511,5907,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3759,3689,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5930,-0.59,-194.6,813.9,-7.1,512,5934,0.00,1.73,0.00,0.000,6,0.000,0.024,2331,2501,3689,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6242,-0.59,-194.6,836.3,-6.9,528,6246,0.00,2.03,0.00,0.000,4,0.000,0.057,2331,3769,3687,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6287,-0.59,-194.6,839.1,-6.6,530,6290,0.00,1.75,0.00,0.000,6,0.000,0.024,2331,2498,3687,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6605,-0.59,-194.6,860.2,-6.4,546,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2475,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6906,-0.59,-194.6,879.6,-6.4,561,6911,0.00,2.00,0.00,0.000,4,0.000,0.057,2330,3762,3683,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6934,-0.59,-194.6,880.8,-6.5,562,6937,0.00,1.75,0.00,0.000,6,0.000,0.025,2330,2511,3683,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7246,-0.59,-194.6,899.4,-5.4,578,7250,0.00,1.98,0.00,0.000,4,0.000,0.057,2330,3763,3682,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7276,-0.59,-194.6,900.6,-5.3,579,7279,0.00,1.75,0.00,0.000,6,0.000,0.025,2329,2516,3681,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7589,-0.59,-194.6,919.8,-6.7,595,7594,0.00,1.98,0.00,0.000,4,0.000,0.057,2330,3762,3680,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7637,-0.59,-194.6,922.5,-6.9,597,7641,0.00,1.77,0.00,0.000,6,0.000,0.025,2330,2496,3679,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7948,-0.59,-194.6,948.5,-8.7,613,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2493,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8249,-0.59,-194.6,974.9,-8.2,628,8254,0.00,1.98,0.00,0.000,4,0.000,0.058,2330,3764,3677,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8289,-0.59,-194.6,978.1,-8.1,630,8293,0.00,1.75,0.00,0.000,6,0.000,0.025,2330,2516,3677,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,8448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8448,begin apogee
$GC,8453,-0.17,0.0,990.9,-7.8,638,8626,0.38,0.00,166.40,1.720,6,0.098,0.000,2467,2489,2928,0,0,0,0,0,0,26.00,28.83,22.49
$STATE,8627,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8629,0.59,194.6,999.2,0.0,646,8829,0.65,2.28,187.98,1.672,4,0.045,0.055,2726,3762,2135,0,0,0,0,0,0,24.37,23.75,22.20
$GC,8840,0.59,194.6,986.5,14.6,656,8845,0.15,2.05,0.00,0.000,6,0.190,0.025,2701,2459,2133,0,0,0,0,0,0,24.05,24.34,28.83
$GC,9146,0.59,194.6,935.0,15.0,671,9150,0.00,2.08,0.00,0.000,4,0.000,0.031,2711,1053,2124,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9180,0.59,194.6,932.0,14.7,672,9188,0.05,2.28,0.00,0.000,6,0.220,0.048,2700,2523,2122,0,0,0,0,0,0,25.96,26.05,28.83
$GC,9489,0.59,194.6,887.7,13.7,688,9494,0.00,1.90,0.00,0.000,4,0.000,0.055,2700,3770,2120,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9595,0.59,194.6,870.9,17.1,693,9599,0.00,1.90,0.00,0.000,6,0.000,0.025,2709,2450,2120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9908,0.59,194.6,823.4,14.2,709,9912,0.00,2.03,0.00,0.000,4,0.000,0.029,2720,1052,2119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9937,0.59,194.6,820.2,14.2,710,9942,0.10,2.25,0.00,0.000,6,0.182,0.047,2696,2526,2118,0,0,0,0,0,0,26.01,26.22,28.83
$GC,10245,0.59,194.6,780.0,12.7,725,10248,0.00,1.90,0.00,0.000,4,0.000,0.054,2696,3769,2118,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10295,0.59,194.6,774.7,13.5,727,10302,0.00,1.90,0.00,0.000,6,0.000,0.024,2705,2449,2118,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10601,0.59,194.6,731.2,12.9,743,10606,0.00,2.05,0.00,0.000,4,0.000,0.031,2716,1045,2117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10621,0.59,194.6,728.7,12.9,744,10628,0.08,2.25,0.00,0.000,6,0.196,0.047,2700,2517,2116,0,0,0,0,0,0,26.08,26.22,28.83
$GC,10942,0.59,194.6,688.3,12.8,760,10948,0.00,1.92,0.00,0.000,4,0.000,0.054,2699,3774,2116,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11001,0.59,194.6,679.2,14.7,763,11005,0.00,1.92,0.00,0.000,6,0.000,0.024,2709,2439,2116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11318,0.59,194.6,632.4,15.0,779,11323,0.00,2.05,0.00,0.000,4,0.000,0.053,2709,3761,2116,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11381,0.59,194.6,621.6,17.4,782,11385,0.10,1.88,0.00,0.000,6,0.204,0.023,2696,2440,2116,0,0,0,0,0,0,26.07,26.46,28.83
$GC,11692,0.59,194.6,575.6,13.3,806,11701,0.00,2.05,0.00,0.000,4,0.000,0.053,2696,3765,2115,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11774,0.59,194.6,563.3,15.3,814,11777,0.00,1.90,0.00,0.000,6,0.000,0.023,2705,2431,2116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12086,0.59,194.6,525.5,10.4,845,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2427,2115,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16603,end climb,SURFACE_DEPTH_REACHED
$STATE,16603,begin surface coast
$FINISH,0.6,1.021473
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.50
$XPDR_PINGS,1
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$10V_AH,9.9,38.213
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,324084
$DATA_FILE_SIZE,107223,1441
$CAP_FILE_SIZE,179366,0
$CFSIZE,260165632,193286144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,303.0,1
$GPS,120512,185201,1928.781,12250.022,40,1.2,40,-2.3