version: 66.10
glider: 176
mission: 5
dive: 325
start: 5 18 112 15 46 47
data:
$ID,176
$MISSION,5
$DIVE,325
$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,480
$T_MISSION,540
$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,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,-7949.8394
$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
$GPS1,180512,153801,1947.349,12327.555,40,1.5,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.7
$GPS2,180512,154620,1947.218,12327.567,11,1.5,11,-2.4
$SPEED_LIMITS,0.119,0.227
$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,48.2,104629,-11.8,-6.875
$D_GRID,5161
$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,-0.48,-146.0,0.0,0.0,0,65,0.00,0.00,-45.75,0.000,2,0.000,0.000,199,2666,2269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.48,-146.0,3.2,-6.9,8,113,8.68,1.67,-26.60,0.000,4,0.232,0.065,2361,3778,3525,0,0,0,0,0,0,25.20,26.14,26.70
$GC,235,-0.48,-146.0,45.3,-20.8,36,242,0.00,1.73,0.00,0.000,6,0.000,0.021,2361,2497,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,547,-0.48,-146.0,122.9,-21.7,97,554,0.00,1.90,0.00,0.000,4,0.000,0.026,2361,1138,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,652,-0.48,-146.0,139.8,-13.2,117,659,0.00,2.22,0.00,0.000,6,0.000,0.044,2361,2621,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,967,-0.48,-146.0,203.2,-21.4,178,976,0.00,2.10,0.00,0.000,4,0.000,0.026,2361,1134,3525,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1031,-0.48,-146.0,213.4,-14.3,184,1039,0.03,2.25,0.00,0.000,6,0.179,0.041,2361,2625,3525,0,0,0,0,0,0,26.26,26.40,28.83
$GC,1340,-0.48,-146.0,263.3,-14.5,215,1344,0.00,1.70,0.00,0.000,4,0.000,0.052,2361,3767,3525,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1361,-0.48,-146.0,266.3,-14.1,217,1364,0.00,1.70,0.00,0.000,6,0.000,0.021,2361,2495,3524,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1671,-0.48,-146.0,306.2,-12.9,248,1675,0.00,1.85,0.00,0.000,4,0.000,0.027,2361,1138,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1731,-0.48,-146.0,312.6,-10.6,253,1738,0.00,2.22,0.00,0.000,6,0.000,0.044,2361,2621,3524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2038,-0.48,-146.0,349.4,-12.3,284,2046,0.00,2.10,0.00,0.000,4,0.000,0.026,2361,1138,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2062,-0.48,-146.0,351.9,-12.4,286,2070,0.00,2.22,0.00,0.000,6,0.000,0.043,2361,2625,3523,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2370,-0.48,-146.0,387.7,-11.4,317,2379,0.00,2.08,0.00,0.000,4,0.000,0.026,2361,1145,3521,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2414,-0.48,-146.0,392.3,-11.1,321,2421,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2622,3521,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2722,-0.48,-146.0,425.6,-9.9,352,2730,0.00,2.10,0.00,0.000,4,0.000,0.026,2358,1142,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2764,-0.48,-146.0,429.8,-9.6,356,2773,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2622,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3075,-0.48,-146.0,459.9,-10.0,387,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2622,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3376,-0.48,-146.0,487.2,-8.5,417,3385,0.00,2.12,-0.10,0.000,4,0.000,0.037,2357,1148,3539,0,0,0,0,0,0,28.83,26.48,26.08
$GC,3429,-0.48,-146.0,491.4,-7.9,422,3439,0.00,2.20,0.00,0.000,6,0.000,0.043,2357,2624,3538,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3737,-0.48,-146.0,516.1,-8.2,453,3741,0.00,1.70,0.00,0.000,4,0.000,0.054,2357,3766,3536,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3800,-0.48,-146.0,520.8,-7.4,459,3803,0.00,1.73,0.00,0.000,6,0.000,0.022,2357,2492,3535,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4114,-0.48,-146.0,544.7,-7.5,490,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2459,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4423,-0.48,-146.0,569.7,-7.9,521,4432,0.00,1.95,0.00,0.000,4,0.000,0.053,2349,3755,3531,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4507,-0.48,-146.0,576.8,-8.3,529,4515,0.08,1.70,0.00,0.000,6,0.161,0.024,2373,2473,3530,0,0,0,0,0,0,26.40,26.63,28.83
$GC,4814,-0.48,-146.0,596.3,-5.7,560,4824,0.08,1.98,0.00,0.000,4,0.128,0.052,2305,3767,3527,0,0,0,0,0,0,26.64,26.17,28.83
$GC,4857,-0.48,-146.0,600.2,-9.3,564,4861,0.20,1.73,0.00,0.000,6,0.122,0.022,2370,2458,3527,0,0,0,0,0,0,26.17,26.63,28.83
$GC,5177,-0.48,-146.0,619.1,-5.5,580,5182,0.05,1.98,0.00,0.000,4,0.174,0.052,2304,3758,3525,0,0,0,0,0,0,26.65,26.15,28.83
$GC,5256,-0.48,-146.0,627.1,-9.8,584,5260,0.20,1.70,0.00,0.000,6,0.119,0.022,2371,2465,3524,0,0,0,0,0,0,26.18,26.61,28.83
$GC,5575,-0.48,-146.0,646.4,-6.0,600,5580,0.05,1.98,0.00,0.000,4,0.176,0.053,2305,3763,3522,0,0,0,0,0,0,26.64,26.13,28.83
$GC,5633,-0.48,-146.0,652.3,-9.0,603,5640,0.20,1.73,0.00,0.000,6,0.120,0.024,2371,2480,3521,0,0,0,0,0,0,26.16,26.59,28.83
$GC,5954,-0.48,-146.0,671.6,-5.7,619,5960,0.05,1.92,0.00,0.000,4,0.176,0.024,2313,1132,3519,0,0,0,0,0,0,26.65,26.44,28.83
$GC,5977,-0.48,-146.0,673.0,-6.1,620,5981,0.20,2.28,0.00,0.000,6,0.125,0.045,2369,2623,3519,0,0,0,0,0,0,26.01,26.23,28.83
$GC,6289,-0.48,-146.0,691.8,-5.7,636,6295,0.05,1.75,0.00,0.000,4,0.174,0.054,2305,3766,3517,0,0,0,0,0,0,26.65,26.10,28.83
$GC,6323,-0.48,-146.0,693.2,-5.9,637,6331,0.20,1.73,0.00,0.000,6,0.120,0.023,2371,2469,3516,0,0,0,0,0,0,26.15,26.59,28.83
$GC,6630,-0.48,-146.0,713.6,-6.2,653,6636,0.05,2.03,0.00,0.000,4,0.174,0.053,2307,3770,3514,0,0,0,0,0,0,26.64,26.09,28.83
$GC,6743,-0.48,-146.0,724.1,-11.1,658,6752,0.20,1.73,0.00,0.000,6,0.120,0.024,2372,2467,3513,0,0,0,0,0,0,26.13,26.58,28.83
$GC,7049,-0.48,-146.0,747.2,-7.0,674,7056,0.08,2.00,0.00,0.000,4,0.127,0.054,2305,3763,3512,0,0,0,0,0,0,26.62,26.06,28.83
$GC,7089,-0.48,-146.0,751.3,-8.4,676,7094,0.15,1.75,0.00,0.000,6,0.103,0.023,2364,2490,3512,0,0,0,0,0,0,26.14,26.58,28.83
$GC,7413,-0.48,-146.0,774.8,-6.8,692,7416,0.00,1.98,0.00,0.000,4,0.000,0.057,2361,3769,3510,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7442,-0.48,-146.0,776.3,-6.7,693,7445,0.00,1.75,0.00,0.000,6,0.000,0.024,2361,2499,3510,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7755,-0.48,-146.0,795.5,-5.7,709,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2456,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,-0.48,-146.0,810.7,-4.9,724,8061,0.00,2.03,0.00,0.000,4,0.000,0.057,2361,3761,3506,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8107,-0.48,-146.0,812.7,-4.9,726,8115,0.00,1.73,0.00,0.000,6,0.000,0.024,2361,2474,3505,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8415,-0.48,-146.0,828.0,-4.6,742,8421,0.00,2.00,0.00,0.000,4,0.000,0.056,2361,3762,3504,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8454,-0.48,-146.0,829.8,-4.6,744,8457,0.00,1.75,0.00,0.000,6,0.000,0.024,2361,2501,3504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8775,-0.48,-146.0,844.8,-4.5,760,8781,0.00,2.00,0.00,0.000,4,0.000,0.057,2361,3762,3503,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8816,-0.48,-146.0,846.7,-4.5,762,8820,0.00,1.75,0.00,0.000,6,0.000,0.024,2361,2498,3503,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9137,-0.48,-146.0,863.1,-5.4,778,9143,0.00,1.90,0.00,0.000,4,0.000,0.027,2361,1142,3502,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9241,-0.48,-146.0,868.8,-5.7,783,9245,0.00,2.28,0.00,0.000,6,0.000,0.046,2361,2624,3501,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9554,-0.48,-146.0,886.0,-5.4,799,9557,0.00,1.77,0.00,0.000,4,0.000,0.058,2361,3772,3500,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9778,-0.48,-146.0,898.5,-5.8,810,9782,0.00,1.77,0.00,0.000,6,0.000,0.024,2366,2484,3499,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10098,-0.48,-146.0,917.6,-6.0,826,10103,0.00,1.92,0.00,0.000,4,0.000,0.027,2367,1138,3498,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10330,-0.48,-146.0,931.6,-6.4,837,10338,0.00,2.28,0.00,0.000,6,0.000,0.044,2367,2628,3497,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10637,-0.48,-146.0,950.7,-5.8,853,10641,0.00,1.75,0.00,0.000,4,0.000,0.058,2367,3763,3496,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10769,-0.48,-146.0,958.3,-6.3,859,10773,0.00,1.73,0.00,0.000,6,0.000,0.024,2367,2516,3495,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11082,-0.48,-146.0,977.3,-6.0,875,11087,0.00,1.95,0.00,0.000,4,0.000,0.027,2367,1115,3494,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11142,-0.48,-146.0,980.9,-6.1,878,11147,0.00,2.30,0.00,0.000,6,0.000,0.047,2367,2615,3495,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,11298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11298,begin apogee
$GC,11304,-0.17,0.0,990.5,-5.9,886,11444,0.25,0.10,127.95,1.726,6,0.079,0.105,2474,2534,2928,0,0,0,0,0,0,26.28,24.40,22.72
$STATE,11445,end apogee,CONTROL_FINISHED_OK
$STATE,11445,begin climb
$GC,11447,0.48,146.0,996.7,0.0,893,11602,0.52,2.47,142.20,1.684,4,0.050,0.031,2702,1057,2331,0,0,0,0,0,0,24.84,23.91,22.13
$GC,11734,0.48,146.0,974.0,13.3,907,11739,0.15,2.30,0.00,0.000,6,0.171,0.047,2665,2524,2322,0,0,0,0,0,0,25.39,25.65,28.83
$GC,12040,0.48,146.0,933.5,12.7,922,12045,0.00,1.90,0.00,0.000,4,0.000,0.057,2665,3763,2319,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12089,0.48,146.0,927.9,13.3,924,12093,0.05,1.92,0.00,0.000,6,0.259,0.024,2665,2455,2318,0,0,0,0,0,0,26.11,26.29,28.83
$GC,12401,0.48,146.0,889.0,11.7,940,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2451,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12701,0.48,146.0,855.8,10.6,955,12707,0.00,2.05,0.00,0.000,4,0.000,0.054,2665,3765,2315,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,22758,end climb,SURFACE_DEPTH_REACHED
$STATE,22758,begin surface coast
$FINISH,0.7,1.018826
$STATE,22824,end surface coast,CONTROL_FINISHED_OK
$STATE,22824,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.55
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,22.1,67.794
$10V_AH,9.9,41.662
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1381.192,2720.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329860
$DATA_FILE_SIZE,150376,2029
$CAP_FILE_SIZE,246278,0
$CFSIZE,260165632,190300160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,208.2,1
$GPS,180512,220937,1947.178,12328.462,41,0.9,41,-2.4