version: 66.10
glider: 176
mission: 5
dive: 171
start: 4 14 112 10 32 23
data:
$ID,176
$MISSION,5
$DIVE,171
$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,-7648.7817
$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,49
$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
$GPS1,140412,102037,1922.342,12430.104,30,1.2,30,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.5
$GPS2,140412,103155,1922.278,12430.305,10,1.2,15,-2.3
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,195.0,171100,-13.1,-7.500
$D_GRID,5354
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.51,-146.0,0.0,0.0,0,60,0.00,0.00,-40.58,0.000,2,0.000,0.000,176,2664,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.5,-7.7,7,99,8.70,2.25,-21.67,0.000,4,0.235,0.039,2346,1152,3528,0,0,0,0,0,0,25.47,26.17,26.51
$GC,127,-0.51,-146.0,20.8,-27.9,12,135,0.10,2.25,0.00,0.000,6,0.196,0.045,2359,2629,3528,0,0,0,0,0,0,25.85,26.08,28.83
$GC,438,-0.51,-146.0,109.8,-26.6,73,446,0.05,0.00,0.00,0.000,6,0.177,0.000,2315,2629,3528,0,0,0,0,0,0,26.51,28.83,28.83
$GC,750,-0.51,-146.0,203.7,-27.9,133,760,0.12,2.08,0.00,0.000,4,0.184,0.026,2353,1156,3528,0,0,0,0,0,0,26.22,26.41,28.83
$GC,796,-0.51,-146.0,213.8,-23.0,137,804,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2629,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1105,-0.51,-146.0,271.2,-18.4,168,1114,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1156,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1220,-0.51,-146.0,287.8,-13.2,179,1227,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2632,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1529,-0.51,-146.0,338.7,-15.5,210,1537,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1148,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1563,-0.51,-146.0,343.5,-14.7,213,1571,0.10,2.25,0.00,0.000,6,0.163,0.045,2363,2634,3527,0,0,0,0,0,0,26.20,26.36,28.83
$GC,1870,-0.51,-146.0,381.5,-11.0,244,1874,0.08,1.70,0.00,0.000,4,0.131,0.050,2296,3772,3526,0,0,0,0,0,0,26.67,26.32,28.83
$GC,1904,-0.51,-146.0,386.1,-13.3,247,1911,0.20,1.70,0.00,0.000,6,0.142,0.022,2358,2505,3526,0,0,0,0,0,0,26.13,26.63,28.83
$GC,2211,-0.51,-146.0,422.7,-11.3,278,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2501,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,-0.51,-146.0,455.1,-10.2,308,2521,0.00,1.95,0.00,0.000,4,0.000,0.053,2349,3778,3522,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2556,-0.51,-146.0,459.6,-10.8,312,2565,0.00,1.73,0.00,0.000,6,0.000,0.022,2349,2530,3522,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2864,-0.51,-146.0,495.9,-11.3,343,2868,0.00,1.92,0.00,0.000,4,0.000,0.024,2349,1141,3520,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2920,-0.51,-146.0,501.7,-9.9,348,2929,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2629,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3230,-0.51,-146.0,534.8,-10.3,379,3234,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1136,3518,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3284,-0.51,-146.0,539.7,-9.2,384,3291,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2633,3518,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3594,-0.51,-146.0,570.4,-9.7,415,3602,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1143,3515,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3647,-0.51,-146.0,575.3,-9.0,420,3655,0.00,2.30,0.00,0.000,6,0.000,0.046,2345,2630,3515,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3967,-0.51,-146.0,604.0,-9.0,450,3970,0.00,1.75,0.00,0.000,4,0.000,0.057,2343,3767,3512,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3993,-0.51,-146.0,605.9,-8.9,451,3996,0.00,1.70,0.00,0.000,6,0.000,0.024,2343,2517,3512,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4308,-0.51,-146.0,633.2,-8.6,467,4312,0.00,1.98,0.00,0.000,4,0.000,0.027,2343,1146,3510,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4337,-0.51,-146.0,635.1,-8.8,468,4342,0.10,2.25,0.00,0.000,6,0.155,0.045,2364,2631,3510,0,0,0,0,0,0,26.17,26.29,28.83
$GC,4646,-0.51,-146.0,658.6,-7.5,483,4652,0.08,2.12,0.00,0.000,4,0.132,0.024,2308,1137,3508,0,0,0,0,0,0,26.67,26.48,28.83
$GC,4698,-0.51,-146.0,662.6,-8.5,485,4706,0.17,2.28,0.00,0.000,6,0.135,0.047,2360,2626,3507,0,0,0,0,0,0,26.06,26.27,28.83
$GC,5005,-0.51,-146.0,688.5,-7.9,501,5007,0.05,0.00,0.00,0.000,6,0.177,0.000,2306,2627,3504,0,0,0,0,0,0,26.68,28.83,28.83
$GC,5305,-0.51,-146.0,724.5,-11.9,516,5312,0.15,2.12,0.00,0.000,4,0.145,0.024,2358,1144,3502,0,0,0,0,0,0,26.30,26.46,28.83
$GC,5358,-0.51,-146.0,728.0,-10.5,518,5365,0.00,2.28,0.00,0.000,6,0.000,0.047,2358,2629,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5667,-0.51,-146.0,748.5,-6.2,534,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2629,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5965,-0.51,-146.0,768.5,-7.2,549,5971,0.00,2.15,0.00,0.000,4,0.000,0.026,2358,1141,3498,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6026,-0.51,-146.0,772.9,-7.3,552,6032,0.03,2.25,0.00,0.000,6,0.112,0.047,2316,2619,3497,0,0,0,0,0,0,26.13,26.22,28.83
$GC,6345,-0.51,-146.0,808.4,-11.8,568,6347,0.15,0.00,0.00,0.000,6,0.143,0.000,2363,2619,3495,0,0,0,0,0,0,26.34,28.83,28.83
$GC,6645,-0.51,-146.0,832.4,-7.5,583,6650,0.08,2.12,0.00,0.000,4,0.129,0.024,2311,1140,3494,0,0,0,0,0,0,26.65,26.44,28.83
$GC,6676,-0.51,-146.0,834.3,-7.8,584,6681,0.17,2.28,0.00,0.000,6,0.132,0.047,2361,2632,3493,0,0,0,0,0,0,25.98,26.18,28.83
$GC,6982,-0.51,-146.0,858.0,-7.1,599,6989,0.08,2.15,0.00,0.000,4,0.131,0.024,2309,1145,3491,0,0,0,0,0,0,26.65,26.43,28.83
$GC,7023,-0.51,-146.0,861.7,-7.9,601,7029,0.12,2.28,0.00,0.000,6,0.114,0.047,2353,2629,3491,0,0,0,0,0,0,25.95,26.17,28.83
$GC,7342,-0.51,-146.0,884.0,-6.6,617,7348,0.00,2.15,0.00,0.000,4,0.000,0.026,2353,1145,3489,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7370,-0.51,-146.0,885.3,-6.8,618,7374,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2634,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7679,-0.51,-146.0,907.8,-7.3,633,7684,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1157,3487,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7725,-0.51,-146.0,910.8,-7.3,635,7729,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2630,3487,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8034,-0.51,-146.0,933.6,-7.3,650,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2630,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,-0.51,-146.0,955.2,-7.2,665,8338,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1148,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8365,-0.51,-146.0,956.7,-7.2,666,8372,0.00,2.28,0.00,0.000,6,0.000,0.049,2348,2625,3485,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8674,-0.51,-146.0,979.1,-7.1,682,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2625,3484,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8831,begin apogee
$GC,8836,-0.17,0.0,990.4,-7.1,690,8964,0.32,0.12,121.10,1.747,6,0.109,0.097,2463,2533,2929,0,0,0,0,0,0,25.99,24.54,23.37
$STATE,8965,end apogee,CONTROL_FINISHED_OK
$STATE,8965,begin climb
$GC,8967,0.51,146.0,993.8,0.0,696,9115,0.60,2.47,140.27,1.705,4,0.050,0.033,2711,1062,2333,0,0,0,0,0,0,24.81,23.91,22.65
$GC,9151,0.51,146.0,983.4,12.0,706,9156,0.15,2.42,0.00,0.000,6,0.181,0.047,2676,2517,2327,0,0,0,0,0,0,24.31,24.53,28.83
$GC,9470,0.51,146.0,939.7,13.4,722,9475,0.00,1.95,0.00,0.000,4,0.000,0.057,2676,3779,2323,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9531,0.51,146.0,930.4,15.0,725,9536,0.05,1.98,0.00,0.000,6,0.270,0.026,2675,2445,2321,0,0,0,0,0,0,25.74,25.95,28.83
$GC,9849,0.51,146.0,888.4,13.1,741,9855,0.00,2.08,0.00,0.000,4,0.000,0.034,2685,1050,2319,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9891,0.51,146.0,883.6,12.5,743,9896,0.05,2.28,0.00,0.000,6,0.234,0.046,2674,2517,2319,0,0,0,0,0,0,25.90,26.01,28.83
$GC,10204,0.51,146.0,843.3,12.4,759,10209,0.00,1.92,0.00,0.000,4,0.000,0.057,2674,3771,2318,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10232,0.51,146.0,840.6,12.7,760,10236,0.00,1.92,0.00,0.000,6,0.000,0.027,2682,2454,2317,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10539,0.51,146.0,798.2,13.5,775,10545,0.00,2.08,0.00,0.000,4,0.000,0.031,2692,1046,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10559,0.51,146.0,795.6,13.3,776,10565,0.10,2.30,0.00,0.000,6,0.194,0.044,2670,2527,2316,0,0,0,0,0,0,25.85,26.10,28.83
$GC,10879,0.51,146.0,755.8,12.3,792,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2527,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11179,0.51,146.0,720.7,11.5,807,11182,0.00,1.95,0.00,0.000,4,0.000,0.055,2670,3766,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11213,0.51,146.0,717.9,11.9,808,11220,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2439,2314,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11521,0.51,146.0,679.5,11.7,824,11527,0.00,2.08,0.00,0.000,4,0.000,0.054,2679,3764,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11548,0.51,146.0,677.0,11.9,825,11552,0.08,1.90,0.00,0.000,6,0.236,0.024,2674,2443,2314,0,0,0,0,0,0,26.06,26.37,28.83
$GC,11861,0.51,146.0,643.7,9.7,841,11867,0.00,2.05,0.00,0.000,4,0.000,0.053,2675,3764,2313,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11923,0.51,146.0,636.4,11.8,844,11927,0.00,1.90,0.00,0.000,6,0.000,0.024,2684,2446,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12241,0.51,146.0,599.9,11.5,860,12245,0.05,2.05,0.00,0.000,4,0.256,0.031,2683,1057,2313,0,0,0,0,0,0,26.48,26.25,28.83
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$STATE,19050,end climb,SURFACE_DEPTH_REACHED
$STATE,19050,begin surface coast
$FINISH,0.8,1.012249
$STATE,19073,end surface coast,CONTROL_FINISHED_OK
$STATE,19073,begin surface
$SM_CCo,19149,0.00,0.000,0,0,1369,382.67
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$IRIDIUM_FIX,1916.08,12431.45,140412,101048
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.1,22.346
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.325,167.650,400.125,0.000,0.000,55.798,80.738,314.971,0.000,0.000,18.550,4480.859,10713.941,564.773,3604.450,430.975,0.000,2179.422,0.000,2952.057,0.000,0.542,0.000
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$SENSOR_SECS,1206.236,2259.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,130526,1771
$CAP_FILE_SIZE,204383,0
$CFSIZE,260165632,206675968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,163.3,1
$GPS,140412,155237,1919.253,12430.149,35,1.0,35,-2.3