version: 66.10
glider: 176
mission: 5
dive: 204
start: 4 22 112 0 7 59
data:
$ID,176
$MISSION,5
$DIVE,204
$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,-7700.2354
$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
$GPS1,220412,000007,1802.140,12436.808,52,1.0,52,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-77.3
$GPS2,220412,000732,1802.103,12436.879,14,1.1,14,-2.0
$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,190.9,22657,-13.1,-7.500
$D_GRID,4578
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-41.67,0.000,2,0.000,0.000,185,2673,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.4,-7.2,7,101,8.73,2.28,-21.80,0.000,4,0.235,0.040,2351,1147,3529,0,0,0,0,0,0,25.41,26.18,26.55
$GC,128,-0.51,-146.0,22.7,-31.0,12,135,0.08,2.28,0.00,0.000,6,0.210,0.046,2356,2636,3529,0,0,0,0,0,0,25.94,26.10,28.83
$GC,439,-0.51,-146.0,137.9,-30.7,73,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2636,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,755,-0.51,-146.0,216.4,-22.1,128,764,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1147,3529,0,0,0,0,0,0,28.83,26.45,28.83
$GC,900,-0.51,-146.0,236.9,-13.3,142,907,0.00,2.22,0.00,0.000,6,0.000,0.042,2345,2635,3529,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1207,-0.51,-146.0,294.0,-20.4,173,1217,0.00,2.12,0.00,0.000,4,0.000,0.028,2345,1152,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1292,-0.51,-146.0,307.5,-13.7,181,1302,0.05,2.25,0.00,0.000,6,0.139,0.041,2356,2634,3529,0,0,0,0,0,0,26.19,26.39,28.83
$GC,1600,-0.51,-146.0,354.8,-13.5,212,1609,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1148,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1662,-0.51,-146.0,362.2,-11.1,218,1671,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2640,3528,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1971,-0.51,-146.0,399.1,-11.1,249,1981,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1140,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2003,-0.51,-146.0,402.6,-11.2,252,2007,0.00,2.25,0.00,0.000,6,0.000,0.043,2356,2637,3526,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2314,-0.51,-146.0,436.1,-10.7,283,2323,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1155,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2367,-0.51,-146.0,441.3,-10.1,288,2376,0.00,2.20,0.00,0.000,6,0.000,0.042,2356,2624,3524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2675,-0.51,-146.0,474.7,-11.0,319,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2625,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-0.51,-146.0,506.1,-10.0,349,2986,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1153,3519,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3040,-0.51,-146.0,511.7,-8.6,355,3049,0.00,2.20,0.00,0.000,6,0.000,0.044,2356,2622,3519,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3349,-0.51,-146.0,537.1,-7.7,386,3358,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1145,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3370,-0.51,-146.0,538.7,-7.6,388,3379,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2631,3516,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3681,-0.51,-146.0,560.0,-7.0,419,3685,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1145,3513,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3713,-0.51,-146.0,562.2,-7.0,422,3717,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2633,3513,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4024,-0.51,-146.0,587.4,-8.9,453,4034,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1144,3510,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4069,-0.51,-146.0,591.3,-9.4,457,4078,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2629,3510,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4388,-0.51,-146.0,621.2,-9.3,478,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4687,-0.51,-146.0,647.2,-8.4,493,4692,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1158,3504,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4747,-0.51,-146.0,651.9,-8.0,496,4753,0.00,2.22,0.00,0.000,6,0.000,0.045,2356,2632,3504,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5068,-0.51,-146.0,678.4,-8.3,512,5071,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1153,3502,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5091,-0.51,-146.0,680.3,-8.3,513,5095,0.00,2.28,0.00,0.000,6,0.000,0.045,2356,2640,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5409,-0.51,-146.0,705.4,-7.6,529,5414,0.00,2.12,0.00,0.000,4,0.000,0.025,2355,1154,3499,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5432,-0.51,-146.0,706.8,-7.5,530,5436,0.00,2.22,0.00,0.000,6,0.000,0.045,2356,2629,3499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5745,-0.51,-146.0,728.6,-6.6,546,5750,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1151,3497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5772,-0.51,-146.0,729.8,-6.5,547,5776,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2633,3497,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6081,-0.51,-146.0,751.0,-6.8,562,6085,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1150,3495,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6125,-0.51,-146.0,754.1,-6.9,564,6129,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2634,3495,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6440,-0.51,-146.0,775.4,-6.8,580,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2634,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6737,-0.51,-146.0,796.8,-7.4,595,6743,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1152,3491,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6779,-0.51,-146.0,799.9,-7.6,597,6783,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2633,3491,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7098,-0.51,-146.0,822.6,-6.9,613,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,-0.51,-146.0,842.2,-6.5,628,7403,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1146,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7440,-0.51,-146.0,844.7,-6.4,630,7444,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2626,3487,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7754,-0.51,-146.0,863.7,-5.7,646,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8053,-0.51,-146.0,881.2,-5.9,661,8058,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1154,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8093,-0.51,-146.0,883.7,-6.2,663,8099,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2627,3485,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8413,-0.51,-146.0,903.8,-6.3,679,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,-0.51,-146.0,922.8,-6.3,694,8719,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1140,3483,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8741,-0.51,-146.0,924.2,-6.3,695,8746,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2631,3483,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9048,-0.51,-146.0,943.9,-6.5,710,9054,0.00,2.10,0.00,0.000,4,0.000,0.027,2356,1162,3481,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9068,-0.51,-146.0,945.3,-6.6,711,9073,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2630,3481,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9389,-0.51,-146.0,967.1,-6.9,727,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2631,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9690,-0.51,-146.0,987.9,-6.9,742,9695,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1159,3479,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9711,-0.51,-146.0,989.4,-7.0,743,9715,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2631,3479,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,9720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9720,begin apogee
$GC,9726,-0.17,0.0,990.2,-6.8,744,9853,0.30,0.12,120.72,1.738,6,0.107,0.096,2464,2535,2929,0,0,0,0,0,0,26.01,24.51,23.25
$STATE,9854,end apogee,CONTROL_FINISHED_OK
$STATE,9854,begin climb
$GC,9856,0.51,146.0,994.7,0.0,750,10008,0.60,2.42,140.95,1.696,4,0.047,0.030,2716,1054,2332,0,0,0,0,0,0,24.75,23.87,22.53
$GC,10063,0.51,146.0,981.3,13.5,761,10068,0.17,2.42,0.00,0.000,6,0.170,0.046,2673,2521,2325,0,0,0,0,0,0,24.49,24.74,28.83
$GC,10376,0.51,146.0,937.2,13.8,777,10382,0.00,1.95,0.00,0.000,4,0.000,0.055,2673,3769,2322,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10444,0.51,146.0,927.5,15.6,780,10447,0.00,1.95,0.00,0.000,6,0.000,0.025,2681,2441,2320,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10751,0.51,146.0,884.2,13.0,795,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2436,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,0.51,146.0,846.1,12.3,810,11058,0.00,2.05,0.00,0.000,4,0.000,0.054,2681,3770,2317,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11090,0.51,146.0,840.6,12.9,812,11097,0.10,1.90,0.00,0.000,6,0.215,0.024,2669,2443,2317,0,0,0,0,0,0,25.89,26.28,28.83
$GC,11411,0.51,146.0,807.2,9.7,828,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2439,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11710,0.51,146.0,777.7,9.8,843,11716,0.00,2.05,0.00,0.000,4,0.000,0.054,2669,3772,2315,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11730,0.51,146.0,775.4,9.9,844,11734,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2447,2315,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12047,0.51,146.0,742.7,10.7,860,12053,0.00,2.05,0.00,0.000,4,0.000,0.054,2678,3769,2315,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12087,0.51,146.0,737.8,11.5,862,12093,0.08,1.90,0.00,0.000,6,0.233,0.024,2674,2444,2315,0,0,0,0,0,0,26.08,26.39,28.83
$GC,12407,0.51,146.0,702.8,11.2,878,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2440,2314,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19956,end climb,SURFACE_DEPTH_REACHED
$STATE,19956,begin surface coast
$FINISH,0.7,1.021289
$STATE,19998,end surface coast,CONTROL_FINISHED_OK
$STATE,19998,begin surface
$SM_CCo,20073,0.00,0.000,0,0,1119,443.99
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$TT8_MAMPS,0.026964,0.026964
$HUMID,41.21
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.5,42.183
$10V_AH,10.2,26.547
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.525,178.425,437.375,0.000,0.000,29.855,39.475,229.727,0.000,0.000,16.613,4520.247,11422.622,583.746,3518.458,442.789,0.000,2260.977,0.000,2988.211,0.000,0.543,0.000
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$SENSOR_SECS,1217.309,2367.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,133835,1787
$CAP_FILE_SIZE,208728,0
$CFSIZE,260165632,203132928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 12.3,1
$GPS,220412,054337,1800.052,12436.718,35,1.1,35,-2.0