version: 66.10
glider: 176
mission: 5
dive: 222
start: 4 26 112 5 15 41
data:
$ID,176
$MISSION,5
$DIVE,222
$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,-3
$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,-7725.7764
$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
$GPS1,260412,050737,1756.266,12408.660,26,1.5,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.2
$GPS2,260412,051513,1756.253,12408.686,10,1.4,15,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,293.3,207736,-13.1,-7.500
$D_GRID,4721
$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,16,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.95,0.000,2,0.000,0.000,189,2725,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.2,-6.3,7,107,8.75,2.28,-26.58,0.000,4,0.236,0.036,2351,1145,3527,0,0,0,0,0,0,25.38,26.21,26.56
$GC,219,-0.51,-146.0,43.6,-21.7,33,227,0.08,2.28,0.00,0.000,6,0.202,0.046,2357,2636,3527,0,0,0,0,0,0,26.01,26.15,28.83
$GC,550,-0.51,-146.0,145.5,-28.7,94,557,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1136,3527,0,0,0,0,0,0,28.83,26.43,28.83
$GC,610,-0.51,-146.0,158.8,-17.9,105,618,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2633,3527,0,0,0,0,0,0,28.83,26.30,28.83
$GC,926,-0.51,-146.0,226.4,-19.0,154,935,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1149,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1031,-0.51,-146.0,242.0,-13.4,164,1038,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2633,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1338,-0.51,-146.0,291.9,-15.8,195,1346,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1150,3527,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1420,-0.51,-146.0,302.3,-11.0,203,1429,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2633,3526,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1731,-0.51,-146.0,352.4,-15.4,234,1740,0.00,2.08,0.00,0.000,4,0.000,0.024,2344,1150,3525,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1815,-0.51,-146.0,363.8,-12.7,242,1823,0.10,2.22,0.00,0.000,6,0.161,0.043,2363,2634,3525,0,0,0,0,0,0,26.22,26.37,28.83
$GC,2122,-0.51,-146.0,402.3,-11.4,273,2127,0.08,2.10,0.00,0.000,4,0.129,0.022,2305,1156,3523,0,0,0,0,0,0,26.68,26.53,28.83
$GC,2155,-0.51,-146.0,406.5,-12.6,276,2165,0.17,2.22,0.00,0.000,6,0.144,0.044,2357,2630,3523,0,0,0,0,0,0,26.10,26.36,28.83
$GC,2464,-0.51,-146.0,441.6,-10.7,307,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2766,-0.51,-146.0,472.9,-10.3,337,2770,0.00,2.10,0.00,0.000,4,0.000,0.024,2357,1147,3518,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2847,-0.51,-146.0,480.8,-8.9,345,2858,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2635,3518,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3158,-0.51,-146.0,510.5,-9.4,376,3167,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1142,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3209,-0.51,-146.0,515.2,-8.7,381,3220,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2631,3515,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3519,-0.51,-146.0,544.4,-9.8,412,3528,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1142,3513,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3553,-0.51,-146.0,547.6,-10.2,415,3560,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2630,3513,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3861,-0.51,-146.0,578.8,-10.3,446,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-0.51,-146.0,607.6,-9.0,473,4176,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1147,3508,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4230,-0.51,-146.0,612.5,-8.5,476,4236,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2627,3508,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4551,-0.51,-146.0,638.3,-8.0,492,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2627,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.51,-146.0,662.5,-8.0,507,4856,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1147,3502,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4891,-0.51,-146.0,665.8,-8.0,509,4897,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2630,3502,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5210,-0.51,-146.0,691.8,-8.2,525,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5510,-0.51,-146.0,716.6,-8.3,540,5516,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1148,3497,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5544,-0.51,-146.0,718.2,-8.2,541,5552,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2635,3497,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5851,-0.51,-146.0,744.2,-8.3,557,5856,0.00,2.15,0.00,0.000,4,0.000,0.024,2357,1139,3495,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5884,-0.51,-146.0,746.0,-8.4,558,5890,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2628,3495,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6192,-0.51,-146.0,772.9,-8.4,574,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-0.51,-146.0,796.9,-7.7,589,6496,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1149,3490,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6538,-0.51,-146.0,799.8,-7.5,591,6542,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2628,3490,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6847,-0.51,-146.0,821.9,-7.1,606,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7146,-0.51,-146.0,843.3,-7.1,621,7152,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1149,3486,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7190,-0.51,-146.0,846.3,-7.4,623,7194,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2628,3486,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7504,-0.51,-146.0,868.0,-6.5,639,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,-0.51,-146.0,886.7,-6.2,654,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,-0.51,-146.0,905.3,-6.3,669,8110,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1149,3483,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8131,-0.51,-146.0,906.4,-6.1,670,8135,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2626,3483,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8438,-0.51,-146.0,926.6,-6.7,685,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,-0.51,-146.0,947.3,-7.1,700,8744,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1153,3480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8771,-0.51,-146.0,948.6,-7.0,701,8779,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2629,3480,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9078,-0.51,-146.0,971.3,-7.2,717,9081,0.00,1.75,0.00,0.000,4,0.000,0.059,2357,3764,3479,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9102,-0.51,-146.0,972.9,-7.4,718,9106,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2510,3478,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9357,begin apogee
$GC,9362,-0.17,0.0,991.5,-7.2,731,9486,0.30,0.00,120.40,1.734,6,0.105,0.000,2466,2480,2928,0,0,0,0,0,0,26.04,28.83,23.22
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9491,0.51,146.0,996.8,0.0,737,9639,0.60,0.00,141.02,1.694,6,0.048,0.000,2706,2480,2332,0,0,0,0,0,0,24.77,28.83,22.47
$GC,9939,0.51,146.0,950.4,14.5,760,9945,0.12,2.05,0.00,0.000,4,0.189,0.053,2670,3771,2323,0,0,0,0,0,0,25.63,25.76,28.83
$GC,10002,0.51,146.0,941.1,15.4,763,10007,0.00,1.95,0.00,0.000,6,0.000,0.025,2680,2444,2321,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10320,0.51,146.0,898.4,13.2,779,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2440,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10620,0.51,146.0,860.9,12.0,794,10626,0.00,2.08,0.00,0.000,4,0.000,0.053,2679,3771,2317,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10662,0.51,146.0,855.2,12.9,796,10667,0.10,1.92,0.00,0.000,6,0.212,0.025,2667,2448,2317,0,0,0,0,0,0,25.94,26.31,28.83
$GC,10980,0.51,146.0,819.9,10.8,812,10986,0.05,2.05,0.00,0.000,4,0.181,0.028,2710,1045,2316,0,0,0,0,0,0,26.48,26.28,28.83
$GC,11003,0.51,146.0,817.6,10.8,813,11008,0.15,2.28,0.00,0.000,6,0.175,0.044,2672,2526,2315,0,0,0,0,0,0,25.80,26.16,28.83
$GC,11315,0.51,146.0,782.3,11.1,829,11319,0.00,1.88,0.00,0.000,4,0.000,0.054,2672,3765,2315,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11359,0.51,146.0,777.8,11.6,831,11363,0.00,1.90,0.00,0.000,6,0.000,0.024,2681,2451,2314,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11673,0.51,146.0,742.4,10.4,847,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2447,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11972,0.51,146.0,710.3,10.7,862,11978,0.00,2.05,0.00,0.000,4,0.000,0.054,2681,3764,2314,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12056,0.51,146.0,700.1,12.7,866,12061,0.10,1.90,0.00,0.000,6,0.210,0.024,2668,2442,2313,0,0,0,0,0,0,26.02,26.42,28.83
$GC,12368,0.51,146.0,668.7,10.1,882,12374,0.00,2.05,0.00,0.000,4,0.000,0.052,2668,3766,2313,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12408,0.51,146.0,664.1,10.8,884,12412,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2425,2313,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12730,0.51,146.0,632.7,9.4,900,12734,0.00,2.08,0.00,0.000,4,0.000,0.053,2678,3767,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12773,0.51,146.0,628.1,10.2,902,12779,0.08,1.90,0.00,0.000,6,0.229,0.023,2673,2443,2312,0,0,0,0,0,0,26.14,26.45,28.83
$GC,13092,0.51,146.0,599.1,9.5,918,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2440,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19929,end climb,SURFACE_DEPTH_REACHED
$STATE,19929,begin surface coast
$FINISH,0.7,1.008282
$STATE,20005,end surface coast,CONTROL_FINISHED_OK
$STATE,20005,begin surface
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$IRIDIUM_FIX,1749.63,12412.19,250412,232340
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.10
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.70
$XPDR_PINGS,0
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$10V_AH,10.1,28.873
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.250,167.375,428.100,0.000,0.000,25.373,28.458,248.751,0.000,0.000,18.336,4526.905,11393.354,614.628,3557.505,412.097,0.000,2237.815,0.000,2988.531,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,74.970,1734.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330036
$DATA_FILE_SIZE,133720,1802
$CAP_FILE_SIZE,204589,0
$CFSIZE,260165632,201183232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,135.1,1
$GPS,260412,105131,1755.997,12407.048,40,0.9,40,-2.0