version: 66.10
glider: 176
mission: 5
dive: 227
start: 4 27 112 10 27 46
data:
$ID,176
$MISSION,5
$DIVE,227
$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,-7732.1606
$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
$GPS1,270412,101937,1758.214,12359.790,31,1.1,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.4
$GPS2,270412,102720,1758.171,12359.892,10,1.9,10,-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,296.0,191964,-13.1,-7.500
$D_GRID,4751
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-46.72,0.000,2,0.000,0.000,182,2669,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.5,-8.3,8,110,8.80,2.22,-22.88,0.000,4,0.235,0.040,2352,1144,3527,0,0,0,0,0,0,25.39,26.22,26.57
$GC,252,-0.51,-146.0,47.4,-20.8,37,261,0.08,2.25,0.00,0.000,6,0.204,0.044,2357,2630,3527,0,0,0,0,0,0,26.04,26.20,28.83
$GC,583,-0.51,-146.0,138.8,-24.9,98,590,0.00,2.10,0.00,0.000,4,0.000,0.025,2358,1151,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,618,-0.51,-146.0,147.6,-22.2,104,625,0.00,2.22,0.00,0.000,6,0.000,0.043,2347,2641,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,928,-0.51,-146.0,216.5,-22.0,158,932,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1140,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,960,-0.51,-146.0,223.6,-22.2,161,970,0.10,2.22,0.00,0.000,6,0.170,0.042,2362,2643,3528,0,0,0,0,0,0,26.20,26.39,28.83
$GC,1270,-0.51,-146.0,275.1,-16.0,192,1279,0.08,2.12,0.00,0.000,4,0.134,0.024,2306,1144,3527,0,0,0,0,0,0,26.66,26.52,28.83
$GC,1403,-0.51,-146.0,297.3,-15.2,205,1414,0.15,2.20,0.00,0.000,6,0.127,0.044,2357,2627,3527,0,0,0,0,0,0,26.08,26.39,28.83
$GC,1712,-0.51,-146.0,342.4,-14.2,236,1721,0.00,2.10,0.00,0.000,4,0.000,0.026,2358,1147,3526,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1786,-0.51,-146.0,351.1,-10.8,243,1793,0.00,2.22,0.00,0.000,6,0.000,0.045,2357,2632,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2094,-0.51,-146.0,390.3,-12.1,274,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,-0.51,-146.0,422.3,-9.8,304,2405,0.00,2.10,0.00,0.000,4,0.000,0.027,2357,1155,3522,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2467,-0.51,-146.0,428.9,-8.3,311,2477,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2636,3521,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2778,-0.51,-146.0,460.8,-11.0,342,2787,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1127,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2809,-0.51,-146.0,464.3,-10.4,345,2819,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2636,3519,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3119,-0.51,-146.0,494.0,-9.7,376,3123,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1144,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3160,-0.51,-146.0,497.6,-8.9,380,3169,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2635,3516,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3471,-0.51,-146.0,526.6,-9.7,411,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2635,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.51,-146.0,554.9,-9.2,441,3783,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1153,3511,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3819,-0.51,-146.0,558.7,-8.7,445,3827,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2629,3511,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4127,-0.51,-146.0,582.7,-7.8,476,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4436,-0.51,-146.0,606.9,-8.1,503,4442,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1148,3506,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4478,-0.51,-146.0,610.0,-7.9,505,4482,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2636,3506,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4790,-0.51,-146.0,635.3,-8.1,521,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2636,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-0.51,-146.0,660.6,-8.7,536,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2636,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,-0.51,-146.0,684.5,-7.4,551,5396,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1143,3498,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5444,-0.51,-146.0,687.4,-7.5,553,5453,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2628,3498,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5751,-0.51,-146.0,709.1,-6.6,569,5756,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1151,3496,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5779,-0.51,-146.0,710.4,-6.7,570,5783,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2627,3495,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6086,-0.51,-146.0,731.5,-7.0,585,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.51,-146.0,753.0,-7.3,600,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,-0.51,-146.0,774.9,-7.4,615,6691,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1151,3489,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6719,-0.51,-146.0,776.4,-7.4,616,6726,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2627,3489,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7026,-0.51,-146.0,798.7,-6.7,632,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7326,-0.51,-146.0,817.7,-6.2,647,7332,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1152,3486,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7359,-0.51,-146.0,818.8,-6.0,648,7366,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2635,3486,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7666,-0.51,-146.0,839.0,-6.3,664,7669,0.00,1.75,0.00,0.000,4,0.000,0.057,2356,3775,3485,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7700,-0.51,-146.0,840.3,-6.3,665,7708,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2467,3484,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8008,-0.51,-146.0,861.3,-6.5,681,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2467,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8307,-0.51,-146.0,880.6,-6.1,696,8312,0.00,2.03,0.00,0.000,4,0.000,0.056,2356,3766,3481,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8361,-0.51,-146.0,883.1,-6.1,698,8367,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2468,3481,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8667,-0.51,-146.0,901.2,-5.4,714,8673,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3765,3480,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8707,-0.51,-146.0,903.6,-5.6,716,8710,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2503,3480,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9029,-0.51,-146.0,921.5,-5.5,732,9034,0.00,1.98,0.00,0.000,4,0.000,0.056,2356,3753,3479,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9070,-0.51,-146.0,923.8,-5.5,734,9074,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2459,3479,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9389,-0.51,-146.0,941.7,-5.6,750,9395,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3756,3477,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9421,-0.51,-146.0,942.9,-5.8,751,9428,0.00,1.70,0.00,0.000,6,0.000,0.024,2356,2467,3477,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9728,-0.51,-146.0,962.3,-6.2,767,9734,0.00,2.03,0.00,0.000,4,0.000,0.056,2356,3763,3476,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9757,-0.51,-146.0,963.5,-6.2,768,9761,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2503,3476,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10069,-0.51,-146.0,983.1,-6.1,784,10074,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3763,3475,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10102,-0.51,-146.0,984.3,-6.1,785,10110,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2469,3475,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,10187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10187,begin apogee
$GC,10193,-0.17,0.0,990.5,-6.0,790,10321,0.30,0.08,120.38,1.736,6,0.106,0.095,2465,2432,2928,0,0,0,0,0,0,26.02,24.45,23.16
$STATE,10322,end apogee,CONTROL_FINISHED_OK
$STATE,10322,begin climb
$GC,10324,0.51,146.0,994.8,0.0,796,10474,0.60,2.30,140.82,1.693,4,0.047,0.052,2708,3760,2333,0,0,0,0,0,0,24.76,23.78,22.42
$GC,10540,0.51,146.0,981.0,15.4,807,10547,0.17,2.00,0.00,0.000,6,0.191,0.024,2675,2452,2328,0,0,0,0,0,0,24.54,24.97,28.83
$GC,10848,0.51,146.0,939.2,12.5,823,10853,0.00,2.08,0.00,0.000,4,0.000,0.031,2685,1051,2322,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10880,0.51,146.0,936.8,12.4,824,10887,0.05,2.28,0.00,0.000,6,0.233,0.047,2674,2518,2320,0,0,0,0,0,0,25.82,25.93,28.83
$GC,11189,0.51,146.0,897.7,12.1,840,11194,0.00,1.92,0.00,0.000,4,0.000,0.054,2674,3766,2319,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11228,0.51,146.0,892.2,12.8,842,11234,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2441,2318,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11547,0.51,146.0,849.5,13.2,858,11553,0.00,2.08,0.00,0.000,4,0.000,0.054,2683,3775,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11575,0.51,146.0,846.7,13.5,859,11580,0.10,1.92,0.00,0.000,6,0.210,0.025,2670,2441,2317,0,0,0,0,0,0,25.95,26.32,28.83
$GC,11883,0.51,146.0,806.7,12.3,874,11889,0.00,2.00,0.00,0.000,4,0.000,0.030,2680,1052,2316,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11930,0.51,146.0,802.0,11.9,876,11934,0.00,2.25,0.00,0.000,6,0.000,0.046,2680,2519,2314,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12243,0.51,146.0,763.2,11.7,892,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2520,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12542,0.51,146.0,729.5,11.1,907,12548,0.00,2.17,0.00,0.000,4,0.000,0.031,2689,1045,2314,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,20893,end climb,SURFACE_DEPTH_REACHED
$STATE,20893,begin surface coast
$FINISH,0.7,0.997302
$STATE,20949,end surface coast,CONTROL_FINISHED_OK
$STATE,20949,begin surface
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$IRIDIUM_FIX,1751.90,12359.00,270412,040400
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.4,46.523
$10V_AH,10.0,29.550
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.275,187.600,432.975,0.000,0.000,25.875,20.386,264.190,0.000,0.000,12.517,4802.529,11829.481,629.598,3735.050,453.960,0.000,2389.429,0.000,3157.412,0.000,0.542,0.000
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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,140474,1909
$CAP_FILE_SIZE,221550,0
$CFSIZE,260165632,200589312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,140.1,1
$GPS,270412,161907,1758.235,12358.224,27,1.2,27,-2.0