version: 66.10
glider: 176
mission: 5
dive: 372
start: 5 28 112 22 45 42
data:
$ID,176
$MISSION,5
$DIVE,372
$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,420
$T_MISSION,480
$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,175
$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,-8009.3452
$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
$GPS1,280512,223707,1929.332,12421.081,30,0.8,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-77.3
$GPS2,280512,224514,1929.223,12421.017,10,1.9,10,-2.4
$SPEED_LIMITS,0.136,0.255
$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,166.8,185407,-12.5,-7.857
$D_GRID,5717
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,59,0.00,0.00,-40.75,0.000,2,0.000,0.000,191,2661,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.52,-170.3,3.4,-6.8,7,101,8.75,2.25,-24.40,0.000,4,0.233,0.039,2349,1157,3626,0,0,0,0,0,0,25.08,26.24,26.65
$GC,220,-0.52,-170.3,38.7,-17.1,33,227,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2618,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,532,-0.52,-170.3,110.6,-23.1,94,540,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1145,3628,0,0,0,0,0,0,28.83,26.40,28.83
$GC,639,-0.52,-170.3,127.2,-12.1,114,646,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2621,3628,0,0,0,0,0,0,28.83,26.22,28.83
$GC,952,-0.52,-170.3,189.9,-21.6,175,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2621,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1261,-0.52,-170.3,243.1,-14.8,210,1271,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1134,3628,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1327,-0.52,-170.3,250.1,-10.0,216,1335,0.08,2.22,0.00,0.000,6,0.175,0.042,2357,2621,3628,0,0,0,0,0,0,26.14,26.26,28.83
$GC,1634,-0.52,-170.3,283.2,-11.6,247,1636,0.08,0.00,0.00,0.000,6,0.128,0.000,2291,2621,3628,0,0,0,0,0,0,26.62,28.83,28.83
$GC,1934,-0.52,-170.3,342.3,-19.4,277,1944,0.17,2.10,0.00,0.000,4,0.157,0.023,2350,1143,3627,0,0,0,0,0,0,26.11,26.41,28.83
$GC,2019,-0.52,-170.3,351.8,-8.5,285,2026,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2614,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2327,-0.52,-170.3,383.0,-9.5,316,2330,0.00,1.75,0.00,0.000,4,0.000,0.054,2345,3770,3625,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2368,-0.52,-170.3,386.9,-9.8,320,2371,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2486,3625,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2679,-0.52,-170.3,417.2,-10.0,351,2683,0.00,1.85,0.00,0.000,4,0.000,0.025,2345,1156,3623,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2710,-0.52,-170.3,420.3,-9.6,354,2721,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2629,3623,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3020,-0.52,-170.3,453.6,-12.0,385,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3325,-0.52,-170.3,485.3,-9.3,415,3333,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1148,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3376,-0.52,-170.3,489.7,-7.9,420,3385,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2627,3619,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3687,-0.52,-170.3,511.3,-7.0,451,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.52,-170.3,538.4,-9.9,481,3996,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1146,3614,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4019,-0.52,-170.3,541.6,-10.0,484,4028,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2617,3614,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4331,-0.52,-170.3,569.1,-8.6,515,4334,0.00,1.73,0.00,0.000,4,0.000,0.054,2339,3765,3613,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4375,-0.52,-170.3,573.0,-9.0,519,4382,0.00,1.73,0.00,0.000,6,0.000,0.024,2339,2466,3612,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4693,-0.52,-170.3,602.2,-9.3,550,4698,0.00,1.98,0.00,0.000,4,0.000,0.054,2332,3761,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4739,-0.52,-170.3,606.1,-9.6,552,4744,0.08,1.70,0.00,0.000,6,0.164,0.024,2356,2482,3608,0,0,0,0,0,0,26.32,26.55,28.83
$GC,5053,-0.52,-170.3,629.9,-6.7,568,5059,0.08,1.98,0.00,0.000,4,0.128,0.052,2279,3758,3606,0,0,0,0,0,0,26.59,26.02,28.83
$GC,5080,-0.52,-170.3,631.5,-6.9,569,5084,0.22,1.70,0.00,0.000,6,0.128,0.024,2352,2472,3606,0,0,0,0,0,0,25.98,26.54,28.83
$GC,5388,-0.52,-170.3,653.8,-6.6,584,5392,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3763,3604,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5422,-0.52,-170.3,655.4,-6.6,585,5431,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3604,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5730,-0.52,-170.3,674.0,-5.6,601,5735,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3763,3602,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5791,-0.52,-170.3,677.2,-5.3,604,5794,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2490,3600,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6112,-0.52,-170.3,693.5,-5.1,620,6117,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3763,3599,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6161,-0.52,-170.3,695.5,-5.1,622,6164,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2496,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6472,-0.52,-170.3,714.1,-6.6,638,6478,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3769,3597,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6525,-0.52,-170.3,716.8,-6.8,640,6532,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2459,3596,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6833,-0.52,-170.3,740.0,-7.4,656,6839,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3761,3596,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6880,-0.52,-170.3,742.8,-7.2,658,6883,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2501,3595,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7193,-0.52,-170.3,767.0,-7.6,674,7199,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3760,3594,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7247,-0.52,-170.3,770.3,-7.8,676,7255,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2467,3593,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7552,-0.52,-170.3,796.0,-7.9,692,7558,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3763,3592,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7606,-0.52,-170.3,799.2,-7.9,694,7614,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2475,3591,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7914,-0.52,-170.3,823.1,-7.1,710,7919,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3758,3591,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7965,-0.52,-170.3,826.0,-7.2,712,7972,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2481,3590,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8273,-0.52,-170.3,846.8,-6.2,728,8279,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3766,3589,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8325,-0.52,-170.3,849.2,-6.0,730,8333,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3588,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8633,-0.52,-170.3,867.0,-5.1,746,8639,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3767,3588,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8680,-0.52,-170.3,869.0,-5.1,748,8684,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2464,3587,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8992,-0.52,-170.3,884.3,-4.7,764,8998,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3764,3586,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9048,-0.52,-170.3,886.2,-4.7,766,9056,0.00,1.75,0.00,0.000,6,0.000,0.026,2348,2482,3586,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9352,-0.52,-170.3,905.1,-6.4,782,9358,0.00,1.95,0.00,0.000,4,0.000,0.028,2348,1131,3585,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9447,-0.52,-170.3,910.5,-6.7,786,9455,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2618,3585,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9752,-0.52,-170.3,933.3,-7.5,802,9756,0.00,2.15,0.00,0.000,4,0.000,0.027,2348,1138,3584,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9898,-0.52,-170.3,943.9,-7.4,809,9902,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2621,3584,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10211,-0.52,-170.3,966.8,-7.2,825,10216,0.00,2.17,0.00,0.000,4,0.000,0.027,2348,1132,3583,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10346,-0.52,-170.3,975.1,-6.9,831,10353,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2619,3583,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,10569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10569,begin apogee
$GC,10574,-0.17,0.0,990.1,-6.2,843,10735,0.32,0.15,146.95,1.709,6,0.081,0.083,2476,2539,2928,0,0,0,0,0,0,26.10,24.18,22.32
$STATE,10736,end apogee,CONTROL_FINISHED_OK
$STATE,10736,begin climb
$GC,10738,0.52,170.3,997.7,0.0,851,10913,0.57,2.53,166.48,1.666,4,0.051,0.031,2708,1059,2233,0,0,0,0,0,0,24.61,23.75,21.84
$GC,11098,0.52,170.3,963.5,13.9,869,11103,0.12,2.30,0.00,0.000,6,0.172,0.048,2677,2528,2223,0,0,0,0,0,0,25.60,25.84,28.83
$GC,11417,0.52,170.3,920.0,12.9,885,11422,0.00,1.90,0.00,0.000,4,0.000,0.056,2677,3770,2221,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11464,0.52,170.3,914.1,13.8,887,11467,0.00,1.92,0.00,0.000,6,0.000,0.026,2686,2454,2220,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11778,0.52,170.3,870.5,13.6,903,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2451,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12077,0.52,170.3,830.7,13.1,918,12081,0.00,2.03,0.00,0.000,4,0.000,0.055,2686,3764,2217,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12138,0.52,170.3,821.3,14.4,921,12144,0.10,1.92,0.00,0.000,6,0.210,0.025,2674,2441,2218,0,0,0,0,0,0,25.98,26.36,28.83
$GC,12459,0.52,170.3,782.2,11.9,937,12465,0.00,2.05,0.00,0.000,4,0.000,0.054,2673,3765,2216,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12521,0.52,170.3,773.9,13.6,940,12525,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2441,2217,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,20537,end climb,SURFACE_DEPTH_REACHED
$STATE,20537,begin surface coast
$FINISH,1.0,1.008084
$STATE,20577,end surface coast,CONTROL_FINISHED_OK
$STATE,20577,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.80
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$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.9,47.487
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.425,201.000,461.150,0.000,0.000,25.591,41.266,265.028,0.000,0.000,13.184,4759.130,11375.605,659.832,3838.332,472.651,0.000,2466.891,0.000,3283.832,0.000,0.541,0.000
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$MEM,329652
$DATA_FILE_SIZE,140644,1875
$CAP_FILE_SIZE,225190,0
$CFSIZE,260165632,185339904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,205.3,1
$GPS,290512,043101,1926.164,12421.271,35,1.2,35,-2.4