version: 66.10
glider: 176
mission: 5
dive: 401
start: 6 5 112 4 44 34
data:
$ID,176
$MISSION,5
$DIVE,401
$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,1
$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,-8045.9268
$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
$GPS1,050612,043531,1817.771,12432.354,39,1.2,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.7
$GPS2,050612,044407,1817.766,12432.531,13,1.0,13,-2.1
$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,200.5,51605,-12.5,-7.857
$D_GRID,5475
$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,15,begin dive
$GC,17,-0.52,-170.3,0.0,0.0,0,61,0.00,0.00,-41.30,0.000,2,0.000,0.000,191,2651,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.52,-170.3,3.1,-6.0,7,106,8.75,0.00,-28.02,0.000,6,0.232,0.000,2341,2651,3626,0,0,0,0,0,0,25.04,28.83,26.69
$GC,412,-0.52,-170.3,95.9,-22.1,71,419,0.00,1.70,0.00,0.000,4,0.000,0.050,2333,3776,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,447,-0.52,-170.3,103.9,-21.2,74,454,0.08,1.73,0.00,0.000,6,0.183,0.022,2353,2488,3626,0,0,0,0,0,0,26.28,26.53,28.83
$GC,760,-0.52,-170.3,164.8,-17.3,135,766,0.00,1.90,0.00,0.000,4,0.000,0.027,2355,1141,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,799,-0.52,-170.3,170.6,-13.0,142,806,0.00,2.25,0.00,0.000,6,0.000,0.047,2349,2624,3627,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1111,-0.52,-170.3,216.8,-15.5,192,1115,0.00,2.12,0.00,0.000,4,0.000,0.027,2349,1139,3627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1173,-0.52,-170.3,225.1,-11.9,198,1182,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2625,3627,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1482,-0.52,-170.3,268.5,-13.3,229,1486,0.00,1.73,0.00,0.000,4,0.000,0.052,2345,3771,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1536,-0.52,-170.3,275.2,-12.9,234,1543,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2494,3626,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1843,-0.52,-170.3,314.1,-12.5,265,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2492,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.52,-170.3,351.1,-12.9,295,2153,0.00,1.95,0.00,0.000,4,0.000,0.049,2335,3769,3624,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2199,-0.52,-170.3,358.0,-13.3,300,2207,0.05,1.73,0.00,0.000,6,0.203,0.022,2353,2475,3624,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2505,-0.52,-170.3,390.4,-9.3,331,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2473,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2808,-0.52,-170.3,417.2,-8.6,361,2818,0.00,1.98,0.00,0.000,4,0.000,0.050,2348,3779,3621,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2890,-0.52,-170.3,424.2,-8.2,369,2894,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2506,3620,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3201,-0.52,-170.3,453.3,-9.3,400,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2489,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,-0.52,-170.3,481.1,-9.7,430,3511,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3779,3616,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3547,-0.52,-170.3,485.3,-9.6,434,3554,0.00,1.75,0.00,0.000,6,0.000,0.022,2348,2493,3616,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3854,-0.52,-170.3,515.5,-9.6,465,3864,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3771,3614,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3910,-0.52,-170.3,519.9,-8.3,470,3917,0.00,1.73,0.00,0.000,6,0.000,0.022,2348,2492,3614,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4217,-0.52,-170.3,543.7,-7.2,501,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2492,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4521,-0.52,-170.3,565.5,-7.2,531,4530,0.00,2.00,0.00,0.000,4,0.000,0.056,2346,3780,3610,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4576,-0.52,-170.3,569.7,-7.6,536,4582,0.00,1.75,0.00,0.000,6,0.000,0.023,2346,2495,3609,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4882,-0.52,-170.3,593.7,-8.5,567,4891,0.00,1.95,0.00,0.000,4,0.000,0.026,2346,1131,3608,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4914,-0.52,-170.3,596.4,-8.5,570,4923,0.00,2.28,0.00,0.000,6,0.000,0.047,2346,2618,3607,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5224,-0.52,-170.3,623.2,-8.8,588,5227,0.00,1.75,0.00,0.000,4,0.000,0.055,2345,3765,3605,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5271,-0.52,-170.3,626.7,-8.8,590,5275,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2499,3604,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5588,-0.52,-170.3,653.0,-7.8,606,5592,0.00,2.03,0.00,0.000,4,0.000,0.054,2345,3774,3602,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5639,-0.52,-170.3,656.2,-7.7,608,5642,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2505,3601,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5949,-0.52,-170.3,680.9,-7.9,624,5953,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3765,3600,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5979,-0.52,-170.3,682.6,-7.8,625,5982,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2505,3599,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6292,-0.52,-170.3,707.8,-7.8,641,6298,0.00,1.98,0.00,0.000,4,0.000,0.055,2344,3757,3597,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6346,-0.52,-170.3,711.0,-7.8,643,6352,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2505,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6651,-0.52,-170.3,734.7,-7.2,659,6657,0.00,1.98,0.00,0.000,4,0.000,0.056,2345,3764,3594,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6692,-0.52,-170.3,737.5,-7.1,661,6696,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2499,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7014,-0.52,-170.3,760.2,-7.1,677,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2496,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.52,-170.3,781.6,-7.1,692,7320,0.00,1.95,0.00,0.000,4,0.000,0.055,2344,3768,3591,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7377,-0.52,-170.3,785.9,-7.0,695,7380,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2516,3590,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7694,-0.52,-170.3,808.4,-7.1,711,7700,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3771,3590,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7735,-0.52,-170.3,811.3,-7.1,713,7739,0.00,1.80,0.00,0.000,6,0.000,0.024,2345,2496,3589,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8056,-0.52,-170.3,834.8,-7.5,729,8060,0.00,1.98,0.00,0.000,4,0.000,0.055,2344,3764,3587,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8080,-0.52,-170.3,836.5,-7.4,730,8084,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2497,3587,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8400,-0.52,-170.3,859.4,-7.1,746,8405,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3776,3586,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8446,-0.52,-170.3,862.3,-7.2,748,8450,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2502,3586,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8759,-0.52,-170.3,884.8,-7.1,764,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2499,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9058,-0.52,-170.3,906.8,-7.5,779,9064,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3765,3584,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9106,-0.52,-170.3,909.7,-7.5,781,9109,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2517,3583,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9419,-0.52,-170.3,934.5,-7.9,797,9424,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3774,3583,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9461,-0.52,-170.3,937.5,-7.7,799,9464,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2504,3582,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9779,-0.52,-170.3,961.5,-7.4,815,9784,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3769,3581,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9802,-0.52,-170.3,963.0,-7.4,816,9805,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2519,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10119,-0.52,-170.3,985.3,-6.7,832,10124,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3768,3580,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10162,-0.52,-170.3,987.9,-6.7,834,10165,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2521,3579,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10196,begin apogee
$GC,10201,-0.17,0.0,990.7,-6.8,836,10353,0.32,0.00,145.95,1.707,6,0.098,0.000,2464,2505,2929,0,0,0,0,0,0,25.92,28.83,22.40
$STATE,10354,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10357,0.52,170.3,997.7,0.0,843,10534,0.60,2.40,166.70,1.665,4,0.049,0.033,2709,1059,2232,0,0,0,0,0,0,24.65,23.79,21.85
$GC,10551,0.52,170.3,991.6,9.9,852,10559,0.12,2.45,0.00,0.000,6,0.160,0.046,2679,2522,2228,0,0,0,0,0,0,24.20,24.37,28.83
$GC,10859,0.52,170.3,950.9,12.2,868,10865,0.00,1.90,0.00,0.000,4,0.000,0.056,2679,3764,2224,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10878,0.52,170.3,948.2,12.5,869,10882,0.00,1.95,0.00,0.000,6,0.000,0.024,2689,2425,2223,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11199,0.52,170.3,906.4,12.9,885,11206,0.03,2.10,0.00,0.000,4,0.304,0.054,2679,3768,2222,0,0,0,0,0,0,26.41,26.03,28.83
$GC,11262,0.52,170.3,897.6,14.3,888,11266,0.00,1.92,0.00,0.000,6,0.000,0.025,2688,2442,2221,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11574,0.52,170.3,858.4,12.5,904,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2438,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11874,0.52,170.3,819.4,13.5,919,11880,0.00,2.08,0.00,0.000,4,0.000,0.055,2688,3767,2219,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11923,0.52,170.3,813.3,14.3,921,11928,0.10,1.92,0.00,0.000,6,0.205,0.025,2675,2439,2219,0,0,0,0,0,0,25.98,26.36,28.83
$GC,12229,0.52,170.3,773.1,12.3,936,12235,0.00,2.08,0.00,0.000,4,0.000,0.055,2675,3764,2218,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,20176,end climb,SURFACE_DEPTH_REACHED
$STATE,20176,begin surface coast
$FINISH,0.7,0.997599
$STATE,20212,end surface coast,CONTROL_FINISHED_OK
$STATE,20212,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.7,51.563
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.900,173.450,438.600,0.000,0.000,32.770,43.963,282.431,0.000,0.000,15.910,4700.665,11261.610,596.139,3732.602,478.259,0.000,2313.046,0.000,3112.879,0.000,0.540,0.000
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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,329668
$DATA_FILE_SIZE,136875,1847
$CAP_FILE_SIZE,215311,0
$CFSIZE,260165632,181932032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,110.6,1
$GPS,050612,102354,1814.818,12432.605,25,1.2,42,-2.1