version: 66.10
glider: 176
mission: 5
dive: 403
start: 6 5 112 16 34 10
data:
$ID,176
$MISSION,5
$DIVE,403
$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,-8048.4419
$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
$GPS1,050612,162507,1812.977,12432.158,29,0.9,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.6
$GPS2,050612,163343,1813.036,12432.270,8,1.0,14,-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,177.8,42932,-12.5,-7.857
$D_GRID,5243
$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,19,-0.52,-170.3,0.0,0.0,0,61,0.00,0.00,-39.75,0.000,2,0.000,0.000,175,2682,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.52,-170.3,3.2,-6.4,7,105,8.85,0.00,-25.08,0.000,6,0.233,0.000,2344,2683,3625,0,0,0,0,0,0,25.07,28.83,26.68
$GC,411,-0.52,-170.3,97.2,-21.4,71,418,0.00,2.22,0.00,0.000,4,0.000,0.028,2344,1135,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,498,-0.52,-170.3,113.2,-13.2,87,506,0.08,2.25,0.00,0.000,6,0.178,0.042,2354,2632,3626,0,0,0,0,0,0,26.10,26.24,28.83
$GC,828,-0.52,-170.3,169.1,-15.2,148,834,0.05,0.00,0.00,0.000,6,0.173,0.000,2302,2632,3626,0,0,0,0,0,0,26.63,28.83,28.83
$GC,1143,-0.52,-170.3,232.3,-20.9,194,1153,0.15,2.12,0.00,0.000,4,0.164,0.025,2352,1146,3626,0,0,0,0,0,0,26.17,26.37,28.83
$GC,1175,-0.52,-170.3,238.0,-18.0,197,1185,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2618,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1485,-0.52,-170.3,277.9,-13.5,228,1494,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1138,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1529,-0.52,-170.3,282.8,-12.0,232,1536,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2620,3626,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1837,-0.52,-170.3,320.5,-13.3,263,1840,0.00,1.73,0.00,0.000,4,0.000,0.052,2340,3767,3625,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1891,-0.52,-170.3,326.9,-12.2,268,1898,0.00,1.75,0.00,0.000,6,0.000,0.021,2340,2447,3624,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2198,-0.52,-170.3,365.0,-12.6,299,2207,0.00,2.03,0.00,0.000,4,0.000,0.052,2335,3765,3623,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2262,-0.52,-170.3,372.5,-12.2,305,2271,0.03,1.75,0.00,0.000,6,0.156,0.021,2351,2462,3623,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2569,-0.52,-170.3,405.6,-10.5,336,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2462,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2873,-0.52,-170.3,432.5,-8.2,366,2881,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3762,3618,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2928,-0.52,-170.3,436.7,-7.7,371,2934,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2469,3618,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3234,-0.52,-170.3,460.7,-8.0,402,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2467,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,-0.52,-170.3,485.5,-8.2,432,3545,0.00,2.00,-0.08,0.000,4,0.000,0.066,2348,3762,3644,0,0,0,0,0,0,28.83,26.03,25.46
$GC,3570,-0.52,-170.3,488.1,-7.9,435,3578,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2467,3644,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3879,-0.52,-170.3,512.7,-7.9,466,3888,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3767,3642,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3921,-0.52,-170.3,515.9,-7.6,470,3925,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2498,3641,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4235,-0.52,-170.3,540.4,-7.7,501,4245,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3766,3639,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4290,-0.52,-170.3,544.5,-7.5,506,4297,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2466,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4598,-0.52,-170.3,567.0,-7.2,537,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2466,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.52,-170.3,589.3,-7.8,567,4909,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3768,3634,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4962,-0.52,-170.3,594.2,-7.4,573,4966,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2499,3634,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5284,-0.52,-170.3,619.8,-8.1,593,5290,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3757,3632,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5336,-0.52,-170.3,623.0,-8.0,595,5343,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5645,-0.52,-170.3,647.3,-7.5,611,5650,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3764,3629,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5704,-0.52,-170.3,651.6,-7.3,614,5708,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2471,3628,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6026,-0.52,-170.3,673.9,-6.7,630,6032,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3773,3627,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6060,-0.52,-170.3,675.2,-6.7,631,6067,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2461,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6366,-0.52,-170.3,696.8,-6.9,647,6371,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3762,3625,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6428,-0.52,-170.3,701.1,-7.1,650,6432,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2472,3624,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6747,-0.52,-170.3,725.8,-7.9,666,6753,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3764,3623,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6774,-0.52,-170.3,727.4,-7.9,667,6777,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2491,3623,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7087,-0.52,-170.3,752.2,-7.3,683,7091,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3762,3621,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7133,-0.52,-170.3,755.4,-7.0,685,7136,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2479,3620,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7452,-0.52,-170.3,776.6,-6.5,701,7457,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3753,3619,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7504,-0.52,-170.3,779.3,-6.4,703,7511,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2459,3619,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7810,-0.52,-170.3,799.4,-6.1,719,7816,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3772,3618,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7843,-0.52,-170.3,800.8,-6.2,720,7850,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3617,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8152,-0.52,-170.3,822.2,-6.9,736,8157,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3761,3616,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8193,-0.52,-170.3,825.1,-6.9,738,8197,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2481,3615,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8513,-0.52,-170.3,847.3,-6.8,754,8518,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3755,3614,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8559,-0.52,-170.3,850.1,-7.0,756,8562,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2494,3614,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8871,-0.52,-170.3,872.8,-7.1,772,8876,0.00,1.90,0.00,0.000,4,0.000,0.028,2348,1135,3613,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8945,-0.52,-170.3,877.1,-7.1,775,8952,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2618,3613,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9251,-0.52,-170.3,898.7,-6.7,791,9256,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1135,3613,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9376,-0.52,-170.3,907.1,-7.0,797,9382,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2621,3612,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9691,-0.52,-170.3,929.0,-7.1,813,9696,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1139,3611,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9796,-0.52,-170.3,936.4,-7.2,818,9801,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2625,3611,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10115,-0.52,-170.3,959.3,-7.3,834,10120,0.00,2.12,0.00,0.000,4,0.000,0.028,2348,1148,3610,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10334,-0.52,-170.3,975.1,-7.3,845,10340,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2628,3609,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,10572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10575,begin apogee
$GC,10580,-0.17,0.0,991.2,-6.6,857,10738,0.30,0.15,152.38,1.711,6,0.073,0.084,2474,2535,2929,0,0,0,0,0,0,26.17,24.18,22.29
$STATE,10739,end apogee,CONTROL_FINISHED_OK
$STATE,10739,begin climb
$GC,10741,0.52,170.3,1000.3,0.0,865,10920,0.60,2.50,166.77,1.668,4,0.052,0.031,2708,1059,2233,0,0,0,0,0,0,24.52,23.73,21.77
$GC,10967,0.52,170.3,988.5,12.2,876,10977,0.12,2.40,0.00,0.000,6,0.174,0.047,2680,2524,2226,0,0,0,0,0,0,24.65,24.87,28.83
$GC,11280,0.52,170.3,951.3,11.5,892,11285,0.00,1.92,0.00,0.000,4,0.000,0.055,2680,3767,2223,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11338,0.52,170.3,943.0,12.9,895,11344,0.03,1.90,0.00,0.000,6,0.312,0.025,2680,2454,2223,0,0,0,0,0,0,26.08,26.28,28.83
$GC,11660,0.52,170.3,906.9,11.3,911,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2450,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11959,0.52,170.3,872.7,11.3,926,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2450,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12258,0.52,170.3,839.0,10.9,941,12263,0.00,2.05,0.00,0.000,4,0.000,0.054,2679,3764,2219,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12307,0.52,170.3,834.0,11.7,943,12311,0.03,1.90,0.00,0.000,6,0.315,0.024,2680,2439,2219,0,0,0,0,0,0,26.17,26.36,28.83
$GC,12619,0.52,170.3,798.8,10.4,959,12625,0.00,2.00,0.00,0.000,4,0.000,0.033,2690,1053,2217,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12659,0.52,170.3,794.8,10.3,961,12665,0.05,2.25,0.00,0.000,6,0.219,0.048,2679,2515,2216,0,0,0,0,0,0,25.98,26.05,28.83
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$STATE,20972,end climb,SURFACE_DEPTH_REACHED
$STATE,20972,begin surface coast
$FINISH,0.7,1.009593
$STATE,21000,end surface coast,CONTROL_FINISHED_OK
$STATE,21000,begin surface
$SM_CCo,21075,0.00,0.000,0,0,1270,406.95
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,9.7,51.847
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.950,176.525,461.750,0.000,0.000,27.156,27.827,301.866,0.000,0.000,17.113,4787.762,11836.428,599.843,3845.861,483.338,0.000,2400.985,0.000,3247.325,0.000,0.541,0.000
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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,329612
$DATA_FILE_SIZE,140560,1879
$CAP_FILE_SIZE,222978,0
$CFSIZE,260165632,181690368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 64.3,1
$GPS,050612,222636,1811.144,12433.495,37,1.0,42,-2.1