version: 66.10
glider: 176
mission: 5
dive: 404
start: 6 5 112 22 35 59
data:
$ID,176
$MISSION,5
$DIVE,404
$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,-8049.7002
$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
$GPS1,050612,222636,1811.144,12433.495,37,1.0,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.4
$GPS2,050612,223531,1811.115,12433.670,11,1.1,16,-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,207.5,39176,-12.5,-7.857
$D_GRID,5219
$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,18,-0.52,-170.3,0.0,0.0,0,65,0.00,0.00,-44.42,0.000,2,0.000,0.000,176,2689,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.52,-170.3,3.4,-7.7,8,109,8.90,2.25,-24.62,0.000,4,0.233,0.037,2345,1137,3628,0,0,0,0,0,0,25.06,26.27,26.69
$GC,177,-0.52,-170.3,31.2,-21.0,25,185,0.08,2.25,0.00,0.000,6,0.197,0.044,2352,2620,3628,0,0,0,0,0,0,25.99,26.15,28.83
$GC,507,-0.52,-170.3,112.9,-21.5,86,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2620,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.52,-170.3,176.7,-17.4,147,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2620,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1126,-0.52,-170.3,222.2,-13.0,192,1129,0.00,1.73,0.00,0.000,4,0.000,0.051,2344,3771,3629,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1157,-0.52,-170.3,225.9,-12.3,195,1160,0.00,1.70,0.00,0.000,6,0.000,0.022,2344,2503,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1468,-0.52,-170.3,267.8,-13.8,226,1476,0.00,1.95,0.00,0.000,4,0.000,0.049,2334,3768,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1511,-0.52,-170.3,273.5,-14.1,230,1519,0.03,1.73,0.00,0.000,6,0.168,0.022,2348,2480,3628,0,0,0,0,0,0,26.39,26.58,28.83
$GC,1819,-0.52,-170.3,311.4,-13.1,261,1822,0.00,1.90,0.00,0.000,4,0.000,0.027,2348,1137,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1857,-0.52,-170.3,315.9,-12.3,264,1865,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2619,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2165,-0.52,-170.3,352.4,-11.8,295,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2619,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2466,-0.52,-170.3,387.6,-11.4,325,2476,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1146,3624,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2521,-0.52,-170.3,392.6,-9.3,330,2528,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2623,3624,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2828,-0.52,-170.3,421.9,-9.7,361,2832,0.00,1.73,0.00,0.000,4,0.000,0.054,2345,3765,3623,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2842,-0.52,-170.3,422.8,-9.4,362,2849,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2445,3622,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3149,-0.52,-170.3,452.4,-10.4,393,3159,0.00,2.05,0.00,0.000,4,0.000,0.053,2344,3766,3621,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3234,-0.52,-170.3,460.8,-10.0,401,3242,0.00,1.75,0.00,0.000,6,0.000,0.022,2344,2447,3621,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3542,-0.52,-170.3,491.6,-9.4,432,3551,0.00,2.05,0.00,0.000,4,0.000,0.052,2337,3769,3618,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3606,-0.52,-170.3,497.6,-9.4,438,3613,0.00,1.75,0.00,0.000,6,0.000,0.023,2337,2457,3618,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3914,-0.52,-170.3,524.8,-8.7,469,3924,0.05,2.03,0.00,0.000,4,0.223,0.051,2346,3765,3616,0,0,0,0,0,0,26.56,26.06,28.83
$GC,3956,-0.52,-170.3,528.1,-7.9,473,3960,0.00,1.73,0.00,0.000,6,0.000,0.023,2346,2491,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4267,-0.52,-170.3,549.0,-6.1,504,4276,0.00,2.03,0.00,0.000,4,0.000,0.054,2345,3767,3614,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4312,-0.52,-170.3,551.5,-6.3,508,4319,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2463,3613,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4619,-0.52,-170.3,573.2,-7.6,539,4628,0.00,2.05,0.00,0.000,4,0.000,0.054,2345,3774,3611,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4661,-0.52,-170.3,576.4,-7.6,543,4664,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2505,3610,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4983,-0.52,-170.3,601.7,-7.9,574,4988,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3761,3608,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5042,-0.52,-170.3,606.4,-7.8,577,5045,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2475,3608,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5363,-0.52,-170.3,631.6,-8.0,593,5369,0.00,2.03,0.00,0.000,4,0.000,0.054,2345,3768,3605,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5432,-0.52,-170.3,636.2,-7.7,596,5436,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2495,3604,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5743,-0.52,-170.3,662.3,-8.3,612,5749,0.00,2.08,0.00,0.000,4,0.000,0.054,2346,3772,3602,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5776,-0.52,-170.3,663.9,-8.4,613,5784,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2457,3602,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6084,-0.52,-170.3,690.0,-8.0,629,6090,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3754,3600,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6146,-0.52,-170.3,695.0,-7.8,632,6149,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2495,3599,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6468,-0.52,-170.3,720.5,-8.1,648,6474,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3768,3597,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6509,-0.52,-170.3,723.9,-8.3,650,6513,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2468,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6828,-0.52,-170.3,749.1,-7.6,666,6833,0.00,2.05,0.00,0.000,4,0.000,0.055,2345,3773,3595,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6871,-0.52,-170.3,752.1,-7.5,668,6874,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2509,3594,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7187,-0.52,-170.3,773.9,-6.4,684,7193,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3762,3593,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7240,-0.52,-170.3,776.5,-6.3,686,7247,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2467,3592,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7549,-0.52,-170.3,795.1,-5.7,702,7553,0.00,2.05,0.00,0.000,4,0.000,0.055,2346,3773,3592,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7584,-0.52,-170.3,796.6,-5.7,703,7590,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2454,3591,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7892,-0.52,-170.3,814.7,-5.5,719,7898,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3763,3589,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7934,-0.52,-170.3,817.0,-5.7,721,7937,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2505,3589,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8251,-0.52,-170.3,834.7,-5.5,737,8256,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3768,3588,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8295,-0.52,-170.3,836.8,-5.6,739,8299,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2469,3587,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8612,-0.52,-170.3,854.3,-5.4,755,8617,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3769,3587,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8644,-0.52,-170.3,855.6,-5.5,756,8651,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2466,3586,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8953,-0.52,-170.3,875.5,-6.5,772,8958,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3765,3585,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8999,-0.52,-170.3,878.0,-6.4,774,9003,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2507,3584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9313,-0.52,-170.3,900.1,-6.9,790,9318,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3759,3584,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9351,-0.52,-170.3,902.9,-7.0,792,9355,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2496,3584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9673,-0.52,-170.3,923.7,-6.2,808,9678,0.00,2.08,0.00,0.000,4,0.000,0.057,2345,3770,3583,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9707,-0.52,-170.3,924.9,-6.0,809,9717,0.00,1.75,0.00,0.000,6,0.000,0.026,2345,2476,3582,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10013,-0.52,-170.3,942.4,-5.3,825,10018,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3762,3582,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10061,-0.52,-170.3,944.5,-5.2,827,10064,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2498,3581,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10374,-0.52,-170.3,960.4,-4.7,843,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2462,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10675,-0.52,-170.3,975.8,-5.3,858,10679,0.00,2.08,0.00,0.000,4,0.000,0.057,2345,3771,3580,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10731,-0.52,-170.3,978.2,-5.3,860,10738,0.00,1.75,0.00,0.000,6,0.000,0.026,2345,2489,3580,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,10934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10934,begin apogee
$GC,10939,-0.17,0.0,990.8,-5.9,871,11093,0.32,0.00,146.48,1.715,6,0.097,0.000,2466,2488,2929,0,0,0,0,0,0,25.93,28.83,22.32
$STATE,11094,end apogee,CONTROL_FINISHED_OK
$STATE,11094,begin climb
$GC,11096,0.52,170.3,997.1,0.0,878,11273,0.60,2.25,167.57,1.668,4,0.050,0.054,2702,3761,2233,0,0,0,0,0,0,24.57,23.64,21.77
$GC,11289,0.52,170.3,991.9,9.1,887,11297,0.15,2.05,0.00,0.000,6,0.191,0.024,2678,2454,2231,0,0,0,0,0,0,24.03,24.39,28.83
$GC,11598,0.52,170.3,952.9,11.7,903,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2451,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11897,0.52,170.3,919.0,10.9,918,11902,0.00,2.05,0.00,0.000,4,0.000,0.056,2679,3768,2222,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11939,0.52,170.3,913.9,11.9,920,11943,0.00,1.92,0.00,0.000,6,0.000,0.024,2688,2445,2222,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21226,end climb,SURFACE_DEPTH_REACHED
$STATE,21226,begin surface coast
$FINISH,0.7,1.009015
$STATE,21293,end surface coast,CONTROL_FINISHED_OK
$STATE,21293,begin surface
$SM_CCo,21368,0.00,0.000,0,0,1027,466.56
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$IRIDIUM_FIX,1805.50,12429.23,050612,161635
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,21.8,84.719
$10V_AH,9.8,51.990
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.150,180.075,475.575,0.000,0.000,27.441,44.232,302.089,0.000,0.000,19.261,4891.859,11903.066,665.050,3907.445,500.079,0.000,2436.925,0.000,3230.859,0.000,0.541,0.000
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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,329656
$DATA_FILE_SIZE,144012,1940
$CAP_FILE_SIZE,224890,0
$CFSIZE,260165632,181567488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 83.5,1
$GPS,060612,043307,1808.901,12434.035,31,1.0,31,-2.1