version: 66.10
glider: 176
mission: 5
dive: 418
start: 6 9 112 8 54 24
data:
$ID,176
$MISSION,5
$DIVE,418
$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,380
$T_MISSION,420
$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,200
$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,-8121.4272
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,090612,084436,1751.357,12432.214,37,0.9,42,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.7
$GPS2,090612,085356,1751.237,12432.339,14,1.0,14,-2.0
$SPEED_LIMITS,0.150,0.280
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,289.1,250126,-12.9,-8.684
$D_GRID,4042
$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,13,begin dive
$GC,16,-0.56,-194.6,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,183,2688,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.56,-194.6,3.2,-6.1,11,134,8.82,2.17,-30.77,0.000,4,0.233,0.042,2331,1190,3725,0,0,0,0,0,0,25.03,26.27,26.73
$GC,212,-0.56,-194.6,37.4,-22.4,28,219,0.08,2.22,0.00,0.000,6,0.189,0.045,2340,2670,3726,0,0,0,0,0,0,26.06,26.20,28.83
$GC,540,-0.56,-194.6,129.1,-24.8,89,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2670,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,867,-0.56,-194.6,195.5,-18.1,150,873,0.00,2.10,0.00,0.000,4,0.000,0.025,2341,1187,3725,0,0,0,0,0,0,28.83,26.42,28.83
$GC,898,-0.56,-194.6,200.3,-15.8,155,905,0.00,2.25,0.00,0.000,6,0.000,0.047,2335,2674,3725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1202,-0.56,-194.6,250.7,-17.5,186,1206,0.00,1.65,0.00,0.000,4,0.000,0.054,2332,3778,3724,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1247,-0.56,-194.6,257.6,-16.6,190,1250,0.00,1.65,0.00,0.000,6,0.000,0.022,2332,2544,3724,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1559,-0.56,-194.6,306.0,-15.0,221,1568,0.00,1.90,0.00,0.000,4,0.000,0.025,2332,1180,3723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1580,-0.56,-194.6,309.2,-14.5,223,1589,0.00,2.25,0.00,0.000,6,0.000,0.047,2332,2668,3723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1891,-0.56,-194.6,350.5,-13.6,254,1895,0.00,2.08,0.00,0.000,4,0.000,0.025,2332,1195,3721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1927,-0.56,-194.6,354.1,-11.6,257,1935,0.00,2.22,0.00,0.000,6,0.000,0.047,2331,2669,3721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2232,-0.56,-194.6,389.6,-12.0,288,2241,0.00,2.10,0.00,0.000,4,0.000,0.025,2331,1193,3719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2276,-0.56,-194.6,393.9,-10.6,292,2283,0.00,2.25,0.00,0.000,6,0.000,0.046,2330,2678,3718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2583,-0.56,-194.6,429.8,-12.4,323,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2678,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-0.56,-194.6,464.7,-11.5,353,2896,0.00,2.15,-0.08,0.000,4,0.000,0.038,2331,1188,3742,0,0,0,0,0,0,28.83,26.37,25.51
$GC,2930,-0.56,-194.6,469.2,-10.1,357,2939,0.00,2.22,0.00,0.000,6,0.000,0.047,2331,2659,3742,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3238,-0.56,-194.6,500.7,-10.6,388,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2660,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3542,-0.56,-194.6,530.5,-8.9,418,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2660,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3852,-0.56,-194.6,556.4,-7.9,449,3861,0.00,2.10,0.00,0.000,4,0.000,0.026,2330,1188,3734,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3898,-0.56,-194.6,559.7,-7.4,453,3906,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2677,3734,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4206,-0.56,-194.6,584.0,-8.5,484,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2677,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.56,-194.6,612.9,-9.1,509,4530,0.00,2.12,0.00,0.000,4,0.000,0.026,2330,1189,3727,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4552,-0.56,-194.6,614.7,-9.1,510,4556,0.00,2.28,0.00,0.000,6,0.000,0.045,2330,2677,3727,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4859,-0.56,-194.6,643.1,-9.0,525,4865,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1184,3725,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4893,-0.56,-194.6,644.9,-9.0,526,4900,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2675,3725,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5199,-0.56,-194.6,674.0,-9.2,542,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2676,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.56,-194.6,702.0,-9.6,557,5505,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1186,3719,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5533,-0.56,-194.6,703.9,-9.6,558,5540,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2672,3719,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5839,-0.56,-194.6,733.0,-8.9,574,5843,0.00,1.67,0.00,0.000,4,0.000,0.057,2330,3766,3717,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5868,-0.56,-194.6,734.9,-8.7,575,5872,0.00,1.65,0.00,0.000,6,0.000,0.025,2330,2513,3716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6182,-0.56,-194.6,760.5,-7.8,591,6186,0.00,1.95,0.00,0.000,4,0.000,0.055,2330,3765,3714,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6246,-0.56,-194.6,765.2,-7.7,594,6250,0.00,1.67,0.00,0.000,6,0.000,0.025,2330,2532,3713,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6564,-0.56,-194.6,790.0,-7.7,610,6570,0.00,1.92,0.00,0.000,4,0.000,0.055,2324,3768,3711,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6588,-0.56,-194.6,791.7,-7.7,611,6592,0.05,1.67,0.00,0.000,6,0.200,0.026,2343,2536,3711,0,0,0,0,0,0,26.29,26.48,28.83
$GC,6905,-0.56,-194.6,813.5,-6.8,627,6911,0.05,1.92,0.00,0.000,4,0.174,0.054,2283,3768,3710,0,0,0,0,0,0,26.58,25.93,28.83
$GC,6925,-0.56,-194.6,815.2,-7.1,628,6929,0.15,1.67,0.00,0.000,6,0.106,0.026,2342,2542,3709,0,0,0,0,0,0,26.02,26.48,28.83
$GC,7247,-0.56,-194.6,837.4,-6.5,644,7254,0.05,1.92,0.00,0.000,4,0.175,0.054,2287,3771,3707,0,0,0,0,0,0,26.58,25.89,28.83
$GC,7270,-0.56,-194.6,838.9,-6.8,645,7274,0.12,1.70,0.00,0.000,6,0.107,0.024,2346,2540,3707,0,0,0,0,0,0,26.02,26.49,28.83
$GC,7589,-0.56,-194.6,860.0,-6.3,661,7590,0.08,0.00,0.00,0.000,6,0.129,0.000,2286,2538,3706,0,0,0,0,0,0,26.55,28.83,28.83
$GC,7887,-0.56,-194.6,893.2,-11.5,676,7893,0.15,1.90,0.00,0.000,4,0.139,0.054,2331,3765,3703,0,0,0,0,0,0,26.19,25.86,28.83
$GC,7941,-0.56,-194.6,896.7,-10.3,678,7948,0.00,1.65,0.00,0.000,6,0.000,0.026,2331,2509,3703,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8248,-0.56,-194.6,920.1,-7.3,694,8254,0.00,1.98,0.00,0.000,4,0.000,0.057,2332,3780,3703,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8281,-0.56,-194.6,921.5,-7.3,695,8287,0.00,1.70,0.00,0.000,6,0.000,0.025,2331,2495,3703,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8589,-0.56,-194.6,944.2,-7.0,711,8593,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3766,3701,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8632,-0.56,-194.6,947.2,-6.9,713,8635,0.00,1.67,0.00,0.000,6,0.000,0.026,2331,2533,3700,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8955,-0.56,-194.6,970.2,-7.0,729,8960,0.00,1.98,0.00,0.000,4,0.000,0.057,2330,3765,3700,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8993,-0.56,-194.6,973.1,-7.0,731,8997,0.00,1.67,0.00,0.000,6,0.000,0.026,2331,2531,3699,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9252,begin apogee
$GC,9257,-0.17,0.0,991.1,-6.9,744,9438,0.38,0.10,171.57,1.706,6,0.097,0.079,2468,2489,2929,0,0,0,0,0,0,25.90,24.27,22.44
$STATE,9439,end apogee,CONTROL_FINISHED_OK
$STATE,9439,begin climb
$GC,9441,0.56,194.6,1000.1,0.0,753,9639,0.62,2.17,187.90,1.662,4,0.050,0.030,2722,1106,2133,0,0,0,0,0,0,24.72,23.88,21.96
$GC,9674,0.56,194.6,984.9,14.1,764,9682,0.12,2.38,0.00,0.000,6,0.167,0.048,2692,2562,2128,0,0,0,0,0,0,24.65,24.84,28.83
$GC,9982,0.56,194.6,937.8,14.9,780,9985,0.00,1.85,0.00,0.000,4,0.000,0.057,2692,3763,2123,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10026,0.56,194.6,930.9,15.9,782,10030,0.00,1.83,0.00,0.000,6,0.000,0.025,2701,2493,2123,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10337,0.56,194.6,880.9,15.3,798,10344,0.05,2.00,0.00,0.000,4,0.251,0.054,2690,3768,2120,0,0,0,0,0,0,26.41,26.06,28.83
$GC,10359,0.56,194.6,877.8,15.3,799,10365,0.00,1.85,0.00,0.000,6,0.000,0.025,2699,2486,2120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10681,0.56,194.6,830.3,14.1,815,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2483,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10977,0.56,194.6,787.6,14.4,830,10983,0.00,1.98,0.00,0.000,4,0.000,0.055,2700,3764,2118,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11011,0.56,194.6,784.6,14.5,831,11019,0.10,1.83,0.00,0.000,6,0.204,0.024,2686,2487,2118,0,0,0,0,0,0,25.99,26.37,28.83
$GC,11318,0.56,194.6,742.7,12.5,847,11323,0.00,2.00,0.00,0.000,4,0.000,0.054,2686,3773,2117,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11358,0.56,194.6,736.8,13.4,849,11362,0.00,1.83,0.00,0.000,6,0.000,0.024,2696,2491,2117,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11676,0.56,194.6,693.2,13.5,865,11681,0.00,2.00,0.00,0.000,4,0.000,0.031,2705,1107,2117,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11727,0.56,194.6,688.1,13.3,867,11735,0.08,2.25,0.00,0.000,6,0.185,0.047,2688,2567,2116,0,0,0,0,0,0,25.95,26.08,28.83
$GC,12036,0.56,194.6,648.8,12.7,883,12041,0.00,2.12,0.00,0.000,4,0.000,0.031,2698,1112,2116,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12058,0.56,194.6,646.3,12.6,884,12062,0.00,2.25,0.00,0.000,6,0.000,0.045,2698,2576,2116,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12369,0.56,194.6,605.9,12.8,900,12375,0.00,2.17,0.00,0.000,4,0.000,0.030,2709,1104,2115,0,0,0,0,0,0,28.83,26.19,28.83
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$GC,15010,0.58,207.9,308.9,9.2,1160,15019,0.00,2.00,0.00,0.000,4,0.000,0.032,2702,1102,2079,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,18281,end climb,SURFACE_DEPTH_REACHED
$STATE,18281,begin surface coast
$FINISH,0.7,1.019894
$STATE,18342,end surface coast,CONTROL_FINISHED_OK
$STATE,18342,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.80
$XPDR_PINGS,0
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$10V_AH,9.8,53.906
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.375,157.450,545.300,0.000,0.000,60.008,29.838,253.439,0.000,0.000,17.545,4211.789,10228.810,657.923,3438.814,409.464,0.000,2238.794,0.000,2772.623,0.000,0.542,0.000
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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,330244
$DATA_FILE_SIZE,127147,1681
$CAP_FILE_SIZE,197696,0
$CFSIZE,260165632,179990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,116.5,1
$GPS,090612,140236,1751.218,12431.653,38,1.3,43,-2.0