version: 66.10
glider: 176
mission: 5
dive: 423
start: 6 10 112 11 42 13
data:
$ID,176
$MISSION,5
$DIVE,423
$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,-8135.4736
$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
$GPS1,100612,113401,1752.469,12428.186,41,1.3,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.2
$GPS2,100612,114144,1752.381,12428.346,13,1.5,13,-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,290.0,242801,-12.9,-8.684
$D_GRID,4189
$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,16,-0.56,-194.6,0.0,0.0,0,79,0.00,0.00,-60.08,0.000,2,0.000,0.000,174,2740,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-194.6,3.0,-5.9,10,131,8.93,2.28,-33.20,0.000,4,0.236,0.039,2331,1191,3725,0,0,0,0,0,0,25.06,26.32,26.74
$GC,199,-0.56,-194.6,31.2,-22.0,25,207,0.08,2.25,0.00,0.000,6,0.200,0.044,2338,2677,3727,0,0,0,0,0,0,26.05,26.20,28.83
$GC,527,-0.56,-194.6,134.6,-22.6,86,536,0.00,1.65,0.00,0.000,4,0.000,0.051,2331,3768,3726,0,0,0,0,0,0,28.83,26.20,28.83
$GC,569,-0.56,-194.6,144.5,-22.4,93,575,0.00,1.62,0.00,0.000,6,0.000,0.023,2331,2556,3726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,885,-0.56,-194.6,215.8,-18.7,147,889,0.00,1.90,0.00,0.000,4,0.000,0.026,2330,1178,3726,0,0,0,0,0,0,28.83,26.45,28.83
$GC,970,-0.56,-194.6,227.9,-12.7,155,979,0.08,2.22,0.00,0.000,6,0.181,0.043,2341,2671,3726,0,0,0,0,0,0,26.14,26.27,28.83
$GC,1276,-0.56,-194.6,275.2,-14.8,186,1280,0.00,1.65,0.00,0.000,4,0.000,0.052,2333,3761,3725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1299,-0.56,-194.6,278.6,-15.0,188,1302,0.00,1.62,0.00,0.000,6,0.000,0.022,2333,2538,3725,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1610,-0.56,-194.6,327.3,-16.1,219,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2532,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-0.56,-194.6,368.8,-12.2,249,1921,0.00,1.88,0.00,0.000,4,0.000,0.024,2333,1182,3722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1944,-0.56,-194.6,372.6,-11.8,252,1953,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2675,3722,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2253,-0.56,-194.6,405.8,-11.2,283,2263,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1178,3720,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2298,-0.56,-194.6,409.9,-9.8,287,2307,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2673,3719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2608,-0.56,-194.6,440.4,-9.7,318,2617,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1192,3716,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2649,-0.56,-194.6,444.3,-9.1,322,2658,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2668,3716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2961,-0.56,-194.6,474.4,-10.6,353,2970,0.00,2.12,-0.08,0.000,4,0.000,0.036,2332,1184,3742,0,0,0,0,0,0,28.83,26.41,25.51
$GC,2987,-0.56,-194.6,476.8,-10.1,355,2995,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2671,3742,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3293,-0.56,-194.6,508.7,-10.6,386,3302,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1181,3740,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3316,-0.56,-194.6,510.9,-10.9,388,3325,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2670,3740,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3626,-0.56,-194.6,543.1,-10.1,419,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2670,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3927,-0.56,-194.6,573.0,-9.7,449,3936,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1191,3734,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3978,-0.56,-194.6,577.5,-8.4,454,3987,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2674,3734,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4291,-0.56,-194.6,603.1,-7.7,483,4296,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1182,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4322,-0.56,-194.6,604.8,-7.8,484,4329,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2676,3731,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4630,-0.56,-194.6,629.0,-7.4,500,4635,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1178,3727,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4663,-0.56,-194.6,630.5,-7.5,501,4670,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2670,3727,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4969,-0.56,-194.6,656.2,-8.7,517,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2670,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.56,-194.6,684.1,-9.6,532,5275,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1185,3722,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5323,-0.56,-194.6,687.8,-9.5,534,5330,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2673,3721,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5629,-0.56,-194.6,717.1,-9.2,550,5634,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1179,3720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5662,-0.56,-194.6,719.0,-9.3,551,5670,0.00,2.30,0.00,0.000,6,0.000,0.046,2332,2676,3720,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5972,-0.56,-194.6,747.0,-8.8,567,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2677,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6269,-0.56,-194.6,774.2,-9.3,582,6274,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1182,3715,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6310,-0.56,-194.6,777.9,-9.3,584,6315,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2664,3715,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6631,-0.56,-194.6,806.9,-8.8,600,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2664,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,-0.56,-194.6,832.2,-8.5,615,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2664,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-0.56,-194.6,855.9,-8.0,630,7236,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1191,3709,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7262,-0.56,-194.6,857.3,-7.7,631,7270,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2670,3709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7569,-0.56,-194.6,881.7,-7.6,647,7575,0.00,2.15,0.00,0.000,4,0.000,0.024,2332,1176,3707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7598,-0.56,-194.6,883.3,-7.7,648,7603,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2666,3707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7904,-0.56,-194.6,906.3,-7.3,663,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,-0.56,-194.6,927.9,-7.1,678,8210,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1186,3704,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8248,-0.56,-194.6,930.8,-7.2,680,8252,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2667,3704,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8560,-0.56,-194.6,953.7,-7.4,696,8566,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1192,3703,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8588,-0.56,-194.6,955.1,-7.3,697,8592,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2665,3702,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8897,-0.56,-194.6,977.7,-7.1,712,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3701,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9073,begin apogee
$GC,9078,-0.17,0.0,990.3,-6.9,721,9258,0.38,0.12,171.48,1.699,6,0.099,0.093,2468,2592,2929,0,0,0,0,0,0,25.89,24.34,22.53
$STATE,9259,end apogee,CONTROL_FINISHED_OK
$STATE,9259,begin climb
$GC,9261,0.56,194.6,1000.7,0.0,730,9460,0.62,2.05,187.10,1.655,4,0.048,0.055,2716,3761,2134,0,0,0,0,0,0,24.79,23.87,22.04
$GC,9470,0.56,194.6,991.5,11.8,740,9475,0.15,1.95,0.00,0.000,6,0.189,0.024,2692,2503,2133,0,0,0,0,0,0,24.18,24.52,28.83
$GC,9777,0.56,194.6,948.3,13.1,755,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2500,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10079,0.56,194.6,908.8,13.2,770,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2500,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10377,0.56,194.6,868.3,13.3,785,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2500,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10678,0.56,194.6,827.9,13.3,800,10684,0.00,1.98,0.00,0.000,4,0.000,0.056,2691,3764,2118,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10721,0.56,194.6,822.0,14.1,802,10725,0.00,1.83,0.00,0.000,6,0.000,0.024,2699,2482,2119,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11032,0.56,194.6,775.1,15.0,818,11038,0.00,2.00,0.00,0.000,4,0.000,0.055,2700,3764,2118,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11073,0.56,194.6,768.3,16.0,820,11079,0.10,1.83,0.00,0.000,6,0.201,0.024,2686,2491,2118,0,0,0,0,0,0,26.00,26.39,28.83
$GC,11394,0.56,194.6,724.9,13.1,836,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2487,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11693,0.56,194.6,687.2,12.4,851,11698,0.00,1.98,0.00,0.000,4,0.000,0.054,2686,3765,2117,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11713,0.56,194.6,684.3,12.8,852,11716,0.00,1.83,0.00,0.000,6,0.000,0.023,2695,2488,2117,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12035,0.56,194.6,641.9,12.9,868,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2482,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12334,0.56,194.6,601.6,13.1,883,12339,0.00,2.00,0.00,0.000,4,0.000,0.053,2695,3763,2116,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12385,0.56,194.6,594.3,14.6,887,12396,0.08,1.80,0.00,0.000,6,0.214,0.022,2689,2482,2116,0,0,0,0,0,0,26.11,26.41,28.83
$GC,12694,0.56,194.6,557.7,11.1,918,12702,0.00,2.00,0.00,0.000,4,0.000,0.052,2689,3766,2115,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12715,0.56,194.6,555.2,11.5,920,12719,0.00,1.83,0.00,0.000,6,0.000,0.023,2698,2483,2116,0,0,0,0,0,0,28.83,26.41,28.83
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$GC,15398,0.60,223.3,277.1,9.8,1187,15402,0.00,1.80,0.00,0.000,4,0.000,0.050,2704,3766,2015,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,18499,end climb,SURFACE_DEPTH_REACHED
$STATE,18499,begin surface coast
$FINISH,0.6,1.007691
$STATE,18562,end surface coast,CONTROL_FINISHED_OK
$STATE,18562,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,26.00
$XPDR_PINGS,0
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$10V_AH,9.8,54.535
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.175,153.800,556.925,0.000,0.000,24.304,45.381,239.265,0.000,0.000,15.874,4226.196,10351.296,702.306,3371.681,422.868,0.000,2274.342,0.000,2755.536,0.000,0.543,0.000
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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,330268
$DATA_FILE_SIZE,127194,1700
$CAP_FILE_SIZE,193724,0
$CFSIZE,260165632,179462144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,110.1,1
$GPS,100612,165401,1752.426,12427.469,39,1.3,39,-2.0