version: 66.10
glider: 176
mission: 5
dive: 235
start: 4 29 112 9 22 15
data:
$ID,176
$MISSION,5
$DIVE,235
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,440
$T_MISSION,500
$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,150
$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,161
$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,-7742.4097
$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,2610
$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,49
$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
$GPS1,290412,091337,1802.469,12345.506,27,1.8,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.9
$GPS2,290412,092149,1802.406,12345.588,10,1.9,15,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,289.5,165658,-13.1,-7.500
$D_GRID,4739
$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,-0.51,-146.0,0.0,0.0,0,65,0.00,0.00,-46.05,0.000,2,0.000,0.000,186,2679,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.5,-8.1,8,106,8.70,2.22,-20.77,0.000,4,0.233,0.039,2354,1139,3527,0,0,0,0,0,0,25.38,26.24,26.59
$GC,277,-0.51,-146.0,55.3,-21.6,45,284,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2630,3528,0,0,0,0,0,0,28.83,26.25,28.83
$GC,588,-0.51,-146.0,147.9,-25.7,106,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2630,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-0.51,-146.0,222.8,-22.8,157,905,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1152,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,970,-0.51,-146.0,235.2,-15.7,164,978,0.05,2.25,0.00,0.000,6,0.147,0.044,2355,2629,3529,0,0,0,0,0,0,26.20,26.40,28.83
$GC,1278,-0.51,-146.0,285.6,-17.0,195,1282,0.00,2.10,0.00,0.000,4,0.000,0.027,2355,1142,3528,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1351,-0.51,-146.0,295.3,-12.2,202,1359,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2627,3528,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1659,-0.51,-146.0,342.1,-14.6,233,1668,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1151,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1742,-0.51,-146.0,352.4,-11.5,241,1751,0.00,2.20,0.00,0.000,6,0.000,0.044,2347,2629,3527,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2051,-0.51,-146.0,393.5,-13.2,272,2055,0.00,1.70,0.00,0.000,4,0.000,0.053,2347,3766,3525,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2072,-0.51,-146.0,396.6,-13.8,274,2075,0.00,1.70,0.00,0.000,6,0.000,0.021,2348,2498,3524,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2383,-0.51,-146.0,433.7,-11.6,305,2392,0.00,1.88,0.00,0.000,4,0.000,0.025,2347,1148,3522,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2425,-0.51,-146.0,438.3,-10.8,309,2434,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2637,3522,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2736,-0.51,-146.0,470.6,-10.1,340,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2638,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,-0.51,-146.0,501.9,-10.3,370,3045,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1159,3518,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3122,-0.51,-146.0,509.9,-9.0,378,3129,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2636,3517,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3430,-0.51,-146.0,543.6,-11.0,409,3438,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1154,3514,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3503,-0.51,-146.0,551.4,-10.2,416,3511,0.00,2.20,0.00,0.000,6,0.000,0.044,2344,2629,3513,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3813,-0.51,-146.0,583.4,-10.3,447,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2630,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-0.51,-146.0,613.8,-9.6,471,4128,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1151,3509,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4174,-0.51,-146.0,617.6,-9.6,473,4181,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2633,3508,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4481,-0.51,-146.0,646.4,-9.1,489,4487,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1147,3505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4515,-0.51,-146.0,648.3,-9.0,490,4522,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2633,3505,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4821,-0.51,-146.0,676.1,-9.0,506,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,-0.51,-146.0,705.3,-9.9,521,5127,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1150,3499,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5170,-0.51,-146.0,709.4,-10.2,523,5174,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2637,3500,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5481,-0.51,-146.0,738.3,-8.5,539,5487,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1146,3497,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5521,-0.51,-146.0,741.5,-8.2,541,5525,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2637,3497,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5844,-0.51,-146.0,766.0,-7.5,557,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2637,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6144,-0.51,-146.0,787.5,-7.1,572,6149,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1152,3493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6176,-0.51,-146.0,788.9,-7.1,573,6183,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3493,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6484,-0.51,-146.0,811.1,-6.8,589,6490,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1156,3490,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6516,-0.51,-146.0,812.6,-6.8,590,6523,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2629,3490,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6824,-0.51,-146.0,835.7,-7.5,606,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7124,-0.51,-146.0,858.0,-7.4,621,7130,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1151,3486,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7163,-0.51,-146.0,860.9,-7.3,623,7169,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3486,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7484,-0.51,-146.0,882.7,-6.7,639,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,-0.51,-146.0,902.9,-6.9,654,7789,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1151,3484,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7824,-0.51,-146.0,905.8,-7.1,656,7829,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2625,3483,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8144,-0.51,-146.0,930.0,-7.9,672,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2625,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,-0.51,-146.0,952.2,-7.3,687,8450,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1147,3481,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8472,-0.51,-146.0,953.7,-7.2,688,8476,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3481,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8779,-0.51,-146.0,974.7,-6.6,703,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3480,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9042,-0.17,0.0,991.0,-6.3,716,9169,0.32,0.12,120.30,1.733,6,0.106,0.096,2461,2535,2929,0,0,0,0,0,0,26.01,24.54,23.25
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9171,begin climb
$GC,9173,0.51,146.0,994.1,0.0,722,9321,0.60,2.47,140.48,1.690,4,0.048,0.031,2711,1057,2332,0,0,0,0,0,0,24.82,23.91,22.49
$GC,9354,0.51,146.0,983.9,11.4,732,9361,0.15,2.42,0.00,0.000,6,0.173,0.047,2675,2513,2327,0,0,0,0,0,0,24.36,24.56,28.83
$GC,9674,0.51,146.0,944.0,12.0,748,9680,0.00,1.95,0.00,0.000,4,0.000,0.057,2675,3764,2322,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9736,0.51,146.0,935.8,13.1,751,9741,0.05,1.92,0.00,0.000,6,0.263,0.025,2675,2448,2321,0,0,0,0,0,0,25.92,26.12,28.83
$GC,10054,0.51,146.0,899.7,11.3,767,10060,0.00,2.08,0.00,0.000,4,0.000,0.054,2674,3770,2318,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10096,0.51,146.0,894.6,11.9,769,10100,0.00,1.92,0.00,0.000,6,0.000,0.026,2684,2448,2318,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10414,0.51,146.0,855.1,13.0,785,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2444,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10717,0.51,146.0,814.4,13.6,800,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2444,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11013,0.51,146.0,775.3,12.7,815,11015,0.05,0.00,0.00,0.000,6,0.249,0.000,2673,2444,2315,0,0,0,0,0,0,26.47,28.83,28.83
$GC,11314,0.51,146.0,744.6,9.8,830,11318,0.00,2.10,0.00,0.000,4,0.000,0.055,2673,3791,2314,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11384,0.51,146.0,737.1,11.6,833,11387,0.00,1.95,0.00,0.000,6,0.000,0.025,2682,2439,2314,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11697,0.51,146.0,700.0,11.7,849,11702,0.00,2.08,0.00,0.000,4,0.000,0.054,2682,3767,2314,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11729,0.51,146.0,697.4,11.9,850,11736,0.10,1.90,0.00,0.000,6,0.205,0.023,2669,2439,2313,0,0,0,0,0,0,26.06,26.45,28.83
$GC,12036,0.51,146.0,660.1,11.9,866,12041,0.00,2.00,0.00,0.000,4,0.000,0.029,2679,1044,2313,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12105,0.51,146.0,653.2,11.7,869,12109,0.00,2.28,0.00,0.000,6,0.000,0.044,2679,2526,2312,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12411,0.51,146.0,618.4,10.4,884,12417,0.00,1.90,0.00,0.000,4,0.000,0.054,2679,3764,2312,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12434,0.51,146.0,616.2,10.6,885,12438,0.05,1.92,0.00,0.000,6,0.180,0.022,2672,2442,2312,0,0,0,0,0,0,26.14,26.46,28.83
$GC,12744,0.51,146.0,588.0,9.2,907,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2438,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13054,0.51,146.0,558.5,9.9,938,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2438,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13364,0.51,146.0,529.9,9.1,969,13372,0.00,2.05,0.00,0.000,4,0.000,0.052,2672,3763,2312,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,19518,end climb,SURFACE_DEPTH_REACHED
$STATE,19518,begin surface coast
$FINISH,0.6,1.021639
$STATE,19545,end surface coast,CONTROL_FINISHED_OK
$STATE,19545,begin surface
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$IRIDIUM_FIX,1756.43,12348.95,290412,030318
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.00
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.1,30.626
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.550,165.325,421.825,0.000,0.000,28.960,43.673,261.475,0.000,0.000,17.698,4449.598,11083.286,606.622,3485.540,451.578,0.000,2195.076,0.000,2924.005,0.000,0.543,0.000
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$SENSOR_SECS,1203.424,2336.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,130449,1769
$CAP_FILE_SIZE,200985,0
$CFSIZE,260165632,199708672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,  1.0,1
$GPS,290412,145025,1803.151,12343.082,38,1.3,38,-2.0