version: 66.10
glider: 176
mission: 5
dive: 246
start: 5 1 112 23 59 4
data:
$ID,176
$MISSION,5
$DIVE,246
$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,-7756.8159
$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,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
$GPS1,010512,235037,1812.557,12314.056,33,1.1,33,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.3
$GPS2,010512,235838,1812.632,12314.101,10,1.2,10,-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,276.5,107211,-13.1,-7.500
$D_GRID,3780
$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,17,-0.51,-146.0,0.0,0.0,0,71,0.00,0.00,-51.65,0.000,2,0.000,0.000,191,2708,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.51,-146.0,3.3,-6.8,9,117,8.80,2.28,-24.77,0.000,4,0.236,0.038,2354,1138,3527,0,0,0,0,0,0,25.36,26.25,26.60
$GC,220,-0.51,-146.0,40.2,-22.1,30,227,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2628,3528,0,0,0,0,0,0,28.83,26.20,28.83
$GC,533,-0.51,-146.0,139.7,-29.8,91,541,0.00,1.70,0.00,0.000,4,0.000,0.050,2340,3769,3527,0,0,0,0,0,0,28.83,26.28,28.83
$GC,568,-0.51,-146.0,148.8,-25.5,94,575,0.08,1.70,0.00,0.000,6,0.200,0.022,2356,2520,3527,0,0,0,0,0,0,26.29,26.55,28.83
$GC,878,-0.51,-146.0,212.3,-19.7,149,881,0.00,1.92,0.00,0.000,4,0.000,0.028,2358,1152,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,985,-0.51,-146.0,228.6,-13.4,159,995,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2636,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1295,-0.51,-146.0,279.5,-15.6,190,1303,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1146,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1336,-0.51,-146.0,285.3,-14.0,194,1345,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2632,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1646,-0.51,-146.0,330.1,-13.6,225,1655,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1148,3526,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1760,-0.51,-146.0,342.9,-10.9,236,1768,0.10,2.22,0.00,0.000,6,0.163,0.043,2363,2633,3526,0,0,0,0,0,0,26.23,26.39,28.83
$GC,2067,-0.51,-146.0,377.5,-10.7,267,2078,0.08,2.10,0.00,0.000,4,0.130,0.023,2302,1141,3524,0,0,0,0,0,0,26.68,26.53,28.83
$GC,2124,-0.51,-146.0,384.7,-14.2,272,2131,0.22,2.25,0.00,0.000,6,0.130,0.043,2364,2639,3523,0,0,0,0,0,0,26.13,26.39,28.83
$GC,2430,-0.51,-146.0,413.3,-8.9,303,2441,0.08,2.12,0.00,0.000,4,0.131,0.022,2302,1142,3521,0,0,0,0,0,0,26.67,26.54,28.83
$GC,2477,-0.51,-146.0,418.2,-11.8,307,2486,0.22,2.22,0.00,0.000,6,0.131,0.042,2363,2629,3521,0,0,0,0,0,0,26.11,26.38,28.83
$GC,2783,-0.51,-146.0,447.0,-8.8,338,2788,0.08,2.12,0.00,0.000,4,0.129,0.024,2302,1138,3519,0,0,0,0,0,0,26.67,26.53,28.83
$GC,2859,-0.51,-146.0,455.5,-12.3,345,2866,0.20,2.25,0.00,0.000,6,0.135,0.042,2356,2634,3518,0,0,0,0,0,0,26.11,26.36,28.83
$GC,3167,-0.51,-146.0,485.6,-9.7,376,3169,0.00,0.00,-0.08,0.000,6,0.000,0.000,2356,2634,3539,0,0,0,0,0,0,28.83,28.83,25.48
$GC,3467,-0.51,-146.0,515.8,-10.3,406,3476,0.00,2.10,0.00,0.000,4,0.000,0.024,2356,1144,3537,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3511,-0.51,-146.0,520.0,-9.7,410,3518,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2629,3537,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3819,-0.51,-146.0,548.4,-8.8,441,3828,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1145,3534,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3881,-0.51,-146.0,553.7,-7.9,447,3891,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2628,3534,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4191,-0.51,-146.0,579.5,-8.4,478,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-0.51,-146.0,606.3,-9.1,506,4506,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1148,3529,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4550,-0.51,-146.0,609.9,-9.0,508,4554,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2629,3529,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4862,-0.51,-146.0,638.6,-8.7,524,4865,0.00,1.73,0.00,0.000,4,0.000,0.057,2356,3774,3526,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4885,-0.51,-146.0,640.4,-8.6,525,4889,0.00,1.73,0.00,0.000,6,0.000,0.023,2356,2495,3525,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5204,-0.51,-146.0,663.5,-6.6,541,5209,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3778,3522,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5231,-0.51,-146.0,664.8,-6.5,542,5234,0.00,1.73,0.00,0.000,6,0.000,0.023,2356,2509,3522,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5544,-0.51,-146.0,686.3,-7.1,558,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2476,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5842,-0.51,-146.0,709.3,-7.7,573,5846,0.00,1.90,0.00,0.000,4,0.000,0.027,2357,1146,3518,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5861,-0.51,-146.0,710.6,-7.8,574,5865,0.00,2.28,0.00,0.000,6,0.000,0.045,2356,2631,3518,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6175,-0.51,-146.0,735.5,-7.6,590,6180,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1153,3515,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6222,-0.51,-146.0,738.6,-7.6,592,6226,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2632,3515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6530,-0.51,-146.0,761.5,-7.1,607,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2632,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6830,-0.51,-146.0,782.9,-7.1,622,6835,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1157,3511,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6862,-0.51,-146.0,784.4,-7.1,623,6870,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2627,3511,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7169,-0.51,-146.0,807.5,-7.2,639,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7470,-0.51,-146.0,828.0,-6.7,654,7476,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1153,3507,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7502,-0.51,-146.0,829.3,-6.8,655,7510,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2631,3507,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7809,-0.51,-146.0,848.3,-5.5,671,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2632,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,-0.51,-146.0,863.8,-5.2,686,8114,0.00,2.15,0.00,0.000,4,0.000,0.027,2356,1147,3504,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8145,-0.51,-146.0,865.1,-5.2,687,8153,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2626,3504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8453,-0.51,-146.0,881.9,-5.1,703,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,-0.51,-146.0,898.5,-5.8,718,8758,0.00,2.15,0.00,0.000,4,0.000,0.027,2356,1149,3502,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8774,-0.51,-146.0,899.7,-5.9,719,8778,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2630,3502,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9093,-0.51,-146.0,919.5,-6.4,735,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2630,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9392,-0.51,-146.0,938.2,-6.2,750,9397,0.00,2.15,0.00,0.000,4,0.000,0.027,2356,1150,3500,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9415,-0.51,-146.0,939.5,-6.1,751,9419,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2626,3500,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9728,-0.51,-146.0,958.6,-6.1,767,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10027,-0.51,-146.0,976.9,-6.0,782,10032,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1148,3497,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10055,-0.51,-146.0,978.1,-6.0,783,10059,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2633,3497,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,10260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10260,begin apogee
$GC,10266,-0.17,0.0,990.6,-5.8,793,10398,0.30,0.15,125.70,1.737,6,0.102,0.084,2466,2534,2928,0,0,0,0,0,0,26.05,24.44,23.06
$STATE,10399,end apogee,CONTROL_FINISHED_OK
$STATE,10399,begin climb
$GC,10402,0.51,146.0,995.3,0.0,799,10552,0.60,2.42,141.85,1.690,4,0.052,0.031,2710,1058,2332,0,0,0,0,0,0,24.68,23.84,22.37
$GC,10592,0.51,146.0,987.9,9.3,807,10597,0.15,2.42,0.00,0.000,6,0.174,0.047,2675,2515,2325,0,0,0,0,0,0,24.38,24.60,28.83
$GC,10907,0.51,146.0,947.7,12.1,823,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2515,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11205,0.51,146.0,912.1,12.1,838,11210,0.00,1.95,0.00,0.000,4,0.000,0.057,2674,3772,2318,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11226,0.51,146.0,909.4,12.5,839,11231,0.00,1.95,0.00,0.000,6,0.000,0.024,2684,2444,2317,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11545,0.51,146.0,868.8,12.8,855,11550,0.00,2.08,0.00,0.000,4,0.000,0.054,2683,3772,2316,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11598,0.51,146.0,863.1,13.5,857,11605,0.10,1.92,0.00,0.000,6,0.213,0.026,2671,2450,2315,0,0,0,0,0,0,25.96,26.32,28.83
$GC,11906,0.51,146.0,824.7,11.5,873,11912,0.00,2.05,0.00,0.000,4,0.000,0.032,2681,1048,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11965,0.51,146.0,818.5,10.5,876,11971,0.00,2.28,0.00,0.000,6,0.000,0.045,2681,2520,2313,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12286,0.51,146.0,784.0,10.3,892,12290,0.00,1.92,0.00,0.000,4,0.000,0.055,2680,3784,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12347,0.51,146.0,776.3,12.0,895,12353,0.10,1.92,0.00,0.000,6,0.212,0.024,2669,2452,2313,0,0,0,0,0,0,26.01,26.40,28.83
$GC,12667,0.51,146.0,745.5,9.1,911,12673,0.00,2.05,0.00,0.000,4,0.000,0.054,2668,3767,2312,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,20876,end climb,SURFACE_DEPTH_REACHED
$STATE,20876,begin surface coast
$FINISH,0.6,1.012137
$STATE,20942,end surface coast,CONTROL_FINISHED_OK
$STATE,20942,begin surface
$SM_CCo,21019,0.00,0.000,0,0,876,503.60
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$IRIDIUM_FIX,1803.24,12315.60,010512,171751
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.82
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,22.4,50.202
$10V_AH,10.0,32.088
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.800,181.900,471.225,0.000,0.000,28.232,46.300,248.919,0.000,0.000,13.238,4646.934,11954.537,649.478,3754.416,456.823,0.000,2362.882,0.000,3087.002,0.000,0.543,0.000
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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,329416
$DATA_FILE_SIZE,137143,1846
$CAP_FILE_SIZE,217798,0
$CFSIZE,260165632,198467584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,330.5,1
$GPS,020512,055031,1813.661,12310.900,39,1.2,39,-2.0