version: 66.10
glider: 176
mission: 5
dive: 256
start: 5 4 112 10 53 52
data:
$ID,176
$MISSION,5
$DIVE,256
$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,-5
$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,-7769.6719
$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,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2450
$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
$GPS1,040512,104537,1824.651,12241.413,39,0.9,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-79.0
$GPS2,040512,105326,1824.901,12241.320,15,0.9,15,-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,244.1,45477,-13.1,-7.500
$D_GRID,3808
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.50,0.000,2,0.000,0.000,196,2547,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.6,-8.0,7,101,8.65,1.62,-22.75,0.000,4,0.234,0.064,2344,3591,3529,0,0,0,0,0,0,25.32,26.10,26.58
$GC,259,-0.51,-146.0,72.2,-32.0,41,265,0.00,1.60,0.00,0.000,6,0.000,0.023,2344,2417,3529,0,0,0,0,0,0,28.83,26.44,28.83
$GC,586,-0.51,-146.0,169.9,-22.6,102,594,0.00,1.40,0.00,0.000,4,0.000,0.025,2344,1393,3529,0,0,0,0,0,0,28.83,26.49,28.83
$GC,652,-0.51,-146.0,182.0,-15.3,114,660,0.10,1.70,0.00,0.000,6,0.174,0.045,2361,2541,3530,0,0,0,0,0,0,26.14,26.34,28.83
$GC,964,-0.51,-146.0,229.3,-13.7,154,968,0.08,1.62,0.00,0.000,4,0.132,0.022,2304,1389,3530,0,0,0,0,0,0,26.64,26.53,28.83
$GC,1009,-0.51,-146.0,236.1,-16.1,158,1017,0.20,1.70,0.00,0.000,6,0.148,0.046,2361,2531,3530,0,0,0,0,0,0,26.05,26.37,28.83
$GC,1316,-0.51,-146.0,280.1,-13.1,189,1320,0.05,1.58,0.00,0.000,4,0.174,0.021,2304,1394,3529,0,0,0,0,0,0,26.68,26.54,28.83
$GC,1348,-0.51,-146.0,284.8,-14.7,192,1357,0.17,1.70,0.00,0.000,6,0.144,0.047,2358,2531,3529,0,0,0,0,0,0,26.10,26.36,28.83
$GC,1657,-0.51,-146.0,321.4,-10.1,223,1661,0.00,1.58,0.00,0.000,4,0.000,0.024,2358,1394,3528,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1722,-0.51,-146.0,326.7,-7.9,229,1729,0.00,1.70,0.00,0.000,6,0.000,0.046,2357,2536,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2030,-0.51,-146.0,351.5,-8.9,260,2033,0.00,1.58,0.00,0.000,4,0.000,0.051,2349,3588,3526,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2063,-0.51,-146.0,354.8,-9.7,263,2066,0.00,1.58,0.00,0.000,6,0.000,0.022,2349,2417,3525,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2374,-0.51,-146.0,389.4,-11.7,294,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2413,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-0.51,-146.0,421.4,-10.1,324,2679,0.00,1.83,0.00,0.000,4,0.000,0.053,2348,3586,3520,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2729,-0.51,-146.0,427.1,-10.7,329,2737,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2414,3519,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3037,-0.51,-146.0,459.1,-10.5,360,3041,0.00,1.80,0.00,0.000,4,0.000,0.054,2348,3583,3516,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3069,-0.51,-146.0,462.5,-10.8,363,3072,0.00,1.60,0.00,0.000,6,0.000,0.023,2348,2409,3516,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3379,-0.51,-146.0,493.8,-9.9,394,3384,0.00,1.85,-0.10,0.000,4,0.000,0.067,2348,3586,3538,0,0,0,0,0,0,28.83,26.20,26.06
$GC,3480,-0.51,-146.0,502.6,-8.6,403,3487,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2383,3537,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3788,-0.51,-146.0,530.5,-9.2,434,3798,0.00,1.88,0.00,0.000,4,0.000,0.054,2348,3589,3533,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3884,-0.51,-146.0,538.6,-8.3,443,3890,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2388,3532,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4192,-0.51,-146.0,563.1,-7.2,474,4195,0.00,1.85,0.00,0.000,4,0.000,0.054,2347,3580,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4275,-0.51,-146.0,569.4,-7.8,482,4283,0.00,1.62,0.00,0.000,6,0.000,0.022,2347,2401,3529,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4584,-0.51,-146.0,594.4,-7.5,513,4587,0.00,1.85,0.00,0.000,4,0.000,0.054,2347,3589,3527,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4687,-0.51,-146.0,602.2,-7.6,522,4691,0.00,1.62,0.00,0.000,6,0.000,0.023,2347,2405,3526,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5005,-0.51,-146.0,626.1,-7.4,538,5008,0.00,1.85,0.00,0.000,4,0.000,0.055,2344,3585,3524,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5151,-0.51,-146.0,637.9,-8.4,545,5154,0.00,1.60,0.00,0.000,6,0.000,0.024,2345,2406,3522,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5468,-0.51,-146.0,664.0,-8.2,561,5471,0.00,1.85,0.00,0.000,4,0.000,0.056,2344,3585,3520,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5569,-0.51,-146.0,672.9,-8.9,566,5573,0.00,1.62,0.00,0.000,6,0.000,0.024,2344,2405,3519,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5890,-0.51,-146.0,703.4,-9.4,582,5893,0.00,1.85,0.00,0.000,4,0.000,0.056,2344,3582,3517,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5919,-0.51,-146.0,705.4,-9.5,583,5922,0.00,1.62,0.00,0.000,6,0.000,0.024,2344,2411,3516,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6232,-0.51,-146.0,732.6,-7.7,599,6235,0.00,1.85,0.00,0.000,4,0.000,0.057,2344,3579,3516,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6281,-0.51,-146.0,735.8,-7.7,601,6284,0.00,1.62,0.00,0.000,6,0.000,0.024,2344,2410,3514,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6594,-0.51,-146.0,757.5,-7.0,617,6597,0.00,1.85,0.00,0.000,4,0.000,0.056,2344,3584,3513,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6704,-0.51,-146.0,765.7,-8.1,622,6708,0.00,1.60,0.00,0.000,6,0.000,0.024,2344,2409,3512,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7015,-0.51,-146.0,791.2,-7.4,638,7019,0.00,1.85,0.00,0.000,4,0.000,0.057,2343,3584,3511,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7098,-0.51,-146.0,797.0,-7.1,642,7102,0.00,1.60,0.00,0.000,6,0.000,0.024,2343,2403,3510,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7419,-0.51,-146.0,819.5,-7.0,658,7423,0.00,1.85,0.00,0.000,4,0.000,0.057,2343,3578,3509,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7484,-0.51,-146.0,823.9,-7.3,661,7488,0.00,1.60,0.00,0.000,6,0.000,0.024,2344,2405,3508,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7800,-0.51,-146.0,849.1,-8.6,677,7803,0.00,1.85,0.00,0.000,4,0.000,0.057,2343,3578,3507,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7894,-0.51,-146.0,856.2,-8.8,681,7901,0.00,1.65,0.00,0.000,6,0.000,0.024,2343,2400,3506,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8202,-0.51,-146.0,883.2,-8.1,697,8205,0.00,1.85,0.00,0.000,4,0.000,0.057,2343,3578,3505,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8250,-0.51,-146.0,886.7,-8.0,699,8254,0.00,1.65,0.00,0.000,6,0.000,0.024,2343,2407,3505,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8565,-0.51,-146.0,908.0,-5.9,715,8568,0.00,1.88,0.00,0.000,4,0.000,0.058,2343,3582,3504,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8613,-0.51,-146.0,910.5,-6.0,717,8617,0.00,1.62,0.00,0.000,6,0.000,0.024,2343,2402,3504,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8926,-0.51,-146.0,929.4,-6.1,733,8931,0.00,1.88,0.00,0.000,4,0.000,0.058,2344,3586,3503,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9029,-0.51,-146.0,935.7,-6.4,738,9032,0.00,1.62,0.00,0.000,6,0.000,0.024,2343,2401,3502,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9346,-0.51,-146.0,954.2,-5.3,754,9351,0.00,1.88,0.00,0.000,4,0.000,0.058,2343,3584,3502,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9421,-0.51,-146.0,957.5,-5.4,757,9428,0.00,1.62,0.00,0.000,6,0.000,0.024,2343,2396,3501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9726,-0.51,-146.0,975.9,-6.0,773,9729,0.00,1.88,0.00,0.000,4,0.000,0.058,2343,3578,3500,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9807,-0.51,-146.0,981.4,-6.8,777,9810,0.00,1.60,0.00,0.000,6,0.000,0.025,2343,2416,3500,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,9946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9946,begin apogee
$GC,9952,-0.17,0.0,990.8,-6.7,784,10090,0.35,0.08,126.78,1.737,6,0.105,0.096,2469,2394,2927,0,0,0,0,0,0,25.94,24.31,22.92
$STATE,10091,end apogee,CONTROL_FINISHED_OK
$STATE,10091,begin climb
$GC,10094,0.51,146.0,996.5,0.0,791,10248,0.62,2.03,142.32,1.693,4,0.050,0.054,2706,3521,2332,0,0,0,0,0,0,24.67,23.72,22.26
$GC,10319,0.51,146.0,981.3,15.0,802,10324,0.17,1.73,0.00,0.000,6,0.188,0.024,2673,2396,2327,0,0,0,0,0,0,24.64,25.08,28.83
$GC,10632,0.51,146.0,941.7,12.1,818,10636,0.00,1.77,0.00,0.000,4,0.000,0.054,2673,3527,2320,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10727,0.51,146.0,930.1,14.3,822,10734,0.00,1.67,0.00,0.000,6,0.000,0.024,2681,2402,2319,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11035,0.51,146.0,890.1,12.2,838,11038,0.00,1.75,0.00,0.000,4,0.000,0.054,2681,3531,2318,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11148,0.51,146.0,876.0,14.1,843,11156,0.05,1.67,0.00,0.000,6,0.190,0.024,2674,2390,2317,0,0,0,0,0,0,26.01,26.33,28.83
$GC,11456,0.51,146.0,841.3,10.3,859,11460,0.00,1.75,0.00,0.000,4,0.000,0.054,2674,3519,2315,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11537,0.51,146.0,831.6,12.1,863,11541,0.00,1.62,0.00,0.000,6,0.000,0.024,2682,2403,2315,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11858,0.51,146.0,798.0,10.0,879,11861,0.00,1.52,0.00,0.000,4,0.000,0.031,2689,1342,2314,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11893,0.51,146.0,796.0,10.0,880,11902,0.08,1.73,0.00,0.000,6,0.192,0.046,2673,2475,2314,0,0,0,0,0,0,26.05,26.19,28.83
$GC,12199,0.51,146.0,764.2,10.3,896,12202,0.00,1.60,0.00,0.000,4,0.000,0.053,2673,3520,2313,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12253,0.51,146.0,759.5,10.8,898,12260,0.00,1.62,0.00,0.000,6,0.000,0.024,2681,2377,2313,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,20900,end climb,SURFACE_DEPTH_REACHED
$STATE,20900,begin surface coast
$FINISH,0.7,1.013925
$STATE,20921,end surface coast,CONTROL_FINISHED_OK
$STATE,20921,begin surface
$SM_CCo,20996,0.00,0.000,0,0,708,544.81
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$IRIDIUM_FIX,1816.86,12245.34,040512,040427
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.23
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,26.00
$XPDR_PINGS,1
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$10V_AH,10.0,33.468
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.225,159.475,486.625,0.000,0.000,27.544,40.068,245.433,0.250,0.000,17.732,4832.232,11513.823,588.141,4044.218,449.959,0.000,2392.644,0.000,3387.926,0.000,0.543,0.000
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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,323652
$DATA_FILE_SIZE,140442,1884
$CAP_FILE_SIZE,227532,0
$CFSIZE,260165632,197312512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,335.2,1
$GPS,040512,164455,1826.179,12237.867,38,2.0,38,-2.0