version: 66.10
glider: 176
mission: 5
dive: 320
start: 5 17 112 8 19 19
data:
$ID,176
$MISSION,5
$DIVE,320
$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,400
$T_MISSION,430
$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,175
$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,-7943.4541
$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,2600
$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
$GPS1,170512,081124,1944.953,12320.198,27,1.2,44,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.8
$GPS2,170512,081850,1944.952,12320.079,10,1.7,10,-2.4
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,68.2,118054,-13.2,-8.250
$D_GRID,5052
$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,-0.54,-170.3,0.0,0.0,0,71,0.00,0.00,-51.42,0.000,2,0.000,0.000,187,2658,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.54,-170.3,3.2,-7.1,9,119,8.68,1.67,-27.38,0.000,4,0.233,0.060,2333,3779,3625,0,0,0,0,0,0,25.21,26.16,26.70
$GC,206,-0.54,-170.3,39.8,-27.1,30,213,0.00,1.73,0.00,0.000,6,0.000,0.023,2333,2534,3625,0,0,0,0,0,0,28.83,26.44,28.83
$GC,516,-0.54,-170.3,137.3,-25.8,91,524,0.03,1.95,0.00,0.000,4,0.317,0.021,2342,1120,3625,0,0,0,0,0,0,26.58,26.52,28.83
$GC,628,-0.54,-170.3,157.4,-15.0,112,635,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2617,3626,0,0,0,0,0,0,28.83,26.33,28.83
$GC,939,-0.54,-170.3,222.1,-21.8,163,948,0.00,2.10,0.00,0.000,4,0.000,0.023,2335,1129,3625,0,0,0,0,0,0,28.83,26.52,28.83
$GC,982,-0.54,-170.3,229.8,-18.6,167,991,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2623,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1291,-0.54,-170.3,289.1,-19.5,198,1300,0.03,2.10,0.00,0.000,4,0.309,0.021,2344,1133,3625,0,0,0,0,0,0,26.63,26.53,28.83
$GC,1326,-0.54,-170.3,294.6,-17.8,201,1333,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2617,3625,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1635,-0.54,-170.3,337.9,-13.0,232,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2617,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.54,-170.3,378.6,-12.6,262,1944,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1138,3622,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1997,-0.54,-170.3,385.7,-10.2,268,2006,0.00,2.20,0.00,0.000,6,0.000,0.043,2345,2618,3622,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2308,-0.54,-170.3,418.1,-10.3,299,2312,0.00,1.75,0.00,0.000,4,0.000,0.054,2345,3764,3620,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2351,-0.54,-170.3,422.3,-9.9,303,2360,0.00,1.73,0.00,0.000,6,0.000,0.021,2345,2488,3620,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2659,-0.54,-170.3,455.2,-10.4,334,2663,0.00,1.95,0.00,0.000,4,0.000,0.054,2344,3767,3618,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2706,-0.54,-170.3,459.8,-10.1,338,2710,0.00,1.73,0.00,0.000,6,0.000,0.022,2344,2495,3617,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3017,-0.54,-170.3,486.9,-7.9,369,3027,0.00,2.00,-0.10,0.000,4,0.000,0.065,2335,3766,3639,0,0,0,0,0,0,28.83,26.22,26.07
$GC,3053,-0.54,-170.3,489.5,-8.1,372,3060,0.00,1.73,0.00,0.000,6,0.000,0.023,2335,2470,3638,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3360,-0.54,-170.3,514.9,-8.5,403,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2469,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,-0.54,-170.3,544.0,-10.2,433,3670,0.00,1.95,0.00,0.000,4,0.000,0.055,2333,3759,3634,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3725,-0.54,-170.3,550.2,-9.6,439,3733,0.00,1.73,0.00,0.000,6,0.000,0.022,2333,2471,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4032,-0.54,-170.3,579.5,-8.8,470,4034,0.03,0.00,0.00,0.000,6,0.285,0.000,2347,2470,3631,0,0,0,0,0,0,26.63,28.83,28.83
$GC,4344,-0.54,-170.3,603.6,-7.9,499,4348,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3765,3628,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4427,-0.54,-170.3,610.3,-8.2,503,4430,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2471,3627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4748,-0.54,-170.3,639.5,-9.3,519,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2468,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5048,-0.54,-170.3,665.8,-8.5,534,5053,0.00,2.03,0.00,0.000,4,0.000,0.055,2343,3768,3622,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5109,-0.54,-170.3,670.4,-7.9,537,5113,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2470,3621,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5430,-0.54,-170.3,693.5,-6.6,553,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2468,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,-0.54,-170.3,714.6,-7.2,568,5737,0.00,2.00,0.00,0.000,4,0.000,0.055,2343,3761,3616,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5813,-0.54,-170.3,720.3,-7.2,572,5817,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2471,3615,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6132,-0.54,-170.3,744.1,-7.4,588,6137,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3756,3614,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6192,-0.54,-170.3,748.6,-7.6,591,6196,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2498,3613,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6514,-0.54,-170.3,770.8,-6.5,607,6519,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3768,3611,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6543,-0.54,-170.3,772.2,-6.5,608,6546,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2500,3611,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6856,-0.54,-170.3,791.5,-6.1,624,6861,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3758,3609,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6907,-0.54,-170.3,794.0,-6.2,626,6914,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2447,3608,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7215,-0.54,-170.3,812.7,-5.7,642,7219,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3770,3606,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7261,-0.54,-170.3,815.5,-6.0,644,7264,0.00,1.77,0.00,0.000,6,0.000,0.024,2343,2469,3606,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7580,-0.54,-170.3,837.3,-7.3,660,7586,0.00,2.00,0.00,0.000,4,0.000,0.057,2343,3755,3604,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7639,-0.54,-170.3,841.8,-7.5,663,7642,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2495,3604,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7960,-0.54,-170.3,867.0,-8.1,679,7966,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3772,3603,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8009,-0.54,-170.3,870.2,-7.8,681,8012,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2502,3602,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8320,-0.54,-170.3,894.4,-7.0,697,8324,0.00,2.08,0.00,0.000,4,0.000,0.057,2343,3771,3601,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8354,-0.54,-170.3,896.0,-7.0,698,8361,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2448,3600,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8662,-0.54,-170.3,915.2,-5.6,714,8667,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3768,3599,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8716,-0.54,-170.3,917.4,-5.4,716,8723,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2446,3598,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9023,-0.54,-170.3,933.6,-4.8,732,9027,0.00,2.08,0.00,0.000,4,0.000,0.057,2343,3772,3598,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9058,-0.54,-170.3,934.8,-4.8,733,9064,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2448,3597,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9365,-0.54,-170.3,949.0,-4.5,749,9370,0.00,2.08,0.00,0.000,4,0.000,0.057,2343,3767,3596,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9420,-0.54,-170.3,950.9,-4.5,751,9428,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2448,3596,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9725,-0.54,-170.3,968.8,-6.0,767,9731,0.00,1.85,0.00,0.000,4,0.000,0.027,2344,1133,3596,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9769,-0.54,-170.3,971.4,-6.4,769,9775,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2616,3595,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,10042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10043,begin apogee
$GC,10049,-0.17,0.0,990.5,-7.2,783,10207,0.32,0.12,149.45,1.725,6,0.079,0.094,2475,2538,2929,0,0,0,0,0,0,26.18,24.19,22.54
$STATE,10208,end apogee,CONTROL_FINISHED_OK
$STATE,10208,begin climb
$GC,10211,0.54,170.3,999.8,0.0,791,10387,0.60,2.17,165.68,1.681,4,0.047,0.056,2714,3765,2233,0,0,0,0,0,0,24.58,23.77,22.12
$GC,10605,0.54,170.3,955.9,17.7,810,10612,0.17,1.92,0.00,0.000,6,0.190,0.024,2680,2449,2226,0,0,0,0,0,0,25.58,26.03,28.83
$GC,10911,0.54,170.3,916.8,11.6,826,10917,0.00,2.05,0.00,0.000,4,0.000,0.056,2679,3764,2221,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10974,0.54,170.3,908.7,13.2,829,10978,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2451,2221,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11286,0.54,170.3,868.9,12.9,845,11291,0.00,2.03,0.00,0.000,4,0.000,0.031,2699,1045,2219,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11308,0.54,170.3,866.6,12.6,846,11313,0.08,2.28,0.00,0.000,6,0.190,0.047,2683,2518,2218,0,0,0,0,0,0,26.06,26.19,28.83
$GC,11622,0.54,170.3,828.5,12.0,862,11626,0.00,1.90,0.00,0.000,4,0.000,0.056,2683,3763,2217,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11671,0.54,170.3,822.8,12.8,864,11675,0.00,1.90,0.00,0.000,6,0.000,0.025,2692,2452,2217,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11984,0.54,170.3,782.3,12.7,880,11988,0.00,2.05,0.00,0.000,4,0.000,0.031,2700,1044,2216,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12014,0.54,170.3,779.6,12.5,881,12018,0.08,2.28,0.00,0.000,6,0.194,0.046,2684,2518,2215,0,0,0,0,0,0,26.05,26.19,28.83
$GC,12321,0.54,170.3,742.4,11.5,896,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2518,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12622,0.54,170.3,709.3,11.0,911,12627,0.00,1.90,0.00,0.000,4,0.000,0.055,2683,3767,2215,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,19964,end climb,SURFACE_DEPTH_REACHED
$STATE,19964,begin surface coast
$FINISH,0.7,1.004306
$STATE,19991,end surface coast,CONTROL_FINISHED_OK
$STATE,19992,begin surface
$SM_CCo,20068,0.00,0.000,0,0,734,538.43
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.1,66.788
$10V_AH,9.9,40.908
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.050,175.025,512.175,0.000,0.000,27.030,19.486,248.600,0.000,0.000,13.460,4537.188,11187.563,669.026,3667.494,419.984,0.000,2388.559,0.000,3100.075,0.000,0.543,0.000
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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,329824
$DATA_FILE_SIZE,133869,1802
$CAP_FILE_SIZE,212597,0
$CFSIZE,260165632,190963712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,247.4,1
$GPS,170512,135502,1945.725,12322.076,44,0.9,44,-2.4