version: 66.10
glider: 176
mission: 5
dive: 321
start: 5 17 112 14 3 12
data:
$ID,176
$MISSION,5
$DIVE,321
$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,-7944.7134
$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
$GPS1,170512,135502,1945.725,12322.076,44,0.9,44,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.9
$GPS2,170512,140244,1945.708,12321.998,11,1.4,11,-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,64.6,114454,-13.2,-8.250
$D_GRID,5074
$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,-0.54,-170.3,0.0,0.0,0,75,0.00,0.00,-56.35,0.000,2,0.000,0.000,188,2661,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.54,-170.3,3.1,-6.6,10,124,8.65,1.73,-28.52,0.000,4,0.232,0.063,2335,3776,3626,0,0,0,0,0,0,25.22,26.17,26.69
$GC,252,-0.54,-170.3,47.8,-26.7,39,259,0.00,1.73,0.00,0.000,6,0.000,0.023,2334,2523,3626,0,0,0,0,0,0,28.83,26.47,28.83
$GC,579,-0.54,-170.3,147.7,-28.6,100,587,0.00,1.95,0.00,0.000,4,0.000,0.027,2337,1122,3626,0,0,0,0,0,0,28.83,26.49,28.83
$GC,733,-0.54,-170.3,176.8,-16.1,129,740,0.00,2.28,0.00,0.000,6,0.000,0.046,2335,2626,3626,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1065,-0.54,-170.3,244.8,-18.2,169,1074,0.00,2.08,0.00,0.000,4,0.000,0.025,2336,1138,3626,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1107,-0.54,-170.3,252.0,-16.8,173,1116,0.00,2.22,0.00,0.000,6,0.000,0.046,2334,2627,3626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1419,-0.54,-170.3,303.5,-17.2,204,1428,0.00,2.08,0.00,0.000,4,0.000,0.024,2336,1143,3625,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1490,-0.54,-170.3,313.3,-11.5,211,1500,0.05,2.20,0.00,0.000,6,0.221,0.044,2348,2620,3625,0,0,0,0,0,0,26.25,26.34,28.83
$GC,1800,-0.54,-170.3,352.5,-12.5,242,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2621,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,-0.54,-170.3,388.7,-10.8,272,2114,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1135,3621,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2179,-0.54,-170.3,396.2,-9.0,279,2186,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2619,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2486,-0.54,-170.3,429.0,-10.9,310,2490,0.00,1.77,0.00,0.000,4,0.000,0.055,2347,3770,3619,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2537,-0.54,-170.3,434.3,-10.4,315,2541,0.00,1.73,0.00,0.000,6,0.000,0.021,2347,2497,3619,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2848,-0.54,-170.3,468.2,-10.2,346,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2463,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3149,-0.54,-170.3,498.2,-10.1,376,3159,0.00,2.03,-0.10,0.000,4,0.000,0.067,2343,3767,3638,0,0,0,0,0,0,28.83,26.20,26.07
$GC,3225,-0.54,-170.3,505.5,-9.5,383,3232,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2490,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3534,-0.54,-170.3,535.8,-10.0,414,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2488,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3834,-0.54,-170.3,563.4,-8.9,444,3844,0.00,1.92,0.00,0.000,4,0.000,0.025,2343,1126,3633,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3866,-0.54,-170.3,566.3,-8.5,447,3876,0.00,2.28,0.00,0.000,6,0.000,0.045,2343,2623,3633,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4177,-0.54,-170.3,591.3,-7.8,478,4180,0.00,1.73,0.00,0.000,4,0.000,0.057,2343,3768,3629,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4210,-0.54,-170.3,593.7,-7.6,481,4217,0.00,1.75,0.00,0.000,6,0.000,0.022,2343,2478,3629,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4531,-0.54,-170.3,614.7,-6.1,502,4536,0.00,1.98,0.00,0.000,4,0.000,0.055,2337,3765,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4581,-0.54,-170.3,617.2,-6.1,504,4589,0.00,1.73,0.00,0.000,6,0.000,0.023,2336,2476,3626,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4889,-0.54,-170.3,639.7,-7.6,520,4894,0.00,1.98,0.00,0.000,4,0.000,0.056,2334,3765,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4918,-0.54,-170.3,641.4,-7.7,521,4921,0.00,1.73,0.00,0.000,6,0.000,0.023,2334,2504,3623,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5229,-0.54,-170.3,667.8,-8.5,537,5233,0.00,2.00,0.00,0.000,4,0.000,0.057,2332,3772,3621,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5283,-0.54,-170.3,671.6,-8.8,539,5290,0.05,1.75,0.00,0.000,6,0.199,0.023,2351,2460,3620,0,0,0,0,0,0,26.41,26.60,28.83
$GC,5593,-0.54,-170.3,696.8,-7.8,555,5599,0.05,2.03,0.00,0.000,4,0.173,0.055,2292,3766,3618,0,0,0,0,0,0,26.64,26.10,28.83
$GC,5679,-0.54,-170.3,706.1,-11.6,559,5684,0.17,1.75,0.00,0.000,6,0.127,0.023,2350,2471,3617,0,0,0,0,0,0,26.15,26.58,28.83
$GC,5993,-0.54,-170.3,730.9,-7.2,575,5999,0.05,1.98,0.00,0.000,4,0.173,0.054,2289,3758,3615,0,0,0,0,0,0,26.63,26.09,28.83
$GC,6064,-0.54,-170.3,737.3,-9.7,578,6072,0.12,1.75,0.00,0.000,6,0.106,0.023,2350,2484,3615,0,0,0,0,0,0,26.13,26.58,28.83
$GC,6373,-0.54,-170.3,760.2,-6.4,594,6379,0.05,1.98,0.00,0.000,4,0.173,0.055,2292,3769,3613,0,0,0,0,0,0,26.63,26.06,28.83
$GC,6396,-0.54,-170.3,761.7,-6.7,595,6400,0.17,1.75,0.00,0.000,6,0.128,0.024,2350,2471,3613,0,0,0,0,0,0,26.13,26.57,28.83
$GC,6708,-0.54,-170.3,781.8,-5.9,611,6715,0.05,2.00,0.00,0.000,4,0.174,0.054,2292,3763,3611,0,0,0,0,0,0,26.63,26.04,28.83
$GC,6777,-0.54,-170.3,787.3,-8.4,614,6781,0.17,1.73,0.00,0.000,6,0.127,0.024,2350,2488,3611,0,0,0,0,0,0,26.13,26.57,28.83
$GC,7084,-0.54,-170.3,806.4,-5.8,629,7090,0.05,1.98,0.00,0.000,4,0.172,0.055,2292,3763,3609,0,0,0,0,0,0,26.63,26.03,28.83
$GC,7124,-0.54,-170.3,809.8,-7.0,631,7130,0.17,1.75,0.00,0.000,6,0.123,0.024,2351,2491,3608,0,0,0,0,0,0,26.13,26.55,28.83
$GC,7443,-0.54,-170.3,828.9,-5.9,647,7445,0.08,0.00,0.00,0.000,6,0.128,0.000,2291,2490,3606,0,0,0,0,0,0,26.61,28.83,28.83
$GC,7743,-0.54,-170.3,860.0,-10.4,662,7750,0.15,1.98,0.00,0.000,4,0.142,0.055,2337,3763,3605,0,0,0,0,0,0,26.24,26.01,28.83
$GC,7772,-0.54,-170.3,862.0,-10.3,663,7776,0.00,1.75,0.00,0.000,6,0.000,0.024,2337,2509,3605,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8083,-0.54,-170.3,882.4,-6.3,679,8089,0.00,2.00,0.00,0.000,4,0.000,0.058,2335,3766,3603,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8125,-0.54,-170.3,884.9,-6.3,681,8129,0.00,1.77,0.00,0.000,6,0.000,0.024,2335,2472,3602,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8447,-0.54,-170.3,905.3,-6.3,697,8453,0.00,2.05,0.00,0.000,4,0.000,0.058,2331,3765,3601,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8474,-0.54,-170.3,906.5,-6.3,698,8479,0.05,1.75,0.00,0.000,6,0.194,0.024,2350,2496,3601,0,0,0,0,0,0,26.36,26.55,28.83
$GC,8788,-0.54,-170.3,923.0,-5.0,714,8794,0.05,2.03,0.00,0.000,4,0.173,0.057,2302,3763,3600,0,0,0,0,0,0,26.62,25.93,28.83
$GC,8849,-0.54,-170.3,927.8,-7.2,717,8855,0.15,1.75,0.00,0.000,6,0.126,0.024,2352,2483,3599,0,0,0,0,0,0,26.15,26.54,28.83
$GC,9169,-0.54,-170.3,946.0,-5.8,733,9175,0.08,1.98,0.00,0.000,4,0.129,0.056,2292,3762,3598,0,0,0,0,0,0,26.60,25.91,28.83
$GC,9201,-0.54,-170.3,947.5,-6.2,734,9208,0.17,1.75,0.00,0.000,6,0.126,0.024,2350,2487,3598,0,0,0,0,0,0,26.07,26.53,28.83
$GC,9508,-0.54,-170.3,969.1,-6.6,750,9514,0.05,2.00,0.00,0.000,4,0.173,0.057,2301,3767,3597,0,0,0,0,0,0,26.62,25.89,28.83
$GC,9562,-0.54,-170.3,972.6,-7.6,752,9570,0.15,1.75,0.00,0.000,6,0.126,0.025,2351,2487,3596,0,0,0,0,0,0,26.13,26.52,28.83
$STATE,9806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9806,begin apogee
$GC,9811,-0.17,0.0,991.2,-7.0,765,9971,0.30,0.00,149.32,1.720,6,0.101,0.000,2463,2486,2928,0,0,0,0,0,0,26.06,28.83,22.59
$STATE,9972,end apogee,CONTROL_FINISHED_OK
$STATE,9972,begin climb
$GC,9974,0.54,170.3,1000.2,0.0,773,10151,0.62,2.35,165.35,1.680,4,0.052,0.030,2718,1056,2233,0,0,0,0,0,0,24.62,23.87,22.15
$GC,10187,0.54,170.3,990.2,11.7,783,10194,0.15,2.42,0.00,0.000,6,0.168,0.048,2682,2517,2226,0,0,0,0,0,0,24.49,24.70,28.83
$GC,10494,0.54,170.3,949.5,13.1,799,10499,0.00,1.95,0.00,0.000,4,0.000,0.057,2681,3769,2222,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10548,0.54,170.3,943.3,14.2,801,10554,0.00,1.92,0.00,0.000,6,0.000,0.025,2689,2448,2220,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10854,0.54,170.3,895.7,15.0,817,10860,0.00,2.05,0.00,0.000,4,0.000,0.034,2698,1046,2219,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10914,0.54,170.3,887.2,14.4,820,10920,0.08,2.28,0.00,0.000,6,0.196,0.046,2683,2524,2217,0,0,0,0,0,0,26.06,26.19,28.83
$GC,11235,0.54,170.3,839.7,14.8,836,11239,0.00,1.90,0.00,0.000,4,0.000,0.057,2683,3765,2217,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11264,0.54,170.3,836.0,15.0,837,11267,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2440,2217,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11577,0.54,170.3,787.4,14.5,853,11582,0.00,2.03,0.00,0.000,4,0.000,0.033,2699,1043,2216,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11610,0.54,170.3,784.8,14.2,854,11617,0.08,2.28,0.00,0.000,6,0.193,0.046,2682,2526,2216,0,0,0,0,0,0,26.07,26.20,28.83
$GC,11916,0.54,170.3,741.8,13.0,870,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2526,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12218,0.54,170.3,705.8,11.5,885,12223,0.00,2.15,0.00,0.000,4,0.000,0.029,2694,1048,2215,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12249,0.54,170.3,703.5,11.4,886,12256,0.05,2.28,0.00,0.000,6,0.217,0.045,2682,2526,2214,0,0,0,0,0,0,26.10,26.17,28.83
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$STATE,19746,end climb,SURFACE_DEPTH_REACHED
$STATE,19747,begin surface coast
$FINISH,0.7,1.010083
$STATE,19779,end surface coast,CONTROL_FINISHED_OK
$STATE,19779,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,22.1,67.004
$10V_AH,9.9,41.043
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.150,187.550,510.350,0.000,0.000,27.629,22.249,260.055,0.250,0.000,13.878,4493.609,10958.853,689.844,3699.920,441.070,0.000,2397.563,0.000,3060.134,0.000,0.544,0.000
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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,134062,1784
$CAP_FILE_SIZE,217920,0
$CFSIZE,260165632,190840832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,204.6,1
$GPS,170512,193507,1945.633,12323.848,31,1.0,31,-2.4