version: 66.10
glider: 176
mission: 5
dive: 377
start: 5 30 112 4 31 23
data:
$ID,176
$MISSION,5
$DIVE,377
$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,420
$T_MISSION,480
$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,-8015.6436
$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
$GPS1,300512,042307,1913.776,12423.039,29,1.1,29,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.0
$GPS2,300512,043056,1913.722,12423.070,12,1.6,12,-2.3
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,171.8,156472,-12.5,-7.857
$D_GRID,5635
$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,-0.52,-170.3,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,185,2649,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.52,-170.3,3.5,-8.3,7,101,8.77,2.25,-22.75,0.000,4,0.234,0.040,2345,1138,3627,0,0,0,0,0,0,25.10,26.25,26.67
$GC,165,-0.52,-170.3,29.7,-19.1,22,172,0.08,2.25,0.00,0.000,6,0.187,0.044,2353,2621,3628,0,0,0,0,0,0,26.00,26.13,28.83
$GC,494,-0.52,-170.3,100.7,-17.9,83,501,0.00,2.12,0.00,0.000,4,0.000,0.025,2353,1136,3628,0,0,0,0,0,0,28.83,26.39,28.83
$GC,535,-0.52,-170.3,107.1,-13.4,90,542,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2632,3628,0,0,0,0,0,0,28.83,26.23,28.83
$GC,845,-0.52,-170.3,164.8,-19.0,151,852,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1146,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,915,-0.52,-170.3,174.6,-11.6,164,922,0.00,2.22,0.00,0.000,6,0.000,0.043,2349,2627,3629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1228,-0.52,-170.3,224.0,-14.9,210,1237,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1152,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1259,-0.52,-170.3,228.3,-13.6,213,1269,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2621,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1571,-0.52,-170.3,275.8,-14.5,244,1579,0.00,2.08,0.00,0.000,4,0.000,0.026,2345,1147,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1603,-0.52,-170.3,279.9,-12.8,247,1611,0.00,2.20,0.00,0.000,6,0.000,0.044,2344,2616,3628,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1912,-0.52,-170.3,320.5,-15.3,278,1921,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1136,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1964,-0.52,-170.3,327.0,-12.2,283,1973,0.00,2.20,0.00,0.000,6,0.000,0.042,2344,2612,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2274,-0.52,-170.3,363.4,-10.7,314,2278,0.00,1.73,0.00,0.000,4,0.000,0.052,2337,3770,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2317,-0.52,-170.3,367.8,-10.6,318,2325,0.03,1.75,0.00,0.000,6,0.158,0.022,2352,2449,3623,0,0,0,0,0,0,26.40,26.60,28.83
$GC,2625,-0.52,-170.3,397.4,-9.4,349,2629,0.00,2.03,0.00,0.000,4,0.000,0.053,2349,3765,3622,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2666,-0.52,-170.3,401.2,-9.4,353,2669,0.00,1.70,0.00,0.000,6,0.000,0.023,2349,2489,3622,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2977,-0.52,-170.3,432.7,-10.4,384,2981,0.00,2.03,0.00,0.000,4,0.000,0.053,2341,3769,3620,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3030,-0.52,-170.3,437.9,-10.4,389,3039,0.00,1.75,0.00,0.000,6,0.000,0.022,2341,2467,3620,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3338,-0.52,-170.3,467.1,-9.3,420,3347,0.00,2.03,0.00,0.000,4,0.000,0.053,2334,3772,3617,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3392,-0.52,-170.3,472.1,-9.8,425,3401,0.08,1.75,0.00,0.000,6,0.165,0.023,2358,2446,3617,0,0,0,0,0,0,26.34,26.58,28.83
$GC,3699,-0.52,-170.3,498.0,-7.9,456,3701,0.08,0.00,0.00,0.000,6,0.126,0.000,2286,2446,3616,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4000,-0.52,-170.3,542.6,-15.1,486,4010,0.17,2.03,0.00,0.000,4,0.148,0.051,2339,3765,3613,0,0,0,0,0,0,26.14,26.06,28.83
$GC,4033,-0.52,-170.3,546.4,-12.3,489,4036,0.00,1.70,0.00,0.000,6,0.000,0.024,2339,2492,3612,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4345,-0.52,-170.3,574.3,-9.0,520,4354,0.00,2.00,0.00,0.000,4,0.000,0.054,2333,3761,3611,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4400,-0.52,-170.3,579.1,-9.6,525,4409,0.08,1.73,0.00,0.000,6,0.163,0.024,2357,2475,3610,0,0,0,0,0,0,26.32,26.54,28.83
$GC,4708,-0.52,-170.3,603.3,-7.5,554,4709,0.08,0.00,0.00,0.000,6,0.126,0.000,2286,2475,3608,0,0,0,0,0,0,26.60,28.83,28.83
$GC,5007,-0.52,-170.3,641.0,-12.4,569,5013,0.17,1.98,0.00,0.000,4,0.145,0.053,2339,3757,3605,0,0,0,0,0,0,26.13,26.01,28.83
$GC,5046,-0.52,-170.3,645.0,-11.4,571,5050,0.00,1.70,0.00,0.000,6,0.000,0.024,2340,2485,3605,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5367,-0.52,-170.3,670.7,-8.3,587,5372,0.00,2.03,0.00,0.000,4,0.000,0.056,2335,3765,3602,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5410,-0.52,-170.3,674.2,-8.6,589,5415,0.08,1.73,0.00,0.000,6,0.155,0.024,2360,2484,3601,0,0,0,0,0,0,26.32,26.54,28.83
$GC,5727,-0.52,-170.3,696.5,-6.5,605,5734,0.08,2.03,0.00,0.000,4,0.127,0.054,2291,3768,3600,0,0,0,0,0,0,26.58,25.95,28.83
$GC,5771,-0.52,-170.3,700.5,-8.2,607,5776,0.12,1.77,0.00,0.000,6,0.106,0.024,2356,2495,3599,0,0,0,0,0,0,26.04,26.52,28.83
$GC,6088,-0.52,-170.3,721.6,-6.5,623,6095,0.08,1.98,0.00,0.000,4,0.127,0.054,2287,3762,3597,0,0,0,0,0,0,26.58,25.94,28.83
$GC,6128,-0.52,-170.3,725.7,-8.2,625,6132,0.12,1.77,0.00,0.000,6,0.107,0.023,2355,2485,3596,0,0,0,0,0,0,26.03,26.53,28.83
$GC,6451,-0.52,-170.3,748.6,-6.9,641,6456,0.05,2.00,0.00,0.000,4,0.173,0.054,2290,3765,3595,0,0,0,0,0,0,26.60,25.92,28.83
$GC,6477,-0.52,-170.3,750.6,-7.3,642,6482,0.15,1.77,0.00,0.000,6,0.106,0.024,2365,2491,3594,0,0,0,0,0,0,25.98,26.52,28.83
$GC,6797,-0.52,-170.3,770.1,-5.4,658,6803,0.10,2.00,0.00,0.000,4,0.104,0.055,2287,3766,3593,0,0,0,0,0,0,26.55,25.90,28.83
$GC,6838,-0.52,-170.3,773.5,-6.8,660,6842,0.12,1.77,0.00,0.000,6,0.111,0.024,2354,2504,3593,0,0,0,0,0,0,25.98,26.51,28.83
$GC,7155,-0.52,-170.3,793.6,-6.0,676,7161,0.00,1.95,0.00,0.000,4,0.000,0.057,2348,3763,3591,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7184,-0.52,-170.3,794.9,-6.0,677,7188,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2505,3591,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7496,-0.52,-170.3,814.9,-6.2,693,7502,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3762,3590,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7540,-0.52,-170.3,817.4,-6.2,695,7543,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2495,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7856,-0.52,-170.3,837.2,-6.1,711,7862,0.00,2.08,0.00,0.000,4,0.000,0.057,2348,3766,3588,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7911,-0.52,-170.3,839.6,-6.0,713,7919,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2448,3587,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8217,-0.52,-170.3,859.3,-6.3,729,8221,0.00,1.90,0.00,0.000,4,0.000,0.027,2348,1141,3586,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8292,-0.52,-170.3,863.4,-6.5,732,8299,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2621,3586,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8600,-0.52,-170.3,884.4,-6.6,748,8605,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1144,3585,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8723,-0.52,-170.3,892.5,-6.9,754,8727,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2617,3585,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9036,-0.52,-170.3,913.1,-6.6,770,9040,0.00,1.77,0.00,0.000,4,0.000,0.057,2348,3764,3584,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9238,-0.52,-170.3,926.8,-7.0,780,9241,0.00,1.73,0.00,0.000,6,0.000,0.024,2352,2499,3582,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9562,-0.52,-170.3,948.1,-6.6,796,9567,0.00,2.05,0.00,0.000,4,0.000,0.057,2352,3766,3582,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9795,-0.52,-170.3,964.1,-7.8,807,9802,0.00,1.75,0.00,0.000,6,0.000,0.023,2352,2473,3581,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10103,-0.52,-170.3,983.6,-5.8,823,10109,0.00,2.00,0.00,0.000,4,0.000,0.056,2352,3764,3580,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,10200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10200,begin apogee
$GC,10208,-0.17,0.0,990.4,-6.7,828,10363,0.30,0.20,146.62,1.716,6,0.067,0.068,2483,2528,2928,0,0,0,0,0,0,26.25,24.25,22.34
$STATE,10364,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10368,0.52,170.3,999.0,0.0,836,10544,0.55,2.50,166.38,1.672,4,0.044,0.029,2722,1056,2234,0,0,0,0,0,0,24.62,23.75,21.84
$GC,10756,0.52,170.3,963.7,13.4,855,10761,0.17,2.28,0.00,0.000,6,0.172,0.048,2676,2523,2222,0,0,0,0,0,0,25.58,25.91,28.83
$GC,11064,0.52,170.3,924.9,12.2,870,11069,0.00,1.92,0.00,0.000,4,0.000,0.057,2676,3763,2220,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11097,0.52,170.3,922.3,12.5,871,11104,0.00,1.90,0.00,0.000,6,0.000,0.025,2685,2449,2220,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11403,0.52,170.3,878.6,14.2,887,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2445,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11704,0.52,170.3,835.9,14.2,902,11709,0.00,2.03,0.00,0.000,4,0.000,0.030,2696,1051,2218,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11744,0.52,170.3,830.6,13.8,904,11750,0.05,2.22,0.00,0.000,6,0.158,0.047,2679,2512,2217,0,0,0,0,0,0,25.94,26.13,28.83
$GC,12063,0.52,170.3,790.6,11.9,920,12069,0.00,1.95,0.00,0.000,4,0.000,0.057,2679,3766,2216,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12117,0.52,170.3,785.4,12.3,922,12124,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2446,2217,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12424,0.52,170.3,749.0,10.8,938,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2442,2215,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19713,end climb,SURFACE_DEPTH_REACHED
$STATE,19713,begin surface coast
$FINISH,0.7,0.997553
$STATE,19739,end surface coast,CONTROL_FINISHED_OK
$STATE,19739,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.61
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,9.8,48.180
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.200,183.150,468.375,0.000,0.000,26.309,16.309,264.041,0.000,0.000,15.159,4477.872,11011.350,640.458,3677.063,438.466,0.000,2347.544,0.000,3116.707,0.000,0.542,0.000
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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,329612
$DATA_FILE_SIZE,130444,1757
$CAP_FILE_SIZE,216451,0
$CFSIZE,260165632,184774656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 92.5,1
$GPS,300512,100237,1910.964,12423.565,30,1.2,30,-2.3