version: 66.10
glider: 176
mission: 5
dive: 440
start: 6 14 112 7 56 47
data:
$ID,176
$MISSION,5
$DIVE,440
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,-8165.709
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,140612,074837,1755.235,12417.656,30,1.0,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.9
$GPS2,140612,075619,1755.219,12417.695,12,1.6,17,-2.0
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,284.7,223383,-14.0,-8.684
$D_GRID,5094
$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,-0.56,-170.3,0.0,0.0,0,78,0.00,0.00,-59.05,0.000,2,0.000,0.000,177,2685,2302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.1,-6.1,10,124,8.82,2.22,-27.15,0.000,4,0.231,0.041,2335,1187,3626,0,0,0,0,0,0,25.00,26.28,26.74
$GC,212,-0.56,-170.3,36.2,-21.4,28,219,0.00,2.25,0.00,0.000,6,0.000,0.045,2333,2677,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,540,-0.56,-170.3,147.0,-34.5,89,547,0.00,1.62,0.00,0.000,4,0.000,0.049,2325,3778,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,590,-0.56,-170.3,159.3,-21.5,98,598,0.08,1.65,0.00,0.000,6,0.194,0.023,2342,2523,3626,0,0,0,0,0,0,26.29,26.55,28.83
$GC,905,-0.56,-170.3,219.0,-16.5,149,909,0.00,1.88,0.00,0.000,4,0.000,0.050,2333,3776,3626,0,0,0,0,0,0,28.83,26.18,28.83
$GC,998,-0.56,-170.3,234.1,-15.0,156,1002,0.00,1.65,0.00,0.000,6,0.000,0.022,2333,2559,3626,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1309,-0.56,-170.3,282.2,-15.8,187,1313,0.00,1.92,0.00,0.000,4,0.000,0.024,2333,1172,3626,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1369,-0.56,-170.3,289.6,-12.2,192,1376,0.00,2.25,0.00,0.000,6,0.000,0.043,2333,2670,3626,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1675,-0.56,-170.3,336.1,-14.4,223,1685,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1187,3624,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1731,-0.56,-170.3,342.8,-12.4,228,1738,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2669,3624,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2038,-0.56,-170.3,379.6,-11.3,259,2047,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1176,3622,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2092,-0.56,-170.3,384.8,-9.5,264,2101,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2661,3622,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2401,-0.56,-170.3,417.9,-11.0,295,2411,0.00,2.08,0.00,0.000,4,0.000,0.024,2332,1189,3619,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2433,-0.56,-170.3,421.4,-10.7,298,2442,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2677,3619,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2743,-0.56,-170.3,452.3,-9.9,329,2747,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1190,3616,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2798,-0.56,-170.3,456.9,-8.2,334,2805,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2675,3615,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3105,-0.56,-170.3,487.2,-9.9,365,3114,0.00,2.17,-0.10,0.000,4,0.000,0.037,2331,1178,3636,0,0,0,0,0,0,28.83,26.39,25.98
$GC,3159,-0.56,-170.3,492.0,-9.0,370,3167,0.00,2.30,0.00,0.000,6,0.000,0.044,2331,2668,3636,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3467,-0.56,-170.3,523.4,-10.5,401,3476,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1180,3634,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3491,-0.56,-170.3,525.5,-10.4,403,3499,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2667,3634,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3798,-0.56,-170.3,557.2,-10.4,434,3802,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1186,3630,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3852,-0.56,-170.3,562.3,-9.9,439,3861,0.00,2.28,0.00,0.000,6,0.000,0.045,2330,2674,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4160,-0.56,-170.3,593.7,-10.4,470,4169,0.00,2.15,0.00,0.000,4,0.000,0.024,2330,1178,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4185,-0.56,-170.3,595.9,-10.2,472,4192,0.00,2.28,0.00,0.000,6,0.000,0.046,2330,2667,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4491,-0.56,-170.3,624.7,-8.8,490,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2667,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4793,-0.56,-170.3,650.2,-8.2,505,4798,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1181,3621,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4860,-0.56,-170.3,654.7,-7.6,508,4864,0.00,2.28,0.00,0.000,6,0.000,0.046,2330,2666,3621,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5168,-0.56,-170.3,679.7,-8.1,523,5174,0.00,2.12,0.00,0.000,4,0.000,0.024,2330,1184,3618,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5207,-0.56,-170.3,682.9,-8.0,525,5212,0.00,2.30,0.00,0.000,6,0.000,0.046,2330,2674,3618,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5527,-0.56,-170.3,710.1,-8.7,541,5532,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1182,3615,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5561,-0.56,-170.3,711.9,-8.8,542,5567,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2667,3615,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5867,-0.56,-170.3,741.2,-9.7,558,5872,0.00,2.15,0.00,0.000,4,0.000,0.024,2330,1178,3612,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5889,-0.56,-170.3,743.0,-9.7,559,5893,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2674,3612,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6208,-0.56,-170.3,773.2,-9.4,575,6212,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1179,3610,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6239,-0.56,-170.3,775.3,-9.3,576,6243,0.00,2.30,0.00,0.000,6,0.000,0.046,2330,2666,3610,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6546,-0.56,-170.3,804.6,-9.4,591,6551,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1177,3608,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6575,-0.56,-170.3,806.5,-9.3,592,6579,0.00,2.30,0.00,0.000,6,0.000,0.046,2330,2670,3608,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6881,-0.56,-170.3,833.8,-8.5,607,6887,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1185,3606,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6903,-0.56,-170.3,835.5,-8.5,608,6907,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2671,3606,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7218,-0.56,-170.3,860.3,-7.8,624,7223,0.00,2.12,0.00,0.000,4,0.000,0.024,2330,1193,3604,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7256,-0.56,-170.3,863.3,-7.6,626,7262,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2665,3604,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7576,-0.56,-170.3,887.2,-7.6,642,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7878,-0.56,-170.3,910.1,-7.6,657,7883,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1182,3600,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7929,-0.56,-170.3,913.2,-7.6,659,7937,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2671,3601,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8237,-0.56,-170.3,936.5,-7.1,675,8243,0.00,2.12,0.00,0.000,4,0.000,0.024,2330,1196,3599,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8259,-0.56,-170.3,937.9,-7.1,676,8263,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2666,3599,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8572,-0.56,-170.3,959.9,-7.0,692,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2666,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8872,-0.56,-170.3,981.2,-7.1,707,8878,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1186,3596,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8904,-0.56,-170.3,982.6,-7.2,708,8911,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2670,3596,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9009,begin apogee
$GC,9014,-0.17,0.0,991.3,-7.2,714,9174,0.38,0.12,148.75,1.698,6,0.103,0.061,2465,2589,2930,0,0,0,0,0,0,25.83,24.53,22.67
$STATE,9175,end apogee,CONTROL_FINISHED_OK
$STATE,9175,begin climb
$GC,9177,0.56,170.3,998.5,0.0,722,9354,0.62,2.40,163.27,1.655,4,0.050,0.030,2724,1109,2233,0,0,0,0,0,0,25.06,24.19,22.23
$GC,9430,0.56,170.3,981.8,13.5,734,9437,0.15,2.30,0.00,0.000,6,0.166,0.049,2685,2563,2225,0,0,0,0,0,0,25.38,25.63,28.83
$GC,9737,0.56,170.3,941.0,12.8,750,9741,0.00,1.85,0.00,0.000,4,0.000,0.058,2685,3765,2221,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9804,0.56,170.3,932.9,14.0,753,9812,0.00,1.83,0.00,0.000,6,0.000,0.026,2694,2507,2220,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10113,0.56,170.3,889.5,13.3,769,10117,0.00,2.05,0.00,0.000,4,0.000,0.031,2702,1100,2219,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10148,0.56,170.3,886.6,13.4,770,10156,0.05,2.25,0.00,0.000,6,0.216,0.047,2689,2567,2217,0,0,0,0,0,0,26.03,26.12,28.83
$GC,10454,0.56,170.3,844.1,13.6,786,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2567,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10755,0.56,170.3,804.8,12.7,801,10760,0.00,2.17,0.00,0.000,4,0.000,0.030,2699,1098,2216,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10789,0.56,170.3,802.4,12.6,802,10796,0.00,2.28,0.00,0.000,6,0.000,0.046,2699,2570,2215,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11094,0.56,170.3,761.0,13.0,818,11100,0.00,2.17,0.00,0.000,4,0.000,0.031,2710,1107,2215,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11122,0.56,170.3,758.4,13.1,819,11127,0.10,2.28,0.00,0.000,6,0.174,0.047,2686,2571,2214,0,0,0,0,0,0,25.86,26.04,28.83
$GC,11431,0.56,170.3,718.4,12.4,834,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2571,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11729,0.56,170.3,680.8,12.4,849,11735,0.00,2.15,0.00,0.000,4,0.000,0.031,2696,1100,2214,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11777,0.56,170.3,676.2,12.2,851,11782,0.00,2.28,0.00,0.000,6,0.000,0.045,2696,2571,2213,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,18433,end climb,SURFACE_DEPTH_REACHED
$STATE,18433,begin surface coast
$FINISH,1.4,1.021155
$STATE,18449,end surface coast,CONTROL_FINISHED_OK
$STATE,18449,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.25
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,26.00
$XPDR_PINGS,0
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$10V_AH,9.8,56.698
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.125,188.125,533.300,0.000,0.000,31.013,23.801,246.026,0.000,0.000,19.857,4150.172,10281.026,685.275,3411.625,429.616,0.000,2294.863,0.000,2781.936,0.000,0.542,0.000
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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,330268
$DATA_FILE_SIZE,123903,1653
$CAP_FILE_SIZE,199562,0
$CFSIZE,260165632,177643520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 94.2,1
$GPS,140612,130637,1755.742,12416.703,34,1.1,34,-2.0