version: 66.10
glider: 176
mission: 5
dive: 484
start: 6 24 112 19 16 49
data:
$ID,176
$MISSION,5
$DIVE,484
$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,440
$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,-8240.0859
$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,2620
$C_ROLL_CLIMB,2520
$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
$GPS1,240612,190836,1817.091,12335.626,37,1.0,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.1
$GPS2,240612,191620,1817.169,12335.713,13,1.2,13,-2.1
$SPEED_LIMITS,0.143,0.259
$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,250.5,141840,-13.2,-8.250
$D_GRID,4948
$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,-170.3,0.0,0.0,0,70,0.00,0.00,-51.05,0.000,2,0.000,0.000,184,2662,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.2,-7.0,9,118,8.75,1.75,-28.48,0.000,4,0.229,0.064,2332,3780,3626,0,0,0,0,0,0,24.98,26.06,26.72
$GC,210,-0.54,-170.3,44.3,-28.0,31,217,0.05,1.70,0.00,0.000,6,0.230,0.022,2344,2523,3626,0,0,0,0,0,0,26.25,26.46,28.83
$GC,542,-0.54,-170.3,149.0,-25.9,92,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2519,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,869,-0.54,-170.3,220.8,-19.0,142,878,0.00,1.90,0.00,0.000,4,0.000,0.048,2335,3777,3626,0,0,0,0,0,0,28.83,26.11,28.83
$GC,893,-0.54,-170.3,225.1,-19.3,144,901,0.00,1.70,0.00,0.000,6,0.000,0.021,2335,2495,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1203,-0.54,-170.3,275.0,-15.2,175,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2494,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.54,-170.3,317.4,-13.3,206,1521,0.00,1.95,0.00,0.000,4,0.000,0.049,2325,3779,3625,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1587,-0.54,-170.3,327.0,-12.6,213,1594,0.05,1.73,0.00,0.000,6,0.132,0.021,2347,2476,3625,0,0,0,0,0,0,26.28,26.55,28.83
$GC,1893,-0.54,-170.3,360.3,-10.8,244,1903,0.00,1.98,0.00,0.000,4,0.000,0.050,2345,3766,3624,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1926,-0.54,-170.3,363.8,-10.8,247,1930,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2495,3623,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2237,-0.54,-170.3,398.3,-9.9,278,2241,0.00,1.98,0.00,0.000,4,0.000,0.049,2337,3769,3621,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2290,-0.54,-170.3,403.4,-10.1,283,2293,0.00,1.70,0.00,0.000,6,0.000,0.022,2337,2510,3621,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2602,-0.54,-170.3,432.6,-9.1,314,2611,0.00,1.90,0.00,0.000,4,0.000,0.027,2339,1154,3618,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2628,-0.54,-170.3,434.7,-9.2,316,2636,0.00,2.28,0.00,0.000,6,0.000,0.046,2335,2646,3618,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2933,-0.54,-170.3,463.6,-9.8,347,2943,0.00,2.17,-0.10,0.000,4,0.000,0.037,2335,1158,3638,0,0,0,0,0,0,28.83,26.30,25.95
$GC,2966,-0.54,-170.3,466.8,-9.6,350,2975,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2645,3638,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3276,-0.54,-170.3,499.5,-10.6,381,3285,0.00,2.15,0.00,0.000,4,0.000,0.026,2335,1157,3635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3307,-0.54,-170.3,502.9,-10.4,384,3318,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2640,3635,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3618,-0.54,-170.3,535.0,-10.4,415,3627,0.00,2.15,0.00,0.000,4,0.000,0.025,2335,1153,3632,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3659,-0.54,-170.3,539.2,-10.3,419,3668,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2635,3632,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3970,-0.54,-170.3,568.6,-9.5,450,3978,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1164,3628,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3995,-0.54,-170.3,570.6,-9.1,452,4003,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2644,3628,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4302,-0.54,-170.3,600.0,-9.7,483,4306,0.00,1.73,0.00,0.000,4,0.000,0.056,2332,3766,3625,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4353,-0.54,-170.3,604.1,-9.6,485,4357,0.05,1.70,0.00,0.000,6,0.202,0.024,2350,2517,3624,0,0,0,0,0,0,26.29,26.48,28.83
$GC,4665,-0.54,-170.3,630.2,-8.2,501,4667,0.05,0.00,0.00,0.000,6,0.174,0.000,2293,2507,3622,0,0,0,0,0,0,26.56,28.83,28.83
$GC,4966,-0.54,-170.3,666.8,-12.2,516,4972,0.15,1.98,0.00,0.000,4,0.142,0.056,2344,3765,3619,0,0,0,0,0,0,26.17,25.89,28.83
$GC,5004,-0.54,-170.3,670.5,-11.0,518,5008,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2531,3618,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5327,-0.54,-170.3,690.8,-5.9,534,5332,0.00,1.98,0.00,0.000,4,0.000,0.026,2344,1157,3616,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5353,-0.54,-170.3,692.1,-6.0,535,5357,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2642,3616,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5661,-0.54,-170.3,711.4,-6.6,550,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2642,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5962,-0.54,-170.3,732.0,-7.2,565,5968,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1167,3612,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5993,-0.54,-170.3,733.6,-7.4,566,6000,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2643,3612,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6301,-0.54,-170.3,758.1,-7.4,582,6304,0.00,1.73,0.00,0.000,4,0.000,0.056,2344,3764,3609,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6336,-0.54,-170.3,759.7,-7.4,583,6343,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2478,3609,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6642,-0.54,-170.3,781.9,-6.7,599,6647,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3766,3607,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6690,-0.54,-170.3,784.7,-6.8,601,6693,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2509,3606,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7004,-0.54,-170.3,806.7,-6.9,617,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2469,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7302,-0.54,-170.3,827.2,-6.9,632,7308,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3768,3603,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7371,-0.54,-170.3,831.5,-7.1,635,7375,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2513,3603,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7682,-0.54,-170.3,854.0,-7.0,651,7688,0.00,2.05,0.00,0.000,4,0.000,0.055,2343,3768,3601,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7723,-0.54,-170.3,856.8,-6.9,653,7727,0.00,1.75,0.00,0.000,6,0.000,0.025,2343,2504,3601,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8047,-0.54,-170.3,878.3,-6.5,669,8052,0.00,2.03,0.00,0.000,4,0.000,0.056,2343,3760,3599,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8078,-0.54,-170.3,879.5,-6.4,670,8085,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2476,3599,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8385,-0.54,-170.3,899.4,-5.9,686,8390,0.00,2.05,0.00,0.000,4,0.000,0.056,2343,3770,3597,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8429,-0.54,-170.3,901.8,-5.9,688,8433,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2523,3597,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8746,-0.54,-170.3,919.5,-5.3,704,8751,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3769,3596,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8769,-0.54,-170.3,920.5,-5.1,705,8773,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2516,3596,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9086,-0.54,-170.3,936.9,-5.1,721,9092,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3765,3595,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9134,-0.54,-170.3,939.1,-5.1,723,9137,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2514,3595,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9447,-0.54,-170.3,957.9,-6.4,739,9452,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3757,3593,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9488,-0.54,-170.3,960.4,-6.3,741,9492,0.00,1.75,0.00,0.000,6,0.000,0.025,2343,2483,3594,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9808,-0.54,-170.3,983.0,-7.3,757,9813,0.00,1.92,0.00,0.000,4,0.000,0.028,2344,1153,3593,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9879,-0.54,-170.3,987.7,-7.7,760,9886,0.00,2.33,0.00,0.000,6,0.000,0.048,2344,2646,3592,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,9903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9903,begin apogee
$GC,9909,-0.17,0.0,990.6,-7.5,762,10069,0.32,0.12,147.75,1.688,6,0.080,0.061,2473,2554,2929,0,0,0,0,0,0,26.01,24.39,22.65
$STATE,10070,end apogee,CONTROL_FINISHED_OK
$STATE,10070,begin climb
$GC,10072,0.54,170.3,1000.6,0.0,770,10248,0.60,2.08,163.73,1.649,4,0.047,0.055,2713,3759,2233,0,0,0,0,0,0,25.05,23.98,22.08
$GC,10352,0.54,170.3,974.5,17.9,784,10358,0.15,1.92,0.00,0.000,6,0.190,0.026,2683,2475,2227,0,0,0,0,0,0,25.43,25.88,28.83
$GC,10670,0.54,170.3,932.8,12.5,800,10676,0.00,2.05,0.00,0.000,4,0.000,0.057,2682,3771,2222,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10732,0.54,170.3,924.1,14.2,803,10736,0.00,1.88,0.00,0.000,6,0.000,0.024,2692,2470,2221,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11053,0.54,170.3,881.2,13.2,819,11059,0.00,2.05,0.00,0.000,4,0.000,0.055,2692,3770,2219,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11095,0.54,170.3,875.3,13.9,821,11100,0.10,1.92,0.00,0.000,6,0.203,0.024,2679,2447,2219,0,0,0,0,0,0,25.92,26.30,28.83
$GC,11418,0.54,170.3,837.0,11.1,837,11424,0.00,2.08,0.00,0.000,4,0.000,0.055,2679,3769,2217,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11439,0.54,170.3,834.5,11.3,838,11443,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2467,2217,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11759,0.54,170.3,794.4,12.5,854,11764,0.00,2.03,0.00,0.000,4,0.000,0.056,2689,3764,2216,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11818,0.54,170.3,785.9,13.9,857,11824,0.08,1.88,0.00,0.000,6,0.220,0.024,2683,2467,2216,0,0,0,0,0,0,26.01,26.30,28.83
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$STATE,19646,end climb,SURFACE_DEPTH_REACHED
$STATE,19646,begin surface coast
$FINISH,0.8,1.008978
$STATE,19689,end surface coast,CONTROL_FINISHED_OK
$STATE,19689,begin surface
$SM_CCo,19766,0.00,0.000,0,0,954,484.47
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$IRIDIUM_FIX,1810.04,12331.96,240612,131339
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.10
$XPDR_PINGS,2
$24V_AH,22.1,102.446
$10V_AH,9.8,62.635
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.900,187.825,504.025,0.000,0.000,25.121,20.657,258.119,0.500,0.000,16.776,4381.433,10996.824,663.867,3681.515,471.877,0.000,2395.954,0.000,3020.925,0.000,0.544,0.000
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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,329656
$DATA_FILE_SIZE,130643,1726
$CAP_FILE_SIZE,215162,0
$CFSIZE,260165632,172646400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.227, 78.6,1
$GPS,250612,004724,1816.854,12335.722,40,1.1,40,-2.1