version: 66.10
glider: 176
mission: 5
dive: 487
start: 6 25 112 12 38 0
data:
$ID,176
$MISSION,5
$DIVE,487
$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,-8245.1357
$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
$GPS1,250612,123000,1816.972,12334.263,38,1.2,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.9
$GPS2,250612,123731,1817.040,12334.340,10,1.6,10,-2.0
$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,278.4,139517,-13.2,-8.250
$D_GRID,4905
$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,13,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,-51.20,0.000,2,0.000,0.000,182,2655,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.3,-7.3,9,117,8.75,1.67,-27.40,0.000,4,0.230,0.064,2331,3776,3625,0,0,0,0,0,0,25.02,26.03,26.71
$GC,224,-0.54,-170.3,50.3,-28.9,34,231,0.05,1.70,0.00,0.000,6,0.230,0.023,2344,2538,3625,0,0,0,0,0,0,26.20,26.40,28.83
$GC,555,-0.54,-170.3,150.1,-24.1,95,561,0.00,1.88,0.00,0.000,4,0.000,0.050,2335,3768,3625,0,0,0,0,0,0,28.83,26.08,28.83
$GC,609,-0.54,-170.3,162.6,-20.9,102,616,0.00,1.70,0.00,0.000,6,0.000,0.023,2335,2537,3625,0,0,0,0,0,0,28.83,26.48,28.83
$GC,926,-0.54,-170.3,224.6,-17.7,151,934,0.00,1.92,0.00,0.000,4,0.000,0.024,2335,1147,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,940,-0.54,-170.3,225.9,-17.2,152,948,0.00,2.25,0.00,0.000,6,0.000,0.043,2333,2642,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1248,-0.54,-170.3,269.9,-14.1,183,1257,0.00,2.10,0.00,0.000,4,0.000,0.023,2333,1153,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1301,-0.54,-170.3,276.6,-12.1,188,1310,0.00,2.22,0.00,0.000,6,0.000,0.042,2332,2640,3625,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1609,-0.54,-170.3,318.2,-13.0,219,1619,0.05,2.12,0.00,0.000,4,0.240,0.021,2346,1145,3624,0,0,0,0,0,0,26.52,26.37,28.83
$GC,1664,-0.54,-170.3,323.3,-9.6,224,1672,0.00,2.28,0.00,0.000,6,0.000,0.042,2347,2635,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1971,-0.54,-170.3,357.3,-11.3,255,1980,0.00,2.12,0.00,0.000,4,0.000,0.024,2346,1147,3623,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2003,-0.54,-170.3,360.7,-11.3,258,2007,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2644,3623,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2315,-0.54,-170.3,394.0,-10.4,289,2323,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1157,3620,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2369,-0.54,-170.3,398.9,-9.4,294,2376,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2640,3620,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2677,-0.54,-170.3,426.1,-8.7,325,2680,0.00,1.73,0.00,0.000,4,0.000,0.055,2345,3772,3617,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2720,-0.54,-170.3,429.8,-8.8,329,2727,0.00,1.73,0.00,0.000,6,0.000,0.022,2345,2488,3616,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3028,-0.54,-170.3,458.2,-9.2,360,3038,0.00,1.90,-0.08,0.000,4,0.000,0.037,2346,1150,3642,0,0,0,0,0,0,28.83,26.32,25.41
$GC,3063,-0.54,-170.3,461.3,-9.4,363,3070,0.00,2.28,0.00,0.000,6,0.000,0.043,2345,2643,3642,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3371,-0.54,-170.3,490.9,-9.2,394,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2644,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3672,-0.54,-170.3,514.4,-7.1,424,3681,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1152,3636,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3714,-0.54,-170.3,517.3,-6.9,428,3724,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2636,3636,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4024,-0.54,-170.3,539.2,-7.4,459,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2636,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,-0.54,-170.3,562.2,-7.5,489,4335,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1165,3631,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4388,-0.54,-170.3,566.9,-7.4,495,4397,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2636,3631,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4698,-0.54,-170.3,590.1,-7.9,526,4707,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1150,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4731,-0.54,-170.3,592.5,-7.5,529,4739,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2631,3627,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5040,-0.54,-170.3,616.1,-7.9,550,5044,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1161,3625,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5063,-0.54,-170.3,617.9,-8.0,551,5068,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2643,3624,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5382,-0.54,-170.3,640.9,-7.0,567,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2643,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5682,-0.54,-170.3,663.4,-7.7,582,5687,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1156,3620,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5736,-0.54,-170.3,666.4,-7.7,584,5744,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2636,3620,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6042,-0.54,-170.3,690.6,-7.5,600,6045,0.00,1.73,0.00,0.000,4,0.000,0.057,2345,3763,3618,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6067,-0.54,-170.3,692.3,-7.5,601,6070,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2506,3617,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6384,-0.54,-170.3,713.3,-5.8,617,6388,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3771,3615,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6427,-0.54,-170.3,715.8,-5.7,619,6430,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2509,3614,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6750,-0.54,-170.3,734.7,-5.8,635,6755,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3758,3613,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6782,-0.54,-170.3,736.0,-5.8,636,6790,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2481,3613,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7091,-0.54,-170.3,756.3,-6.6,652,7097,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3759,3611,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7139,-0.54,-170.3,758.9,-6.5,654,7142,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2512,3611,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7450,-0.54,-170.3,779.2,-6.2,670,7455,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3764,3610,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7484,-0.54,-170.3,780.4,-6.1,671,7491,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2486,3609,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7790,-0.54,-170.3,800.8,-6.3,687,7794,0.00,2.03,0.00,0.000,4,0.000,0.058,2344,3766,3607,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7815,-0.54,-170.3,802.0,-6.3,688,7818,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2523,3607,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8133,-0.54,-170.3,823.1,-6.7,704,8138,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3766,3605,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8160,-0.54,-170.3,824.4,-6.7,705,8163,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2515,3605,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8472,-0.54,-170.3,846.4,-7.1,721,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2467,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,-0.54,-170.3,867.8,-7.0,736,8779,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3764,3603,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8845,-0.54,-170.3,871.9,-6.7,739,8851,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2476,3602,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9153,-0.54,-170.3,894.3,-6.9,755,9158,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3757,3601,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9175,-0.54,-170.3,895.6,-6.8,756,9178,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2516,3601,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9492,-0.54,-170.3,916.5,-6.3,772,9496,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3766,3600,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9517,-0.54,-170.3,917.9,-6.3,773,9521,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2521,3600,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9834,-0.54,-170.3,937.5,-6.1,789,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2478,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10134,-0.54,-170.3,957.3,-6.9,804,10137,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3761,3598,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10181,-0.54,-170.3,960.4,-6.9,806,10184,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2526,3598,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10497,-0.54,-170.3,985.1,-7.7,822,10503,0.00,1.92,0.00,0.000,4,0.000,0.028,2345,1154,3597,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,10575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10575,begin apogee
$GC,10583,-0.17,0.0,991.3,-7.7,826,10740,0.32,0.08,149.23,1.698,6,0.100,0.096,2464,2455,2928,0,0,0,0,0,0,25.79,24.15,22.49
$STATE,10741,end apogee,CONTROL_FINISHED_OK
$STATE,10741,begin climb
$GC,10744,0.54,170.3,1001.1,0.0,834,10921,0.62,2.33,166.73,1.652,4,0.049,0.030,2720,1071,2233,0,0,0,0,0,0,24.75,23.73,21.73
$GC,10946,0.54,170.3,991.7,11.4,844,10952,0.15,2.45,0.00,0.000,6,0.158,0.047,2684,2538,2227,0,0,0,0,0,0,24.30,24.53,28.83
$GC,11260,0.54,170.3,952.0,12.4,860,11266,0.00,1.92,0.00,0.000,4,0.000,0.058,2683,3771,2222,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11307,0.54,170.3,946.3,13.0,862,11311,0.00,1.90,0.00,0.000,6,0.000,0.025,2692,2470,2221,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11614,0.54,170.3,905.9,12.3,877,11620,0.00,2.05,0.00,0.000,4,0.000,0.031,2703,1065,2219,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11695,0.54,170.3,897.3,10.8,881,11701,0.05,2.25,0.00,0.000,6,0.146,0.047,2685,2533,2217,0,0,0,0,0,0,25.82,26.00,28.83
$GC,12014,0.54,170.3,862.8,10.4,897,12019,0.00,1.92,0.00,0.000,4,0.000,0.057,2685,3773,2217,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,20818,end climb,SURFACE_DEPTH_REACHED
$STATE,20818,begin surface coast
$FINISH,0.7,1.021042
$STATE,20855,end surface coast,CONTROL_FINISHED_OK
$STATE,20856,begin surface
$SM_CCo,20931,0.00,0.000,0,0,492,597.80
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.58
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.40
$XPDR_PINGS,0
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$10V_AH,9.8,63.049
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.175,213.400,588.175,0.000,0.000,27.686,16.399,252.017,0.000,0.000,14.016,4652.596,11580.100,761.899,3847.168,508.019,0.000,2556.514,0.000,3133.504,0.000,0.543,0.000
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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,329644
$DATA_FILE_SIZE,137067,1846
$CAP_FILE_SIZE,229595,0
$CFSIZE,260165632,172281856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207, 55.7,1
$GPS,250612,182801,1818.882,12333.672,40,1.3,40,-2.1