version: 66.10
glider: 176
mission: 5
dive: 490
start: 6 26 112 6 10 54
data:
$ID,176
$MISSION,5
$DIVE,490
$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,-8250.1084
$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
$GPS1,260612,060231,1818.975,12333.497,38,1.4,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.9
$GPS2,260612,061025,1819.087,12333.599,9,1.3,15,-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,269.5,137560,-13.2,-8.250
$D_GRID,4877
$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,-170.3,0.0,0.0,0,81,0.00,0.00,-62.83,0.000,2,0.000,0.000,178,2680,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.54,-170.3,3.1,-7.1,11,130,8.70,1.73,-29.75,0.000,4,0.227,0.064,2332,3779,3625,0,0,0,0,0,0,25.02,26.08,26.73
$GC,209,-0.54,-170.3,39.1,-27.7,30,216,0.03,1.73,0.00,0.000,6,0.201,0.024,2341,2555,3625,0,0,0,0,0,0,26.22,26.40,28.83
$GC,539,-0.54,-170.3,148.5,-31.6,91,545,0.00,1.98,0.00,0.000,4,0.000,0.027,2342,1152,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,603,-0.54,-170.3,163.8,-15.7,100,610,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2643,3625,0,0,0,0,0,0,28.83,26.16,28.83
$GC,929,-0.54,-170.3,232.6,-16.0,147,933,0.00,2.10,0.00,0.000,4,0.000,0.025,2335,1166,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,983,-0.54,-170.3,239.6,-12.2,152,990,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2636,3625,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1292,-0.54,-170.3,284.0,-13.9,183,1300,0.00,2.05,0.00,0.000,4,0.000,0.023,2334,1157,3625,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1377,-0.54,-170.3,292.7,-9.4,191,1384,0.00,2.22,0.00,0.000,6,0.000,0.043,2333,2638,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1684,-0.54,-170.3,331.2,-13.1,222,1687,0.00,1.70,0.00,0.000,4,0.000,0.053,2332,3766,3623,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1727,-0.54,-170.3,336.4,-12.5,226,1731,0.05,1.70,0.00,0.000,6,0.208,0.022,2348,2491,3623,0,0,0,0,0,0,26.34,26.54,28.83
$GC,2038,-0.54,-170.3,366.9,-8.3,257,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2476,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-0.54,-170.3,391.7,-8.4,287,2351,0.00,2.00,0.00,0.000,4,0.000,0.051,2348,3783,3618,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2404,-0.54,-170.3,397.4,-8.8,293,2408,0.00,1.73,0.00,0.000,6,0.000,0.022,2347,2508,3617,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2715,-0.54,-170.3,428.9,-10.6,324,2725,0.00,1.92,-0.10,0.000,4,0.000,0.039,2347,1157,3637,0,0,0,0,0,0,28.83,26.30,25.95
$GC,2760,-0.54,-170.3,433.3,-10.6,328,2767,0.00,2.28,0.00,0.000,6,0.000,0.045,2347,2643,3637,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3067,-0.54,-170.3,466.1,-10.0,359,3071,0.00,1.73,0.00,0.000,4,0.000,0.054,2345,3765,3634,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3099,-0.54,-170.3,469.1,-9.6,362,3103,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2524,3633,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3411,-0.54,-170.3,496.1,-8.8,393,3421,0.00,1.95,0.00,0.000,4,0.000,0.026,2345,1157,3630,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3454,-0.54,-170.3,499.5,-7.8,397,3464,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2637,3630,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3764,-0.54,-170.3,524.8,-7.9,428,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2637,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-0.54,-170.3,546.5,-7.3,458,4071,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1155,3624,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4110,-0.54,-170.3,549.7,-7.2,462,4118,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2630,3624,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4420,-0.54,-170.3,574.9,-8.6,493,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2630,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.54,-170.3,602.2,-8.7,523,4737,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1165,3618,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4758,-0.54,-170.3,603.8,-8.6,524,4763,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2634,3618,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5065,-0.54,-170.3,626.3,-6.6,539,5068,0.00,1.75,0.00,0.000,4,0.000,0.056,2344,3772,3615,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5089,-0.54,-170.3,627.7,-6.6,540,5092,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2531,3615,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5407,-0.54,-170.3,650.7,-7.3,556,5413,0.00,1.95,0.00,0.000,4,0.000,0.026,2344,1162,3613,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5431,-0.54,-170.3,652.4,-7.5,557,5436,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2636,3613,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5748,-0.54,-170.3,677.6,-7.8,573,5753,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1167,3610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5788,-0.54,-170.3,680.8,-7.9,575,5793,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2643,3610,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6101,-0.54,-170.3,705.6,-7.8,591,6105,0.00,1.70,0.00,0.000,4,0.000,0.055,2343,3765,3608,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6127,-0.54,-170.3,707.2,-7.8,592,6130,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2504,3607,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6443,-0.54,-170.3,731.1,-7.6,608,6449,0.00,2.03,0.00,0.000,4,0.000,0.054,2344,3764,3604,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6483,-0.54,-170.3,734.4,-7.8,610,6487,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2498,3604,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6807,-0.54,-170.3,758.4,-7.2,626,6811,0.00,1.98,0.00,0.000,4,0.000,0.054,2343,3764,3603,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6838,-0.54,-170.3,760.2,-7.2,627,6841,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2509,3603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7151,-0.54,-170.3,782.9,-7.2,643,7157,0.00,2.00,0.00,0.000,4,0.000,0.054,2343,3761,3600,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7183,-0.54,-170.3,784.3,-7.1,644,7189,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2470,3600,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7490,-0.54,-170.3,804.7,-5.9,660,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2469,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7792,-0.54,-170.3,820.1,-4.7,675,7797,0.00,2.03,0.00,0.000,4,0.000,0.055,2343,3765,3597,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7830,-0.54,-170.3,822.1,-4.8,677,7834,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2489,3597,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8152,-0.54,-170.3,838.0,-5.2,693,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2487,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8453,-0.54,-170.3,854.5,-5.7,708,8459,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3766,3594,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8492,-0.54,-170.3,856.9,-5.7,710,8496,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2519,3594,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8816,-0.54,-170.3,876.1,-6.2,726,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2480,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9114,-0.54,-170.3,894.3,-6.0,741,9119,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3768,3592,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9136,-0.54,-170.3,895.5,-6.0,742,9140,0.00,1.77,0.00,0.000,6,0.000,0.025,2344,2487,3591,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9456,-0.54,-170.3,915.5,-6.2,758,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2484,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9754,-0.54,-170.3,934.5,-6.3,773,9759,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3771,3589,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9802,-0.54,-170.3,937.1,-6.1,775,9805,0.00,1.75,0.00,0.000,6,0.000,0.025,2343,2522,3589,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10115,-0.54,-170.3,955.1,-5.1,791,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2481,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10414,-0.54,-170.3,970.1,-4.9,806,10420,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3768,3587,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10446,-0.54,-170.3,971.0,-4.8,807,10453,0.00,1.75,0.00,0.000,6,0.000,0.026,2343,2492,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10755,-0.54,-170.3,987.2,-5.3,823,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2492,3586,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10812,begin apogee
$GC,10817,-0.17,0.0,990.4,-5.4,826,10977,0.32,0.08,146.77,1.692,6,0.096,0.098,2464,2453,2928,0,0,0,0,0,0,25.86,24.26,22.64
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10981,0.54,170.3,997.3,0.0,834,11157,0.60,2.28,164.12,1.649,4,0.049,0.055,2708,3759,2233,0,0,0,0,0,0,25.00,23.88,21.99
$GC,11193,0.54,170.3,985.7,12.3,844,11200,0.15,1.95,0.00,0.000,6,0.185,0.024,2683,2474,2230,0,0,0,0,0,0,24.71,25.13,28.83
$GC,11501,0.54,170.3,944.2,12.1,860,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2471,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11801,0.54,170.3,908.2,12.1,875,11806,0.00,2.03,0.00,0.000,4,0.000,0.056,2683,3766,2220,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11840,0.54,170.3,902.2,13.6,877,11843,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2471,2221,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12156,0.54,170.3,860.3,13.5,893,12161,0.00,2.05,0.00,0.000,4,0.000,0.030,2703,1069,2219,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12205,0.54,170.3,855.3,13.1,895,12210,0.10,2.28,0.00,0.000,6,0.170,0.047,2678,2536,2216,0,0,0,0,0,0,25.78,25.96,28.83
$GC,12511,0.54,170.3,817.0,11.8,910,12517,0.00,1.90,0.00,0.000,4,0.000,0.055,2678,3765,2216,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,20583,end climb,SURFACE_DEPTH_REACHED
$STATE,20583,begin surface coast
$FINISH,0.8,1.019121
$STATE,20625,end surface coast,CONTROL_FINISHED_OK
$STATE,20625,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.10
$XPDR_PINGS,1
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$10V_AH,9.7,63.463
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329656
$DATA_FILE_SIZE,133825,1803
$CAP_FILE_SIZE,218869,0
$CFSIZE,260165632,171954176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,103.5,1
$GPS,260612,115706,1818.592,12332.990,39,0.9,39,-2.1