version: 66.10
glider: 176
mission: 5
dive: 414
start: 6 8 112 10 41 47
data:
$ID,176
$MISSION,5
$DIVE,414
$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,-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,-8116.209
$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
$GPS1,080612,103306,1750.408,12435.576,40,0.9,45,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.8
$GPS2,080612,104119,1750.154,12435.697,11,1.3,16,-2.0
$SPEED_LIMITS,0.136,0.255
$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,291.5,256353,-12.5,-7.857
$D_GRID,4017
$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,-170.3,0.0,0.0,0,82,0.00,0.00,-63.85,0.000,2,0.000,0.000,186,2643,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.52,-170.3,3.1,-5.7,11,132,9.20,2.20,-28.30,0.000,4,0.246,0.040,2347,1145,3626,0,0,0,0,0,0,25.07,26.29,26.73
$GC,204,-0.52,-170.3,30.8,-21.4,29,212,0.05,2.22,0.00,0.000,6,0.232,0.044,2349,2627,3626,0,0,0,0,0,0,26.09,26.20,28.83
$GC,519,-0.52,-170.3,114.7,-18.7,90,526,0.00,1.70,0.00,0.000,4,0.000,0.052,2341,3772,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,579,-0.52,-170.3,126.9,-19.7,101,587,0.00,1.70,0.00,0.000,6,0.000,0.022,2341,2493,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,908,-0.52,-170.3,195.9,-20.3,162,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2491,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1222,-0.52,-170.3,248.9,-15.9,195,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2491,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-0.52,-170.3,294.6,-13.9,225,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2491,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,-0.52,-170.3,335.5,-13.2,256,1841,0.00,1.95,0.00,0.000,4,0.000,0.052,2333,3773,3623,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1873,-0.52,-170.3,340.9,-13.2,260,1877,0.08,1.70,0.00,0.000,6,0.174,0.022,2355,2476,3622,0,0,0,0,0,0,26.34,26.59,28.83
$GC,2185,-0.52,-170.3,373.6,-10.0,291,2194,0.05,2.00,0.00,0.000,4,0.173,0.050,2291,3777,3620,0,0,0,0,0,0,26.63,26.13,28.83
$GC,2260,-0.52,-170.3,384.0,-15.5,298,2267,0.20,1.70,0.00,0.000,6,0.129,0.021,2356,2458,3619,0,0,0,0,0,0,26.10,26.58,28.83
$GC,2566,-0.52,-170.3,416.6,-10.3,329,2571,0.08,2.00,0.00,0.000,4,0.129,0.051,2278,3766,3617,0,0,0,0,0,0,26.60,26.11,28.83
$GC,2611,-0.52,-170.3,422.6,-14.4,333,2620,0.22,1.73,0.00,0.000,6,0.131,0.021,2350,2455,3616,0,0,0,0,0,0,26.03,26.55,28.83
$GC,2918,-0.52,-170.3,451.8,-8.9,364,2923,0.00,2.05,-0.10,0.000,4,0.000,0.067,2348,3771,3637,0,0,0,0,0,0,28.83,26.08,26.01
$GC,2972,-0.52,-170.3,455.9,-8.2,369,2981,0.00,1.73,0.00,0.000,6,0.000,0.021,2348,2467,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3280,-0.52,-170.3,481.6,-8.4,400,3289,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3765,3634,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3321,-0.52,-170.3,485.0,-8.0,404,3325,0.00,1.70,0.00,0.000,6,0.000,0.023,2348,2487,3634,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3632,-0.52,-170.3,510.2,-8.0,435,3641,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3773,3631,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3706,-0.52,-170.3,516.0,-7.5,442,3709,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2492,3629,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4017,-0.52,-170.3,541.8,-8.5,473,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2458,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,-0.52,-170.3,566.4,-8.2,503,4327,0.00,1.98,0.00,0.000,4,0.000,0.054,2348,3758,3625,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4391,-0.52,-170.3,572.5,-8.2,510,4395,0.00,1.70,0.00,0.000,6,0.000,0.023,2348,2487,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4703,-0.52,-170.3,599.2,-8.6,541,4713,0.00,1.88,0.00,0.000,4,0.000,0.028,2348,1137,3621,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4731,-0.52,-170.3,601.2,-8.8,543,4736,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2630,3621,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5045,-0.52,-170.3,628.0,-8.1,559,5049,0.00,1.73,0.00,0.000,4,0.000,0.054,2345,3766,3619,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5086,-0.52,-170.3,631.2,-7.9,561,5090,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2512,3618,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5409,-0.52,-170.3,655.0,-7.3,577,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2504,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,-0.52,-170.3,675.3,-6.5,592,5713,0.00,1.95,0.00,0.000,4,0.000,0.054,2345,3765,3614,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5748,-0.52,-170.3,678.0,-6.6,594,5752,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2513,3613,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6071,-0.52,-170.3,699.0,-6.8,610,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2503,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,-0.52,-170.3,720.4,-7.5,625,6377,0.00,1.98,0.00,0.000,4,0.000,0.055,2345,3774,3609,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6431,-0.52,-170.3,724.8,-7.5,628,6434,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2508,3608,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6752,-0.52,-170.3,750.0,-7.8,644,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2504,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7052,-0.52,-170.3,772.2,-7.2,659,7058,0.00,1.98,0.00,0.000,4,0.000,0.055,2345,3772,3605,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7096,-0.52,-170.3,775.1,-7.1,661,7099,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2508,3605,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7412,-0.52,-170.3,796.5,-6.5,677,7417,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3772,3604,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7441,-0.52,-170.3,797.8,-6.6,678,7445,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2506,3603,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7753,-0.52,-170.3,818.4,-6.4,694,7758,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3766,3601,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7800,-0.52,-170.3,821.0,-6.4,696,7804,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2507,3601,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8114,-0.52,-170.3,842.8,-6.9,712,8119,0.00,1.95,0.00,0.000,4,0.000,0.055,2345,3765,3600,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8160,-0.52,-170.3,845.3,-6.7,714,8164,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2513,3599,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8473,-0.52,-170.3,866.1,-6.4,730,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2499,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,-0.52,-170.3,884.6,-6.1,745,8778,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3766,3597,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8823,-0.52,-170.3,887.4,-6.3,747,8827,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2513,3596,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9139,-0.52,-170.3,907.5,-6.5,763,9144,0.00,1.98,0.00,0.000,4,0.000,0.058,2345,3766,3595,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9170,-0.52,-170.3,908.9,-6.5,764,9176,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2498,3595,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9477,-0.52,-170.3,929.9,-6.6,780,9483,0.00,2.00,0.00,0.000,4,0.000,0.059,2345,3764,3595,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9521,-0.52,-170.3,932.5,-6.5,782,9524,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2515,3594,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9838,-0.52,-170.3,952.7,-6.1,798,9841,0.00,2.00,0.00,0.000,4,0.000,0.060,2345,3766,3593,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9872,-0.52,-170.3,954.0,-6.1,799,9879,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2505,3593,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10180,-0.52,-170.3,973.7,-6.2,815,10186,0.00,2.00,0.00,0.000,4,0.000,0.060,2345,3770,3592,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10222,-0.52,-170.3,976.0,-6.0,817,10225,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2500,3592,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10437,begin apogee
$GC,10443,-0.17,0.0,990.2,-6.5,828,10601,0.32,0.00,149.00,1.707,6,0.086,0.000,2470,2497,2929,0,0,0,0,0,0,26.04,28.83,22.46
$STATE,10602,end apogee,CONTROL_FINISHED_OK
$STATE,10602,begin climb
$GC,10604,0.52,170.3,998.6,0.0,836,10782,0.60,2.35,165.93,1.663,4,0.051,0.031,2708,1059,2232,0,0,0,0,0,0,24.76,23.86,21.92
$GC,10885,0.52,170.3,976.8,12.7,850,10892,0.12,2.30,0.00,0.000,6,0.164,0.046,2677,2519,2223,0,0,0,0,0,0,25.44,25.65,28.83
$GC,11206,0.52,170.3,937.9,12.0,866,11212,0.00,1.92,0.00,0.000,4,0.000,0.057,2676,3766,2220,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11278,0.52,170.3,929.5,13.6,869,11285,0.00,1.90,0.00,0.000,6,0.000,0.025,2686,2443,2219,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11587,0.52,170.3,888.1,12.8,885,11590,0.00,2.08,0.00,0.000,4,0.000,0.056,2686,3769,2218,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11621,0.52,170.3,884.9,13.3,886,11629,0.05,1.92,0.00,0.000,6,0.185,0.025,2680,2446,2218,0,0,0,0,0,0,26.03,26.36,28.83
$GC,11928,0.52,170.3,845.2,11.9,902,11933,0.00,2.03,0.00,0.000,4,0.000,0.032,2687,1054,2217,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11962,0.52,170.3,842.9,11.8,903,11969,0.00,2.25,0.00,0.000,6,0.000,0.046,2687,2525,2216,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12268,0.52,170.3,803.4,12.2,919,12274,0.00,1.90,0.00,0.000,4,0.000,0.056,2687,3763,2216,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12316,0.52,170.3,797.8,13.0,921,12320,0.10,1.88,0.00,0.000,6,0.207,0.024,2674,2451,2215,0,0,0,0,0,0,25.98,26.38,28.83
$GC,12629,0.52,170.3,761.5,11.1,937,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2446,2215,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20513,end climb,SURFACE_DEPTH_REACHED
$STATE,20513,begin surface coast
$FINISH,0.7,1.019396
$STATE,20592,end surface coast,CONTROL_FINISHED_OK
$STATE,20592,begin surface
$SM_CCo,20667,0.00,0.000,0,0,1057,459.20
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,21.9,86.843
$10V_AH,9.8,53.398
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.525,159.050,482.500,0.000,0.000,28.756,40.426,259.474,0.000,0.000,19.441,4683.374,11602.649,642.214,3740.300,454.370,0.000,2362.290,0.000,3116.579,0.000,0.542,0.000
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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,330212
$DATA_FILE_SIZE,140422,1863
$CAP_FILE_SIZE,214374,0
$CFSIZE,260165632,180404224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,129.6,1
$GPS,080612,162724,1750.257,12434.708,40,1.1,40,-2.0