version: 66.10
glider: 176
mission: 5
dive: 463
start: 6 19 112 14 29 29
data:
$ID,176
$MISSION,5
$DIVE,463
$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,460
$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,165
$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,-8204.292
$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
$GPS1,190612,142037,1808.107,12346.772,50,1.0,50,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.1
$GPS2,190612,142902,1808.173,12346.796,13,1.3,13,-2.0
$SPEED_LIMITS,0.136,0.248
$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,269.3,164555,-13.0,-7.857
$D_GRID,4881
$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,-160.6,0.0,0.0,0,73,0.00,0.00,-54.25,0.000,2,0.000,0.000,190,2692,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.52,-160.6,3.1,-5.9,9,122,8.85,2.22,-29.10,0.000,4,0.234,0.040,2346,1196,3585,0,0,0,0,0,0,25.03,26.26,26.72
$GC,239,-0.52,-160.6,41.5,-22.4,36,246,0.00,2.22,0.00,0.000,6,0.000,0.047,2346,2669,3586,0,0,0,0,0,0,28.83,26.15,28.83
$GC,567,-0.52,-160.6,138.9,-25.0,97,575,0.00,2.10,0.00,0.000,4,0.000,0.026,2346,1196,3585,0,0,0,0,0,0,28.83,26.38,28.83
$GC,677,-0.52,-160.6,156.0,-12.4,115,684,0.05,2.22,0.00,0.000,6,0.226,0.044,2350,2672,3585,0,0,0,0,0,0,26.10,26.21,28.83
$GC,1004,-0.52,-160.6,212.7,-18.7,169,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2673,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.52,-160.6,256.0,-14.4,199,1315,0.00,2.10,0.00,0.000,4,0.000,0.026,2351,1196,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1351,-0.52,-160.6,261.4,-12.4,203,1357,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2676,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1659,-0.52,-160.6,301.0,-12.6,234,1668,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1197,3584,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1723,-0.52,-160.6,308.3,-10.7,240,1732,0.00,2.20,0.00,0.000,6,0.000,0.042,2348,2673,3583,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2030,-0.52,-160.6,343.6,-10.3,271,2039,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1190,3581,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2082,-0.52,-160.6,348.1,-8.4,276,2091,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2675,3581,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2392,-0.52,-160.6,377.0,-10.3,307,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2675,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2695,-0.52,-160.6,408.8,-10.6,337,2704,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1198,3577,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2789,-0.52,-160.6,417.8,-9.3,346,2797,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2664,3576,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3097,-0.52,-160.6,447.1,-9.9,377,3102,0.00,2.12,-0.10,0.000,4,0.000,0.035,2345,1200,3596,0,0,0,0,0,0,28.83,26.35,25.97
$GC,3132,-0.52,-160.6,450.1,-9.6,380,3139,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2675,3596,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3439,-0.52,-160.6,477.2,-8.2,411,3448,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1185,3594,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3485,-0.52,-160.6,480.3,-7.7,415,3492,0.08,2.25,0.00,0.000,6,0.173,0.044,2357,2670,3593,0,0,0,0,0,0,26.05,26.17,28.83
$GC,3791,-0.52,-160.6,501.8,-7.4,446,3801,0.08,2.10,0.00,0.000,4,0.129,0.024,2286,1191,3590,0,0,0,0,0,0,26.56,26.34,28.83
$GC,3827,-0.52,-160.6,505.2,-9.5,449,3836,0.25,2.25,0.00,0.000,6,0.125,0.044,2358,2672,3589,0,0,0,0,0,0,25.83,26.14,28.83
$GC,4134,-0.52,-160.6,530.5,-7.9,480,4143,0.08,2.12,0.00,0.000,4,0.128,0.023,2289,1193,3587,0,0,0,0,0,0,26.56,26.34,28.83
$GC,4198,-0.52,-160.6,537.3,-11.2,486,4207,0.20,2.25,0.00,0.000,6,0.126,0.045,2351,2669,3586,0,0,0,0,0,0,25.86,26.13,28.83
$GC,4506,-0.52,-160.6,562.4,-8.2,517,4515,0.00,2.15,0.00,0.000,4,0.000,0.025,2350,1188,3584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4539,-0.52,-160.6,565.0,-8.1,520,4547,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2674,3584,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4849,-0.52,-160.6,589.8,-7.9,551,4858,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1198,3581,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4892,-0.52,-160.6,593.1,-7.8,555,4901,0.00,2.22,0.00,0.000,6,0.000,0.046,2349,2662,3581,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5211,-0.52,-160.6,616.3,-7.0,576,5217,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1186,3578,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5239,-0.52,-160.6,617.6,-7.0,577,5243,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2670,3578,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5550,-0.52,-160.6,640.1,-7.3,592,5555,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1200,3576,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5581,-0.52,-160.6,641.6,-7.2,593,5589,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2668,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5890,-0.52,-160.6,664.1,-6.9,609,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2668,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,-0.52,-160.6,684.6,-6.7,624,6193,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1193,3571,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6249,-0.52,-160.6,688.6,-6.6,627,6255,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2668,3571,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6571,-0.52,-160.6,709.7,-6.7,643,6576,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1198,3568,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6597,-0.52,-160.6,711.1,-6.7,644,6601,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2675,3568,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6906,-0.52,-160.6,731.7,-6.3,659,6909,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1195,3567,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6941,-0.52,-160.6,733.3,-6.4,660,6948,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2669,3567,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7249,-0.52,-160.6,753.2,-6.4,676,7255,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1193,3565,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7283,-0.52,-160.6,754.4,-6.4,677,7291,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2670,3565,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7589,-0.52,-160.6,776.3,-6.8,693,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2670,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7889,-0.52,-160.6,795.9,-6.3,708,7895,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1196,3562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7934,-0.52,-160.6,798.6,-6.2,710,7940,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2666,3562,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8249,-0.52,-160.6,816.6,-5.6,726,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2666,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8549,-0.52,-160.6,834.0,-5.7,741,8554,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1192,3559,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8598,-0.52,-160.6,836.4,-5.9,743,8607,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2667,3559,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8909,-0.52,-160.6,856.8,-6.7,759,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2667,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,-0.52,-160.6,876.1,-6.4,774,9216,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1197,3557,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9257,-0.52,-160.6,879.1,-6.9,776,9261,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2666,3557,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9564,-0.52,-160.6,901.9,-6.9,791,9567,0.00,1.70,0.00,0.000,4,0.000,0.057,2348,3765,3556,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9669,-0.52,-160.6,908.9,-6.9,796,9673,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2509,3555,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9986,-0.52,-160.6,929.0,-6.0,812,9991,0.00,1.90,0.00,0.000,4,0.000,0.026,2348,1192,3554,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10070,-0.52,-160.6,933.7,-6.0,816,10074,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2667,3554,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10387,-0.52,-160.6,951.8,-5.8,832,10390,0.00,1.67,0.00,0.000,4,0.000,0.056,2348,3763,3552,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10489,-0.52,-160.6,957.6,-5.7,837,10493,0.00,1.67,0.00,0.000,6,0.000,0.025,2348,2540,3552,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10812,-0.52,-160.6,979.1,-7.0,853,10817,0.00,1.95,0.00,0.000,4,0.000,0.057,2347,3778,3551,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,10969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10969,begin apogee
$GC,10976,-0.17,0.0,990.6,-7.3,861,11125,0.30,0.22,139.90,1.705,6,0.070,0.067,2478,2576,2928,0,0,0,0,0,0,26.15,24.49,22.54
$STATE,11126,end apogee,CONTROL_FINISHED_OK
$STATE,11126,begin climb
$GC,11128,0.52,160.6,999.9,0.0,868,11293,0.55,2.10,156.02,1.663,4,0.047,0.057,2709,3760,2273,0,0,0,0,0,0,24.95,23.85,21.89
$GC,11325,0.52,160.6,991.0,11.3,878,11330,0.17,1.92,0.00,0.000,6,0.186,0.024,2677,2509,2271,0,0,0,0,0,0,24.51,24.93,28.83
$GC,11631,0.52,160.6,952.0,11.9,893,11636,0.00,2.05,0.00,0.000,4,0.000,0.031,2686,1103,2262,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11664,0.52,160.6,949.7,11.8,894,11672,0.00,2.28,0.00,0.000,6,0.000,0.047,2686,2566,2260,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11973,0.52,160.6,907.8,13.2,910,11978,0.00,2.17,0.00,0.000,4,0.000,0.029,2697,1102,2259,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12000,0.52,160.6,905.2,13.1,911,12010,0.10,2.28,0.00,0.000,6,0.174,0.047,2674,2566,2258,0,0,0,0,0,0,25.86,26.04,28.83
$GC,12313,0.52,160.6,866.3,11.8,927,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2567,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12613,0.52,160.6,831.9,11.0,942,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2567,2257,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21453,end climb,SURFACE_DEPTH_REACHED
$STATE,21454,begin surface coast
$FINISH,0.7,1.021312
$STATE,21496,end surface coast,CONTROL_FINISHED_OK
$STATE,21496,begin surface
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$IRIDIUM_FIX,1800.97,12350.21,190612,080830
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,21.9,97.735
$10V_AH,9.8,59.702
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.925,188.575,465.800,0.000,0.000,32.280,42.693,266.035,0.250,0.000,16.189,4802.603,12171.953,662.023,3891.579,509.379,0.000,2452.798,0.000,3229.245,0.000,0.543,0.000
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$MEM,329612
$DATA_FILE_SIZE,140521,1899
$CAP_FILE_SIZE,225251,0
$CFSIZE,260165632,175091712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126, 80.5,1
$GPS,190612,203006,1808.340,12345.668,37,1.0,37,-2.0