version: 66.10
glider: 176
mission: 5
dive: 465
start: 6 20 112 2 46 29
data:
$ID,176
$MISSION,5
$DIVE,465
$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,-8206.8096
$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
$GPS1,200612,023807,1808.707,12344.335,34,1.2,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.8
$GPS2,200612,024601,1808.754,12344.347,10,1.4,15,-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,278.2,160123,-13.0,-7.857
$D_GRID,5158
$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,-160.6,0.0,0.0,0,72,0.00,0.00,-53.83,0.000,2,0.000,0.000,179,2696,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.52,-160.6,3.1,-5.9,9,119,8.80,2.25,-27.10,0.000,4,0.230,0.041,2341,1188,3585,0,0,0,0,0,0,25.03,26.23,26.72
$GC,203,-0.52,-160.6,39.3,-27.8,26,210,0.08,2.25,0.00,0.000,6,0.206,0.045,2349,2672,3586,0,0,0,0,0,0,25.96,26.13,28.83
$GC,533,-0.52,-160.6,134.7,-23.8,87,541,0.00,2.10,0.00,0.000,4,0.000,0.025,2349,1191,3585,0,0,0,0,0,0,28.83,26.36,28.83
$GC,613,-0.52,-160.6,147.7,-12.1,99,621,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2670,3585,0,0,0,0,0,0,28.83,26.20,28.83
$GC,945,-0.52,-160.6,205.8,-16.9,158,948,0.00,1.65,0.00,0.000,4,0.000,0.054,2348,3769,3585,0,0,0,0,0,0,28.83,26.10,28.83
$GC,996,-0.52,-160.6,214.0,-15.3,163,999,0.00,1.65,0.00,0.000,6,0.000,0.022,2348,2531,3585,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1306,-0.52,-160.6,257.4,-14.0,194,1310,0.00,1.88,0.00,0.000,4,0.000,0.027,2348,1189,3585,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1398,-0.52,-160.6,267.4,-10.1,203,1408,0.00,2.22,0.00,0.000,6,0.000,0.042,2347,2672,3585,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1708,-0.52,-160.6,303.8,-11.7,234,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2672,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2010,-0.52,-160.6,339.4,-11.8,264,2018,0.00,2.08,0.00,0.000,4,0.000,0.024,2347,1202,3582,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2102,-0.52,-160.6,349.1,-9.6,273,2111,0.00,2.20,0.00,0.000,6,0.000,0.045,2337,2674,3582,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2411,-0.52,-160.6,384.6,-10.7,304,2421,0.05,2.15,0.00,0.000,4,0.232,0.024,2352,1182,3580,0,0,0,0,0,0,26.53,26.36,28.83
$GC,2448,-0.52,-160.6,387.8,-9.9,307,2456,0.00,2.28,0.00,0.000,6,0.000,0.046,2349,2675,3580,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2755,-0.52,-160.6,415.8,-9.1,338,2764,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1191,3577,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2806,-0.52,-160.6,420.0,-7.8,343,2817,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2669,3577,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3116,-0.52,-160.6,445.2,-8.0,374,3118,0.00,0.00,-0.08,0.000,6,0.000,0.000,2348,2669,3597,0,0,0,0,0,0,28.83,28.83,25.33
$GC,3417,-0.52,-160.6,469.1,-8.7,404,3425,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1192,3595,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3470,-0.52,-160.6,473.4,-8.4,409,3478,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2658,3595,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3780,-0.52,-160.6,502.8,-10.0,440,3789,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1192,3592,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3812,-0.52,-160.6,505.9,-9.6,443,3822,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2665,3592,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4121,-0.52,-160.6,534.2,-8.5,474,4130,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1193,3589,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4158,-0.52,-160.6,536.7,-8.1,477,4165,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2670,3589,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4463,-0.52,-160.6,561.7,-8.3,508,4472,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1188,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4494,-0.52,-160.6,564.3,-8.2,511,4505,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2679,3586,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4805,-0.52,-160.6,587.3,-7.5,542,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2679,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5106,-0.52,-160.6,608.7,-7.0,566,5112,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1189,3581,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5168,-0.52,-160.6,612.9,-6.8,569,5172,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2674,3581,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5482,-0.52,-160.6,634.0,-6.3,585,5487,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1198,3579,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5514,-0.52,-160.6,635.3,-6.3,586,5521,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2667,3579,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5820,-0.52,-160.6,656.5,-7.2,602,5825,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1189,3575,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5848,-0.52,-160.6,658.0,-7.4,603,5852,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2668,3576,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6156,-0.52,-160.6,681.2,-7.1,618,6160,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1195,3574,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6198,-0.52,-160.6,684.2,-7.0,620,6202,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2667,3574,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6522,-0.52,-160.6,705.4,-6.7,636,6526,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1189,3571,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6551,-0.52,-160.6,706.9,-6.6,637,6556,0.00,2.30,0.00,0.000,6,0.000,0.045,2347,2676,3571,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6859,-0.52,-160.6,728.8,-7.0,652,6865,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1193,3570,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6893,-0.52,-160.6,730.2,-7.0,653,6900,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2666,3570,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7200,-0.52,-160.6,754.1,-7.6,669,7206,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1199,3568,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7226,-0.52,-160.6,755.7,-7.8,670,7230,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2667,3568,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7540,-0.52,-160.6,780.6,-7.7,686,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2667,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,-0.52,-160.6,802.1,-6.7,701,7845,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1181,3564,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7899,-0.52,-160.6,806.2,-6.7,704,7905,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2663,3564,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8219,-0.52,-160.6,825.1,-5.6,720,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2663,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8519,-0.52,-160.6,843.0,-5.9,735,8525,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1189,3562,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8568,-0.52,-160.6,845.5,-6.1,737,8572,0.00,2.30,0.00,0.000,6,0.000,0.046,2347,2674,3562,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8874,-0.52,-160.6,862.9,-5.2,752,8880,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1189,3560,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8907,-0.52,-160.6,864.0,-5.2,753,8913,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2674,3560,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9215,-0.52,-160.6,879.5,-4.8,769,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2674,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9514,-0.52,-160.6,895.7,-5.9,784,9520,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1195,3559,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9557,-0.52,-160.6,898.1,-6.0,786,9561,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2671,3559,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9870,-0.52,-160.6,917.7,-6.3,802,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2671,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10169,-0.52,-160.6,936.9,-6.4,817,10175,0.00,2.17,0.00,0.000,4,0.000,0.025,2345,1187,3555,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10215,-0.52,-160.6,939.5,-6.7,819,10220,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2660,3555,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10529,-0.52,-160.6,960.4,-6.4,835,10535,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1193,3555,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10558,-0.52,-160.6,961.8,-6.4,836,10567,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2670,3554,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10871,-0.52,-160.6,982.8,-6.6,852,10874,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1196,3554,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10900,-0.52,-160.6,984.3,-6.5,853,10904,0.00,2.30,0.00,0.000,6,0.000,0.048,2345,2664,3553,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,10985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10985,begin apogee
$GC,10992,-0.17,0.0,990.4,-6.4,857,11140,0.32,0.12,140.60,1.706,6,0.100,0.093,2465,2587,2928,0,0,0,0,0,0,25.86,24.33,22.49
$STATE,11141,end apogee,CONTROL_FINISHED_OK
$STATE,11141,begin climb
$GC,11143,0.52,160.6,997.0,0.0,864,11307,0.60,0.00,157.55,1.662,6,0.050,0.000,2703,2587,2273,0,0,0,0,0,0,24.84,28.83,21.80
$GC,11607,0.52,160.6,947.6,14.3,888,11609,0.12,0.00,0.00,0.000,6,0.182,0.000,2672,2587,2262,0,0,0,0,0,0,25.96,28.83,28.83
$GC,11907,0.52,160.6,911.9,11.9,903,11914,0.05,2.22,0.00,0.000,4,0.172,0.027,2720,1093,2260,0,0,0,0,0,0,26.46,26.21,28.83
$GC,11951,0.52,160.6,907.0,12.1,905,11957,0.12,2.28,0.00,0.000,6,0.145,0.047,2680,2562,2258,0,0,0,0,0,0,25.70,26.05,28.83
$GC,12270,0.52,160.6,867.4,12.2,921,12275,0.00,1.88,0.00,0.000,4,0.000,0.056,2679,3774,2258,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12331,0.52,160.6,859.2,13.3,924,12335,0.00,1.88,0.00,0.000,6,0.000,0.025,2688,2504,2257,0,0,0,0,0,0,28.83,26.31,28.83
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$STATE,21643,end climb,SURFACE_DEPTH_REACHED
$STATE,21643,begin surface coast
$FINISH,0.6,1.010116
$STATE,21689,end surface coast,CONTROL_FINISHED_OK
$STATE,21689,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.66
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,26.00
$XPDR_PINGS,0
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$10V_AH,9.8,59.992
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,143926,1929
$CAP_FILE_SIZE,233826,0
$CFSIZE,260165632,174837760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,102.6,1
$GPS,200612,085025,1808.832,12342.804,41,1.7,41,-2.0