version: 66.10
glider: 176
mission: 5
dive: 494
start: 6 27 112 5 35 7
data:
$ID,176
$MISSION,5
$DIVE,494
$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,-8257.5811
$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
$GPS1,270612,052707,1820.200,12331.705,36,1.0,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.1
$GPS2,270612,053438,1820.270,12331.780,11,2.0,11,-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,278.3,134057,-13.2,-8.250
$D_GRID,4849
$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,-0.54,-170.3,0.0,0.0,0,72,0.00,0.00,-53.10,0.000,2,0.000,0.000,178,2650,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.54,-170.3,3.1,-6.2,9,121,8.75,1.77,-30.30,0.000,4,0.228,0.066,2332,3781,3625,0,0,0,0,0,0,24.99,26.03,26.71
$GC,214,-0.54,-170.3,42.5,-29.5,31,222,0.05,1.70,0.00,0.000,6,0.230,0.024,2344,2536,3626,0,0,0,0,0,0,26.22,26.43,28.83
$GC,547,-0.54,-170.3,147.2,-29.5,92,569,0.00,1.95,0.00,0.000,4,0.000,0.028,2344,1167,3625,0,0,0,0,0,0,28.83,26.33,28.83
$GC,592,-0.54,-170.3,158.9,-23.8,97,599,0.00,2.20,0.00,0.000,6,0.000,0.042,2334,2639,3625,0,0,0,0,0,0,28.83,26.16,28.83
$GC,927,-0.54,-170.3,237.5,-19.3,142,936,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1161,3625,0,0,0,0,0,0,28.83,26.35,28.83
$GC,983,-0.54,-170.3,245.6,-15.1,147,991,0.00,2.22,0.00,0.000,6,0.000,0.043,2333,2643,3625,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1288,-0.54,-170.3,290.6,-14.5,178,1290,0.03,0.00,0.00,0.000,6,0.309,0.000,2344,2643,3625,0,0,0,0,0,0,26.53,28.83,28.83
$GC,1589,-0.54,-170.3,324.9,-10.6,208,1598,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1155,3625,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1674,-0.54,-170.3,332.2,-8.0,216,1681,0.00,2.22,0.00,0.000,6,0.000,0.041,2344,2640,3625,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1981,-0.54,-170.3,364.0,-10.8,247,1985,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1165,3623,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2017,-0.54,-170.3,367.1,-10.1,250,2024,0.00,2.22,0.00,0.000,6,0.000,0.042,2344,2639,3623,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2323,-0.54,-170.3,400.0,-10.6,281,2332,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1160,3620,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2385,-0.54,-170.3,405.9,-9.3,287,2395,0.00,2.25,0.00,0.000,6,0.000,0.042,2344,2648,3620,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2695,-0.54,-170.3,435.8,-9.4,318,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2648,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-0.54,-170.3,461.3,-8.1,348,3006,0.00,2.17,-0.10,0.000,4,0.000,0.037,2344,1159,3637,0,0,0,0,0,0,28.83,26.27,25.93
$GC,3061,-0.54,-170.3,466.1,-7.2,354,3070,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2634,3637,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3371,-0.54,-170.3,491.7,-8.9,385,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3672,-0.54,-170.3,520.1,-9.6,415,3682,0.00,2.08,0.00,0.000,4,0.000,0.025,2344,1173,3631,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3737,-0.54,-170.3,526.0,-8.9,421,3744,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2650,3631,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4045,-0.54,-170.3,557.8,-10.2,452,4049,0.00,2.15,0.00,0.000,4,0.000,0.026,2335,1170,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4076,-0.54,-170.3,560.8,-9.7,455,4086,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2638,3627,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4387,-0.54,-170.3,587.4,-8.1,486,4396,0.00,2.15,0.00,0.000,4,0.000,0.027,2335,1161,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4419,-0.54,-170.3,590.0,-8.0,489,4429,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2646,3624,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4728,-0.54,-170.3,615.1,-8.5,511,4734,0.00,2.15,0.00,0.000,4,0.000,0.027,2334,1167,3621,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4763,-0.54,-170.3,616.7,-8.6,512,4769,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2635,3621,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5069,-0.54,-170.3,643.9,-8.7,528,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,-0.54,-170.3,670.0,-8.7,543,5374,0.00,2.15,0.00,0.000,4,0.000,0.027,2334,1160,3616,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5403,-0.54,-170.3,671.6,-8.7,544,5409,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2639,3616,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5709,-0.54,-170.3,697.0,-7.3,560,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2639,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,-0.54,-170.3,717.5,-6.8,575,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2639,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.54,-170.3,738.3,-7.1,590,6316,0.00,2.15,0.00,0.000,4,0.000,0.027,2334,1164,3609,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6369,-0.54,-170.3,742.4,-6.8,593,6375,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2639,3609,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6690,-0.54,-170.3,764.7,-6.6,609,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2639,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,-0.54,-170.3,785.5,-7.1,624,6995,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1172,3605,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7038,-0.54,-170.3,788.4,-7.2,626,7042,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2642,3605,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7347,-0.54,-170.3,812.7,-7.7,641,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2642,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,-0.54,-170.3,835.6,-7.6,656,7652,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1166,3601,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7673,-0.54,-170.3,837.2,-7.7,657,7677,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2634,3601,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7981,-0.54,-170.3,861.8,-7.8,672,7986,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1171,3600,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8008,-0.54,-170.3,863.5,-8.0,673,8012,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2638,3600,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8317,-0.54,-170.3,887.1,-7.0,688,8321,0.00,2.17,0.00,0.000,4,0.000,0.026,2334,1153,3597,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8339,-0.54,-170.3,888.7,-6.9,689,8345,0.00,2.33,0.00,0.000,6,0.000,0.046,2333,2644,3598,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8659,-0.54,-170.3,910.1,-6.7,705,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2644,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8963,-0.54,-170.3,929.9,-6.2,720,8968,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1167,3596,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9014,-0.54,-170.3,932.7,-6.3,722,9021,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2635,3596,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9321,-0.54,-170.3,954.6,-6.7,738,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2635,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9622,-0.54,-170.3,974.0,-6.4,753,9628,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1165,3593,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9661,-0.54,-170.3,976.7,-6.5,755,9667,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2635,3593,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,9878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9886,-0.17,0.0,990.9,-6.8,766,10043,0.38,0.15,147.98,1.690,6,0.100,0.085,2469,2553,2929,0,0,0,0,0,0,25.75,24.37,22.67
$STATE,10044,end apogee,CONTROL_FINISHED_OK
$STATE,10044,begin climb
$GC,10046,0.54,170.3,998.3,0.0,774,10220,0.60,0.00,165.12,1.649,6,0.050,0.000,2708,2553,2233,0,0,0,0,0,0,24.93,28.83,22.00
$GC,10521,0.54,170.3,945.3,15.6,798,10522,0.10,0.00,0.00,0.000,6,0.189,0.000,2684,2553,2223,0,0,0,0,0,0,26.08,28.83,28.83
$GC,10821,0.54,170.3,906.4,12.7,813,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2553,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11122,0.54,170.3,869.5,12.3,828,11128,0.00,1.90,0.00,0.000,4,0.000,0.055,2684,3766,2219,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11173,0.54,170.3,863.7,13.3,830,11180,0.00,1.90,0.00,0.000,6,0.000,0.024,2693,2459,2218,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11482,0.54,170.3,822.5,12.9,846,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2455,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11781,0.54,170.3,784.5,12.6,861,11786,0.00,2.08,0.00,0.000,4,0.000,0.054,2693,3767,2216,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11911,0.54,170.3,765.3,16.2,867,11922,0.10,1.90,0.00,0.000,6,0.198,0.023,2680,2453,2216,0,0,0,0,0,0,25.90,26.29,28.83
$GC,12222,0.54,170.3,727.0,11.8,883,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2452,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12521,0.54,170.3,690.8,12.3,898,12526,0.00,2.05,0.00,0.000,4,0.000,0.053,2679,3764,2215,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12602,0.54,170.3,679.8,13.9,902,12607,0.00,1.88,0.00,0.000,6,0.000,0.022,2689,2457,2215,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12921,0.54,170.3,641.0,11.3,918,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2453,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13221,0.54,170.3,605.3,11.7,933,13227,0.00,2.08,0.00,0.000,4,0.000,0.052,2689,3772,2214,0,0,0,0,0,0,28.83,25.73,28.83
$GC,13315,0.54,170.3,593.3,13.3,940,13323,0.08,1.88,0.00,0.000,6,0.216,0.022,2683,2455,2214,0,0,0,0,0,0,26.01,26.32,28.83
$GC,13623,0.54,170.3,560.0,10.6,971,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2453,2213,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19796,end climb,SURFACE_DEPTH_REACHED
$STATE,19797,begin surface coast
$FINISH,0.9,1.021095
$STATE,19838,end surface coast,CONTROL_FINISHED_OK
$STATE,19838,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.77
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.30
$XPDR_PINGS,0
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$10V_AH,9.8,64.007
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.575,149.050,570.175,0.000,0.000,26.224,24.506,245.266,0.000,0.000,15.561,4449.091,11038.029,727.648,3632.250,486.000,0.000,2362.430,0.000,2940.224,0.000,0.543,0.000
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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,329620
$DATA_FILE_SIZE,133846,1787
$CAP_FILE_SIZE,204044,0
$CFSIZE,260165632,171515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,101.8,1
$GPS,270612,110807,1820.094,12331.099,34,0.8,34,-2.1