version: 66.10
glider: 176
mission: 5
dive: 498
start: 6 28 112 4 24 1
data:
$ID,176
$MISSION,5
$DIVE,498
$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,-8266.3691
$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
$GPS1,280612,041537,1820.151,12328.209,26,1.4,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-58.5
$GPS2,280612,042332,1820.404,12328.268,12,1.6,12,-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,290.1,127926,-13.2,-8.250
$D_GRID,4547
$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,13,begin dive
$GC,16,-0.54,-170.3,0.0,0.0,0,89,0.00,0.00,-70.57,0.000,2,0.000,0.000,190,2668,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.54,-170.3,3.2,-4.4,12,131,8.77,2.17,-22.00,0.000,4,0.231,0.039,2341,1165,3626,0,0,0,0,0,0,24.96,26.23,26.72
$GC,194,-0.54,-170.3,33.4,-23.7,27,200,0.00,2.22,0.00,0.000,6,0.000,0.044,2333,2636,3627,0,0,0,0,0,0,28.83,26.09,28.83
$GC,524,-0.54,-170.3,145.8,-30.3,88,531,0.03,2.10,0.00,0.000,4,0.324,0.024,2342,1164,3626,0,0,0,0,0,0,26.50,26.33,28.83
$GC,606,-0.54,-170.3,162.6,-16.2,103,612,0.00,2.22,0.00,0.000,6,0.000,0.043,2333,2636,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,940,-0.54,-170.3,234.6,-18.6,148,949,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1160,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,983,-0.54,-170.3,241.4,-15.9,152,991,0.00,2.20,0.00,0.000,6,0.000,0.042,2333,2634,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1293,-0.54,-170.3,291.0,-13.7,183,1303,0.03,2.10,0.00,0.000,4,0.306,0.024,2345,1161,3626,0,0,0,0,0,0,26.53,26.32,28.83
$GC,1349,-0.54,-170.3,297.2,-10.8,188,1355,0.00,2.22,0.00,0.000,6,0.000,0.041,2345,2641,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1656,-0.54,-170.3,330.0,-10.7,219,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2642,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1958,-0.54,-170.3,365.7,-11.6,249,1961,0.00,1.70,0.00,0.000,4,0.000,0.054,2345,3766,3623,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1989,-0.54,-170.3,369.4,-11.0,252,1992,0.00,1.67,0.00,0.000,6,0.000,0.021,2345,2508,3622,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2300,-0.54,-170.3,399.7,-9.6,283,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2481,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.54,-170.3,426.4,-8.3,313,2610,0.00,2.00,0.00,0.000,4,0.000,0.053,2339,3780,3617,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2623,-0.54,-170.3,428.4,-8.4,315,2626,0.00,1.73,0.00,0.000,6,0.000,0.022,2339,2512,3616,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2934,-0.54,-170.3,459.2,-10.0,346,2938,0.00,1.92,-0.08,0.000,4,0.000,0.037,2339,1146,3642,0,0,0,0,0,0,28.83,26.31,25.39
$GC,2966,-0.54,-170.3,462.3,-9.9,349,2975,0.00,2.25,0.00,0.000,6,0.000,0.043,2335,2637,3642,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3276,-0.54,-170.3,496.3,-10.9,380,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2637,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3577,-0.54,-170.3,525.2,-8.5,410,3586,0.00,2.12,0.00,0.000,4,0.000,0.024,2337,1152,3636,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3633,-0.54,-170.3,529.6,-7.9,415,3640,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2644,3635,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3940,-0.54,-170.3,555.1,-8.0,446,3949,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1151,3633,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3984,-0.54,-170.3,558.3,-7.6,450,3994,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2638,3632,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4294,-0.54,-170.3,583.0,-8.5,481,4302,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1157,3629,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4339,-0.54,-170.3,586.4,-8.2,485,4346,0.00,2.28,0.00,0.000,6,0.000,0.045,2335,2641,3629,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4645,-0.54,-170.3,615.4,-9.7,508,4650,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1156,3625,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4668,-0.54,-170.3,617.4,-9.8,509,4672,0.00,2.30,0.00,0.000,6,0.000,0.044,2335,2646,3626,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4982,-0.54,-170.3,646.9,-9.2,525,4987,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1155,3623,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5013,-0.54,-170.3,648.7,-9.1,526,5021,0.00,2.28,0.00,0.000,6,0.000,0.045,2335,2635,3623,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5320,-0.54,-170.3,676.0,-8.5,542,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5621,-0.54,-170.3,701.6,-8.9,557,5626,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1158,3617,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5660,-0.54,-170.3,705.2,-9.1,559,5666,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2643,3617,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5982,-0.54,-170.3,734.4,-9.4,575,5987,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1161,3615,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6020,-0.54,-170.3,738.0,-9.3,577,6025,0.00,2.30,0.00,0.000,6,0.000,0.045,2334,2644,3615,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6340,-0.54,-170.3,767.6,-9.2,593,6345,0.00,2.17,0.00,0.000,4,0.000,0.024,2334,1154,3613,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6382,-0.54,-170.3,771.2,-9.3,595,6387,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2632,3613,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6700,-0.54,-170.3,799.7,-8.6,611,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2632,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7000,-0.54,-170.3,823.8,-7.8,626,7006,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1153,3609,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7062,-0.54,-170.3,828.9,-8.3,629,7067,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2634,3610,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7381,-0.54,-170.3,854.9,-8.0,645,7385,0.00,1.80,0.00,0.000,4,0.000,0.059,2334,3765,3607,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7403,-0.54,-170.3,856.6,-8.1,646,7406,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2506,3607,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7725,-0.54,-170.3,881.4,-7.8,662,7731,0.00,2.03,0.00,0.000,4,0.000,0.057,2334,3759,3605,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7752,-0.54,-170.3,882.8,-7.6,663,7755,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2505,3604,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8066,-0.54,-170.3,905.5,-6.8,679,8071,0.00,2.03,0.00,0.000,4,0.000,0.057,2334,3754,3604,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8092,-0.54,-170.3,907.0,-7.0,680,8096,0.00,1.70,0.00,0.000,6,0.000,0.024,2334,2505,3603,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8405,-0.54,-170.3,929.0,-6.9,696,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2470,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8706,-0.54,-170.3,951.2,-7.6,711,8712,0.00,2.03,0.00,0.000,4,0.000,0.057,2334,3765,3601,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8747,-0.54,-170.3,954.5,-7.7,713,8751,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2515,3600,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9065,-0.54,-170.3,980.8,-8.0,729,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2477,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9183,begin apogee
$GC,9190,-0.17,0.0,990.3,-8.0,735,9348,0.38,0.08,148.43,1.684,6,0.099,0.097,2470,2454,2928,0,0,0,0,0,0,25.77,24.39,22.79
$STATE,9349,end apogee,CONTROL_FINISHED_OK
$STATE,9349,begin climb
$GC,9351,0.54,170.3,999.5,0.0,743,9528,0.62,2.28,163.05,1.648,4,0.047,0.030,2725,1070,2232,0,0,0,0,0,0,25.03,24.20,22.25
$GC,9543,0.54,170.3,992.9,10.0,752,9551,0.17,2.40,0.00,0.000,6,0.160,0.047,2680,2533,2228,0,0,0,0,0,0,24.58,24.84,28.83
$GC,9852,0.54,170.3,953.5,12.0,768,9858,0.00,1.90,0.00,0.000,4,0.000,0.057,2680,3763,2222,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9898,0.54,170.3,947.9,13.0,770,9902,0.00,1.90,0.00,0.000,6,0.000,0.026,2689,2472,2222,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10211,0.54,170.3,906.6,12.8,786,10216,0.00,2.05,0.00,0.000,4,0.000,0.056,2689,3763,2220,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10235,0.54,170.3,904.1,12.9,787,10239,0.08,1.90,0.00,0.000,6,0.226,0.024,2684,2455,2219,0,0,0,0,0,0,25.98,26.26,28.83
$GC,10547,0.54,170.3,868.2,10.7,803,10551,0.00,2.08,0.00,0.000,4,0.000,0.055,2684,3772,2219,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10596,0.54,170.3,863.1,11.3,805,10600,0.00,1.90,0.00,0.000,6,0.000,0.024,2693,2468,2218,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10905,0.54,170.3,824.0,12.6,820,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2464,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,0.54,170.3,789.0,11.1,835,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2464,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11505,0.54,170.3,754.2,11.2,850,11511,0.00,2.03,0.00,0.000,4,0.000,0.054,2693,3758,2216,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11531,0.54,170.3,751.7,11.5,851,11536,0.10,1.90,0.00,0.000,6,0.200,0.024,2679,2460,2216,0,0,0,0,0,0,25.87,26.27,28.83
$GC,11838,0.54,170.3,716.6,11.3,866,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2456,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12140,0.54,170.3,684.7,10.5,881,12145,0.00,2.03,0.00,0.000,4,0.000,0.054,2679,3759,2215,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12161,0.54,170.3,682.3,10.8,882,12165,0.00,1.88,0.00,0.000,6,0.000,0.022,2688,2462,2215,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12479,0.54,170.3,647.9,10.5,898,12484,0.00,2.05,0.00,0.000,4,0.000,0.054,2688,3769,2214,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,19334,end climb,SURFACE_DEPTH_REACHED
$STATE,19334,begin surface coast
$FINISH,0.7,1.021033
$STATE,19369,end surface coast,CONTROL_FINISHED_OK
$STATE,19370,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.17
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,26.20
$XPDR_PINGS,0
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$10V_AH,9.8,64.542
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.900,170.825,563.925,0.000,0.000,35.461,21.285,255.734,0.000,0.000,15.803,4356.838,10778.176,680.065,3602.879,473.329,0.000,2324.316,0.000,2860.762,0.000,0.543,0.000
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$MEM,329612
$DATA_FILE_SIZE,130321,1736
$CAP_FILE_SIZE,205629,0
$CFSIZE,260165632,171073536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,106.7,1
$GPS,280612,094927,1820.634,12327.901,26,2.7,45,-2.1