version: 66.10
glider: 176
mission: 5
dive: 499
start: 6 28 112 10 0 41
data:
$ID,176
$MISSION,5
$DIVE,499
$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,-8267.6289
$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
$GPS1,280612,094927,1820.634,12327.901,26,2.7,45,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.1
$GPS2,280612,100013,1820.860,12328.108,13,1.9,30,-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,287.2,127518,-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,14,begin dive
$GC,16,-0.54,-170.3,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,2,0.000,0.000,190,2649,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.54,-170.3,3.1,-5.8,10,127,8.75,2.17,-25.73,0.000,4,0.230,0.042,2343,1174,3626,0,0,0,0,0,0,25.06,26.25,26.74
$GC,200,-0.54,-170.3,35.9,-24.3,28,207,0.05,2.20,0.00,0.000,6,0.245,0.041,2343,2648,3626,0,0,0,0,0,0,26.03,26.16,28.83
$GC,529,-0.54,-170.3,140.4,-29.4,89,536,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1166,3626,0,0,0,0,0,0,28.83,26.33,28.83
$GC,629,-0.54,-170.3,161.1,-16.4,105,636,0.00,2.22,0.00,0.000,6,0.000,0.042,2335,2648,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,961,-0.54,-170.3,229.1,-17.5,151,970,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1168,3626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1022,-0.54,-170.3,237.8,-12.3,157,1033,0.05,2.22,0.00,0.000,6,0.222,0.043,2348,2646,3626,0,0,0,0,0,0,26.06,26.17,28.83
$GC,1332,-0.54,-170.3,280.5,-14.7,188,1336,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1167,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1396,-0.54,-170.3,288.2,-11.4,194,1403,0.00,2.25,0.00,0.000,6,0.000,0.042,2348,2640,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1704,-0.54,-170.3,323.1,-9.5,225,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2641,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.54,-170.3,354.7,-10.1,255,2014,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1165,3622,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2080,-0.54,-170.3,361.4,-8.7,262,2088,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2640,3622,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2387,-0.54,-170.3,390.8,-9.2,293,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2641,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.54,-170.3,417.1,-8.9,323,2698,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1158,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2764,-0.54,-170.3,423.2,-8.0,330,2771,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2645,3616,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3072,-0.54,-170.3,449.5,-7.9,361,3082,0.00,2.15,-0.10,0.000,4,0.000,0.036,2348,1164,3644,0,0,0,0,0,0,28.83,26.30,25.93
$GC,3105,-0.54,-170.3,452.1,-7.9,364,3114,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2638,3643,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3416,-0.54,-170.3,476.5,-8.3,395,3425,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1157,3640,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3458,-0.54,-170.3,479.8,-7.6,399,3469,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2637,3640,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3768,-0.54,-170.3,504.7,-8.3,430,3777,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1158,3637,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3814,-0.54,-170.3,507.9,-7.8,434,3821,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2638,3636,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4120,-0.54,-170.3,532.6,-7.9,465,4130,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1162,3634,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4147,-0.54,-170.3,534.3,-7.7,467,4154,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2637,3635,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4455,-0.54,-170.3,555.9,-6.4,498,4464,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1169,3631,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4488,-0.54,-170.3,558.0,-6.4,501,4498,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2636,3630,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4798,-0.54,-170.3,579.5,-7.5,532,4807,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1168,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4833,-0.54,-170.3,582.0,-7.6,535,4839,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2640,3626,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5153,-0.54,-170.3,604.5,-6.8,564,5158,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1163,3624,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5184,-0.54,-170.3,606.0,-6.7,565,5192,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2647,3624,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5492,-0.54,-170.3,627.7,-6.8,581,5498,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1169,3621,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5524,-0.54,-170.3,629.1,-6.9,582,5531,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2647,3621,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5832,-0.54,-170.3,652.2,-7.5,598,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2647,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6132,-0.54,-170.3,675.5,-7.9,613,6138,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1168,3617,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6194,-0.54,-170.3,680.2,-7.8,616,6198,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2647,3617,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6508,-0.54,-170.3,703.8,-6.9,632,6514,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1171,3615,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6535,-0.54,-170.3,705.2,-6.9,633,6539,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2647,3615,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6842,-0.54,-170.3,726.2,-6.6,648,6848,0.00,2.17,0.00,0.000,4,0.000,0.025,2346,1161,3612,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6875,-0.54,-170.3,727.5,-6.6,649,6883,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2634,3612,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7182,-0.54,-170.3,748.1,-6.3,665,7188,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1165,3611,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7222,-0.54,-170.3,750.6,-6.2,667,7228,0.00,2.30,0.00,0.000,6,0.000,0.045,2345,2646,3611,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7543,-0.54,-170.3,770.5,-6.2,683,7549,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1167,3609,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7575,-0.54,-170.3,771.8,-6.2,684,7582,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2636,3609,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7884,-0.54,-170.3,790.3,-5.8,700,7889,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1160,3608,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7910,-0.54,-170.3,791.4,-5.7,701,7914,0.00,2.30,0.00,0.000,6,0.000,0.045,2345,2645,3607,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8217,-0.54,-170.3,810.5,-6.1,716,8221,0.00,2.17,0.00,0.000,4,0.000,0.025,2345,1161,3606,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8243,-0.54,-170.3,811.7,-6.1,717,8249,0.00,2.30,0.00,0.000,6,0.000,0.046,2345,2643,3606,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8559,-0.54,-170.3,832.2,-6.7,733,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2643,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8859,-0.54,-170.3,853.8,-7.5,748,8865,0.00,2.17,0.00,0.000,4,0.000,0.024,2345,1155,3604,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8905,-0.54,-170.3,857.0,-7.7,750,8910,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2634,3603,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9220,-0.54,-170.3,882.2,-7.8,766,9224,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3764,3602,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9331,-0.54,-170.3,889.9,-7.5,771,9335,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2467,3601,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9642,-0.54,-170.3,912.1,-6.5,787,9648,0.00,1.90,0.00,0.000,4,0.000,0.027,2345,1157,3600,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9705,-0.54,-170.3,916.0,-6.5,790,9710,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2630,3600,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10024,-0.54,-170.3,935.2,-5.8,806,10027,0.00,1.77,0.00,0.000,4,0.000,0.057,2345,3766,3599,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10201,-0.54,-170.3,944.4,-5.6,814,10209,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2488,3598,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10510,-0.54,-170.3,963.1,-5.8,830,10516,0.00,1.98,0.00,0.000,4,0.000,0.055,2345,3757,3598,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10742,-0.54,-170.3,977.8,-7.0,841,10750,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2502,3597,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,10926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10927,begin apogee
$GC,10933,-0.17,0.0,990.6,-6.3,851,11090,0.32,0.00,148.45,1.692,6,0.071,0.000,2478,2502,2929,0,0,0,0,0,0,26.07,28.83,22.69
$STATE,11091,end apogee,CONTROL_FINISHED_OK
$STATE,11091,begin climb
$GC,11093,0.54,170.3,999.3,0.0,859,11272,0.57,2.35,164.05,1.649,4,0.044,0.031,2731,1084,2232,0,0,0,0,0,0,24.92,23.95,22.02
$GC,11343,0.54,170.3,981.5,14.0,871,11348,0.17,2.33,0.00,0.000,6,0.160,0.048,2684,2536,2224,0,0,0,0,0,0,25.20,25.49,28.83
$GC,11652,0.54,170.3,941.8,12.0,886,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2537,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11950,0.54,170.3,905.2,12.2,901,11956,0.00,2.20,0.00,0.000,4,0.000,0.030,2695,1065,2219,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11972,0.54,170.3,902.8,12.1,902,11977,0.05,2.30,0.00,0.000,6,0.213,0.047,2682,2544,2218,0,0,0,0,0,0,25.90,25.97,28.83
$GC,12292,0.54,170.3,866.0,11.2,918,12297,0.00,1.90,0.00,0.000,4,0.000,0.057,2682,3765,2218,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12338,0.54,170.3,860.9,11.7,920,12342,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2471,2217,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,20574,end climb,SURFACE_DEPTH_REACHED
$STATE,20575,begin surface coast
$FINISH,0.8,1.008270
$STATE,20602,end surface coast,CONTROL_FINISHED_OK
$STATE,20602,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.02
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.70
$XPDR_PINGS,1
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$10V_AH,9.8,64.682
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329668
$DATA_FILE_SIZE,133967,1804
$CAP_FILE_SIZE,225031,0
$CFSIZE,260165632,170942464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,123.4,1
$GPS,280612,154636,1820.653,12327.565,41,1.0,46,-2.1