version: 66.10
glider: 176
mission: 5
dive: 362
start: 5 26 112 11 28 46
data:
$ID,176
$MISSION,5
$DIVE,362
$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,380
$T_MISSION,420
$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,-7996.7627
$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,2600
$C_ROLL_CLIMB,2500
$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
$GPS1,260512,111937,1942.147,12403.746,25,1.8,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-78.4
$GPS2,260512,112819,1942.080,12403.599,12,1.8,29,-2.4
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,DOGLEG
$TGT_LATLONG,1930.000,12425.000
$TGT_RADIUS,10000.000
$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,96.9,43548,-14.0,-8.684
$D_GRID,5382
$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,17,-0.56,-170.3,0.0,0.0,0,58,0.00,0.00,-39.17,0.000,2,0.000,0.000,177,2664,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.56,-170.3,3.1,-5.2,7,104,8.73,2.20,-25.40,0.000,4,0.232,0.037,2333,1146,3626,0,0,0,0,0,0,25.10,26.25,26.67
$GC,138,-0.56,-170.3,23.4,-31.6,14,144,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2622,3627,0,0,0,0,0,0,28.83,26.11,28.83
$GC,450,-0.56,-170.3,107.2,-25.2,75,456,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1138,3628,0,0,0,0,0,0,28.83,26.39,28.83
$GC,504,-0.56,-170.3,118.1,-16.5,85,512,0.08,2.25,0.00,0.000,6,0.185,0.043,2341,2631,3628,0,0,0,0,0,0,26.10,26.25,28.83
$GC,817,-0.56,-170.3,181.5,-18.1,146,824,0.00,2.12,0.00,0.000,4,0.000,0.025,2341,1142,3628,0,0,0,0,0,0,28.83,26.43,28.83
$GC,892,-0.56,-170.3,192.5,-12.3,160,899,0.00,2.22,0.00,0.000,6,0.000,0.042,2335,2628,3629,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1206,-0.56,-170.3,245.8,-16.9,196,1210,0.00,1.73,0.00,0.000,4,0.000,0.054,2333,3769,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1231,-0.56,-170.3,249.3,-16.9,198,1237,0.00,1.70,0.00,0.000,6,0.000,0.021,2333,2480,3628,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1539,-0.56,-170.3,295.8,-13.5,229,1548,0.00,1.90,0.00,0.000,4,0.000,0.026,2333,1132,3628,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1575,-0.56,-170.3,300.1,-13.5,232,1581,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2622,3628,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1880,-0.56,-170.3,339.3,-12.4,263,1889,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1142,3626,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1945,-0.56,-170.3,346.1,-9.5,269,1953,0.00,2.22,0.00,0.000,6,0.000,0.043,2331,2622,3626,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2252,-0.56,-170.3,383.4,-12.3,300,2261,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1143,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2304,-0.56,-170.3,389.0,-10.6,305,2314,0.00,2.25,0.00,0.000,6,0.000,0.044,2330,2630,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2613,-0.56,-170.3,423.1,-11.2,336,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2631,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2917,-0.56,-170.3,455.1,-10.9,366,2925,0.00,2.12,0.00,0.000,4,0.000,0.027,2330,1145,3621,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2982,-0.56,-170.3,461.4,-9.1,372,2989,0.00,2.25,0.00,0.000,6,0.000,0.044,2329,2630,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3288,-0.56,-170.3,494.2,-11.6,403,3297,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1145,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3353,-0.56,-170.3,500.5,-9.7,409,3361,0.00,2.25,0.00,0.000,6,0.000,0.046,2330,2624,3618,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3661,-0.56,-170.3,533.7,-10.9,440,3670,0.00,2.12,0.00,0.000,4,0.000,0.026,2330,1142,3616,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3703,-0.56,-170.3,538.1,-10.4,444,3713,0.00,2.22,0.00,0.000,6,0.000,0.044,2330,2612,3616,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4014,-0.56,-170.3,569.0,-10.2,475,4017,0.00,1.77,0.00,0.000,4,0.000,0.055,2330,3775,3614,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4067,-0.56,-170.3,574.0,-9.3,480,4074,0.00,1.77,0.00,0.000,6,0.000,0.022,2330,2462,3613,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4379,-0.56,-170.3,602.6,-9.1,510,4384,0.00,2.00,0.00,0.000,4,0.000,0.053,2320,3766,3611,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4485,-0.56,-170.3,612.0,-9.1,515,4489,0.08,1.75,0.00,0.000,6,0.169,0.024,2343,2472,3610,0,0,0,0,0,0,26.32,26.55,28.83
$GC,4798,-0.56,-170.3,637.2,-7.4,531,4804,0.05,1.88,0.00,0.000,4,0.172,0.024,2284,1148,3609,0,0,0,0,0,0,26.62,26.38,28.83
$GC,4918,-0.56,-170.3,648.0,-9.0,537,4924,0.17,2.22,0.00,0.000,6,0.110,0.046,2339,2615,3608,0,0,0,0,0,0,25.88,26.17,28.83
$GC,5239,-0.56,-170.3,667.6,-5.8,553,5242,0.00,1.75,0.00,0.000,4,0.000,0.054,2332,3766,3605,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5360,-0.56,-170.3,675.0,-6.0,559,5363,0.00,1.75,0.00,0.000,6,0.000,0.025,2332,2501,3603,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5682,-0.56,-170.3,697.4,-7.5,575,5688,0.00,2.00,0.00,0.000,4,0.000,0.054,2325,3773,3602,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5782,-0.56,-170.3,705.8,-8.1,580,5786,0.05,1.75,0.00,0.000,6,0.206,0.024,2342,2487,3601,0,0,0,0,0,0,26.35,26.55,28.83
$GC,6107,-0.56,-170.3,731.8,-8.1,596,6112,0.00,2.03,0.00,0.000,4,0.000,0.056,2342,3758,3599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6226,-0.56,-170.3,741.2,-7.6,602,6229,0.00,1.73,0.00,0.000,6,0.000,0.024,2342,2498,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6549,-0.56,-170.3,761.9,-5.8,618,6554,0.00,2.03,0.00,0.000,4,0.000,0.055,2342,3768,3596,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6636,-0.56,-170.3,766.3,-5.5,622,6639,0.00,1.75,0.00,0.000,6,0.000,0.024,2342,2506,3595,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6950,-0.56,-170.3,782.5,-4.8,638,6955,0.00,2.00,0.00,0.000,4,0.000,0.056,2342,3766,3593,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7011,-0.56,-170.3,785.4,-5.0,641,7014,0.00,1.75,0.00,0.000,6,0.000,0.025,2342,2490,3593,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7328,-0.56,-170.3,803.5,-6.1,657,7333,0.03,2.03,0.00,0.000,4,0.257,0.053,2282,3768,3592,0,0,0,0,0,0,26.61,25.94,28.83
$GC,7380,-0.56,-170.3,807.7,-7.9,659,7384,0.20,1.75,0.00,0.000,6,0.124,0.024,2348,2471,3591,0,0,0,0,0,0,26.01,26.51,28.83
$GC,7688,-0.56,-170.3,830.7,-7.2,674,7694,0.08,2.03,0.00,0.000,4,0.129,0.054,2287,3766,3590,0,0,0,0,0,0,26.58,25.91,28.83
$GC,7736,-0.56,-170.3,834.7,-8.3,676,7740,0.17,1.75,0.00,0.000,6,0.126,0.024,2344,2473,3589,0,0,0,0,0,0,26.05,26.51,28.83
$GC,8042,-0.56,-170.3,857.6,-6.5,691,8048,0.05,2.05,0.00,0.000,4,0.175,0.054,2287,3771,3588,0,0,0,0,0,0,26.60,25.89,28.83
$GC,8076,-0.56,-170.3,859.2,-6.9,692,8083,0.17,1.75,0.00,0.000,6,0.125,0.024,2345,2469,3587,0,0,0,0,0,0,26.04,26.51,28.83
$GC,8382,-0.56,-170.3,880.4,-6.2,708,8388,0.05,2.05,0.00,0.000,4,0.174,0.054,2288,3770,3587,0,0,0,0,0,0,26.59,25.86,28.83
$GC,8410,-0.56,-170.3,881.9,-6.5,709,8414,0.17,1.73,0.00,0.000,6,0.125,0.025,2345,2474,3586,0,0,0,0,0,0,26.03,26.49,28.83
$GC,8718,-0.56,-170.3,902.9,-6.6,724,8724,0.08,2.03,0.00,0.000,4,0.128,0.053,2279,3763,3585,0,0,0,0,0,0,26.57,25.88,28.83
$GC,8757,-0.56,-170.3,906.9,-7.9,726,8763,0.20,1.75,0.00,0.000,6,0.127,0.024,2343,2482,3585,0,0,0,0,0,0,25.95,26.49,28.83
$GC,9078,-0.56,-170.3,930.6,-7.5,742,9084,0.05,2.03,0.00,0.000,4,0.174,0.056,2287,3767,3584,0,0,0,0,0,0,26.59,25.83,28.83
$GC,9105,-0.56,-170.3,932.4,-7.8,743,9109,0.17,1.75,0.00,0.000,6,0.126,0.025,2344,2492,3584,0,0,0,0,0,0,26.00,26.47,28.83
$GC,9414,-0.56,-170.3,957.3,-7.5,758,9420,0.05,2.00,0.00,0.000,4,0.174,0.055,2288,3766,3583,0,0,0,0,0,0,26.58,25.82,28.83
$GC,9462,-0.56,-170.3,961.4,-8.7,760,9466,0.17,1.75,0.00,0.000,6,0.125,0.025,2346,2477,3582,0,0,0,0,0,0,26.01,26.48,28.83
$GC,9769,-0.56,-170.3,984.2,-6.7,775,9770,0.08,0.00,0.00,0.000,6,0.129,0.000,2287,2474,3581,0,0,0,0,0,0,26.56,28.83,28.83
$STATE,9827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9827,begin apogee
$GC,9833,-0.17,0.0,990.2,-9.2,778,9991,0.50,0.05,146.30,1.715,6,0.113,0.050,2460,2440,2928,0,0,0,0,0,0,25.60,23.93,22.37
$STATE,9992,end apogee,CONTROL_FINISHED_OK
$STATE,9992,begin climb
$GC,9994,0.56,170.3,997.7,0.0,786,10168,0.68,0.00,167.12,1.674,6,0.049,0.000,2713,2439,2232,0,0,0,0,0,0,24.58,28.83,21.90
$GC,10468,0.56,170.3,945.4,15.0,810,10474,0.10,2.10,0.00,0.000,4,0.197,0.054,2690,3770,2222,0,0,0,0,0,0,25.99,25.96,28.83
$GC,10522,0.56,170.3,939.0,15.4,812,10529,0.00,1.92,0.00,0.000,6,0.000,0.026,2700,2454,2222,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10829,0.56,170.3,893.7,13.8,828,10833,0.00,2.05,0.00,0.000,4,0.000,0.055,2700,3764,2220,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10893,0.56,170.3,883.7,15.5,831,10897,0.10,1.92,0.00,0.000,6,0.213,0.024,2687,2443,2220,0,0,0,0,0,0,25.97,26.34,28.83
$GC,11211,0.56,170.3,841.7,12.9,847,11217,0.00,2.03,0.00,0.000,4,0.000,0.031,2697,1059,2218,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11230,0.56,170.3,839.2,12.9,848,11236,0.00,2.25,0.00,0.000,6,0.000,0.047,2697,2519,2217,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11550,0.56,170.3,796.1,13.6,864,11554,0.00,1.92,0.00,0.000,4,0.000,0.057,2697,3765,2217,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11620,0.56,170.3,787.3,15.1,867,11628,0.10,1.90,0.00,0.000,6,0.210,0.024,2684,2443,2217,0,0,0,0,0,0,26.01,26.41,28.83
$GC,11926,0.56,170.3,749.5,11.2,883,11930,0.00,2.00,0.00,0.000,4,0.000,0.031,2694,1054,2217,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11990,0.56,170.3,743.0,10.8,886,11994,0.00,2.28,0.00,0.000,6,0.000,0.046,2694,2527,2215,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,18967,end climb,SURFACE_DEPTH_REACHED
$STATE,18967,begin surface coast
$FINISH,0.7,1.011320
$STATE,19014,end surface coast,CONTROL_FINISHED_OK
$STATE,19014,begin surface
$SM_CCo,19033,16.45,0.135,0,0,1396,375.06
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$TT8_MAMPS,0.026964,0.026964
$HUMID,46.61
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,9.8,46.092
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329728
$DATA_FILE_SIZE,127067,1706
$CAP_FILE_SIZE,210608,0
$CFSIZE,260165632,186535936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,239.5,1
$GPS,260512,164737,1941.349,12405.197,49,0.9,49,-2.4