version: 66.10
glider: 176
mission: 5
dive: 364
start: 5 26 112 22 47 0
data:
$ID,176
$MISSION,5
$DIVE,364
$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,480
$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,-7999.2822
$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
$GPS1,260512,223837,1939.822,12407.263,41,0.8,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.6
$GPS2,260512,224632,1939.775,12407.192,14,0.8,14,-2.4
$SPEED_LIMITS,0.136,0.255
$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,99.9,35974,-12.5,-7.857
$D_GRID,5433
$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,-0.52,-170.3,0.0,0.0,0,64,0.00,0.00,-45.65,0.000,2,0.000,0.000,184,2691,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.52,-170.3,3.1,-5.8,8,112,8.80,2.25,-27.52,0.000,4,0.233,0.037,2345,1140,3626,0,0,0,0,0,0,25.09,26.24,26.68
$GC,144,-0.52,-170.3,21.0,-27.6,18,152,0.08,2.25,0.00,0.000,6,0.197,0.044,2352,2626,3627,0,0,0,0,0,0,25.98,26.13,28.83
$GC,475,-0.52,-170.3,97.0,-18.4,79,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2626,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-0.52,-170.3,154.1,-18.3,140,793,0.00,2.12,0.00,0.000,4,0.000,0.025,2353,1134,3626,0,0,0,0,0,0,28.83,26.44,28.83
$GC,830,-0.52,-170.3,161.1,-14.0,148,836,0.00,2.22,0.00,0.000,6,0.000,0.043,2349,2618,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1140,-0.52,-170.3,211.2,-15.1,202,1149,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1136,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1184,-0.52,-170.3,216.7,-13.4,206,1193,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2617,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1492,-0.52,-170.3,263.9,-15.7,237,1500,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1144,3626,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1563,-0.52,-170.3,272.8,-11.2,244,1572,0.05,2.22,0.00,0.000,6,0.216,0.042,2353,2624,3626,0,0,0,0,0,0,26.18,26.28,28.83
$GC,1874,-0.52,-170.3,313.8,-12.7,275,1883,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1144,3625,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1916,-0.52,-170.3,318.5,-11.0,279,1925,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2624,3624,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2225,-0.52,-170.3,356.8,-13.2,310,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2624,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2526,-0.52,-170.3,392.7,-11.8,340,2535,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1149,3622,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2589,-0.52,-170.3,399.1,-9.6,346,2599,0.00,2.20,0.00,0.000,6,0.000,0.045,2348,2611,3621,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2899,-0.52,-170.3,430.3,-10.2,377,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2614,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.52,-170.3,465.8,-11.3,407,3209,0.00,2.05,0.00,0.000,4,0.000,0.025,2348,1148,3618,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3244,-0.52,-170.3,470.4,-10.6,411,3251,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2612,3618,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3552,-0.52,-170.3,502.5,-10.1,442,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2612,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3852,-0.52,-170.3,530.8,-9.4,472,3861,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1137,3614,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3898,-0.52,-170.3,534.5,-9.0,476,3904,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2622,3614,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4206,-0.52,-170.3,563.5,-9.2,507,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2623,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4516,-0.52,-170.3,590.3,-8.4,538,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2623,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4834,-0.52,-170.3,617.1,-8.7,560,4839,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1134,3607,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4873,-0.52,-170.3,620.4,-8.5,562,4879,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2626,3607,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5195,-0.52,-170.3,646.7,-7.7,578,5198,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3766,3604,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5224,-0.52,-170.3,648.4,-7.6,579,5228,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2502,3603,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5538,-0.52,-170.3,671.9,-7.7,595,5542,0.00,2.03,0.00,0.000,4,0.000,0.055,2337,3772,3601,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5567,-0.52,-170.3,673.6,-7.6,596,5572,0.05,1.75,0.00,0.000,6,0.199,0.023,2357,2487,3601,0,0,0,0,0,0,26.37,26.57,28.83
$GC,5880,-0.52,-170.3,695.3,-6.4,612,5886,0.08,2.05,0.00,0.000,4,0.127,0.053,2281,3766,3599,0,0,0,0,0,0,26.60,26.02,28.83
$GC,5928,-0.52,-170.3,699.3,-7.9,614,5933,0.17,1.75,0.00,0.000,6,0.108,0.023,2349,2490,3598,0,0,0,0,0,0,26.04,26.55,28.83
$GC,6242,-0.52,-170.3,718.9,-5.2,630,6247,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3774,3597,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6268,-0.52,-170.3,719.9,-5.1,631,6272,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2504,3596,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6582,-0.52,-170.3,736.9,-5.5,647,6588,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3757,3595,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6640,-0.52,-170.3,740.4,-5.7,650,6644,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2473,3594,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6963,-0.52,-170.3,761.8,-7.0,666,6967,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3768,3593,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7006,-0.52,-170.3,765.0,-7.1,668,7010,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2501,3592,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7329,-0.52,-170.3,787.8,-7.0,684,7334,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3755,3590,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7381,-0.52,-170.3,790.3,-6.7,686,7389,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2458,3590,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7687,-0.52,-170.3,809.1,-5.5,702,7693,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3762,3589,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7736,-0.52,-170.3,811.3,-5.4,704,7740,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2501,3588,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8048,-0.52,-170.3,829.4,-6.1,720,8053,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3770,3587,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8075,-0.52,-170.3,830.6,-6.2,721,8079,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2508,3586,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8389,-0.52,-170.3,851.0,-6.3,737,8394,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3767,3585,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8440,-0.52,-170.3,853.5,-6.3,739,8447,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2467,3585,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8748,-0.52,-170.3,871.6,-5.3,755,8754,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3768,3584,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8777,-0.52,-170.3,872.6,-5.4,756,8780,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2507,3583,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9088,-0.52,-170.3,889.3,-5.4,772,9094,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3769,3582,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9136,-0.52,-170.3,891.6,-5.5,774,9139,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2513,3582,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9449,-0.52,-170.3,910.5,-6.3,790,9454,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3766,3581,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9488,-0.52,-170.3,913.1,-6.3,792,9491,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2508,3581,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9810,-0.52,-170.3,933.3,-6.1,808,9816,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3579,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9849,-0.52,-170.3,935.6,-6.1,810,9852,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2507,3579,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10170,-0.52,-170.3,952.8,-4.8,826,10176,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3763,3579,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10204,-0.52,-170.3,953.7,-4.8,827,10211,0.00,1.77,0.00,0.000,6,0.000,0.025,2343,2476,3578,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10511,-0.52,-170.3,968.1,-4.3,843,10516,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3771,3578,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10543,-0.52,-170.3,968.9,-4.2,844,10550,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2488,3578,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10850,-0.52,-170.3,983.7,-4.9,860,10856,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3768,3577,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10883,-0.52,-170.3,984.8,-5.0,861,10890,0.00,1.75,0.00,0.000,6,0.000,0.026,2343,2484,3576,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10989,begin apogee
$GC,10995,-0.17,0.0,990.8,-5.1,867,11152,0.32,0.00,145.90,1.716,6,0.098,0.000,2464,2483,2928,0,0,0,0,0,0,25.98,28.83,22.36
$STATE,11153,end apogee,CONTROL_FINISHED_OK
$STATE,11153,begin climb
$GC,11155,0.52,170.3,996.8,0.0,875,11330,0.65,0.00,167.60,1.671,6,0.047,0.000,2713,2483,2232,0,0,0,0,0,0,24.61,28.83,21.89
$GC,11633,0.52,170.3,939.1,16.4,899,11635,0.15,0.00,0.00,0.000,6,0.186,0.000,2674,2483,2223,0,0,0,0,0,0,25.83,28.83,28.83
$GC,11930,0.52,170.3,898.8,13.6,914,11936,0.00,2.00,0.00,0.000,4,0.000,0.057,2674,3766,2220,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11972,0.52,170.3,892.8,14.1,916,11976,0.00,1.92,0.00,0.000,6,0.000,0.026,2684,2439,2220,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12291,0.52,170.3,848.7,13.5,932,12295,0.00,2.08,0.00,0.000,4,0.000,0.057,2684,3763,2218,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,20713,end climb,SURFACE_DEPTH_REACHED
$STATE,20713,begin surface coast
$FINISH,0.7,1.021703
$STATE,20771,end surface coast,CONTROL_FINISHED_OK
$STATE,20771,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.8,46.368
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329556
$DATA_FILE_SIZE,140456,1875
$CAP_FILE_SIZE,215829,0
$CFSIZE,260165632,186290176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,198.9,1
$GPS,270512,043507,1937.841,12409.353,46,1.1,46,-2.4