version: 66.10
glider: 176
mission: 5
dive: 366
start: 5 27 112 10 42 41
data:
$ID,176
$MISSION,5
$DIVE,366
$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,-8001.7939
$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
$GPS1,270512,103354,1937.067,12410.603,24,1.0,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.9
$GPS2,270512,104213,1936.923,12410.532,9,1.4,15,-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,82.9,28325,-12.5,-7.857
$D_GRID,5529
$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,-170.3,0.0,0.0,0,58,0.00,0.00,-40.22,0.000,2,0.000,0.000,178,2661,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.52,-170.3,3.2,-7.3,7,107,8.82,1.70,-26.92,0.000,4,0.233,0.062,2340,3778,3625,0,0,0,0,0,0,25.13,26.08,26.68
$GC,130,-0.52,-170.3,15.1,-25.7,15,137,0.00,1.75,0.00,0.000,6,0.000,0.022,2340,2506,3625,0,0,0,0,0,0,28.83,26.40,28.83
$GC,457,-0.52,-170.3,98.1,-23.3,76,464,0.00,1.92,0.00,0.000,4,0.000,0.027,2341,1132,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,572,-0.52,-170.3,117.3,-11.9,98,580,0.08,2.25,0.00,0.000,6,0.184,0.042,2355,2631,3626,0,0,0,0,0,0,26.12,26.25,28.83
$GC,885,-0.52,-170.3,168.2,-15.9,159,892,0.05,2.15,0.00,0.000,4,0.175,0.024,2304,1135,3626,0,0,0,0,0,0,26.65,26.41,28.83
$GC,919,-0.52,-170.3,174.0,-17.1,165,928,0.20,2.25,0.00,0.000,6,0.137,0.042,2355,2631,3626,0,0,0,0,0,0,25.97,26.26,28.83
$GC,1233,-0.52,-170.3,222.3,-16.4,212,1242,0.05,2.10,0.00,0.000,4,0.176,0.024,2302,1150,3626,0,0,0,0,0,0,26.65,26.44,28.83
$GC,1274,-0.52,-170.3,229.5,-16.7,216,1284,0.20,2.22,0.00,0.000,6,0.135,0.043,2355,2621,3626,0,0,0,0,0,0,25.98,26.26,28.83
$GC,1585,-0.52,-170.3,276.1,-14.5,247,1590,0.05,2.12,0.00,0.000,4,0.174,0.023,2301,1149,3625,0,0,0,0,0,0,26.65,26.44,28.83
$GC,1621,-0.52,-170.3,281.4,-15.7,250,1628,0.20,2.22,0.00,0.000,6,0.132,0.043,2355,2618,3625,0,0,0,0,0,0,25.99,26.25,28.83
$GC,1928,-0.52,-170.3,321.2,-11.8,281,1938,0.05,2.10,0.00,0.000,4,0.174,0.023,2299,1136,3624,0,0,0,0,0,0,26.65,26.44,28.83
$GC,1991,-0.52,-170.3,329.9,-13.5,287,2001,0.20,2.25,0.00,0.000,6,0.128,0.044,2356,2624,3624,0,0,0,0,0,0,26.01,26.24,28.83
$GC,2302,-0.52,-170.3,363.7,-10.4,318,2312,0.08,2.10,0.00,0.000,4,0.128,0.023,2288,1143,3622,0,0,0,0,0,0,26.63,26.44,28.83
$GC,2324,-0.52,-170.3,366.6,-11.5,320,2335,0.22,2.25,0.00,0.000,6,0.129,0.042,2351,2628,3622,0,0,0,0,0,0,25.96,26.27,28.83
$GC,2634,-0.52,-170.3,400.2,-10.9,351,2643,0.00,2.12,0.00,0.000,4,0.000,0.025,2352,1143,3621,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2697,-0.52,-170.3,406.8,-10.6,357,2707,0.00,2.20,0.00,0.000,6,0.000,0.043,2349,2614,3621,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3007,-0.52,-170.3,442.8,-11.2,388,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2614,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3309,-0.52,-170.3,471.5,-8.5,418,3317,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1137,3617,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3339,-0.52,-170.3,474.2,-8.3,421,3350,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2624,3616,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3649,-0.52,-170.3,498.5,-8.1,452,3651,0.00,0.00,-0.08,0.000,6,0.000,0.000,2348,2624,3639,0,0,0,0,0,0,28.83,28.83,25.37
$GC,3950,-0.52,-170.3,525.6,-9.7,482,3959,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1143,3637,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3993,-0.52,-170.3,529.5,-9.6,486,4001,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2616,3637,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4301,-0.52,-170.3,561.4,-10.6,517,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2616,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4604,-0.52,-170.3,589.6,-8.7,547,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2616,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4911,-0.52,-170.3,615.8,-8.4,569,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2616,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.52,-170.3,640.7,-7.9,584,5217,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1136,3628,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5240,-0.52,-170.3,642.3,-7.8,585,5245,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2624,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5547,-0.52,-170.3,662.9,-6.0,600,5550,0.00,1.75,0.00,0.000,4,0.000,0.057,2346,3763,3625,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5581,-0.52,-170.3,664.3,-6.1,601,5589,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2466,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5889,-0.52,-170.3,685.8,-7.4,617,5893,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3773,3623,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5934,-0.52,-170.3,689.2,-7.6,619,5937,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2504,3622,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6251,-0.52,-170.3,715.4,-8.3,635,6254,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3762,3620,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6300,-0.52,-170.3,718.7,-8.2,637,6303,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2482,3619,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6612,-0.52,-170.3,743.0,-7.3,653,6616,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3766,3618,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6648,-0.52,-170.3,744.4,-7.1,654,6654,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2466,3618,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6954,-0.52,-170.3,766.8,-7.1,670,6960,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3762,3616,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6997,-0.52,-170.3,769.6,-7.1,672,7000,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2497,3615,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7315,-0.52,-170.3,792.2,-7.2,688,7321,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3757,3614,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7356,-0.52,-170.3,795.2,-7.2,690,7360,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2504,3614,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7675,-0.52,-170.3,818.1,-7.1,706,7679,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3769,3613,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7719,-0.52,-170.3,821.1,-7.0,708,7722,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2503,3613,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8043,-0.52,-170.3,842.6,-6.5,724,8048,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3761,3611,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8083,-0.52,-170.3,845.2,-6.4,726,8086,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2500,3610,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8404,-0.52,-170.3,865.3,-6.2,742,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2461,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,-0.52,-170.3,884.4,-6.4,757,8709,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3762,3609,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8765,-0.52,-170.3,888.3,-6.4,760,8768,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2511,3608,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9086,-0.52,-170.3,907.9,-5.6,776,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2488,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9387,-0.52,-170.3,921.8,-4.1,791,9393,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3767,3605,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9434,-0.52,-170.3,923.5,-4.1,793,9438,0.00,1.77,0.00,0.000,6,0.000,0.025,2344,2481,3605,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9746,-0.52,-170.3,936.5,-4.1,809,9752,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3763,3604,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9780,-0.52,-170.3,937.2,-4.1,810,9787,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2469,3604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10087,-0.52,-170.3,951.7,-4.6,826,10092,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3603,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10114,-0.52,-170.3,952.5,-4.6,827,10118,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2512,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10428,-0.52,-170.3,969.0,-5.5,843,10433,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3751,3603,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10466,-0.52,-170.3,971.3,-5.6,845,10470,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2511,3602,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,10785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10785,begin apogee
$GC,10791,-0.17,0.0,991.3,-6.6,861,10949,0.32,0.00,151.52,1.717,6,0.097,0.000,2465,2488,2929,0,0,0,0,0,0,25.96,28.83,22.27
$STATE,10950,end apogee,CONTROL_FINISHED_OK
$STATE,10950,begin climb
$GC,10952,0.52,170.3,999.9,0.0,869,11131,0.62,2.35,167.07,1.673,4,0.050,0.028,2719,1060,2232,0,0,0,0,0,0,24.41,23.72,21.85
$GC,11155,0.52,170.3,990.7,11.1,879,11160,0.17,2.45,0.00,0.000,6,0.165,0.047,2676,2520,2227,0,0,0,0,0,0,24.20,24.44,28.83
$GC,11475,0.52,170.3,953.3,11.7,895,11480,0.00,1.95,0.00,0.000,4,0.000,0.057,2675,3774,2222,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11513,0.52,170.3,948.0,12.5,897,11517,0.00,1.92,0.00,0.000,6,0.000,0.025,2684,2444,2221,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11829,0.52,170.3,907.4,13.0,913,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2439,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12131,0.52,170.3,867.2,13.7,928,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2439,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12430,0.52,170.3,827.0,13.3,943,12435,0.00,2.08,0.00,0.000,4,0.000,0.055,2685,3763,2218,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12462,0.52,170.3,824.1,13.6,944,12470,0.08,1.90,0.00,0.000,6,0.226,0.024,2679,2451,2217,0,0,0,0,0,0,26.08,26.38,28.83
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$STATE,20921,end climb,SURFACE_DEPTH_REACHED
$STATE,20921,begin surface coast
$FINISH,3.0,1.021779
$STATE,20926,end surface coast,CONTROL_FINISHED_OK
$STATE,20926,begin surface
$SM_CCo,21005,0.00,0.000,0,0,1167,432.22
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,9.44647
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,9.8,46.646
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,140793,1878
$CAP_FILE_SIZE,219333,0
$CFSIZE,260165632,186052608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,234.1,1
$GPS,270512,163355,1936.819,12412.341,39,1.3,39,-2.4