version: 66.10
glider: 176
mission: 5
dive: 369
start: 5 28 112 4 41 12
data:
$ID,176
$MISSION,5
$DIVE,369
$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,-8005.5728
$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
$GPS1,280512,043255,1933.538,12416.780,43,1.1,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.6
$GPS2,280512,044044,1933.498,12416.727,9,1.7,9,-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,88.6,15829,-12.5,-7.857
$D_GRID,5647
$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,-170.3,0.0,0.0,0,66,0.00,0.00,-48.08,0.000,2,0.000,0.000,185,2626,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.52,-170.3,3.3,-7.2,8,111,8.82,0.00,-26.33,0.000,6,0.233,0.000,2343,2626,3626,0,0,0,0,0,0,25.10,28.83,26.67
$GC,418,-0.52,-170.3,88.4,-22.1,72,440,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1138,3627,0,0,0,0,0,0,28.83,26.38,28.83
$GC,448,-0.52,-170.3,95.3,-20.9,74,456,0.08,2.22,0.00,0.000,6,0.190,0.043,2352,2620,3627,0,0,0,0,0,0,26.09,26.22,28.83
$GC,761,-0.52,-170.3,148.9,-15.6,135,768,0.00,2.10,0.00,0.000,4,0.000,0.025,2352,1138,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,795,-0.52,-170.3,153.6,-12.6,141,803,0.00,2.22,0.00,0.000,6,0.000,0.043,2349,2619,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1108,-0.52,-170.3,199.3,-16.0,202,1115,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1138,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1175,-0.52,-170.3,207.0,-10.7,209,1183,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2630,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1482,-0.52,-170.3,254.1,-15.6,240,1491,0.00,2.15,0.00,0.000,4,0.000,0.028,2345,1142,3625,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1546,-0.52,-170.3,261.7,-11.4,246,1554,0.03,2.25,0.00,0.000,6,0.164,0.042,2349,2621,3625,0,0,0,0,0,0,26.14,26.27,28.83
$GC,1853,-0.52,-170.3,301.9,-11.9,277,1857,0.00,1.73,0.00,0.000,4,0.000,0.054,2346,3766,3624,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1896,-0.52,-170.3,306.7,-11.8,281,1905,0.00,1.75,0.00,0.000,6,0.000,0.021,2346,2466,3624,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2204,-0.52,-170.3,339.4,-10.0,312,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2465,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,-0.52,-170.3,369.2,-9.5,342,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2465,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-0.52,-170.3,395.7,-8.1,372,2810,0.00,2.00,0.00,0.000,4,0.000,0.052,2337,3766,3620,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2878,-0.52,-170.3,402.3,-8.9,379,2882,0.05,1.73,0.00,0.000,6,0.203,0.023,2354,2484,3619,0,0,0,0,0,0,26.39,26.59,28.83
$GC,3190,-0.52,-170.3,429.8,-9.2,410,3200,0.05,2.03,0.00,0.000,4,0.174,0.052,2292,3765,3617,0,0,0,0,0,0,26.64,26.08,28.83
$GC,3252,-0.52,-170.3,437.7,-13.6,416,3262,0.20,1.73,0.00,0.000,6,0.123,0.023,2358,2467,3617,0,0,0,0,0,0,26.11,26.57,28.83
$GC,3563,-0.52,-170.3,462.1,-6.9,447,3565,0.08,0.00,-0.10,0.000,6,0.128,0.000,2286,2467,3639,0,0,0,0,0,0,26.61,28.83,25.88
$GC,3863,-0.52,-170.3,502.4,-13.0,477,3865,0.20,0.00,0.00,0.000,6,0.138,0.000,2350,2467,3638,0,0,0,0,0,0,26.16,28.83,28.83
$GC,4163,-0.52,-170.3,522.0,-6.1,507,4172,0.00,2.03,0.00,0.000,4,0.000,0.054,2343,3772,3636,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4226,-0.52,-170.3,526.0,-6.5,513,4229,0.00,1.75,0.00,0.000,6,0.000,0.023,2343,2454,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4537,-0.52,-170.3,549.5,-8.3,544,4546,0.00,2.03,0.00,0.000,4,0.000,0.054,2334,3770,3633,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4568,-0.52,-170.3,552.4,-8.6,547,4572,0.08,1.73,0.00,0.000,6,0.160,0.024,2359,2485,3633,0,0,0,0,0,0,26.34,26.58,28.83
$GC,4881,-0.52,-170.3,575.1,-6.8,578,4890,0.08,2.03,0.00,0.000,4,0.126,0.053,2282,3764,3630,0,0,0,0,0,0,26.60,26.03,28.83
$GC,4965,-0.52,-170.3,584.8,-12.4,586,4974,0.22,1.70,0.00,0.000,6,0.118,0.024,2358,2460,3629,0,0,0,0,0,0,26.06,26.55,28.83
$GC,5284,-0.52,-170.3,604.2,-5.1,614,5288,0.08,2.03,0.00,0.000,4,0.127,0.054,2287,3770,3627,0,0,0,0,0,0,26.60,26.00,28.83
$GC,5306,-0.52,-170.3,605.7,-5.5,615,5312,0.20,1.75,0.00,0.000,6,0.125,0.024,2353,2477,3626,0,0,0,0,0,0,26.06,26.55,28.83
$GC,5628,-0.52,-170.3,623.5,-5.6,631,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2477,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5927,-0.52,-170.3,640.8,-6.0,646,5932,0.00,1.98,0.00,0.000,4,0.000,0.055,2348,3759,3623,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5995,-0.52,-170.3,644.3,-5.8,649,5999,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2468,3622,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6307,-0.52,-170.3,662.3,-5.1,665,6312,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3763,3621,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6340,-0.52,-170.3,663.4,-5.1,666,6346,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2473,3620,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6649,-0.52,-170.3,679.6,-5.3,682,6654,0.00,1.98,0.00,0.000,4,0.000,0.055,2348,3761,3619,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6680,-0.52,-170.3,680.7,-5.4,683,6687,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2462,3618,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6988,-0.52,-170.3,699.0,-5.9,699,6994,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3761,3617,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7048,-0.52,-170.3,702.7,-6.2,702,7051,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2478,3616,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7371,-0.52,-170.3,723.6,-6.5,718,7377,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3766,3615,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7404,-0.52,-170.3,724.9,-6.5,719,7411,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2464,3615,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7710,-0.52,-170.3,747.9,-7.4,735,7716,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3772,3613,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7765,-0.52,-170.3,751.0,-7.6,737,7773,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2477,3612,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8072,-0.52,-170.3,775.5,-7.5,753,8075,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3770,3611,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8106,-0.52,-170.3,777.2,-7.5,754,8113,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2468,3611,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8415,-0.52,-170.3,799.2,-6.8,770,8420,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3757,3610,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8461,-0.52,-170.3,802.0,-6.8,772,8465,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2455,3610,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8773,-0.52,-170.3,824.7,-7.2,788,8779,0.00,2.08,0.00,0.000,4,0.000,0.057,2348,3770,3608,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8815,-0.52,-170.3,827.6,-7.4,790,8819,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2500,3609,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9137,-0.52,-170.3,852.5,-7.9,806,9142,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3762,3608,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9190,-0.52,-170.3,855.8,-8.0,808,9197,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2478,3607,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9497,-0.52,-170.3,881.2,-7.9,824,9500,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3761,3606,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9540,-0.52,-170.3,884.4,-8.0,826,9543,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2506,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9863,-0.52,-170.3,908.2,-6.9,842,9869,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3759,3605,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9890,-0.52,-170.3,909.5,-6.6,843,9893,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2502,3604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10202,-0.52,-170.3,928.2,-5.2,859,10208,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3761,3604,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10243,-0.52,-170.3,930.3,-5.1,861,10246,0.00,1.77,0.00,0.000,6,0.000,0.026,2348,2488,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10564,-0.52,-170.3,945.9,-4.8,877,10568,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3762,3603,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10594,-0.52,-170.3,946.9,-4.8,878,10597,0.00,1.75,0.00,0.000,6,0.000,0.026,2348,2513,3603,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10908,-0.52,-170.3,963.0,-5.2,894,10913,0.00,1.98,0.00,0.000,4,0.000,0.057,2349,3761,3602,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10939,-0.52,-170.3,964.1,-5.3,895,10946,0.00,1.75,0.00,0.000,6,0.000,0.026,2348,2488,3602,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11246,-0.52,-170.3,981.6,-5.5,911,11252,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3769,3601,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11276,-0.52,-170.3,982.8,-5.5,912,11279,0.00,1.75,0.00,0.000,6,0.000,0.026,2348,2521,3601,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,11405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11405,begin apogee
$GC,11410,-0.17,0.0,991.4,-6.3,919,11570,0.32,0.00,152.07,1.720,6,0.084,0.000,2475,2497,2928,0,0,0,0,0,0,26.07,28.83,22.23
$STATE,11571,end apogee,CONTROL_FINISHED_OK
$STATE,11571,begin climb
$GC,11573,0.52,170.3,999.8,0.0,927,11749,0.57,2.42,166.80,1.675,4,0.050,0.031,2711,1062,2233,0,0,0,0,0,0,24.44,23.70,21.81
$GC,11801,0.52,170.3,986.6,12.5,938,11806,0.15,2.40,0.00,0.000,6,0.164,0.047,2674,2522,2226,0,0,0,0,0,0,24.58,24.82,28.83
$GC,12107,0.52,170.3,947.4,12.4,953,12113,0.00,1.92,0.00,0.000,4,0.000,0.057,2674,3767,2222,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,21551,end climb,SURFACE_DEPTH_REACHED
$STATE,21551,begin surface coast
$FINISH,3.7,1.021819
$STATE,21557,end surface coast,CONTROL_FINISHED_OK
$STATE,21557,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.57
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$TCM_TEMP,23.80
$XPDR_PINGS,0
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$10V_AH,9.8,47.068
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329652
$DATA_FILE_SIZE,140489,1925
$CAP_FILE_SIZE,225433,0
$CFSIZE,260165632,185692160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,227.4,1
$GPS,280512,104300,1932.665,12418.577,38,1.0,43,-2.4