version: 66.10
glider: 176
mission: 5
dive: 367
start: 5 27 112 16 42 6
data:
$ID,176
$MISSION,5
$DIVE,367
$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,-8003.0542
$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
$GPS1,270512,163355,1936.819,12412.341,39,1.3,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.8
$GPS2,270512,164138,1936.746,12412.248,10,1.3,10,-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,101.5,25528,-12.5,-7.857
$D_GRID,5623
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.52,-170.3,0.0,0.0,0,65,0.00,0.00,-45.60,0.000,2,0.000,0.000,196,2625,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.52,-170.3,3.4,-7.5,8,112,8.75,2.20,-24.83,0.000,4,0.233,0.041,2344,1143,3627,0,0,0,0,0,0,25.07,26.25,26.67
$GC,149,-0.52,-170.3,24.7,-26.0,19,158,0.08,2.25,0.00,0.000,6,0.201,0.044,2352,2621,3627,0,0,0,0,0,0,25.97,26.12,28.83
$GC,478,-0.52,-170.3,102.2,-21.3,80,485,0.00,2.12,0.00,0.000,4,0.000,0.025,2353,1137,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,594,-0.52,-170.3,121.1,-13.3,102,601,0.00,2.22,0.00,0.000,6,0.000,0.044,2349,2618,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,906,-0.52,-170.3,179.1,-16.8,163,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2618,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1221,-0.52,-170.3,228.8,-15.0,206,1229,0.00,2.10,0.00,0.000,4,0.000,0.024,2349,1139,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1324,-0.52,-170.3,239.8,-9.1,216,1332,0.00,2.20,0.00,0.000,6,0.000,0.042,2347,2618,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1633,-0.52,-170.3,281.4,-14.3,247,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2618,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1934,-0.52,-170.3,320.6,-11.9,277,1943,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1144,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2007,-0.52,-170.3,327.4,-7.8,284,2015,0.00,2.20,0.00,0.000,6,0.000,0.043,2346,2619,3624,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2315,-0.52,-170.3,358.5,-10.0,315,2325,0.00,2.12,0.00,0.000,4,0.000,0.025,2346,1145,3623,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2380,-0.52,-170.3,363.9,-8.0,321,2387,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2615,3623,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2688,-0.52,-170.3,396.7,-10.9,352,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2615,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.52,-170.3,427.8,-9.8,382,2999,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1146,3619,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3042,-0.52,-170.3,432.6,-8.4,387,3052,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2631,3619,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3352,-0.52,-170.3,461.2,-9.0,418,3360,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1145,3617,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3373,-0.52,-170.3,463.1,-8.9,420,3382,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2629,3617,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3683,-0.52,-170.3,492.0,-9.7,451,3685,0.00,0.00,-0.10,0.000,6,0.000,0.000,2344,2629,3639,0,0,0,0,0,0,28.83,28.83,25.99
$GC,3984,-0.52,-170.3,517.6,-8.2,481,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4285,-0.52,-170.3,543.4,-9.3,511,4295,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1152,3635,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4340,-0.52,-170.3,548.3,-9.0,516,4348,0.00,2.20,0.00,0.000,6,0.000,0.045,2344,2614,3635,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4647,-0.52,-170.3,577.2,-8.6,547,4651,0.00,1.75,0.00,0.000,4,0.000,0.055,2341,3766,3633,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4691,-0.52,-170.3,580.5,-8.5,551,4699,0.00,1.75,0.00,0.000,6,0.000,0.024,2341,2446,3632,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5001,-0.52,-170.3,603.2,-7.0,580,5007,0.00,2.03,0.00,0.000,4,0.000,0.053,2332,3766,3630,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5047,-0.52,-170.3,606.2,-6.9,582,5051,0.08,1.73,0.00,0.000,6,0.164,0.024,2358,2492,3629,0,0,0,0,0,0,26.32,26.56,28.83
$GC,5361,-0.52,-170.3,627.0,-6.7,598,5367,0.08,2.00,0.00,0.000,4,0.129,0.052,2282,3766,3627,0,0,0,0,0,0,26.60,26.03,28.83
$GC,5439,-0.52,-170.3,636.1,-11.6,602,5444,0.22,1.73,0.00,0.000,6,0.122,0.024,2356,2461,3626,0,0,0,0,0,0,26.02,26.55,28.83
$GC,5758,-0.52,-170.3,657.5,-5.9,618,5764,0.08,2.00,0.00,0.000,4,0.126,0.054,2286,3766,3624,0,0,0,0,0,0,26.60,26.00,28.83
$GC,5811,-0.52,-170.3,661.0,-7.2,620,5818,0.20,1.73,0.00,0.000,6,0.122,0.024,2353,2471,3624,0,0,0,0,0,0,26.06,26.54,28.83
$GC,6117,-0.52,-170.3,683.5,-7.4,636,6123,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3781,3622,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6165,-0.52,-170.3,686.8,-7.9,638,6169,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2502,3622,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6476,-0.52,-170.3,715.8,-9.3,654,6480,0.00,2.05,0.00,0.000,4,0.000,0.055,2347,3767,3620,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6530,-0.52,-170.3,719.6,-9.0,656,6537,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2465,3620,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6840,-0.52,-170.3,743.8,-6.7,672,6844,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3772,3618,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6874,-0.52,-170.3,745.2,-6.5,673,6881,0.00,1.77,0.00,0.000,6,0.000,0.025,2345,2469,3618,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7182,-0.52,-170.3,765.5,-6.4,689,7188,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3768,3616,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7215,-0.52,-170.3,767.0,-6.5,690,7221,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2457,3616,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7522,-0.52,-170.3,788.4,-6.8,706,7527,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3765,3615,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7565,-0.52,-170.3,791.0,-6.7,708,7569,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2498,3614,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7883,-0.52,-170.3,811.2,-6.0,724,7888,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3752,3612,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7930,-0.52,-170.3,813.7,-6.1,726,7933,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2498,3612,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8243,-0.52,-170.3,832.9,-5.9,742,8248,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3759,3611,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8302,-0.52,-170.3,836.5,-5.9,745,8306,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2459,3611,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8625,-0.52,-170.3,856.1,-6.2,761,8629,0.00,2.05,0.00,0.000,4,0.000,0.057,2345,3767,3610,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8668,-0.52,-170.3,859.0,-6.5,763,8671,0.00,1.73,0.00,0.000,6,0.000,0.026,2345,2511,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8990,-0.52,-170.3,880.8,-7.0,779,8995,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3762,3609,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9013,-0.52,-170.3,882.2,-7.2,780,9016,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2469,3608,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9330,-0.52,-170.3,905.5,-7.2,796,9335,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3767,3607,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9384,-0.52,-170.3,908.4,-7.3,798,9390,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2460,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9690,-0.52,-170.3,932.1,-7.4,814,9694,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3766,3606,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9725,-0.52,-170.3,933.8,-7.3,815,9733,0.00,1.75,0.00,0.000,6,0.000,0.026,2345,2474,3605,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10033,-0.52,-170.3,957.8,-7.3,831,10039,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3753,3604,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10065,-0.52,-170.3,959.2,-7.2,832,10071,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2478,3604,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10373,-0.52,-170.3,981.3,-6.6,848,10378,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3604,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10416,-0.52,-170.3,983.8,-6.4,850,10419,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2503,3603,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10510,begin apogee
$GC,10515,-0.17,0.0,990.3,-6.3,855,10676,0.32,0.08,151.57,1.713,6,0.099,0.041,2465,2445,2928,0,0,0,0,0,0,25.96,24.01,22.30
$STATE,10677,end apogee,CONTROL_FINISHED_OK
$STATE,10677,begin climb
$GC,10679,0.52,170.3,997.6,0.0,863,10855,0.60,2.38,166.32,1.668,4,0.050,0.056,2700,3765,2233,0,0,0,0,0,0,24.50,23.67,21.87
$GC,10872,0.52,170.3,989.8,9.9,872,10880,0.15,2.08,0.00,0.000,6,0.190,0.025,2676,2453,2231,0,0,0,0,0,0,24.03,24.34,28.83
$GC,11178,0.52,170.3,945.5,13.1,888,11183,0.00,2.05,0.00,0.000,4,0.000,0.055,2676,3765,2223,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11207,0.52,170.3,942.5,13.3,889,11211,0.00,1.92,0.00,0.000,6,0.000,0.025,2686,2441,2222,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11514,0.52,170.3,900.5,12.8,904,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2437,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11814,0.52,170.3,862.7,12.6,919,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2437,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12113,0.52,170.3,824.1,12.8,934,12118,0.00,2.10,0.00,0.000,4,0.000,0.056,2686,3770,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12141,0.52,170.3,821.4,13.0,935,12146,0.10,1.92,0.00,0.000,6,0.202,0.024,2673,2436,2218,0,0,0,0,0,0,26.01,26.36,28.83
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$STATE,20748,end climb,SURFACE_DEPTH_REACHED
$STATE,20748,begin surface coast
$FINISH,2.1,1.021975
$STATE,20758,end surface coast,CONTROL_FINISHED_OK
$STATE,20758,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.80
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.8,46.785
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.875,185.400,482.725,0.000,0.000,26.212,18.380,261.767,0.000,0.000,13.166,4783.292,11622.459,672.487,3715.022,471.831,0.000,2421.033,0.000,3170.366,0.000,0.541,0.000
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$MEM,329628
$DATA_FILE_SIZE,140666,1902
$CAP_FILE_SIZE,220813,0
$CFSIZE,260165632,185937920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,211.3,1
$GPS,270512,223031,1935.641,12414.491,40,1.6,40,-2.4