version: 66.10
glider: 176
mission: 5
dive: 159
start: 4 11 112 16 3 5
data:
$ID,176
$MISSION,5
$DIVE,159
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,440
$T_MISSION,500
$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,150
$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,161
$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,-7632.6333
$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,2610
$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,49
$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
$GPS1,110412,155531,1955.360,12425.084,41,1.3,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-79.0
$GPS2,110412,160238,1955.430,12425.143,11,1.4,11,-2.5
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,217.9,232946,-13.1,-7.500
$D_GRID,5624
$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,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.17,0.000,2,0.000,0.000,185,2661,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.0,-6.2,7,105,9.00,2.20,-25.75,0.000,4,0.249,0.036,2345,1142,3526,0,0,0,0,0,0,25.43,26.10,26.45
$GC,187,-0.51,-146.0,25.6,-18.3,27,195,0.10,2.28,0.00,0.000,6,0.177,0.045,2360,2627,3527,0,0,0,0,0,0,25.86,26.03,28.83
$GC,499,-0.51,-146.0,103.3,-24.5,88,507,0.05,2.12,0.00,0.000,4,0.177,0.023,2316,1140,3526,0,0,0,0,0,0,26.48,26.32,28.83
$GC,524,-0.51,-146.0,109.7,-25.8,92,531,0.17,2.25,0.00,0.000,6,0.160,0.045,2354,2628,3527,0,0,0,0,0,0,25.88,26.18,28.83
$GC,836,-0.51,-146.0,181.1,-19.4,153,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2628,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1150,-0.51,-146.0,244.5,-19.5,193,1153,0.00,2.10,0.00,0.000,4,0.000,0.025,2354,1146,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1211,-0.51,-146.0,254.7,-15.0,199,1220,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2633,3527,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1521,-0.51,-146.0,306.0,-16.6,230,1530,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1140,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1563,-0.51,-146.0,312.2,-15.4,234,1572,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1872,-0.51,-146.0,359.8,-15.1,265,1876,0.00,1.73,0.00,0.000,4,0.000,0.054,2336,3772,3526,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1925,-0.51,-146.0,367.5,-15.3,270,1929,0.08,1.70,0.00,0.000,6,0.184,0.022,2357,2502,3526,0,0,0,0,0,0,26.36,26.61,28.83
$GC,2237,-0.51,-146.0,408.3,-13.5,301,2240,0.00,1.90,0.00,0.000,4,0.000,0.024,2357,1137,3526,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2283,-0.51,-146.0,414.1,-12.6,305,2293,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2637,3525,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2593,-0.51,-146.0,452.5,-11.9,336,2596,0.00,1.70,0.00,0.000,4,0.000,0.054,2349,3767,3523,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2616,-0.51,-146.0,455.0,-11.9,338,2623,0.00,1.73,0.00,0.000,6,0.000,0.021,2349,2481,3523,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2925,-0.51,-146.0,492.6,-11.7,369,2934,0.00,1.98,0.00,0.000,4,0.000,0.054,2343,3777,3522,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2988,-0.51,-146.0,500.0,-11.5,375,2991,0.00,1.73,0.00,0.000,6,0.000,0.022,2343,2506,3522,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3299,-0.51,-146.0,536.0,-11.7,406,3308,0.00,1.90,0.00,0.000,4,0.000,0.025,2343,1142,3520,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3354,-0.51,-146.0,541.5,-10.3,411,3361,0.10,2.25,0.00,0.000,6,0.159,0.044,2363,2629,3519,0,0,0,0,0,0,26.18,26.33,28.83
$GC,3661,-0.51,-146.0,567.9,-8.0,442,3670,0.08,2.10,0.00,0.000,4,0.132,0.024,2307,1148,3518,0,0,0,0,0,0,26.67,26.50,28.83
$GC,3714,-0.51,-146.0,573.6,-11.6,447,3723,0.12,2.22,0.00,0.000,6,0.115,0.047,2353,2621,3518,0,0,0,0,0,0,26.08,26.30,28.83
$GC,4033,-0.51,-146.0,604.4,-9.7,477,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2621,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.51,-146.0,633.0,-9.4,492,4339,0.00,2.08,0.00,0.000,4,0.000,0.024,2353,1148,3513,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4381,-0.51,-146.0,636.6,-9.1,494,4385,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2635,3514,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4688,-0.51,-146.0,666.6,-9.8,509,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2635,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,-0.51,-146.0,695.7,-9.8,524,4995,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1145,3508,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5032,-0.51,-146.0,699.7,-10.0,526,5036,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2629,3508,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5344,-0.51,-146.0,730.5,-9.8,542,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2629,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.51,-146.0,758.3,-8.9,557,5650,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1144,3504,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5696,-0.51,-146.0,761.6,-8.5,559,5703,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2626,3504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6004,-0.51,-146.0,788.2,-8.5,575,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2626,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6304,-0.51,-146.0,814.8,-8.8,590,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2626,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6604,-0.51,-146.0,840.3,-8.1,605,6609,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1153,3499,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6644,-0.51,-146.0,843.4,-7.8,607,6650,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2626,3499,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6964,-0.51,-146.0,866.2,-7.1,623,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2626,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,-0.51,-146.0,887.9,-7.5,638,7270,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1150,3494,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7312,-0.51,-146.0,891.0,-7.6,640,7316,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2626,3494,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7619,-0.51,-146.0,915.2,-8.0,655,7625,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1154,3493,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7646,-0.51,-146.0,917.0,-8.2,656,7650,0.00,2.25,0.00,0.000,6,0.000,0.049,2348,2625,3493,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7959,-0.51,-146.0,942.2,-7.7,672,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2625,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8259,-0.51,-146.0,965.0,-7.2,687,8264,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1146,3491,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8312,-0.51,-146.0,967.9,-7.3,689,8320,0.00,2.30,0.00,0.000,6,0.000,0.048,2348,2633,3491,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8620,-0.51,-146.0,989.5,-6.6,705,8625,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1157,3489,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,8639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8639,begin apogee
$GC,8646,-0.17,0.0,990.8,-6.6,706,8775,0.32,0.08,122.10,1.746,6,0.108,0.096,2464,2435,2928,0,0,0,0,0,0,26.00,24.49,23.36
$STATE,8776,end apogee,CONTROL_FINISHED_OK
$STATE,8776,begin climb
$GC,8778,0.51,146.0,994.7,0.0,712,8922,0.62,0.00,141.00,1.706,6,0.050,0.000,2702,2435,2332,0,0,0,0,0,0,24.76,28.83,22.65
$GC,9215,0.51,146.0,943.3,15.6,734,9221,0.12,2.12,0.00,0.000,4,0.194,0.055,2668,3762,2322,0,0,0,0,0,0,25.43,25.54,28.83
$GC,9234,0.51,146.0,940.1,15.8,735,9240,0.00,1.95,0.00,0.000,6,0.000,0.026,2677,2459,2321,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9553,0.51,146.0,896.0,13.3,751,9559,0.00,2.08,0.00,0.000,4,0.000,0.033,2686,1050,2319,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9582,0.51,146.0,893.4,13.4,752,9587,0.05,2.30,0.00,0.000,6,0.225,0.047,2674,2520,2318,0,0,0,0,0,0,25.83,25.93,28.83
$GC,9889,0.51,146.0,852.0,12.6,767,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2520,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10191,0.51,146.0,815.4,12.2,782,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2520,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10489,0.51,146.0,779.5,11.8,797,10495,0.00,1.92,0.00,0.000,4,0.000,0.055,2674,3763,2316,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10516,0.51,146.0,776.8,12.2,798,10520,0.00,1.92,0.00,0.000,6,0.000,0.026,2683,2442,2315,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10829,0.51,146.0,737.4,12.0,814,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2438,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11129,0.51,146.0,701.3,11.7,829,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2438,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11429,0.51,146.0,663.5,12.8,844,11432,0.00,2.05,0.00,0.000,4,0.000,0.054,2683,3766,2314,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11551,0.51,146.0,646.1,14.5,850,11558,0.10,1.92,0.00,0.000,6,0.217,0.024,2665,2442,2313,0,0,0,0,0,0,25.88,26.39,28.83
$GC,11872,0.51,146.0,612.8,9.5,866,11878,0.08,2.03,0.00,0.000,4,0.136,0.030,2718,1061,2312,0,0,0,0,0,0,26.52,26.26,28.83
$GC,11960,0.51,146.0,604.1,11.0,870,11965,0.17,2.25,0.00,0.000,6,0.176,0.045,2672,2521,2311,0,0,0,0,0,0,25.67,26.13,28.83
$GC,12266,0.51,146.0,572.8,9.4,898,12274,0.00,1.90,0.00,0.000,4,0.000,0.053,2672,3775,2311,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12339,0.51,146.0,564.6,11.5,905,12348,0.00,1.95,0.00,0.000,6,0.000,0.024,2682,2436,2311,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12647,0.51,146.0,531.2,10.5,936,12656,0.00,2.05,0.00,0.000,4,0.000,0.033,2692,1044,2311,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12762,0.51,146.0,520.2,9.7,947,12769,0.10,2.28,0.00,0.000,6,0.181,0.045,2668,2520,2311,0,0,0,0,0,0,25.90,26.11,28.83
$GC,13069,0.51,146.0,492.3,8.5,978,13073,0.00,2.17,0.00,0.000,4,0.000,0.033,2679,1052,2311,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18531,begin surface coast
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$FG_AHR_10Vo,0.000
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$MEM,329452
$DATA_FILE_SIZE,127484,1719
$CAP_FILE_SIZE,192871,0
$CFSIZE,260165632,207990784
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