version: 66.10
glider: 176
mission: 5
dive: 179
start: 4 16 112 6 11 34
data:
$ID,176
$MISSION,5
$DIVE,179
$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,-7659.5044
$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
$GPS1,160412,060331,1900.449,12432.923,39,1.3,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.2
$GPS2,160412,061107,1900.470,12433.012,9,1.1,14,-2.3
$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,182.5,130557,-13.1,-7.500
$D_GRID,5451
$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,-146.0,0.0,0.0,0,54,0.00,0.00,-35.40,0.000,2,0.000,0.000,180,2634,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.51,-146.0,3.0,-6.5,6,100,8.62,1.77,-28.48,0.000,4,0.231,0.065,2340,3774,3526,0,0,0,0,0,0,25.44,26.02,26.48
$GC,144,-0.51,-146.0,23.8,-37.7,18,151,0.08,1.73,0.00,0.000,6,0.206,0.023,2355,2522,3526,0,0,0,0,0,0,25.98,26.24,28.83
$GC,455,-0.51,-146.0,125.4,-29.2,79,463,0.00,1.95,0.00,0.000,4,0.000,0.027,2356,1142,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,530,-0.51,-146.0,140.8,-15.0,93,537,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2631,3527,0,0,0,0,0,0,28.83,26.24,28.83
$GC,843,-0.51,-146.0,213.4,-21.1,148,851,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1146,3527,0,0,0,0,0,0,28.83,26.42,28.83
$GC,866,-0.51,-146.0,217.5,-20.0,150,874,0.08,2.22,0.00,0.000,6,0.190,0.043,2355,2632,3527,0,0,0,0,0,0,26.17,26.32,28.83
$GC,1174,-0.51,-146.0,273.4,-18.4,181,1183,0.00,2.12,0.00,0.000,4,0.000,0.026,2355,1146,3528,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1266,-0.51,-146.0,287.1,-12.8,190,1275,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2640,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1576,-0.51,-146.0,338.3,-15.5,221,1585,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1151,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1630,-0.51,-146.0,345.1,-12.9,226,1637,0.00,2.22,0.00,0.000,6,0.000,0.046,2347,2633,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1937,-0.51,-146.0,387.0,-13.7,257,1946,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1148,3526,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1990,-0.51,-146.0,393.3,-12.3,262,1998,0.00,2.20,0.00,0.000,6,0.000,0.044,2347,2624,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2298,-0.51,-146.0,434.3,-12.6,293,2307,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1154,3525,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2339,-0.51,-146.0,439.5,-12.7,297,2348,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2637,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2650,-0.51,-146.0,480.3,-12.9,328,2653,0.00,1.70,0.00,0.000,4,0.000,0.054,2338,3770,3522,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2691,-0.51,-146.0,485.9,-13.5,332,2695,0.08,1.70,0.00,0.000,6,0.175,0.022,2359,2482,3522,0,0,0,0,0,0,26.40,26.65,28.83
$GC,3003,-0.51,-146.0,520.0,-10.1,363,3004,0.05,0.00,0.00,0.000,6,0.177,0.000,2304,2467,3519,0,0,0,0,0,0,26.70,28.83,28.83
$GC,3303,-0.51,-146.0,563.3,-14.3,393,3312,0.15,2.00,0.00,0.000,4,0.151,0.050,2346,3765,3518,0,0,0,0,0,0,26.29,26.24,28.83
$GC,3356,-0.51,-146.0,569.7,-11.9,398,3359,0.00,1.70,0.00,0.000,6,0.000,0.023,2346,2503,3517,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3667,-0.51,-146.0,602.6,-10.5,428,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2482,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3967,-0.51,-146.0,633.4,-10.3,443,3971,0.00,1.95,0.00,0.000,4,0.000,0.054,2341,3765,3513,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3997,-0.51,-146.0,635.8,-10.5,444,4002,0.05,1.73,0.00,0.000,6,0.210,0.024,2359,2461,3512,0,0,0,0,0,0,26.43,26.63,28.83
$GC,4310,-0.51,-146.0,666.1,-9.3,460,4316,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3765,3510,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4343,-0.51,-146.0,667.9,-9.3,461,4350,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2488,3509,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4650,-0.51,-146.0,694.6,-7.9,477,4655,0.00,1.95,0.00,0.000,4,0.000,0.055,2357,3764,3506,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4677,-0.51,-146.0,696.1,-7.7,478,4681,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2489,3506,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4992,-0.51,-146.0,721.0,-7.8,494,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2485,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5290,-0.51,-146.0,742.8,-7.0,509,5295,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3771,3502,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5330,-0.51,-146.0,745.8,-7.2,511,5333,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2509,3502,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5651,-0.51,-146.0,769.7,-7.9,527,5657,0.00,1.98,0.00,0.000,4,0.000,0.056,2357,3770,3500,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5684,-0.51,-146.0,771.3,-8.0,528,5690,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2488,3499,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5991,-0.51,-146.0,796.7,-8.0,544,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2487,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6292,-0.51,-146.0,818.6,-6.9,559,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2487,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,-0.51,-146.0,837.2,-6.0,574,6596,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3765,3494,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6619,-0.51,-146.0,838.4,-6.0,575,6622,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2510,3493,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6932,-0.51,-146.0,857.9,-6.2,591,6936,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3766,3492,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6961,-0.51,-146.0,859.2,-6.1,592,6965,0.00,1.70,0.00,0.000,6,0.000,0.024,2356,2512,3491,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7275,-0.51,-146.0,878.7,-6.2,608,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2487,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7574,-0.51,-146.0,898.7,-6.8,623,7578,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3792,3488,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7618,-0.51,-146.0,901.8,-7.0,625,7621,0.00,1.80,0.00,0.000,6,0.000,0.024,2357,2490,3487,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7936,-0.51,-146.0,925.1,-7.5,641,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2488,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8236,-0.51,-146.0,947.1,-7.2,656,8241,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3764,3485,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8283,-0.51,-146.0,950.1,-7.3,658,8287,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2492,3485,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8596,-0.51,-146.0,972.7,-7.0,674,8601,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3769,3484,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8623,-0.51,-146.0,974.2,-6.9,675,8627,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2518,3484,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,8853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8853,begin apogee
$GC,8859,-0.17,0.0,990.2,-6.5,687,8984,0.30,0.00,121.00,1.746,6,0.107,0.000,2464,2488,2929,0,0,0,0,0,0,26.03,28.83,23.34
$STATE,8986,end apogee,CONTROL_FINISHED_OK
$STATE,8986,begin climb
$GC,8988,0.51,146.0,994.1,0.0,693,9138,0.60,2.28,141.18,1.706,4,0.047,0.054,2706,3769,2332,0,0,0,0,0,0,24.75,23.81,22.62
$GC,9153,0.51,146.0,985.5,11.1,702,9158,0.20,2.05,0.00,0.000,6,0.189,0.024,2670,2455,2331,0,0,0,0,0,0,24.08,24.39,28.83
$GC,9467,0.51,146.0,942.1,13.3,718,9472,0.00,2.05,0.00,0.000,4,0.000,0.054,2670,3767,2324,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9508,0.51,146.0,936.1,14.1,720,9512,0.00,1.95,0.00,0.000,6,0.000,0.024,2679,2452,2322,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9826,0.51,146.0,893.0,13.1,736,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2448,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10125,0.51,146.0,855.4,11.9,751,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2448,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10427,0.51,146.0,818.9,11.8,766,10432,0.00,2.03,0.00,0.000,4,0.000,0.054,2679,3756,2317,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10458,0.51,146.0,816.3,12.0,767,10467,0.08,1.90,0.00,0.000,6,0.233,0.024,2675,2435,2316,0,0,0,0,0,0,26.00,26.29,28.83
$GC,10765,0.51,146.0,779.6,11.0,783,10769,0.00,2.05,0.00,0.000,4,0.000,0.031,2684,1042,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10800,0.51,146.0,777.2,11.0,784,10808,0.05,2.28,0.00,0.000,6,0.227,0.047,2674,2521,2315,0,0,0,0,0,0,26.02,26.10,28.83
$GC,11107,0.51,146.0,741.0,11.4,800,11113,0.00,1.90,0.00,0.000,4,0.000,0.054,2674,3767,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11149,0.51,146.0,735.8,12.2,802,11153,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2434,2314,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11467,0.51,146.0,697.2,11.8,818,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2430,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11767,0.51,146.0,664.8,10.2,833,11773,0.00,2.08,0.00,0.000,4,0.000,0.054,2683,3765,2314,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11814,0.51,146.0,660.0,11.1,835,11819,0.10,1.90,0.00,0.000,6,0.212,0.023,2670,2445,2313,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12128,0.51,146.0,627.0,10.3,851,12133,0.00,2.03,0.00,0.000,4,0.000,0.053,2671,3766,2313,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12167,0.51,146.0,622.4,10.9,853,12171,0.00,1.90,0.00,0.000,6,0.000,0.023,2680,2446,2313,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12474,0.51,146.0,588.3,10.8,873,12482,0.00,2.05,0.00,0.000,4,0.000,0.052,2680,3764,2313,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,18973,end climb,SURFACE_DEPTH_REACHED
$STATE,18973,begin surface coast
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$STATE,19007,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,23.356
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$FG_AHR_10Vo,0.000
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$MEM,329420
$DATA_FILE_SIZE,127372,1716
$CAP_FILE_SIZE,198300,0
$CFSIZE,260165632,205819904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,190.7,1
$GPS,160412,113001,1857.532,12432.973,38,1.5,38,-2.3