version: 66.10
glider: 176
mission: 5
dive: 333
start: 5 20 112 17 9 2
data:
$ID,176
$MISSION,5
$DIVE,333
$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,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,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,-7959.9956
$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
$GPS1,200512,170007,1948.326,12335.882,25,2.0,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.0
$GPS2,200512,170836,1948.115,12335.946,10,1.3,26,-2.4
$SPEED_LIMITS,0.136,0.239
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,14.4,91314,-13.8,-7.857
$D_GRID,5229
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-47.30,0.000,2,0.000,0.000,188,2634,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.52,-146.0,3.2,-6.6,8,114,8.70,2.15,-26.70,0.000,4,0.232,0.037,2347,1132,3525,0,0,0,0,0,0,25.23,26.34,26.72
$GC,191,-0.52,-146.0,34.3,-22.7,27,200,0.05,2.22,0.00,0.000,6,0.237,0.044,2348,2618,3525,0,0,0,0,0,0,26.12,26.23,28.83
$GC,520,-0.52,-146.0,129.2,-22.5,88,526,0.00,1.70,0.00,0.000,4,0.000,0.048,2341,3772,3525,0,0,0,0,0,0,28.83,26.30,28.83
$GC,585,-0.52,-146.0,142.5,-17.8,100,592,0.00,1.70,0.00,0.000,6,0.000,0.023,2341,2530,3525,0,0,0,0,0,0,28.83,26.56,28.83
$GC,896,-0.52,-146.0,214.4,-21.8,155,900,0.00,1.95,0.00,0.000,4,0.000,0.027,2340,1131,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,950,-0.52,-146.0,224.5,-19.0,160,958,0.08,2.25,0.00,0.000,6,0.190,0.046,2354,2621,3525,0,0,0,0,0,0,26.19,26.32,28.83
$GC,1257,-0.52,-146.0,274.3,-16.1,191,1267,0.05,2.10,0.00,0.000,4,0.174,0.022,2298,1134,3525,0,0,0,0,0,0,26.68,26.52,28.83
$GC,1323,-0.52,-146.0,284.5,-16.2,197,1331,0.20,2.22,0.00,0.000,6,0.145,0.044,2352,2617,3525,0,0,0,0,0,0,26.04,26.34,28.83
$GC,1630,-0.52,-146.0,332.6,-14.5,228,1639,0.00,2.12,0.00,0.000,4,0.000,0.024,2353,1126,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1725,-0.52,-146.0,343.6,-10.8,237,1732,0.00,2.25,0.00,0.000,6,0.000,0.042,2348,2627,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2032,-0.52,-146.0,383.0,-12.5,268,2041,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1134,3522,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2106,-0.52,-146.0,390.9,-10.2,275,2116,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2620,3522,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2413,-0.52,-146.0,429.4,-12.7,306,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2621,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-0.52,-146.0,463.4,-10.3,336,2726,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1139,3518,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2780,-0.52,-146.0,469.5,-8.7,342,2789,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2624,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3089,-0.52,-146.0,495.5,-7.6,373,3099,0.00,2.12,-0.08,0.000,4,0.000,0.036,2348,1132,3545,0,0,0,0,0,0,28.83,26.48,25.60
$GC,3114,-0.52,-146.0,497.3,-8.0,375,3122,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2625,3545,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3421,-0.52,-146.0,520.8,-8.0,406,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2625,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-0.52,-146.0,546.9,-9.5,436,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2625,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.52,-146.0,575.6,-8.7,467,4043,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1131,3538,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4078,-0.52,-146.0,579.4,-8.6,471,4087,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2625,3538,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4390,-0.52,-146.0,603.0,-7.3,500,4393,0.00,1.75,0.00,0.000,4,0.000,0.057,2346,3771,3535,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4424,-0.52,-146.0,604.9,-7.3,501,4431,0.00,1.73,0.00,0.000,6,0.000,0.022,2346,2469,3534,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4731,-0.52,-146.0,629.4,-7.8,517,4737,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3771,3532,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4765,-0.52,-146.0,630.9,-7.8,518,4772,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2473,3532,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5071,-0.52,-146.0,656.0,-7.8,534,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2471,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5371,-0.52,-146.0,678.4,-7.4,549,5377,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3773,3527,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5420,-0.52,-146.0,681.3,-7.3,551,5423,0.00,1.73,0.00,0.000,6,0.000,0.022,2345,2503,3526,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5731,-0.52,-146.0,703.8,-7.0,567,5735,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3764,3524,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5761,-0.52,-146.0,705.3,-7.1,568,5764,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2508,3524,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6074,-0.52,-146.0,727.7,-7.0,584,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2474,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6373,-0.52,-146.0,749.2,-7.1,599,6379,0.00,2.03,0.00,0.000,4,0.000,0.056,2343,3767,3520,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6427,-0.52,-146.0,752.1,-7.1,601,6433,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2474,3519,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6733,-0.52,-146.0,775.8,-7.3,617,6739,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3767,3518,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6776,-0.52,-146.0,778.8,-7.5,619,6779,0.00,1.73,0.00,0.000,6,0.000,0.023,2343,2506,3517,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7094,-0.52,-146.0,800.8,-6.6,635,7099,0.00,2.00,0.00,0.000,4,0.000,0.057,2343,3757,3516,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7153,-0.52,-146.0,804.6,-6.3,638,7157,0.00,1.75,0.00,0.000,6,0.000,0.023,2344,2470,3514,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7476,-0.52,-146.0,824.2,-6.2,654,7480,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3773,3513,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7505,-0.52,-146.0,825.7,-6.3,655,7509,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2514,3513,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7819,-0.52,-146.0,846.2,-6.6,671,7824,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3754,3511,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7851,-0.52,-146.0,847.6,-6.6,672,7858,0.00,1.73,0.00,0.000,6,0.000,0.023,2343,2461,3511,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8158,-0.52,-146.0,870.9,-7.6,688,8163,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3510,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8186,-0.52,-146.0,872.5,-7.7,689,8189,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2507,3510,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8498,-0.52,-146.0,898.4,-8.2,705,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2467,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,-0.52,-146.0,919.7,-6.5,720,8803,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3507,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8850,-0.52,-146.0,922.3,-6.3,722,8857,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2469,3506,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9158,-0.52,-146.0,938.6,-4.5,738,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2469,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9457,-0.52,-146.0,951.8,-4.4,753,9463,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3769,3504,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9505,-0.52,-146.0,953.6,-4.5,755,9509,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2470,3503,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9818,-0.52,-146.0,969.4,-5.2,771,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2467,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10117,-0.52,-146.0,986.2,-5.8,786,10121,0.00,2.05,0.00,0.000,4,0.000,0.058,2344,3769,3502,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10162,-0.52,-146.0,988.7,-6.0,788,10166,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2516,3502,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,10181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10181,begin apogee
$GC,10187,-0.17,0.0,990.2,-6.1,789,10325,0.35,0.05,128.62,1.717,6,0.103,0.049,2470,2436,2927,0,0,0,0,0,0,25.95,24.27,22.76
$STATE,10326,end apogee,CONTROL_FINISHED_OK
$STATE,10326,begin climb
$GC,10330,0.52,146.0,996.0,0.0,796,10483,0.57,2.30,141.70,1.679,4,0.050,0.031,2714,1057,2331,0,0,0,0,0,0,24.87,23.96,22.17
$GC,10515,0.52,146.0,989.1,9.2,805,10520,0.15,2.40,0.00,0.000,6,0.168,0.046,2678,2515,2326,0,0,0,0,0,0,24.53,24.76,28.83
$GC,10823,0.52,146.0,955.0,10.6,820,10828,0.00,1.95,0.00,0.000,4,0.000,0.057,2678,3763,2320,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10850,0.52,146.0,952.7,10.9,821,10853,0.00,1.92,0.00,0.000,6,0.000,0.024,2687,2443,2319,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11162,0.52,146.0,916.8,11.2,837,11168,0.00,2.05,0.00,0.000,4,0.000,0.031,2698,1045,2318,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11185,0.52,146.0,914.6,11.1,838,11190,0.10,2.25,0.00,0.000,6,0.187,0.045,2674,2518,2317,0,0,0,0,0,0,25.96,26.17,28.83
$GC,11500,0.52,146.0,879.3,11.5,854,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2518,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11799,0.52,146.0,843.6,11.7,869,11803,0.00,1.90,0.00,0.000,4,0.000,0.055,2674,3769,2315,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11820,0.52,146.0,840.8,11.9,870,11826,0.00,1.90,0.00,0.000,6,0.000,0.025,2684,2442,2314,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12141,0.52,146.0,801.7,12.0,886,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2438,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12441,0.52,146.0,765.1,11.9,901,12447,0.00,2.03,0.00,0.000,4,0.000,0.054,2684,3763,2313,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,20893,end climb,SURFACE_DEPTH_REACHED
$STATE,20893,begin surface coast
$FINISH,0.6,1.008906
$STATE,20931,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,42.801
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,140540,1874
$CAP_FILE_SIZE,214997,0
$CFSIZE,260165632,189370368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,190.7,1
$GPS,200512,230007,1947.820,12335.765,29,0.8,29,-2.4