version: 66.10
glider: 176
mission: 5
dive: 334
start: 5 20 112 23 8 33
data:
$ID,176
$MISSION,5
$DIVE,334
$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,-7961.2539
$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
$GPS1,200512,230007,1947.820,12335.765,29,0.8,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.9
$GPS2,200512,230807,1947.622,12335.702,8,0.9,13,-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,14.0,92169,-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,15,begin dive
$GC,17,-0.52,-146.0,0.0,0.0,0,59,0.00,0.00,-40.12,0.000,2,0.000,0.000,176,2669,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.52,-146.0,3.4,-7.4,7,102,8.75,2.22,-22.60,0.000,4,0.232,0.039,2347,1138,3526,0,0,0,0,0,0,25.16,26.26,26.68
$GC,206,-0.52,-146.0,39.4,-19.2,30,212,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2620,3527,0,0,0,0,0,0,28.83,26.21,28.83
$GC,517,-0.52,-146.0,131.9,-25.2,91,524,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1137,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,572,-0.52,-146.0,142.0,-14.8,101,580,0.05,2.22,0.00,0.000,6,0.226,0.044,2350,2632,3527,0,0,0,0,0,0,26.21,26.34,28.83
$GC,904,-0.52,-146.0,213.1,-19.5,157,914,0.00,2.10,0.00,0.000,4,0.000,0.028,2350,1154,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,997,-0.52,-146.0,227.1,-13.4,166,1006,0.00,2.22,0.00,0.000,6,0.000,0.047,2348,2624,3528,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1307,-0.52,-146.0,276.0,-15.5,197,1316,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1137,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1340,-0.52,-146.0,280.3,-13.4,200,1344,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2618,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1651,-0.52,-146.0,325.1,-12.9,231,1660,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1143,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1724,-0.52,-146.0,332.3,-9.3,238,1733,0.00,2.20,0.00,0.000,6,0.000,0.044,2345,2611,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2033,-0.52,-146.0,367.6,-12.3,269,2042,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1134,3525,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2068,-0.52,-146.0,371.4,-11.7,272,2075,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2629,3525,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2376,-0.52,-146.0,408.1,-11.8,303,2385,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1155,3524,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2408,-0.52,-146.0,411.7,-11.4,306,2417,0.00,2.20,0.00,0.000,6,0.000,0.045,2344,2622,3524,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2717,-0.52,-146.0,444.1,-10.4,337,2721,0.00,1.75,0.00,0.000,4,0.000,0.053,2339,3770,3522,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2759,-0.52,-146.0,448.5,-10.9,341,2762,0.00,1.70,0.00,0.000,6,0.000,0.023,2339,2512,3521,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3069,-0.52,-146.0,479.9,-10.2,372,3073,0.00,1.98,0.00,0.000,4,0.000,0.055,2332,3765,3519,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3091,-0.52,-146.0,482.0,-10.3,374,3095,0.08,1.70,0.00,0.000,6,0.175,0.021,2354,2495,3519,0,0,0,0,0,0,26.36,26.61,28.83
$GC,3403,-0.52,-146.0,508.4,-8.0,405,3413,0.05,1.98,0.00,0.000,4,0.172,0.053,2292,3776,3516,0,0,0,0,0,0,26.65,26.17,28.83
$GC,3498,-0.52,-146.0,519.4,-12.8,414,3506,0.15,1.75,0.00,0.000,6,0.109,0.021,2351,2491,3515,0,0,0,0,0,0,26.16,26.58,28.83
$GC,3806,-0.52,-146.0,546.9,-8.8,445,3809,0.00,1.90,0.00,0.000,4,0.000,0.026,2352,1139,3513,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3833,-0.52,-146.0,549.4,-9.0,447,3842,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2617,3513,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4144,-0.52,-146.0,576.6,-9.0,478,4147,0.00,1.75,0.00,0.000,4,0.000,0.054,2345,3767,3510,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4195,-0.52,-146.0,581.2,-8.8,483,4198,0.00,1.70,0.00,0.000,6,0.000,0.023,2345,2516,3508,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4508,-0.52,-146.0,606.4,-7.7,510,4513,0.00,1.98,0.00,0.000,4,0.000,0.056,2339,3780,3506,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4547,-0.52,-146.0,609.6,-7.7,512,4551,0.00,1.75,0.00,0.000,6,0.000,0.022,2339,2507,3507,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4868,-0.52,-146.0,632.8,-6.9,528,4874,0.00,1.98,0.00,0.000,4,0.000,0.056,2331,3764,3504,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4917,-0.52,-146.0,635.6,-7.1,530,4922,0.05,1.75,0.00,0.000,6,0.119,0.023,2356,2496,3503,0,0,0,0,0,0,26.32,26.57,28.83
$GC,5230,-0.52,-146.0,653.9,-5.6,546,5236,0.08,1.98,0.00,0.000,4,0.128,0.054,2286,3775,3500,0,0,0,0,0,0,26.63,26.08,28.83
$GC,5273,-0.52,-146.0,657.6,-7.1,548,5277,0.22,1.75,0.00,0.000,6,0.125,0.022,2359,2485,3500,0,0,0,0,0,0,26.06,26.57,28.83
$GC,5586,-0.52,-146.0,675.8,-5.6,564,5592,0.08,1.95,0.00,0.000,4,0.127,0.055,2290,3756,3498,0,0,0,0,0,0,26.61,26.06,28.83
$GC,5644,-0.52,-146.0,681.6,-8.9,567,5649,0.20,1.70,0.00,0.000,6,0.125,0.023,2357,2492,3498,0,0,0,0,0,0,26.08,26.54,28.83
$GC,5964,-0.52,-146.0,704.8,-7.7,583,5970,0.08,1.92,0.00,0.000,4,0.126,0.051,2284,3762,3496,0,0,0,0,0,0,26.62,26.10,28.83
$GC,6011,-0.52,-146.0,709.4,-9.3,585,6015,0.22,1.73,0.00,0.000,6,0.125,0.024,2358,2493,3495,0,0,0,0,0,0,26.03,26.54,28.83
$GC,6319,-0.52,-146.0,736.6,-8.5,600,6325,0.08,1.98,0.00,0.000,4,0.128,0.054,2288,3764,3493,0,0,0,0,0,0,26.61,26.06,28.83
$GC,6420,-0.52,-146.0,749.7,-14.0,605,6425,0.17,1.77,0.00,0.000,6,0.110,0.024,2354,2493,3492,0,0,0,0,0,0,26.03,26.52,28.83
$GC,6740,-0.52,-146.0,777.3,-7.9,621,6745,0.05,2.00,0.00,0.000,4,0.173,0.055,2300,3775,3490,0,0,0,0,0,0,26.63,26.03,28.83
$GC,6802,-0.52,-146.0,784.3,-10.4,624,6808,0.17,1.75,0.00,0.000,6,0.126,0.024,2357,2490,3489,0,0,0,0,0,0,26.10,26.53,28.83
$GC,7123,-0.52,-146.0,807.3,-6.6,640,7129,0.08,1.98,0.00,0.000,4,0.127,0.056,2290,3764,3489,0,0,0,0,0,0,26.60,25.98,28.83
$GC,7191,-0.52,-146.0,813.5,-9.4,643,7196,0.20,1.73,0.00,0.000,6,0.125,0.024,2356,2496,3488,0,0,0,0,0,0,26.03,26.51,28.83
$GC,7499,-0.52,-146.0,832.5,-5.1,658,7505,0.08,1.98,0.00,0.000,4,0.127,0.053,2287,3766,3487,0,0,0,0,0,0,26.60,26.01,28.83
$GC,7599,-0.52,-146.0,841.8,-10.1,663,7605,0.20,1.73,0.00,0.000,6,0.124,0.024,2353,2498,3486,0,0,0,0,0,0,26.03,26.51,28.83
$GC,7918,-0.52,-146.0,857.8,-4.8,679,7924,0.00,1.98,0.00,0.000,4,0.000,0.054,2348,3767,3485,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7952,-0.52,-146.0,858.9,-4.8,680,7959,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2497,3484,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8258,-0.52,-146.0,875.5,-5.4,696,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2496,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8558,-0.52,-146.0,893.2,-6.1,711,8564,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3773,3482,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8621,-0.52,-146.0,897.3,-6.8,714,8625,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2515,3481,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8938,-0.52,-146.0,921.1,-7.8,730,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2512,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,-0.52,-146.0,944.4,-7.4,745,9243,0.00,1.95,0.00,0.000,4,0.000,0.058,2344,3763,3479,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9309,-0.52,-146.0,949.0,-7.5,748,9312,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2523,3479,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9620,-0.52,-146.0,972.8,-7.0,764,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2511,3478,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9877,begin apogee
$GC,9883,-0.17,0.0,990.9,-6.8,777,10012,0.32,0.00,122.75,1.720,6,0.103,0.000,2464,2510,2929,0,0,0,0,0,0,25.98,28.83,22.74
$STATE,10014,end apogee,CONTROL_FINISHED_OK
$STATE,10014,begin climb
$GC,10016,0.52,146.0,995.4,0.0,783,10169,0.60,2.42,141.75,1.678,4,0.050,0.031,2710,1060,2333,0,0,0,0,0,0,24.81,23.91,22.12
$GC,10242,0.52,146.0,981.0,12.6,795,10248,0.15,2.33,0.00,0.000,6,0.164,0.046,2672,2519,2324,0,0,0,0,0,0,25.00,25.23,28.83
$GC,10563,0.52,146.0,942.4,12.1,811,10569,0.05,2.17,0.00,0.000,4,0.172,0.029,2709,1059,2320,0,0,0,0,0,0,26.34,26.18,28.83
$GC,10590,0.52,146.0,940.1,11.9,812,10595,0.12,2.25,0.00,0.000,6,0.168,0.046,2677,2528,2319,0,0,0,0,0,0,25.86,26.10,28.83
$GC,10897,0.52,146.0,903.6,11.0,827,10903,0.00,1.90,0.00,0.000,4,0.000,0.055,2677,3767,2317,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10938,0.52,146.0,898.4,11.9,829,10943,0.00,1.88,0.00,0.000,6,0.000,0.024,2686,2447,2317,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11257,0.52,146.0,861.2,11.1,845,11262,0.00,2.03,0.00,0.000,4,0.000,0.031,2696,1053,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11305,0.52,146.0,856.9,11.1,847,11310,0.10,2.25,0.00,0.000,6,0.173,0.045,2671,2524,2314,0,0,0,0,0,0,25.98,26.17,28.83
$GC,11613,0.52,146.0,825.3,9.8,862,11615,0.05,0.00,0.00,0.000,6,0.171,0.000,2708,2524,2314,0,0,0,0,0,0,26.56,28.83,28.83
$GC,11912,0.52,146.0,787.2,12.8,877,11918,0.12,1.90,0.00,0.000,4,0.183,0.053,2671,3767,2313,0,0,0,0,0,0,26.10,26.06,28.83
$GC,11946,0.52,146.0,784.6,12.9,878,11953,0.00,1.92,0.00,0.000,6,0.000,0.024,2680,2448,2313,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12252,0.52,146.0,747.6,11.5,894,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2446,2313,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20537,end climb,SURFACE_DEPTH_REACHED
$STATE,20537,begin surface coast
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$STATE,20563,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,42.940
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$FG_AHR_10Vo,0.000
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$MEM,329860
$DATA_FILE_SIZE,140618,1867
$CAP_FILE_SIZE,222397,0
$CFSIZE,260165632,189247488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,202.8,1
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