version: 66.10
glider: 176
mission: 5
dive: 385
start: 6 1 112 4 41 32
data:
$ID,176
$MISSION,5
$DIVE,385
$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,-8025.7988
$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
$GPS1,010612,043237,1852.842,12424.744,24,1.7,24,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.4
$GPS2,010612,044104,1852.846,12424.619,11,3.2,30,-2.2
$SPEED_LIMITS,0.136,0.255
$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,176.3,117821,-12.5,-7.857
$D_GRID,5355
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-52.12,0.000,2,0.000,0.000,186,2635,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.52,-170.3,3.3,-6.8,9,117,8.77,2.22,-24.17,0.000,4,0.232,0.044,2341,1142,3627,0,0,0,0,0,0,24.99,26.24,26.70
$GC,225,-0.52,-170.3,36.5,-14.5,31,234,0.10,2.22,0.00,0.000,6,0.171,0.042,2358,2620,3627,0,0,0,0,0,0,25.98,26.17,28.83
$GC,540,-0.52,-170.3,102.2,-21.0,92,547,0.08,2.12,0.00,0.000,4,0.132,0.027,2308,1152,3627,0,0,0,0,0,0,26.60,26.34,28.83
$GC,667,-0.52,-170.3,126.8,-18.9,116,674,0.17,2.22,0.00,0.000,6,0.146,0.044,2357,2628,3627,0,0,0,0,0,0,25.94,26.22,28.83
$GC,979,-0.52,-170.3,181.0,-14.3,177,987,0.08,1.70,0.00,0.000,4,0.131,0.050,2301,3771,3627,0,0,0,0,0,0,26.62,26.15,28.83
$GC,1014,-0.52,-170.3,187.1,-16.8,180,1022,0.17,1.73,0.00,0.000,6,0.139,0.023,2355,2487,3627,0,0,0,0,0,0,26.08,26.54,28.83
$GC,1324,-0.52,-170.3,231.4,-12.3,219,1328,0.05,1.95,0.00,0.000,4,0.180,0.049,2293,3766,3627,0,0,0,0,0,0,26.64,26.15,28.83
$GC,1348,-0.52,-170.3,234.5,-13.4,221,1357,0.15,1.73,0.00,0.000,6,0.121,0.023,2349,2490,3626,0,0,0,0,0,0,26.08,26.56,28.83
$GC,1656,-0.52,-170.3,274.2,-12.6,252,1665,0.00,1.92,0.00,0.000,4,0.000,0.028,2350,1137,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1698,-0.52,-170.3,278.9,-11.4,256,1707,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2618,3626,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2007,-0.52,-170.3,315.4,-12.4,287,2017,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1145,3624,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2052,-0.52,-170.3,320.2,-11.5,291,2060,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2619,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2359,-0.52,-170.3,357.5,-11.9,322,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2620,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-0.52,-170.3,386.2,-8.8,352,2670,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1145,3621,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2713,-0.52,-170.3,390.4,-8.0,357,2722,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2620,3621,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3023,-0.52,-170.3,420.3,-11.0,388,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2620,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3327,-0.52,-170.3,452.2,-10.2,418,3335,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1146,3617,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3378,-0.52,-170.3,457.6,-9.3,423,3388,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2618,3616,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3689,-0.52,-170.3,487.7,-9.1,454,3698,0.00,1.75,-0.08,0.000,4,0.000,0.069,2345,3766,3644,0,0,0,0,0,0,28.83,26.04,25.47
$GC,3720,-0.52,-170.3,490.8,-9.2,457,3724,0.00,1.70,0.00,0.000,6,0.000,0.023,2345,2484,3644,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4033,-0.52,-170.3,518.1,-8.8,488,4042,0.00,2.03,0.00,0.000,4,0.000,0.054,2345,3762,3642,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4096,-0.52,-170.3,523.1,-7.8,494,4100,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2499,3641,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4407,-0.52,-170.3,544.3,-5.9,525,4416,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3765,3639,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4450,-0.52,-170.3,546.5,-5.6,529,4454,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2494,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4761,-0.52,-170.3,567.9,-8.2,560,4770,0.00,2.03,0.00,0.000,4,0.000,0.054,2345,3768,3636,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4805,-0.52,-170.3,571.4,-8.4,564,4808,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2494,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5115,-0.52,-170.3,598.7,-8.5,595,5125,0.00,2.05,0.00,0.000,4,0.000,0.054,2345,3764,3634,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5140,-0.52,-170.3,600.5,-8.2,597,5144,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2465,3633,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5459,-0.52,-170.3,624.7,-7.5,613,5464,0.00,2.03,0.00,0.000,4,0.000,0.054,2345,3765,3631,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5520,-0.52,-170.3,629.4,-7.9,616,5524,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2469,3631,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5840,-0.52,-170.3,655.0,-7.6,632,5845,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3766,3629,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5892,-0.52,-170.3,658.1,-7.6,634,5899,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2451,3628,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6199,-0.52,-170.3,679.3,-6.1,650,6205,0.00,2.05,0.00,0.000,4,0.000,0.055,2345,3773,3626,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6241,-0.52,-170.3,681.7,-6.0,652,6244,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2502,3626,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6562,-0.52,-170.3,702.1,-6.6,668,6568,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3762,3624,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6611,-0.52,-170.3,704.8,-6.8,670,6615,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2483,3624,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6924,-0.52,-170.3,728.1,-7.6,686,6929,0.00,1.98,0.00,0.000,4,0.000,0.056,2345,3762,3622,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6964,-0.52,-170.3,731.3,-7.7,688,6968,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2492,3621,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7287,-0.52,-170.3,756.2,-7.5,704,7293,0.00,2.03,0.00,0.000,4,0.000,0.055,2346,3753,3620,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7328,-0.52,-170.3,759.1,-7.5,706,7332,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2502,3620,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7646,-0.52,-170.3,780.9,-6.5,722,7651,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3766,3619,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7687,-0.52,-170.3,783.5,-6.5,724,7691,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2501,3618,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8009,-0.52,-170.3,803.4,-6.0,740,8015,0.00,2.08,0.00,0.000,4,0.000,0.056,2345,3766,3617,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8063,-0.52,-170.3,805.8,-5.9,742,8069,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2469,3616,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8369,-0.52,-170.3,824.8,-5.9,758,8374,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3768,3616,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8402,-0.52,-170.3,825.9,-6.0,759,8410,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2465,3615,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8710,-0.52,-170.3,845.6,-6.3,775,8713,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3763,3614,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8754,-0.52,-170.3,848.3,-6.5,777,8757,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2510,3614,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9071,-0.52,-170.3,869.1,-6.5,793,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2481,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,-0.52,-170.3,887.6,-6.1,808,9378,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3759,3611,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9424,-0.52,-170.3,890.0,-6.0,810,9431,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2473,3611,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9733,-0.52,-170.3,908.3,-5.7,826,9738,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3765,3611,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9772,-0.52,-170.3,910.5,-5.7,828,9775,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2506,3610,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10094,-0.52,-170.3,930.1,-6.3,844,10099,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3780,3610,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10127,-0.52,-170.3,931.3,-6.2,845,10134,0.00,1.77,0.00,0.000,6,0.000,0.025,2345,2474,3609,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10433,-0.52,-170.3,953.1,-6.9,861,10439,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3771,3609,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10462,-0.52,-170.3,954.5,-7.0,862,10465,0.00,1.77,0.00,0.000,6,0.000,0.025,2345,2500,3608,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10774,-0.52,-170.3,977.7,-7.3,878,10778,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3762,3608,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10824,-0.52,-170.3,981.0,-7.5,880,10827,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2510,3607,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,10934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10934,begin apogee
$GC,10940,-0.17,0.0,990.2,-7.5,886,11100,0.32,0.00,152.98,1.713,6,0.099,0.000,2464,2479,2928,0,0,0,0,0,0,25.92,28.83,22.23
$STATE,11101,end apogee,CONTROL_FINISHED_OK
$STATE,11101,begin climb
$GC,11103,0.52,170.3,999.7,0.0,894,11282,0.62,2.38,167.07,1.671,4,0.050,0.029,2718,1060,2233,0,0,0,0,0,0,24.45,23.72,21.77
$GC,11307,0.52,170.3,991.0,11.2,904,11312,0.17,2.42,0.00,0.000,6,0.165,0.047,2675,2522,2227,0,0,0,0,0,0,24.21,24.46,28.83
$GC,11616,0.52,170.3,953.2,11.9,919,11621,0.00,1.92,0.00,0.000,4,0.000,0.056,2675,3763,2222,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11679,0.52,170.3,945.0,13.3,922,11683,0.00,1.90,0.00,0.000,6,0.000,0.024,2685,2444,2222,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,20725,end climb,SURFACE_DEPTH_REACHED
$STATE,20725,begin surface coast
$FINISH,0.9,1.021774
$STATE,20787,end surface coast,CONTROL_FINISHED_OK
$STATE,20787,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,9.8,49.315
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329628
$DATA_FILE_SIZE,137326,1871
$CAP_FILE_SIZE,224183,0
$CFSIZE,260165632,183816192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 20.0,1
$GPS,010612,103024,1850.852,12425.308,24,1.0,41,-2.2