version: 66.10
glider: 176
mission: 5
dive: 391
start: 6 2 112 16 36 15
data:
$ID,176
$MISSION,5
$DIVE,391
$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,-8033.3525
$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
$GPS1,020612,162707,1841.325,12426.905,37,1.7,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-57.3
$GPS2,020612,163547,1841.277,12426.812,10,2.1,29,-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,171.4,96056,-12.5,-7.857
$D_GRID,5650
$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,-170.3,0.0,0.0,0,80,0.00,0.00,-60.28,0.000,2,0.000,0.000,178,2653,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.52,-170.3,3.4,-7.5,10,121,8.95,2.25,-19.60,0.000,4,0.236,0.044,2348,1145,3627,0,0,0,0,0,0,25.08,26.23,26.70
$GC,284,-0.52,-170.3,53.2,-17.6,48,292,0.05,2.22,0.00,0.000,6,0.228,0.043,2350,2623,3628,0,0,0,0,0,0,26.10,26.22,28.83
$GC,598,-0.52,-170.3,118.2,-19.0,109,606,0.00,2.12,0.00,0.000,4,0.000,0.025,2351,1137,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,639,-0.52,-170.3,124.8,-14.1,116,646,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2618,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,950,-0.52,-170.3,180.0,-19.3,177,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2618,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.52,-170.3,233.4,-16.2,218,1269,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1144,3628,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1294,-0.52,-170.3,238.1,-15.7,221,1302,0.00,2.22,0.00,0.000,6,0.000,0.042,2344,2626,3628,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1603,-0.52,-170.3,285.1,-14.5,252,1611,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1146,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1674,-0.52,-170.3,293.7,-10.2,259,1683,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2620,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1984,-0.52,-170.3,330.7,-12.6,290,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2620,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.52,-170.3,368.1,-12.1,320,2296,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1144,3623,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2359,-0.52,-170.3,375.9,-9.4,327,2368,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2620,3623,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2669,-0.52,-170.3,411.3,-11.7,358,2673,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1137,3621,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2721,-0.52,-170.3,416.6,-9.6,363,2730,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2620,3621,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3033,-0.52,-170.3,447.0,-9.5,394,3041,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1141,3619,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3067,-0.52,-170.3,450.1,-9.4,397,3075,0.00,2.25,0.00,0.000,6,0.000,0.043,2344,2630,3619,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3374,-0.52,-170.3,478.6,-9.4,428,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2630,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3678,-0.52,-170.3,506.6,-9.7,458,3687,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1148,3614,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3720,-0.52,-170.3,510.9,-9.4,462,3729,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2628,3614,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4029,-0.52,-170.3,540.7,-9.1,493,4039,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1138,3611,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4061,-0.52,-170.3,543.4,-8.6,496,4070,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2629,3611,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4373,-0.52,-170.3,569.0,-8.3,527,4376,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1140,3608,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4405,-0.52,-170.3,571.8,-8.9,530,4414,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2618,3608,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4714,-0.52,-170.3,598.0,-8.0,561,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2618,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,-0.52,-170.3,621.3,-7.2,578,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2618,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5324,-0.52,-170.3,644.1,-8.1,593,5330,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1140,3600,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5364,-0.52,-170.3,647.4,-8.1,595,5370,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2618,3600,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5686,-0.52,-170.3,672.2,-7.2,611,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2618,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5985,-0.52,-170.3,691.8,-6.4,626,5990,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1140,3596,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6005,-0.52,-170.3,693.3,-6.6,627,6011,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2611,3596,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6324,-0.52,-170.3,715.4,-7.2,643,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2612,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6625,-0.52,-170.3,737.6,-7.4,658,6630,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1141,3592,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6666,-0.52,-170.3,740.5,-7.4,660,6671,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2616,3592,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6984,-0.52,-170.3,763.3,-7.3,676,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2615,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,-0.52,-170.3,785.5,-7.5,691,7288,0.00,1.77,0.00,0.000,4,0.000,0.057,2344,3763,3588,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7310,-0.52,-170.3,787.2,-7.5,692,7313,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2498,3588,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7627,-0.52,-170.3,810.6,-7.2,708,7633,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3586,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7650,-0.52,-170.3,811.8,-7.1,709,7653,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2503,3586,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7967,-0.52,-170.3,833.6,-6.5,725,7971,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3767,3585,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8029,-0.52,-170.3,837.5,-6.4,728,8032,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2506,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8351,-0.52,-170.3,857.9,-6.3,744,8357,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3762,3583,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8391,-0.52,-170.3,860.5,-6.4,746,8394,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2503,3582,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8712,-0.52,-170.3,879.6,-5.5,762,8718,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3762,3582,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8746,-0.52,-170.3,880.7,-5.4,763,8753,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2487,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9052,-0.52,-170.3,897.8,-5.4,779,9057,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3772,3581,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9080,-0.52,-170.3,898.8,-5.3,780,9083,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2512,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9393,-0.52,-170.3,916.3,-5.5,796,9397,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3770,3579,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9417,-0.52,-170.3,917.7,-5.7,797,9421,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2517,3579,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9736,-0.52,-170.3,937.3,-6.0,813,9741,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3765,3578,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9777,-0.52,-170.3,939.7,-6.0,815,9781,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2518,3577,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10095,-0.52,-170.3,959.7,-6.5,831,10100,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3762,3577,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10129,-0.52,-170.3,960.9,-6.4,832,10135,0.00,1.75,0.00,0.000,6,0.000,0.027,2344,2488,3576,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10435,-0.52,-170.3,982.8,-7.1,848,10440,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3771,3576,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10467,-0.52,-170.3,984.1,-7.0,849,10475,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2488,3576,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10553,begin apogee
$GC,10559,-0.17,0.0,991.2,-7.0,854,10717,0.32,0.00,146.10,1.714,6,0.099,0.000,2463,2487,2928,0,0,0,0,0,0,25.92,28.83,22.34
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10718,begin climb
$GC,10720,0.52,170.3,1000.2,0.0,862,10898,0.62,2.22,166.38,1.672,4,0.047,0.054,2710,3759,2233,0,0,0,0,0,0,24.68,23.68,21.84
$GC,10921,0.52,170.3,989.8,12.1,872,10927,0.17,2.05,0.00,0.000,6,0.182,0.024,2678,2455,2230,0,0,0,0,0,0,24.20,24.56,28.83
$GC,11242,0.52,170.3,951.0,11.6,888,11247,0.00,2.03,0.00,0.000,4,0.000,0.054,2677,3756,2223,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11281,0.52,170.3,945.8,12.3,890,11287,0.00,1.88,0.00,0.000,6,0.000,0.024,2687,2447,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11601,0.52,170.3,908.3,11.3,906,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2443,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11902,0.52,170.3,872.7,12.5,921,11907,0.00,2.05,0.00,0.000,4,0.000,0.055,2687,3755,2219,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11933,0.52,170.3,870.0,12.7,922,11941,0.10,1.88,0.00,0.000,6,0.200,0.024,2673,2451,2218,0,0,0,0,0,0,26.01,26.38,28.83
$GC,12242,0.52,170.3,833.3,11.2,938,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2447,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12541,0.52,170.3,800.6,11.1,953,12546,0.00,2.05,0.00,0.000,4,0.000,0.054,2673,3767,2217,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,20921,end climb,SURFACE_DEPTH_REACHED
$STATE,20921,begin surface coast
$FINISH,1.8,1.022222
$STATE,20949,end surface coast,CONTROL_FINISHED_OK
$STATE,20949,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.86
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,9.8,50.159
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329628
$DATA_FILE_SIZE,140698,1891
$CAP_FILE_SIZE,219028,0
$CFSIZE,260165632,183103488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,356.2,1
$GPS,020612,222737,1839.470,12427.327,29,1.2,29,-2.2