version: 66.10
glider: 176
mission: 5
dive: 397
start: 6 4 112 4 51 18
data:
$ID,176
$MISSION,5
$DIVE,397
$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,1
$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,-8040.9028
$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
$GPS1,040612,044207,1826.315,12430.433,25,1.6,25,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.1
$GPS2,040612,045050,1826.267,12430.635,10,1.6,10,-2.1
$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,194.7,67606,-12.5,-7.857
$D_GRID,5359
$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,18,-0.52,-170.3,0.0,0.0,0,71,0.00,0.00,-50.92,0.000,2,0.000,0.000,185,2661,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.52,-170.3,3.2,-4.5,9,113,8.82,1.67,-22.02,0.000,4,0.234,0.063,2338,3770,3627,0,0,0,0,0,0,25.00,26.10,26.70
$GC,180,-0.52,-170.3,34.0,-31.9,25,186,0.00,1.73,0.00,0.000,6,0.000,0.021,2338,2499,3627,0,0,0,0,0,0,28.83,26.46,28.83
$GC,491,-0.52,-170.3,112.8,-22.8,86,500,0.00,1.95,0.00,0.000,4,0.000,0.050,2328,3776,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,524,-0.52,-170.3,119.9,-22.6,91,532,0.10,1.73,0.00,0.000,6,0.168,0.021,2357,2487,3627,0,0,0,0,0,0,26.23,26.55,28.83
$GC,833,-0.52,-170.3,173.5,-16.2,152,841,0.08,1.90,0.00,0.000,4,0.135,0.023,2296,1129,3627,0,0,0,0,0,0,26.61,26.46,28.83
$GC,878,-0.52,-170.3,180.4,-15.4,160,886,0.20,2.25,0.00,0.000,6,0.139,0.044,2354,2621,3627,0,0,0,0,0,0,25.95,26.24,28.83
$GC,1195,-0.52,-170.3,227.4,-14.1,204,1204,0.05,2.08,0.00,0.000,4,0.173,0.022,2299,1141,3627,0,0,0,0,0,0,26.64,26.44,28.83
$GC,1227,-0.52,-170.3,232.4,-15.1,207,1237,0.20,2.22,0.00,0.000,6,0.138,0.043,2354,2628,3627,0,0,0,0,0,0,25.96,26.25,28.83
$GC,1538,-0.52,-170.3,275.6,-12.8,238,1540,0.05,0.00,0.00,0.000,6,0.174,0.000,2296,2628,3626,0,0,0,0,0,0,26.64,28.83,28.83
$GC,1837,-0.52,-170.3,335.5,-19.3,268,1847,0.15,2.12,0.00,0.000,4,0.160,0.023,2346,1135,3625,0,0,0,0,0,0,26.20,26.42,28.83
$GC,1882,-0.52,-170.3,341.9,-15.5,272,1889,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2629,3625,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2190,-0.52,-170.3,376.5,-10.4,303,2194,0.00,2.12,0.00,0.000,4,0.000,0.025,2346,1137,3623,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2241,-0.52,-170.3,381.3,-8.9,308,2250,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2627,3623,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2552,-0.52,-170.3,417.0,-11.9,339,2555,0.00,1.73,0.00,0.000,4,0.000,0.054,2338,3766,3622,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2583,-0.52,-170.3,420.8,-11.8,342,2586,0.00,1.73,0.00,0.000,6,0.000,0.022,2338,2484,3622,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2893,-0.52,-170.3,456.4,-9.8,373,2902,0.00,2.00,0.00,0.000,4,0.000,0.054,2332,3765,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2924,-0.52,-170.3,459.6,-10.1,376,2929,0.08,1.73,0.00,0.000,6,0.170,0.023,2355,2485,3619,0,0,0,0,0,0,26.33,26.58,28.83
$GC,3237,-0.52,-170.3,485.1,-7.8,407,3239,0.05,0.00,0.00,0.000,6,0.171,0.000,2292,2468,3618,0,0,0,0,0,0,26.63,28.83,28.83
$GC,3536,-0.52,-170.3,525.2,-13.4,437,3538,0.20,0.00,0.00,0.000,6,0.136,0.000,2356,2467,3616,0,0,0,0,0,0,26.16,28.83,28.83
$GC,3837,-0.52,-170.3,547.5,-7.1,467,3846,0.05,2.03,0.00,0.000,4,0.174,0.053,2291,3767,3612,0,0,0,0,0,0,26.62,26.05,28.83
$GC,3929,-0.52,-170.3,558.3,-12.4,476,3933,0.20,1.73,0.00,0.000,6,0.123,0.023,2357,2468,3612,0,0,0,0,0,0,26.09,26.56,28.83
$GC,4234,-0.52,-170.3,580.9,-7.2,506,4245,0.08,2.03,0.00,0.000,4,0.126,0.053,2287,3764,3610,0,0,0,0,0,0,26.60,26.03,28.83
$GC,4272,-0.52,-170.3,584.2,-9.2,509,4279,0.20,1.73,0.00,0.000,6,0.125,0.024,2354,2479,3609,0,0,0,0,0,0,26.06,26.54,28.83
$GC,4580,-0.52,-170.3,609.8,-8.0,534,4585,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3768,3607,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4638,-0.52,-170.3,614.6,-7.9,537,4641,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2496,3606,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4960,-0.52,-170.3,640.3,-7.9,553,4965,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3768,3604,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4999,-0.52,-170.3,643.2,-7.6,555,5003,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2499,3603,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5321,-0.52,-170.3,664.3,-6.0,571,5327,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3769,3601,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5375,-0.52,-170.3,666.6,-5.9,573,5381,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2465,3600,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5681,-0.52,-170.3,686.0,-6.3,589,5686,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3598,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5713,-0.52,-170.3,687.2,-6.4,590,5721,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2472,3597,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6022,-0.52,-170.3,708.4,-6.7,606,6027,0.00,1.98,0.00,0.000,4,0.000,0.056,2348,3760,3596,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6080,-0.52,-170.3,712.3,-6.7,609,6084,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2489,3595,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6403,-0.52,-170.3,734.2,-6.9,625,6408,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3763,3594,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6451,-0.52,-170.3,736.9,-6.9,627,6455,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2471,3593,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6764,-0.52,-170.3,758.4,-6.6,643,6769,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3771,3591,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6812,-0.52,-170.3,761.0,-6.5,645,6816,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2462,3591,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7124,-0.52,-170.3,782.0,-6.3,661,7129,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3765,3589,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7167,-0.52,-170.3,784.5,-6.3,663,7171,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2470,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7484,-0.52,-170.3,803.9,-5.9,679,7490,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3587,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7527,-0.52,-170.3,806.3,-5.8,681,7531,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2496,3587,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7845,-0.52,-170.3,824.6,-5.8,697,7849,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3762,3585,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7900,-0.52,-170.3,827.2,-5.9,699,7907,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2488,3585,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8209,-0.52,-170.3,846.2,-6.1,715,8213,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3767,3585,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8254,-0.52,-170.3,848.7,-6.0,717,8257,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2509,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8571,-0.52,-170.3,868.1,-5.9,733,8574,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3766,3583,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8616,-0.52,-170.3,870.5,-6.0,735,8620,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2510,3582,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8933,-0.52,-170.3,890.0,-6.0,751,8937,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1150,3582,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9008,-0.52,-170.3,894.1,-6.5,754,9016,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2629,3582,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9316,-0.52,-170.3,914.3,-6.5,770,9321,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1142,3580,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9444,-0.52,-170.3,922.3,-6.5,776,9449,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2628,3580,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9752,-0.52,-170.3,942.1,-6.2,791,9757,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1137,3579,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9871,-0.52,-170.3,949.7,-6.3,797,9877,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2617,3578,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10190,-0.52,-170.3,969.4,-6.1,813,10196,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1141,3578,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10299,-0.52,-170.3,975.5,-5.9,818,10303,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2625,3578,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,10543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10543,begin apogee
$GC,10550,-0.17,0.0,990.5,-6.0,830,10708,0.32,0.10,145.98,1.713,6,0.080,0.070,2477,2525,2928,0,0,0,0,0,0,26.11,24.15,22.38
$STATE,10709,end apogee,CONTROL_FINISHED_OK
$STATE,10709,begin climb
$GC,10711,0.52,170.3,998.4,0.0,838,10887,0.57,2.15,165.68,1.670,4,0.049,0.054,2706,3765,2233,0,0,0,0,0,0,24.72,23.70,21.85
$GC,10964,0.52,170.3,979.0,16.2,850,10972,0.15,1.98,0.00,0.000,6,0.190,0.024,2680,2448,2229,0,0,0,0,0,0,25.02,25.42,28.83
$GC,11270,0.52,170.3,937.8,12.6,866,11276,0.00,2.05,0.00,0.000,4,0.000,0.030,2690,1045,2222,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11293,0.52,170.3,935.3,12.4,867,11298,0.05,2.30,0.00,0.000,6,0.210,0.047,2678,2526,2221,0,0,0,0,0,0,26.01,26.08,28.83
$GC,11606,0.52,170.3,895.6,12.6,883,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2527,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11905,0.52,170.3,857.2,12.9,898,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2526,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12206,0.52,170.3,819.3,12.5,913,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2527,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,0.52,170.3,783.5,11.4,928,12511,0.00,1.88,0.00,0.000,4,0.000,0.054,2678,3765,2217,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,20548,end climb,SURFACE_DEPTH_REACHED
$STATE,20548,begin surface coast
$FINISH,0.7,1.022191
$STATE,20570,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,0
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$10V_AH,9.8,51.005
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329612
$DATA_FILE_SIZE,137102,1848
$CAP_FILE_SIZE,221936,0
$CFSIZE,260165632,182394880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,163.5,1
$GPS,040612,103631,1823.939,12430.248,37,1.6,37,-2.1