version: 66.10
glider: 176
mission: 5
dive: 413
start: 6 8 112 4 42 30
data:
$ID,176
$MISSION,5
$DIVE,413
$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,-3
$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,-8114.9502
$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
$GPS1,080612,043406,1750.469,12435.560,39,1.1,45,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.2
$GPS2,080612,044202,1750.280,12435.698,11,1.2,11,-2.0
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,293.9,256286,-12.5,-7.857
$D_GRID,4017
$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,-51.78,0.000,2,0.000,0.000,190,2689,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.52,-170.3,3.2,-6.4,9,119,8.77,2.28,-28.30,0.000,4,0.233,0.041,2344,1148,3625,0,0,0,0,0,0,25.06,26.29,26.72
$GC,212,-0.52,-170.3,36.6,-15.8,31,220,0.08,2.20,0.00,0.000,6,0.200,0.041,2351,2621,3626,0,0,0,0,0,0,26.06,26.22,28.83
$GC,527,-0.52,-170.3,113.3,-19.4,92,534,0.00,1.70,0.00,0.000,4,0.000,0.050,2343,3769,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,566,-0.52,-170.3,121.0,-19.3,99,574,0.00,1.70,0.00,0.000,6,0.000,0.023,2343,2494,3625,0,0,0,0,0,0,28.83,26.54,28.83
$GC,894,-0.52,-170.3,184.4,-18.5,160,901,0.00,1.92,0.00,0.000,4,0.000,0.050,2333,3772,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1010,-0.52,-170.3,204.1,-15.1,180,1014,0.08,1.70,0.00,0.000,6,0.181,0.022,2354,2494,3625,0,0,0,0,0,0,26.32,26.55,28.83
$GC,1323,-0.52,-170.3,250.5,-15.4,211,1324,0.05,0.00,0.00,0.000,6,0.176,0.000,2305,2488,3624,0,0,0,0,0,0,26.64,28.83,28.83
$GC,1622,-0.52,-170.3,310.8,-19.1,241,1624,0.17,0.00,0.00,0.000,6,0.151,0.000,2357,2488,3624,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1922,-0.52,-170.3,348.8,-11.4,271,1932,0.08,1.95,0.00,0.000,4,0.127,0.050,2279,3769,3622,0,0,0,0,0,0,26.62,26.16,28.83
$GC,1947,-0.52,-170.3,351.8,-12.3,273,1955,0.22,1.73,0.00,0.000,6,0.134,0.023,2351,2485,3622,0,0,0,0,0,0,26.01,26.54,28.83
$GC,2255,-0.52,-170.3,386.5,-10.0,304,2259,0.00,1.88,0.00,0.000,4,0.000,0.024,2355,1119,3620,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2290,-0.52,-170.3,389.3,-9.0,307,2298,0.00,2.28,0.00,0.000,6,0.000,0.044,2349,2629,3620,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2597,-0.52,-170.3,417.4,-9.5,338,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2629,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.52,-170.3,445.8,-9.1,368,2907,0.00,2.10,-0.08,0.000,4,0.000,0.037,2348,1135,3644,0,0,0,0,0,0,28.83,26.41,25.53
$GC,2940,-0.52,-170.3,449.5,-8.8,372,2949,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2634,3644,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3250,-0.52,-170.3,476.2,-8.5,403,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2634,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-0.52,-170.3,500.0,-8.1,433,3562,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1142,3639,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3579,-0.52,-170.3,501.9,-7.7,435,3587,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2616,3639,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3885,-0.52,-170.3,527.3,-8.3,466,3893,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1135,3636,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3908,-0.52,-170.3,529.2,-8.4,468,3916,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2618,3636,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4217,-0.52,-170.3,555.8,-8.7,499,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2618,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4518,-0.52,-170.3,580.8,-8.2,529,4527,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1141,3631,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4550,-0.52,-170.3,583.5,-8.2,532,4559,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2623,3631,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4872,-0.52,-170.3,607.9,-7.3,559,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2623,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5170,-0.52,-170.3,628.1,-6.3,574,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2623,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5470,-0.52,-170.3,645.6,-5.7,589,5475,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1130,3622,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5499,-0.52,-170.3,646.8,-5.8,590,5503,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2621,3622,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5805,-0.52,-170.3,665.3,-6.2,605,5809,0.00,1.77,0.00,0.000,4,0.000,0.057,2348,3763,3620,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5829,-0.52,-170.3,666.5,-6.2,606,5833,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2481,3619,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6148,-0.52,-170.3,686.4,-6.5,622,6153,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3762,3618,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6201,-0.52,-170.3,688.8,-6.4,624,6208,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2469,3617,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6509,-0.52,-170.3,709.9,-6.6,640,6512,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3763,3615,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6538,-0.52,-170.3,711.5,-6.6,641,6541,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2488,3615,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6850,-0.52,-170.3,732.7,-6.5,657,6856,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3764,3613,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6894,-0.52,-170.3,735.6,-6.7,659,6898,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2473,3613,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7210,-0.52,-170.3,756.8,-6.6,675,7216,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3763,3611,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7243,-0.52,-170.3,758.1,-6.5,676,7252,0.00,1.75,0.00,0.000,6,0.000,0.024,2349,2458,3611,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7552,-0.52,-170.3,778.3,-6.2,692,7558,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3755,3609,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7590,-0.52,-170.3,780.9,-6.3,694,7594,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2487,3609,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7913,-0.52,-170.3,801.1,-6.2,710,7918,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3755,3608,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7954,-0.52,-170.3,803.8,-6.4,712,7958,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2469,3607,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8272,-0.52,-170.3,825.2,-7.0,728,8278,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3762,3606,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8301,-0.52,-170.3,826.6,-7.0,729,8304,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2495,3606,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8612,-0.52,-170.3,849.9,-7.2,745,8618,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3763,3605,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8645,-0.52,-170.3,851.4,-7.3,746,8652,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2478,3604,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8954,-0.52,-170.3,874.3,-7.0,762,8959,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3755,3603,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8985,-0.52,-170.3,875.8,-7.1,763,8993,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2467,3602,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9292,-0.52,-170.3,897.5,-6.6,779,9296,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3762,3602,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9336,-0.52,-170.3,900.5,-6.8,781,9339,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2496,3601,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9657,-0.52,-170.3,922.9,-7.0,797,9662,0.00,1.88,0.00,0.000,4,0.000,0.027,2348,1134,3600,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9718,-0.52,-170.3,927.4,-7.3,800,9724,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2609,3600,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10038,-0.52,-170.3,949.5,-6.9,816,10042,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1137,3600,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10149,-0.52,-170.3,956.5,-6.8,821,10158,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2622,3600,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10459,-0.52,-170.3,978.0,-6.7,837,10465,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1129,3599,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,10640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10640,begin apogee
$GC,10647,-0.17,0.0,990.2,-6.5,846,10804,0.30,0.00,150.82,1.713,6,0.072,0.000,2478,2518,2929,0,0,0,0,0,0,26.20,28.83,22.40
$STATE,10805,end apogee,CONTROL_FINISHED_OK
$STATE,10805,begin climb
$GC,10808,0.52,170.3,999.0,0.0,854,10984,0.57,2.20,166.52,1.666,4,0.050,0.057,2707,3761,2233,0,0,0,0,0,0,24.68,23.72,21.85
$GC,11015,0.52,170.3,986.7,12.8,864,11020,0.17,2.03,0.00,0.000,6,0.181,0.025,2674,2450,2231,0,0,0,0,0,0,24.37,24.75,28.83
$GC,11323,0.52,170.3,945.4,12.5,879,11329,0.00,2.00,0.00,0.000,4,0.000,0.031,2684,1053,2222,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11362,0.52,170.3,940.6,12.3,881,11368,0.00,2.28,0.00,0.000,6,0.000,0.047,2684,2522,2219,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11683,0.52,170.3,898.2,13.3,897,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2522,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11983,0.52,170.3,858.9,12.8,912,11988,0.00,1.92,0.00,0.000,4,0.000,0.057,2684,3773,2218,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12004,0.52,170.3,856.1,13.0,913,12009,0.05,1.92,0.00,0.000,6,0.184,0.024,2678,2459,2218,0,0,0,0,0,0,26.03,26.36,28.83
$GC,12323,0.52,170.3,818.0,11.7,929,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2455,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12622,0.52,170.3,783.9,11.5,944,12628,0.00,2.05,0.00,0.000,4,0.000,0.056,2678,3774,2217,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,20862,end climb,SURFACE_DEPTH_REACHED
$STATE,20862,begin surface coast
$FINISH,0.8,1.020979
$STATE,20884,end surface coast,CONTROL_FINISHED_OK
$STATE,20884,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.8,53.260
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330196
$DATA_FILE_SIZE,140625,1883
$CAP_FILE_SIZE,224724,0
$CFSIZE,260165632,180514816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,110.0,1
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