version: 66.10
glider: 176
mission: 5
dive: 468
start: 6 20 112 21 0 5
data:
$ID,176
$MISSION,5
$DIVE,468
$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,460
$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,165
$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,-8210.5811
$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,2620
$C_ROLL_CLIMB,2520
$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
$GPS1,200612,205107,1810.255,12340.896,37,1.1,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.7
$GPS2,200612,205938,1810.259,12340.972,13,1.1,13,-2.0
$SPEED_LIMITS,0.136,0.248
$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,267.9,153678,-13.0,-7.857
$D_GRID,5397
$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,16,-0.52,-160.6,0.0,0.0,0,73,0.00,0.00,-54.33,0.000,2,0.000,0.000,190,2716,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.52,-160.6,3.4,-6.9,9,116,8.90,2.33,-23.12,0.000,4,0.236,0.042,2345,1160,3586,0,0,0,0,0,0,24.99,26.24,26.71
$GC,189,-0.52,-160.6,35.0,-23.8,26,196,0.00,2.22,0.00,0.000,6,0.000,0.044,2340,2639,3586,0,0,0,0,0,0,28.83,26.15,28.83
$GC,518,-0.52,-160.6,132.8,-26.3,87,525,0.00,1.67,0.00,0.000,4,0.000,0.047,2332,3771,3585,0,0,0,0,0,0,28.83,26.16,28.83
$GC,553,-0.52,-160.6,141.9,-25.9,90,560,0.08,1.67,0.00,0.000,6,0.197,0.024,2349,2536,3586,0,0,0,0,0,0,26.23,26.49,28.83
$GC,866,-0.52,-160.6,200.5,-15.9,151,875,0.00,1.92,0.00,0.000,4,0.000,0.027,2349,1156,3586,0,0,0,0,0,0,28.83,26.40,28.83
$GC,941,-0.52,-160.6,209.4,-10.7,158,948,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2639,3586,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1248,-0.52,-160.6,255.3,-15.1,189,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2638,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1550,-0.52,-160.6,298.9,-12.9,219,1554,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1159,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1613,-0.52,-160.6,306.3,-10.4,225,1622,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2649,3585,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1922,-0.52,-160.6,342.9,-11.7,256,1932,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1159,3583,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1995,-0.52,-160.6,350.0,-8.6,263,2006,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2638,3583,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2305,-0.52,-160.6,377.4,-9.5,294,2314,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1156,3580,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2350,-0.52,-160.6,381.3,-9.3,298,2356,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2646,3580,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2657,-0.52,-160.6,413.4,-11.1,329,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2646,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.52,-160.6,443.6,-9.4,359,2967,0.00,2.15,-0.10,0.000,4,0.000,0.036,2345,1158,3598,0,0,0,0,0,0,28.83,26.35,25.96
$GC,3022,-0.52,-160.6,449.2,-8.4,365,3031,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2636,3598,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3330,-0.52,-160.6,476.2,-8.2,396,3334,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3767,3595,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3351,-0.52,-160.6,477.8,-8.1,398,3355,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2493,3595,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3663,-0.52,-160.6,501.6,-8.0,429,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2458,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-0.52,-160.6,525.4,-8.1,459,3973,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3755,3589,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4027,-0.52,-160.6,530.4,-8.1,465,4030,0.00,1.67,0.00,0.000,6,0.000,0.023,2344,2505,3588,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4338,-0.52,-160.6,554.3,-7.1,496,4342,0.00,1.90,0.00,0.000,4,0.000,0.026,2344,1153,3586,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4369,-0.52,-160.6,556.7,-7.3,499,4378,0.00,2.28,0.00,0.000,6,0.000,0.044,2343,2646,3586,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4679,-0.52,-160.6,578.1,-6.8,530,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2645,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4992,-0.52,-160.6,601.9,-8.0,560,4996,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1163,3581,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5021,-0.52,-160.6,603.9,-8.1,561,5025,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2642,3581,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5330,-0.52,-160.6,631.1,-9.0,576,5333,0.00,1.73,0.00,0.000,4,0.000,0.057,2343,3764,3578,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5371,-0.52,-160.6,634.9,-8.9,578,5374,0.00,1.70,0.00,0.000,6,0.000,0.024,2343,2510,3577,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5692,-0.52,-160.6,661.8,-8.3,594,5697,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3768,3575,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5721,-0.52,-160.6,663.6,-8.6,595,5724,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2512,3575,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6032,-0.52,-160.6,690.8,-8.5,611,6037,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3772,3573,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6072,-0.52,-160.6,694.3,-8.5,613,6076,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2517,3572,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6395,-0.52,-160.6,720.4,-7.8,629,6401,0.00,1.90,0.00,0.000,4,0.000,0.026,2344,1163,3571,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6417,-0.52,-160.6,721.9,-7.8,630,6421,0.00,2.28,0.00,0.000,6,0.000,0.045,2343,2642,3571,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6730,-0.52,-160.6,745.0,-7.2,646,6734,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3761,3568,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6760,-0.52,-160.6,746.7,-7.1,647,6763,0.00,1.70,0.00,0.000,6,0.000,0.024,2343,2511,3568,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7073,-0.52,-160.6,768.5,-6.7,663,7078,0.00,2.03,0.00,0.000,4,0.000,0.056,2343,3766,3567,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7129,-0.52,-160.6,771.3,-6.6,665,7135,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2469,3566,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7433,-0.52,-160.6,792.7,-6.7,681,7439,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3772,3564,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7476,-0.52,-160.6,795.5,-6.6,683,7479,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2517,3564,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7794,-0.52,-160.6,820.6,-8.2,699,7797,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3772,3562,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7828,-0.52,-160.6,822.5,-8.2,700,7836,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2469,3562,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8135,-0.52,-160.6,849.2,-8.2,716,8140,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3765,3561,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8169,-0.52,-160.6,850.9,-8.2,717,8176,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2487,3561,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8476,-0.52,-160.6,874.0,-6.5,733,8481,0.00,2.00,0.00,0.000,4,0.000,0.057,2343,3766,3560,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8523,-0.52,-160.6,876.5,-6.3,735,8527,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2515,3560,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8837,-0.52,-160.6,896.1,-6.2,751,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2473,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,-0.52,-160.6,914.8,-6.3,766,9141,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3765,3558,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9199,-0.52,-160.6,918.9,-6.7,769,9203,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2526,3557,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9516,-0.52,-160.6,940.7,-6.7,785,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2503,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9816,-0.52,-160.6,962.6,-7.5,800,9820,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3783,3555,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9847,-0.52,-160.6,964.2,-7.4,801,9850,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2525,3555,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10159,-0.52,-160.6,985.4,-5.9,817,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2488,3555,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10256,begin apogee
$GC,10261,-0.17,0.0,990.9,-5.3,822,10408,0.32,0.00,139.82,1.694,6,0.099,0.000,2464,2543,2929,0,0,0,0,0,0,25.87,28.83,22.60
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10411,0.52,160.6,995.4,0.0,829,10577,0.60,2.15,155.88,1.653,4,0.051,0.057,2701,3759,2273,0,0,0,0,0,0,24.90,23.89,21.96
$GC,10587,0.52,160.6,987.8,9.8,838,10592,0.15,2.00,0.00,0.000,6,0.185,0.025,2677,2476,2272,0,0,0,0,0,0,24.18,24.52,28.83
$GC,10894,0.52,160.6,944.0,13.0,853,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2472,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11196,0.52,160.6,906.9,12.2,868,11201,0.00,2.05,0.00,0.000,4,0.000,0.030,2686,1069,2261,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11223,0.52,160.6,904.5,12.1,869,11227,0.00,2.28,0.00,0.000,6,0.000,0.048,2686,2536,2259,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11529,0.52,160.6,865.7,12.1,884,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2536,2259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11831,0.52,160.6,829.0,11.8,899,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2536,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12130,0.52,160.6,795.9,10.7,914,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2536,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12430,0.52,160.6,764.2,11.0,929,12435,0.00,1.90,0.00,0.000,4,0.000,0.057,2687,3763,2256,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12471,0.52,160.6,758.9,12.2,931,12476,0.10,1.90,0.00,0.000,6,0.205,0.024,2673,2442,2256,0,0,0,0,0,0,25.90,26.31,28.83
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$STATE,21013,end climb,SURFACE_DEPTH_REACHED
$STATE,21013,begin surface coast
$FINISH,0.8,1.021358
$STATE,21042,end surface coast,CONTROL_FINISHED_OK
$STATE,21043,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.54
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$TCM_TEMP,26.00
$XPDR_PINGS,1
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$10V_AH,9.8,60.415
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329596
$DATA_FILE_SIZE,140519,1889
$CAP_FILE_SIZE,224489,0
$CFSIZE,260165632,174497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164, 82.8,1
$GPS,210612,025306,1810.465,12340.216,32,1.1,32,-2.0