version: 66.10
glider: 169
mission: 5
dive: 398
start: 1 24 112 12 3 30
data:
$ID,169
$MISSION,5
$DIVE,398
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-11379.893
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,240112,115536,2321.943,12222.419,38,1.2,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.8
$GPS2,240112,120308,2321.962,12222.452,11,1.7,11,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2321.962,12234.216
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,93.2,20000,-15.4,-9.167
$D_GRID,4516
$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,-0.60,-175.2,0.0,0.0,0,91,0.00,0.00,-72.18,0.000,2,0.000,0.000,120,2698,2839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.60,-175.2,3.0,-5.2,13,125,7.20,2.40,-17.70,0.000,4,0.236,0.042,1818,1176,3695,0,0,0,0,0,0,24.81,26.01,26.54
$GC,158,-0.45,-175.2,28.2,-42.0,24,165,0.20,2.30,0.00,0.000,6,0.162,0.040,1861,2649,3696,0,0,0,0,0,0,25.50,25.96,28.83
$GC,470,-0.37,-175.2,117.3,-25.1,85,477,0.00,2.20,0.00,0.000,4,0.000,0.025,1863,1167,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,561,-0.41,-175.2,131.6,-9.8,102,568,0.00,2.28,0.00,0.000,6,0.000,0.038,1855,2650,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,873,-0.37,-175.2,185.5,-18.1,163,880,0.12,0.00,0.00,0.000,6,0.161,0.000,1896,2651,3696,0,0,0,0,0,0,26.18,28.83,28.83
$GC,1183,-0.39,-175.2,216.8,-8.6,205,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2651,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1487,-0.43,-175.2,241.0,-7.9,235,1496,0.00,2.17,0.00,0.000,4,0.000,0.028,1896,1180,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1529,-0.48,-175.2,244.4,-7.3,239,1538,0.08,2.28,0.00,0.000,6,0.047,0.037,1819,2659,3695,0,0,0,0,0,0,26.17,26.20,28.83
$GC,1839,-0.43,-175.2,295.7,-18.0,270,1848,0.12,2.17,0.00,0.000,4,0.150,0.024,1865,1170,3696,0,0,0,0,0,0,26.24,26.28,28.83
$GC,1893,-0.45,-175.2,302.2,-10.9,275,1900,0.00,2.28,0.00,0.000,6,0.000,0.037,1859,2652,3695,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2201,-0.45,-175.2,333.5,-11.1,306,2204,0.00,1.80,0.00,0.000,4,0.000,0.044,1850,3824,3695,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2245,-0.47,-175.2,337.5,-9.8,310,2252,0.00,1.80,0.00,0.000,6,0.000,0.022,1850,2567,3695,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2552,-0.47,-175.2,368.0,-9.7,341,2561,0.00,2.00,0.00,0.000,4,0.000,0.043,1841,3816,3694,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2583,-0.49,-175.2,371.1,-9.9,344,2587,0.00,1.80,0.00,0.000,6,0.000,0.024,1841,2578,3694,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2895,-0.49,-175.2,402.4,-9.3,375,2903,0.00,2.08,0.00,0.000,4,0.000,0.030,1841,1167,3692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2946,-0.52,-175.2,406.6,-8.2,380,2955,0.00,2.28,0.00,0.000,6,0.000,0.037,1835,2652,3692,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3256,-0.52,-175.2,437.8,-10.5,411,3259,0.00,1.77,0.00,0.000,4,0.000,0.044,1826,3821,3690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3320,-0.54,-175.2,443.6,-8.8,417,3327,0.00,1.80,0.00,0.000,6,0.000,0.023,1826,2566,3689,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3627,-0.54,-175.2,477.1,-11.4,448,3630,0.00,2.00,0.00,0.000,4,0.000,0.043,1817,3820,3688,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3681,-0.55,-175.2,482.9,-11.8,453,3689,0.00,1.85,0.00,0.000,6,0.000,0.024,1817,2571,3687,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3989,-0.55,-175.2,518.7,-11.7,484,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2571,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4289,-0.55,-175.2,553.4,-11.4,514,4298,0.00,2.00,0.00,0.000,4,0.000,0.045,1809,3817,3683,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4320,-0.55,-175.2,557.0,-11.2,517,4324,0.00,1.83,0.00,0.000,6,0.000,0.024,1809,2569,3683,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4625,-0.55,-175.2,591.2,-10.9,547,4634,0.00,2.05,0.00,0.000,4,0.000,0.028,1809,1173,3681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4656,-0.55,-175.2,594.4,-10.7,550,4666,0.12,2.30,0.00,0.000,6,0.126,0.038,1840,2657,3681,0,0,0,0,0,0,25.98,26.13,28.83
$GC,4979,-0.57,-175.2,618.6,-7.6,570,4983,0.00,2.20,0.00,0.000,4,0.000,0.027,1840,1185,3677,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5009,-0.60,-175.2,620.5,-7.6,571,5013,0.00,2.28,0.00,0.000,6,0.000,0.039,1838,2651,3677,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5319,-0.62,-175.2,643.9,-7.5,586,5323,0.00,1.77,0.00,0.000,4,0.000,0.047,1831,3815,3675,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5361,-0.65,-175.2,647.3,-7.6,588,5366,0.00,1.83,0.00,0.000,6,0.000,0.024,1830,2567,3674,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5683,-0.67,-175.2,673.7,-8.4,604,5689,0.12,2.00,0.00,0.000,4,0.078,0.027,1749,1184,3672,0,0,0,0,0,0,26.52,26.19,28.83
$GC,5711,-0.68,-175.2,676.0,-8.8,605,5721,0.17,2.25,0.00,0.000,6,0.135,0.039,1790,2650,3671,0,0,0,0,0,0,25.78,26.09,28.83
$GC,6022,-0.66,-175.2,717.0,-12.4,621,6027,0.00,2.20,0.00,0.000,4,0.000,0.029,1790,1175,3669,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6051,-0.65,-175.2,719.4,-12.5,622,6055,0.00,2.30,0.00,0.000,6,0.000,0.041,1779,2652,3669,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6357,-0.62,-175.2,761.7,-13.6,637,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2652,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6658,-0.60,-175.2,800.6,-12.5,652,6660,0.12,0.00,0.00,0.000,6,0.152,0.000,1816,2652,3665,0,0,0,0,0,0,26.23,28.83,28.83
$GC,6958,-0.61,-175.2,827.1,-8.1,667,6963,0.00,2.20,0.00,0.000,4,0.000,0.031,1816,1181,3662,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6985,-0.62,-175.2,828.7,-8.0,668,6989,0.00,2.33,0.00,0.000,6,0.000,0.043,1808,2656,3662,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7293,-0.62,-175.2,854.9,-8.3,683,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2656,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,-0.62,-175.2,880.1,-8.4,698,7598,0.00,2.22,0.00,0.000,4,0.000,0.029,1808,1179,3660,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7634,-0.64,-175.2,883.3,-8.5,700,7638,0.00,2.30,0.00,0.000,6,0.000,0.042,1799,2649,3659,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7947,-0.64,-175.2,912.3,-9.6,716,7950,0.00,1.83,0.00,0.000,4,0.000,0.048,1791,3812,3657,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7988,-0.64,-175.2,916.4,-9.8,718,7992,0.00,1.83,0.00,0.000,6,0.000,0.024,1791,2572,3657,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8306,-0.63,-175.2,947.8,-10.3,734,8311,0.00,2.05,0.00,0.000,4,0.000,0.031,1790,1187,3656,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8365,-0.63,-175.2,953.8,-10.2,737,8371,0.00,2.28,0.00,0.000,6,0.000,0.042,1780,2644,3656,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8684,-0.61,-175.2,989.5,-11.3,753,8690,0.10,1.85,0.00,0.000,4,0.159,0.047,1800,3816,3654,0,0,0,0,0,0,26.31,25.86,28.83
$STATE,8702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8702,begin apogee
$GC,8710,-0.20,0.0,991.8,-11.3,754,8873,0.40,0.10,154.60,1.183,6,0.091,0.055,1943,2530,2972,0,0,0,0,0,0,25.82,24.77,23.27
$STATE,8874,end apogee,CONTROL_FINISHED_OK
$STATE,8874,begin climb
$GC,8876,0.60,175.2,999.5,0.0,762,9055,0.70,2.38,168.60,1.190,4,0.049,0.034,2223,1053,2255,0,0,0,0,0,0,25.10,24.76,23.22
$GC,9063,0.50,175.2,989.2,13.2,772,9069,0.20,2.38,0.00,0.000,6,0.159,0.038,2170,2532,2243,0,0,0,0,0,0,24.75,25.01,28.83
$GC,9386,0.45,175.2,944.8,13.6,788,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2532,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9683,0.40,175.2,903.5,13.8,803,9685,0.12,0.00,0.00,0.000,6,0.176,0.000,2138,2532,2232,0,0,0,0,0,0,25.99,28.83,28.83
$GC,9983,0.38,175.2,871.6,10.5,818,9989,0.00,2.05,0.00,0.000,4,0.000,0.047,2138,3824,2230,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10037,0.35,175.2,866.8,11.2,820,10044,0.00,2.08,0.00,0.000,6,0.000,0.029,2149,2462,2229,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10343,0.33,175.2,831.3,11.1,836,10350,0.12,2.12,0.00,0.000,4,0.170,0.037,2122,1055,2227,0,0,0,0,0,0,26.03,26.03,28.83
$GC,10367,0.31,175.2,829.3,10.9,837,10371,0.00,2.28,0.00,0.000,6,0.000,0.041,2122,2526,2226,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10679,0.32,186.2,801.4,8.8,853,10684,0.00,2.05,0.00,0.000,4,0.000,0.046,2122,3818,2226,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10719,0.31,186.2,797.2,9.5,855,10724,0.00,2.08,0.00,0.000,6,0.000,0.028,2132,2461,2227,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11040,0.30,186.2,765.7,9.7,871,11045,0.00,2.12,0.00,0.000,4,0.000,0.047,2132,3805,2226,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11082,0.28,186.2,761.1,10.6,873,11086,0.15,2.05,0.00,0.000,6,0.161,0.030,2104,2465,2226,0,0,0,0,0,0,25.74,26.17,28.83
$GC,11398,0.36,245.6,736.8,7.1,889,11466,0.00,2.25,56.12,1.183,4,0.000,0.038,2114,1071,1981,0,0,0,0,1,0,28.83,25.33,23.48
$GC,11496,0.48,316.5,730.0,6.7,894,11577,0.10,2.28,68.55,1.230,6,0.043,0.039,2195,2513,1690,0,0,0,0,1,0,25.54,25.54,23.27
$GC,11895,0.45,316.5,673.0,14.4,914,11903,0.12,2.05,1.17,0.190,4,0.158,0.044,2155,3818,1684,0,0,0,0,0,0,25.84,25.84,25.22
$GC,11924,0.42,316.5,670.1,14.3,915,11927,0.00,2.05,0.00,0.000,6,0.000,0.028,2166,2463,1688,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12236,0.42,316.5,633.4,11.6,931,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2461,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12535,0.42,316.5,598.2,11.7,946,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2462,1690,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17432,end climb,SURFACE_DEPTH_REACHED
$STATE,17433,begin surface coast
$FINISH,0.8,1.022562
$STATE,17454,end surface coast,CONTROL_FINISHED_OK
$STATE,17454,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,324692
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$CAP_FILE_SIZE,190158,0
$CFSIZE,260165632,186560512
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