version: 66.10
glider: 176
mission: 5
dive: 152
start: 4 10 112 2 29 29
data:
$ID,176
$MISSION,5
$DIVE,152
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,440
$T_MISSION,500
$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,150
$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,161
$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,-7623.4502
$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,2510
$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,2610
$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,49
$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
$GPS1,100412,022201,2010.745,12421.945,40,2.0,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.3
$GPS2,100412,022902,2010.661,12422.054,11,2.0,11,-2.5
$SPEED_LIMITS,0.130,0.234
$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,222.5,261502,-13.1,-7.500
$D_GRID,5455
$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,-0.51,-146.0,0.0,0.0,0,66,0.00,0.00,-46.95,0.000,2,0.000,0.000,178,2639,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.4,-6.7,8,105,8.75,2.17,-18.70,0.000,4,0.237,0.041,2345,1150,3527,0,0,0,0,0,0,25.44,26.09,26.44
$GC,223,-0.51,-146.0,39.2,-20.4,34,230,0.08,2.28,0.00,0.000,6,0.195,0.045,2351,2636,3529,0,0,0,0,0,0,25.91,26.06,28.83
$GC,535,-0.51,-146.0,120.0,-23.8,95,542,0.00,2.15,0.00,0.000,4,0.000,0.026,2351,1150,3529,0,0,0,0,0,0,28.83,26.29,28.83
$GC,554,-0.51,-146.0,124.4,-23.3,98,561,0.00,2.22,0.00,0.000,6,0.000,0.041,2348,2629,3529,0,0,0,0,0,0,28.83,26.20,28.83
$GC,865,-0.51,-146.0,191.4,-21.9,159,871,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1158,3529,0,0,0,0,0,0,28.83,26.37,28.83
$GC,930,-0.51,-146.0,203.3,-15.8,170,939,0.00,2.20,0.00,0.000,6,0.000,0.043,2337,2625,3529,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1239,-0.51,-146.0,262.2,-17.5,201,1249,0.05,2.10,0.00,0.000,4,0.248,0.024,2350,1151,3529,0,0,0,0,0,0,26.54,26.43,28.83
$GC,1305,-0.51,-146.0,270.8,-12.1,207,1312,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2628,3529,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1612,-0.51,-146.0,321.1,-16.9,238,1615,0.00,1.73,0.00,0.000,4,0.000,0.054,2348,3773,3529,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1664,-0.51,-146.0,329.3,-15.8,243,1668,0.00,1.70,0.00,0.000,6,0.000,0.022,2348,2518,3528,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1975,-0.51,-146.0,373.4,-12.9,274,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2509,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.51,-146.0,411.0,-12.9,304,2281,0.00,1.95,0.00,0.000,4,0.000,0.028,2348,1161,3526,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2389,-0.51,-146.0,423.5,-10.4,315,2398,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2630,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2699,-0.51,-146.0,461.6,-12.0,346,2703,0.00,2.10,0.00,0.000,4,0.000,0.028,2345,1159,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2730,-0.51,-146.0,465.3,-11.5,349,2735,0.08,2.20,0.00,0.000,6,0.181,0.044,2356,2630,3526,0,0,0,0,0,0,26.22,26.35,28.83
$GC,3042,-0.51,-146.0,495.6,-9.8,380,3044,0.05,0.00,0.00,0.000,6,0.177,0.000,2304,2631,3523,0,0,0,0,0,0,26.68,28.83,28.83
$GC,3343,-0.51,-146.0,541.2,-14.3,410,3352,0.12,2.12,0.00,0.000,4,0.164,0.026,2346,1157,3522,0,0,0,0,0,0,26.33,26.46,28.83
$GC,3418,-0.51,-146.0,548.7,-8.9,417,3426,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2634,3522,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3725,-0.51,-146.0,579.2,-10.1,448,3734,0.00,2.12,0.00,0.000,4,0.000,0.028,2345,1156,3519,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3777,-0.51,-146.0,584.0,-9.6,453,3787,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2629,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4086,-0.51,-146.0,615.8,-10.6,477,4092,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1151,3517,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4134,-0.51,-146.0,619.8,-10.6,479,4138,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3517,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4447,-0.51,-146.0,653.5,-10.6,495,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.51,-146.0,682.7,-9.6,510,4752,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1150,3512,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4806,-0.51,-146.0,688.3,-9.4,513,4810,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2630,3512,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5128,-0.51,-146.0,719.2,-9.7,529,5132,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1152,3509,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5189,-0.51,-146.0,724.8,-9.1,532,5195,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3509,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5510,-0.51,-146.0,752.6,-8.6,548,5516,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1156,3506,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5550,-0.51,-146.0,755.9,-8.5,550,5556,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2630,3506,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5870,-0.51,-146.0,781.7,-7.9,566,5875,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1162,3504,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5910,-0.51,-146.0,784.8,-7.8,568,5916,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6229,-0.51,-146.0,810.9,-8.5,584,6235,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1155,3502,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6257,-0.51,-146.0,812.6,-8.5,585,6261,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3503,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6565,-0.51,-146.0,839.0,-8.2,600,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,-0.51,-146.0,864.5,-8.6,615,6870,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1161,3499,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6944,-0.51,-146.0,871.4,-8.6,619,6948,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2625,3499,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7267,-0.51,-146.0,899.7,-9.0,635,7270,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1156,3497,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7301,-0.51,-146.0,901.7,-9.1,636,7308,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2626,3497,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7609,-0.51,-146.0,929.6,-8.7,652,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2626,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7908,-0.51,-146.0,953.8,-7.6,667,7914,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1159,3494,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7948,-0.51,-146.0,956.7,-7.5,669,7954,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3494,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8269,-0.51,-146.0,977.7,-6.3,685,8274,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1169,3493,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8296,-0.51,-146.0,979.0,-6.3,686,8300,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2626,3493,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,8481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8481,begin apogee
$GC,8486,-0.17,0.0,990.3,-5.7,695,8618,0.32,0.12,122.78,1.742,6,0.112,0.096,2459,2535,2928,0,0,0,0,0,0,25.97,24.51,23.38
$STATE,8619,end apogee,CONTROL_FINISHED_OK
$STATE,8619,begin climb
$GC,8621,0.51,146.0,991.9,0.0,701,8769,0.60,2.42,139.60,1.702,4,0.050,0.031,2707,1058,2333,0,0,0,0,0,0,24.79,23.88,22.67
$GC,8830,0.51,146.0,976.1,14.1,712,8835,0.17,2.42,0.00,0.000,6,0.181,0.046,2666,2523,2326,0,0,0,0,0,0,24.45,24.70,28.83
$GC,9138,0.51,146.0,933.9,12.9,727,9143,0.00,1.92,0.00,0.000,4,0.000,0.055,2666,3764,2322,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9190,0.51,146.0,928.0,13.9,729,9197,0.00,1.92,0.00,0.000,6,0.000,0.024,2674,2456,2321,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9497,0.51,146.0,885.4,13.0,745,9502,0.00,2.05,0.00,0.000,4,0.000,0.054,2675,3770,2320,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9557,0.51,146.0,876.1,14.9,748,9561,0.05,1.95,0.00,0.000,6,0.200,0.027,2658,2458,2319,0,0,0,0,0,0,25.67,26.12,28.83
$GC,9880,0.51,146.0,838.4,11.0,764,9884,0.08,2.08,0.00,0.000,4,0.142,0.030,2705,1046,2318,0,0,0,0,0,0,26.31,26.15,28.83
$GC,9954,0.51,146.0,830.7,11.9,767,9962,0.15,2.30,0.00,0.000,6,0.186,0.047,2668,2523,2317,0,0,0,0,0,0,25.67,26.04,28.83
$GC,10263,0.51,146.0,793.1,11.4,783,10268,0.00,1.90,0.00,0.000,4,0.000,0.055,2668,3765,2317,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10334,0.51,146.0,784.9,13.1,786,10342,0.00,1.90,0.00,0.000,6,0.000,0.025,2677,2450,2316,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10642,0.51,146.0,745.4,12.2,802,10648,0.00,2.08,0.00,0.000,4,0.000,0.033,2688,1047,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10665,0.51,146.0,743.0,12.3,803,10670,0.10,2.28,0.00,0.000,6,0.190,0.046,2666,2526,2315,0,0,0,0,0,0,25.87,26.10,28.83
$GC,10977,0.51,146.0,706.0,11.8,819,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2527,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11278,0.51,146.0,669.5,12.0,834,11283,0.00,2.15,0.00,0.000,4,0.000,0.032,2676,1057,2314,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11357,0.51,146.0,661.4,10.1,838,11363,0.00,2.25,0.00,0.000,6,0.000,0.045,2675,2518,2313,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11677,0.51,146.0,629.2,9.6,854,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2518,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11978,0.51,146.0,599.8,9.7,869,11982,0.00,1.95,0.00,0.000,4,0.000,0.055,2675,3763,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12009,0.51,146.0,596.1,11.1,872,12014,0.10,1.92,0.00,0.000,6,0.214,0.025,2664,2441,2313,0,0,0,0,0,0,25.97,26.37,28.83
$GC,12322,0.51,146.0,565.9,9.9,903,12331,0.00,2.03,0.00,0.000,4,0.000,0.034,2674,1052,2312,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12374,0.51,146.0,560.9,9.2,908,12383,0.00,2.25,0.00,0.000,6,0.000,0.045,2674,2517,2312,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,18737,end climb,SURFACE_DEPTH_REACHED
$STATE,18737,begin surface coast
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$STATE,18768,end surface coast,CONTROL_FINISHED_OK
$STATE,18768,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,329444
$DATA_FILE_SIZE,130825,1764
$CAP_FILE_SIZE,200319,0
$CFSIZE,260165632,208740352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,159.2,1
$GPS,100412,074424,2007.997,12420.997,40,0.9,40,-2.5