version: 66.10
glider: 176
mission: 5
dive: 194
start: 4 19 112 16 48 29
data:
$ID,176
$MISSION,5
$DIVE,194
$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,-7686.9956
$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,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
$GPS1,190412,164036,1824.385,12435.722,40,1.0,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.5
$GPS2,190412,164802,1824.302,12435.759,11,1.3,11,-2.1
$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,177.3,63541,-13.1,-7.500
$D_GRID,5398
$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,-0.51,-146.0,0.0,0.0,0,54,0.00,0.00,-35.45,0.000,2,0.000,0.000,198,2643,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.51,-146.0,3.0,-6.3,6,100,8.68,2.22,-28.10,0.000,4,0.235,0.040,2347,1147,3527,0,0,0,0,0,0,25.40,26.15,26.51
$GC,148,-0.51,-146.0,24.2,-29.5,19,157,0.10,2.25,0.00,0.000,6,0.189,0.044,2360,2637,3527,0,0,0,0,0,0,25.86,26.08,28.83
$GC,477,-0.51,-146.0,136.1,-29.9,80,485,0.05,2.10,0.00,0.000,4,0.177,0.021,2317,1153,3527,0,0,0,0,0,0,26.52,26.37,28.83
$GC,578,-0.51,-146.0,160.9,-20.5,99,586,0.17,2.25,0.00,0.000,6,0.155,0.044,2358,2638,3527,0,0,0,0,0,0,25.96,26.25,28.83
$GC,889,-0.51,-146.0,229.1,-18.3,146,892,0.00,2.10,0.00,0.000,4,0.000,0.024,2358,1156,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,931,-0.51,-146.0,236.5,-18.1,150,940,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2634,3528,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1240,-0.51,-146.0,291.4,-16.6,181,1244,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1144,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1282,-0.51,-146.0,297.9,-15.7,185,1291,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2634,3528,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1592,-0.51,-146.0,344.3,-16.2,216,1600,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1145,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1643,-0.51,-146.0,351.4,-13.1,221,1653,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2636,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1955,-0.51,-146.0,398.2,-14.5,252,1963,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1156,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2056,-0.51,-146.0,411.0,-11.2,262,2065,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2634,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2366,-0.51,-146.0,452.1,-14.0,293,2375,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1150,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2430,-0.51,-146.0,460.0,-12.3,299,2439,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2629,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2737,-0.51,-146.0,498.3,-11.6,330,2746,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1148,3521,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2808,-0.51,-146.0,505.8,-10.1,337,2817,0.00,2.22,0.00,0.000,6,0.000,0.044,2343,2633,3521,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3119,-0.51,-146.0,543.8,-12.5,368,3123,0.00,1.70,0.00,0.000,4,0.000,0.054,2334,3773,3519,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3161,-0.51,-146.0,549.3,-13.4,372,3165,0.10,1.70,0.00,0.000,6,0.155,0.022,2365,2485,3518,0,0,0,0,0,0,26.35,26.65,28.83
$GC,3473,-0.51,-146.0,576.5,-7.1,403,3474,0.08,0.00,0.00,0.000,6,0.129,0.000,2305,2464,3516,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3784,-0.51,-146.0,616.7,-14.0,428,3786,0.17,0.00,0.00,0.000,6,0.142,0.000,2359,2463,3513,0,0,0,0,0,0,26.27,28.83,28.83
$GC,4083,-0.51,-146.0,645.6,-9.0,443,4089,0.05,1.98,0.00,0.000,4,0.177,0.054,2304,3763,3510,0,0,0,0,0,0,26.68,26.17,28.83
$GC,4122,-0.51,-146.0,650.1,-10.1,445,4127,0.17,1.67,0.00,0.000,6,0.133,0.024,2360,2496,3510,0,0,0,0,0,0,26.17,26.62,28.83
$GC,4440,-0.51,-146.0,677.5,-8.2,461,4442,0.05,0.00,0.00,0.000,6,0.176,0.000,2306,2492,3508,0,0,0,0,0,0,26.68,28.83,28.83
$GC,4739,-0.51,-146.0,714.0,-12.2,476,4741,0.17,0.00,0.00,0.000,6,0.139,0.000,2360,2492,3505,0,0,0,0,0,0,26.27,28.83,28.83
$GC,5040,-0.51,-146.0,736.1,-7.5,491,5046,0.05,1.98,0.00,0.000,4,0.175,0.054,2304,3767,3503,0,0,0,0,0,0,26.67,26.12,28.83
$GC,5068,-0.51,-146.0,737.8,-7.7,492,5073,0.17,1.73,0.00,0.000,6,0.132,0.023,2361,2477,3502,0,0,0,0,0,0,26.15,26.61,28.83
$GC,5375,-0.51,-146.0,760.9,-6.7,507,5377,0.05,0.00,0.00,0.000,6,0.176,0.000,2309,2474,3501,0,0,0,0,0,0,26.67,28.83,28.83
$GC,5675,-0.51,-146.0,794.7,-11.8,522,5682,0.12,2.00,0.00,0.000,4,0.148,0.054,2345,3768,3498,0,0,0,0,0,0,26.34,26.09,28.83
$GC,5715,-0.51,-146.0,798.7,-10.9,524,5719,0.00,1.70,0.00,0.000,6,0.000,0.023,2345,2498,3498,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6037,-0.51,-146.0,826.2,-8.6,540,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2470,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6337,-0.51,-146.0,851.2,-8.1,555,6341,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3495,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6401,-0.51,-146.0,856.2,-7.9,558,6405,0.00,1.75,0.00,0.000,6,0.000,0.023,2344,2448,3493,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6718,-0.51,-146.0,880.1,-7.6,574,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2445,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7019,-0.51,-146.0,904.4,-8.0,589,7025,0.00,2.08,0.00,0.000,4,0.000,0.057,2343,3767,3490,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7071,-0.51,-146.0,907.8,-8.3,591,7079,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2475,3489,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7380,-0.51,-146.0,932.0,-7.3,607,7385,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3762,3488,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7411,-0.51,-146.0,933.5,-7.2,608,7418,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2472,3487,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7719,-0.51,-146.0,954.9,-6.4,624,7725,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3763,3486,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7772,-0.51,-146.0,957.6,-6.5,626,7779,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2474,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8079,-0.51,-146.0,977.9,-6.4,642,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2474,3485,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8277,begin apogee
$GC,8282,-0.17,0.0,990.9,-6.5,652,8410,0.35,0.08,120.90,1.735,6,0.108,0.095,2467,2429,2928,0,0,0,0,0,0,25.95,24.52,23.34
$STATE,8411,end apogee,CONTROL_FINISHED_OK
$STATE,8411,begin climb
$GC,8413,0.51,146.0,993.9,0.0,658,8557,0.57,0.00,140.45,1.698,6,0.047,0.000,2703,2427,2332,0,0,0,0,0,0,24.81,28.83,22.61
$GC,8855,0.51,146.0,940.2,16.4,681,8861,0.12,2.08,0.00,0.000,4,0.188,0.053,2667,3756,2323,0,0,0,0,0,0,25.57,25.70,28.83
$GC,8901,0.51,146.0,933.5,16.3,683,8905,0.00,1.92,0.00,0.000,6,0.000,0.024,2676,2443,2322,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9213,0.51,146.0,889.6,13.3,699,9219,0.00,2.08,0.00,0.000,4,0.000,0.054,2677,3774,2320,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9237,0.51,146.0,886.7,13.6,700,9241,0.08,1.95,0.00,0.000,6,0.234,0.025,2672,2446,2319,0,0,0,0,0,0,25.89,26.17,28.83
$GC,9550,0.51,146.0,845.7,12.4,716,9555,0.00,2.08,0.00,0.000,4,0.000,0.031,2682,1048,2317,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9577,0.51,146.0,843.1,12.5,717,9581,0.00,2.28,0.00,0.000,6,0.000,0.047,2682,2520,2317,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9890,0.51,146.0,803.1,12.1,733,9895,0.00,1.92,0.00,0.000,4,0.000,0.054,2682,3766,2316,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9917,0.51,146.0,800.6,12.1,734,9921,0.10,1.90,0.00,0.000,6,0.211,0.024,2670,2438,2316,0,0,0,0,0,0,25.94,26.33,28.83
$GC,10230,0.51,146.0,766.2,10.2,750,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2434,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10529,0.51,146.0,736.2,9.8,765,10535,0.00,2.08,0.00,0.000,4,0.000,0.054,2670,3763,2315,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10562,0.51,146.0,733.9,10.2,766,10569,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2440,2314,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10870,0.51,146.0,699.2,10.8,782,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2438,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11169,0.51,146.0,666.9,10.7,797,11174,0.00,2.08,0.00,0.000,4,0.000,0.054,2679,3773,2313,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11182,0.51,146.0,666.9,10.7,797,11189,0.10,1.90,0.00,0.000,6,0.209,0.023,2667,2444,2313,0,0,0,0,0,0,26.00,26.41,28.83
$GC,11490,0.51,146.0,635.7,9.2,813,11494,0.05,2.05,0.00,0.000,4,0.181,0.050,2708,3769,2313,0,0,0,0,0,0,26.58,26.05,28.83
$GC,11552,0.51,146.0,627.1,12.7,816,11558,0.17,1.90,0.00,0.000,6,0.188,0.023,2673,2449,2313,0,0,0,0,0,0,25.75,26.42,28.83
$GC,11863,0.51,146.0,595.5,9.6,833,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2444,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12164,0.51,146.0,565.5,10.3,863,12174,0.00,2.03,0.00,0.000,4,0.000,0.031,2683,1053,2313,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12236,0.51,146.0,558.5,8.9,870,12245,0.00,2.25,0.00,0.000,6,0.000,0.044,2683,2525,2312,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12546,0.51,146.0,525.6,10.7,901,12550,0.00,1.90,0.00,0.000,4,0.000,0.052,2683,3778,2312,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12605,0.51,146.0,518.9,12.3,906,12613,0.10,1.90,0.00,0.000,6,0.204,0.023,2670,2442,2312,0,0,0,0,0,0,26.02,26.42,28.83
$GC,12913,0.51,146.0,487.7,10.1,937,12923,0.00,2.05,0.00,0.000,4,0.000,0.032,2680,1051,2312,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,18469,end climb,SURFACE_DEPTH_REACHED
$STATE,18469,begin surface coast
$FINISH,0.7,1.020128
$STATE,18535,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,25.264
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329436
$DATA_FILE_SIZE,123734,1689
$CAP_FILE_SIZE,193573,0
$CFSIZE,260165632,204230656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,274.2,1
$GPS,190412,215957,1821.932,12435.882,27,3.8,46,-2.1