version: 66.10
glider: 176
mission: 5
dive: 163
start: 4 12 112 13 46 59
data:
$ID,176
$MISSION,5
$DIVE,163
$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,-7637.9478
$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
$GPS1,120412,133907,1946.018,12427.071,31,1.0,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.4
$GPS2,120412,134631,1946.030,12427.129,11,1.3,16,-2.4
$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,207.4,215335,-13.1,-7.500
$D_GRID,5652
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.75,0.000,2,0.000,0.000,177,2657,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.1,-5.3,7,106,8.75,2.20,-25.58,0.000,4,0.237,0.039,2348,1150,3525,0,0,0,0,0,0,25.44,26.09,26.46
$GC,188,-0.51,-146.0,25.9,-19.1,27,196,0.08,2.28,0.00,0.000,6,0.194,0.044,2355,2637,3526,0,0,0,0,0,0,25.91,26.06,28.83
$GC,502,-0.51,-146.0,98.6,-24.0,88,509,0.00,2.15,0.00,0.000,4,0.000,0.027,2354,1153,3526,0,0,0,0,0,0,28.83,26.28,28.83
$GC,612,-0.51,-146.0,120.1,-16.4,109,620,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2629,3526,0,0,0,0,0,0,28.83,26.21,28.83
$GC,923,-0.51,-146.0,185.2,-20.4,170,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2629,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.51,-146.0,244.1,-17.9,208,1241,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1146,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1364,-0.51,-146.0,264.2,-14.2,221,1374,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2635,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1675,-0.51,-146.0,315.4,-16.0,252,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2635,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1976,-0.51,-146.0,359.9,-15.0,282,1984,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1158,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2046,-0.51,-146.0,369.6,-12.1,289,2057,0.10,2.22,0.00,0.000,6,0.162,0.044,2363,2633,3527,0,0,0,0,0,0,26.19,26.35,28.83
$GC,2357,-0.51,-146.0,401.2,-9.7,320,2367,0.08,2.10,0.00,0.000,4,0.130,0.025,2305,1154,3526,0,0,0,0,0,0,26.67,26.47,28.83
$GC,2432,-0.51,-146.0,410.8,-13.7,327,2440,0.17,2.22,0.00,0.000,6,0.142,0.045,2358,2628,3526,0,0,0,0,0,0,26.09,26.34,28.83
$GC,2742,-0.51,-146.0,446.7,-11.0,358,2745,0.00,1.73,0.00,0.000,4,0.000,0.054,2350,3776,3524,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2765,-0.51,-146.0,449.4,-11.1,360,2772,0.00,1.73,0.00,0.000,6,0.000,0.023,2350,2492,3523,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3072,-0.51,-146.0,482.8,-10.4,391,3076,0.00,1.95,0.00,0.000,4,0.000,0.053,2344,3764,3523,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3118,-0.51,-146.0,487.8,-10.9,395,3122,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2492,3522,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3430,-0.51,-146.0,522.9,-11.1,426,3438,0.00,1.88,0.00,0.000,4,0.000,0.028,2343,1153,3520,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3462,-0.51,-146.0,526.5,-11.4,429,3472,0.10,2.25,0.00,0.000,6,0.155,0.045,2365,2636,3520,0,0,0,0,0,0,26.18,26.32,28.83
$GC,3771,-0.51,-146.0,554.7,-8.9,460,3775,0.08,2.15,0.00,0.000,4,0.130,0.024,2306,1161,3518,0,0,0,0,0,0,26.67,26.46,28.83
$GC,3806,-0.51,-146.0,558.1,-10.5,463,3814,0.17,2.25,0.00,0.000,6,0.140,0.045,2358,2629,3518,0,0,0,0,0,0,26.06,26.30,28.83
$GC,4113,-0.51,-146.0,585.3,-8.3,494,4123,0.00,2.12,0.00,0.000,4,0.000,0.027,2359,1145,3516,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4157,-0.51,-146.0,588.9,-8.3,498,4166,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2629,3516,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4475,-0.51,-146.0,615.4,-8.6,521,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4775,-0.51,-146.0,642.2,-9.1,536,4781,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1148,3511,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4836,-0.51,-146.0,647.5,-9.0,539,4841,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3510,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5155,-0.51,-146.0,675.7,-8.8,555,5161,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1154,3508,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5195,-0.51,-146.0,679.1,-8.7,557,5201,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3508,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5516,-0.51,-146.0,704.4,-7.6,573,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2633,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,-0.51,-146.0,726.1,-7.2,588,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2634,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-0.51,-146.0,749.9,-8.6,603,6121,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1155,3502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6168,-0.51,-146.0,753.3,-8.6,605,6176,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3502,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6475,-0.51,-146.0,781.8,-8.7,621,6481,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1155,3500,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6516,-0.51,-146.0,785.4,-8.9,623,6521,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2634,3500,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6835,-0.51,-146.0,812.2,-8.1,639,6841,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1157,3498,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6868,-0.51,-146.0,813.8,-8.1,640,6875,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2627,3498,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7176,-0.51,-146.0,836.8,-6.6,656,7182,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1159,3496,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7203,-0.51,-146.0,838.1,-6.4,657,7207,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2635,3495,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7510,-0.51,-146.0,857.3,-6.2,672,7514,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1148,3495,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7555,-0.51,-146.0,860.0,-6.5,674,7561,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2628,3494,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7874,-0.51,-146.0,882.0,-7.3,690,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,-0.51,-146.0,905.6,-7.6,705,8179,0.00,2.12,0.00,0.000,4,0.000,0.028,2357,1155,3492,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8213,-0.51,-146.0,908.8,-7.8,707,8219,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2629,3492,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8533,-0.51,-146.0,932.6,-7.5,723,8539,0.00,2.12,0.00,0.000,4,0.000,0.028,2357,1155,3490,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8556,-0.51,-146.0,934.1,-7.4,724,8561,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2627,3491,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8868,-0.51,-146.0,957.9,-7.4,740,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2627,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9168,-0.51,-146.0,979.1,-6.9,755,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2627,3488,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9347,begin apogee
$GC,9353,-0.17,0.0,991.2,-6.6,764,9482,0.30,0.10,122.15,1.753,6,0.107,0.070,2465,2535,2929,0,0,0,0,0,0,26.03,24.46,23.32
$STATE,9483,end apogee,CONTROL_FINISHED_OK
$STATE,9483,begin climb
$GC,9485,0.51,146.0,995.4,0.0,770,9635,0.60,2.12,141.10,1.714,4,0.049,0.056,2702,3760,2332,0,0,0,0,0,0,24.75,23.78,22.61
$GC,9648,0.51,146.0,987.8,10.3,779,9654,0.17,2.08,0.00,0.000,6,0.203,0.026,2674,2446,2330,0,0,0,0,0,0,24.01,24.29,28.83
$GC,9969,0.51,146.0,943.9,13.5,795,9974,0.00,2.12,0.00,0.000,4,0.000,0.055,2674,3773,2322,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10036,0.51,146.0,934.7,14.9,798,10039,0.00,1.98,0.00,0.000,6,0.000,0.025,2683,2445,2321,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10349,0.51,146.0,888.5,14.1,814,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2441,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10649,0.51,146.0,846.3,14.0,829,10654,0.00,2.05,0.00,0.000,4,0.000,0.054,2683,3766,2318,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10688,0.51,146.0,839.8,15.0,831,10694,0.10,1.92,0.00,0.000,6,0.217,0.025,2672,2445,2318,0,0,0,0,0,0,25.82,26.20,28.83
$GC,11008,0.51,146.0,800.2,11.9,847,11014,0.00,2.05,0.00,0.000,4,0.000,0.031,2681,1055,2316,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11037,0.51,146.0,798.0,11.7,848,11041,0.00,2.25,0.00,0.000,6,0.000,0.047,2681,2520,2316,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11343,0.51,146.0,760.9,11.8,863,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2520,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11643,0.51,146.0,725.6,11.8,878,11649,0.00,2.20,0.00,0.000,4,0.000,0.031,2692,1053,2315,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11665,0.51,146.0,723.3,11.8,879,11671,0.05,2.25,0.00,0.000,6,0.171,0.046,2676,2520,2314,0,0,0,0,0,0,25.88,26.10,28.83
$GC,11985,0.51,146.0,688.3,10.3,895,11990,0.00,1.90,0.00,0.000,4,0.000,0.054,2676,3767,2314,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12045,0.51,146.0,680.7,12.0,898,12051,0.05,1.90,0.00,0.000,6,0.265,0.024,2675,2449,2313,0,0,0,0,0,0,26.12,26.34,28.83
$GC,12364,0.51,146.0,646.6,10.4,914,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2444,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12664,0.51,146.0,615.8,10.4,929,12669,0.00,2.05,0.00,0.000,4,0.000,0.033,2685,1055,2313,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12704,0.51,146.0,611.9,10.1,931,12711,0.05,2.25,0.00,0.000,6,0.227,0.044,2674,2525,2312,0,0,0,0,0,0,26.03,26.11,28.83
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$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19344,begin surface coast
$FINISH,0.8,1.023140
$STATE,19411,end surface coast,CONTROL_FINISHED_OK
$STATE,19411,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.00
$XPDR_PINGS,0
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$10V_AH,10.2,21.303
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,133955,1807
$CAP_FILE_SIZE,198283,0
$CFSIZE,260165632,207548416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,109.4,1
$GPS,120412,191236,1943.362,12427.508,32,1.2,32,-2.4