version: 66.10
glider: 176
mission: 5
dive: 165
start: 4 13 112 0 45 29
data:
$ID,176
$MISSION,5
$DIVE,165
$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,-7640.6543
$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
$GPS1,130412,003725,1941.149,12427.938,36,1.5,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.4
$GPS2,130412,004502,1941.171,12428.187,15,1.2,15,-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,207.2,206239,-13.1,-7.500
$D_GRID,5533
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,190,2472,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.1,-5.8,7,105,8.77,1.92,-23.40,0.000,4,0.240,0.040,2347,1143,3527,0,0,0,0,0,0,25.42,26.14,26.46
$GC,117,-0.51,-146.0,13.7,-20.1,13,125,0.10,2.28,0.00,0.000,6,0.181,0.044,2361,2632,3528,0,0,0,0,0,0,25.82,26.02,28.83
$GC,446,-0.51,-146.0,91.6,-24.5,74,454,0.08,2.12,0.00,0.000,4,0.131,0.024,2312,1155,3528,0,0,0,0,0,0,26.44,26.28,28.83
$GC,477,-0.51,-146.0,99.1,-25.4,79,485,0.17,2.25,0.00,0.000,6,0.158,0.043,2353,2641,3528,0,0,0,0,0,0,25.87,26.18,28.83
$GC,789,-0.51,-146.0,169.2,-22.9,140,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2641,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-0.51,-146.0,229.6,-18.4,186,1107,0.00,2.12,0.00,0.000,4,0.000,0.026,2354,1151,3528,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1217,-0.51,-146.0,246.1,-14.1,197,1225,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2631,3528,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1524,-0.51,-146.0,299.8,-16.2,228,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2631,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1828,-0.51,-146.0,346.0,-14.5,258,1837,0.00,2.08,0.00,0.000,4,0.000,0.027,2345,1158,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1854,-0.51,-146.0,349.9,-15.1,260,1861,0.10,2.22,0.00,0.000,6,0.164,0.043,2363,2639,3529,0,0,0,0,0,0,26.18,26.35,28.83
$GC,2159,-0.51,-146.0,389.9,-12.8,291,2169,0.08,2.12,0.00,0.000,4,0.132,0.023,2306,1155,3527,0,0,0,0,0,0,26.67,26.48,28.83
$GC,2205,-0.51,-146.0,396.1,-15.0,295,2212,0.17,2.22,0.00,0.000,6,0.141,0.044,2358,2629,3527,0,0,0,0,0,0,26.10,26.34,28.83
$GC,2512,-0.51,-146.0,434.5,-12.7,326,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2629,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2813,-0.51,-146.0,469.9,-10.7,356,2822,0.00,2.10,0.00,0.000,4,0.000,0.026,2359,1155,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2887,-0.51,-146.0,477.1,-9.3,363,2895,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2627,3525,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3195,-0.51,-146.0,511.5,-11.7,394,3204,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1150,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3239,-0.51,-146.0,516.1,-11.3,398,3246,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2627,3523,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3546,-0.51,-146.0,549.0,-10.1,429,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2627,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3848,-0.51,-146.0,578.6,-9.6,459,3856,0.00,2.08,0.00,0.000,4,0.000,0.025,2356,1158,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3892,-0.51,-146.0,582.5,-9.5,463,3899,0.00,2.22,0.00,0.000,6,0.000,0.045,2357,2628,3519,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4210,-0.51,-146.0,610.1,-8.2,489,4215,0.00,2.08,0.00,0.000,4,0.000,0.026,2356,1159,3517,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4249,-0.51,-146.0,613.3,-8.1,491,4254,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2634,3517,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4569,-0.51,-146.0,639.6,-8.5,507,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2634,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4869,-0.51,-146.0,666.6,-8.8,522,4875,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1148,3512,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4950,-0.51,-146.0,673.3,-8.4,526,4955,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2633,3512,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5269,-0.51,-146.0,698.5,-7.7,542,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2632,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.51,-146.0,721.6,-7.7,557,5575,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1153,3507,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5618,-0.51,-146.0,724.7,-7.7,559,5622,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2634,3507,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5925,-0.51,-146.0,748.2,-7.4,574,5928,0.00,1.73,0.00,0.000,4,0.000,0.057,2357,3763,3505,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5954,-0.51,-146.0,749.8,-7.5,575,5957,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2505,3504,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6266,-0.51,-146.0,773.1,-7.1,591,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2485,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.51,-146.0,793.7,-6.6,606,6572,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3767,3501,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6606,-0.51,-146.0,796.3,-6.6,608,6610,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2492,3501,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6928,-0.51,-146.0,816.8,-6.5,624,6934,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3769,3499,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6951,-0.51,-146.0,818.2,-6.6,625,6954,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2495,3499,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7269,-0.51,-146.0,838.6,-6.2,641,7275,0.00,1.98,0.00,0.000,4,0.000,0.055,2356,3772,3497,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7308,-0.51,-146.0,841.3,-6.4,643,7312,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2507,3496,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7630,-0.51,-146.0,860.8,-6.2,659,7635,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3767,3496,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7658,-0.51,-146.0,861.9,-6.0,660,7662,0.00,1.70,0.00,0.000,6,0.000,0.025,2356,2516,3495,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7969,-0.51,-146.0,881.2,-6.0,676,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2489,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8270,-0.51,-146.0,899.7,-6.4,691,8274,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3794,3493,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8315,-0.51,-146.0,902.5,-6.7,693,8318,0.00,1.77,0.00,0.000,6,0.000,0.025,2356,2526,3492,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8632,-0.51,-146.0,922.6,-6.0,709,8636,0.00,1.95,0.00,0.000,4,0.000,0.029,2356,1164,3491,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8663,-0.51,-146.0,923.9,-6.0,710,8667,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2634,3491,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8969,-0.51,-146.0,942.1,-5.5,725,8974,0.00,2.15,0.00,0.000,4,0.000,0.028,2357,1156,3490,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9002,-0.51,-146.0,943.2,-5.5,726,9008,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2630,3490,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9311,-0.51,-146.0,960.1,-5.1,742,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9609,-0.51,-146.0,977.2,-6.0,757,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3488,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9827,begin apogee
$GC,9833,-0.17,0.0,990.7,-6.3,768,9962,0.30,0.10,122.40,1.753,6,0.107,0.069,2465,2537,2928,0,0,0,0,0,0,26.03,24.47,23.33
$STATE,9963,end apogee,CONTROL_FINISHED_OK
$STATE,9964,begin climb
$GC,9965,0.51,146.0,994.8,0.0,774,10111,0.60,0.00,141.50,1.711,6,0.048,0.000,2704,2537,2332,0,0,0,0,0,0,24.75,28.83,22.61
$GC,10408,0.51,146.0,947.3,14.9,797,10415,0.12,2.25,0.00,0.000,4,0.192,0.028,2680,1057,2322,0,0,0,0,0,0,25.44,25.68,28.83
$GC,10429,0.51,146.0,944.5,14.6,798,10435,0.00,2.30,0.00,0.000,6,0.000,0.047,2680,2513,2321,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10750,0.51,146.0,903.6,13.1,814,10755,0.00,2.17,0.00,0.000,4,0.000,0.031,2690,1055,2319,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10796,0.51,146.0,898.6,12.9,816,10801,0.10,2.28,0.00,0.000,6,0.192,0.047,2667,2519,2318,0,0,0,0,0,0,25.71,25.94,28.83
$GC,11103,0.51,146.0,859.2,12.5,831,11110,0.05,1.92,0.00,0.000,4,0.176,0.053,2699,3773,2317,0,0,0,0,0,0,26.33,25.95,28.83
$GC,11144,0.51,146.0,852.9,14.1,833,11150,0.15,1.92,0.00,0.000,6,0.197,0.026,2673,2448,2317,0,0,0,0,0,0,25.66,26.20,28.83
$GC,11463,0.51,146.0,813.3,11.6,849,11469,0.00,2.05,0.00,0.000,4,0.000,0.054,2673,3764,2316,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11506,0.51,146.0,808.0,12.5,851,11510,0.00,1.95,0.00,0.000,6,0.000,0.025,2682,2445,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11824,0.51,146.0,769.2,11.8,867,11830,0.00,2.10,0.00,0.000,4,0.000,0.054,2681,3776,2315,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11857,0.51,146.0,766.5,12.2,868,11864,0.10,1.92,0.00,0.000,6,0.216,0.024,2670,2438,2315,0,0,0,0,0,0,25.91,26.31,28.83
$GC,12164,0.51,146.0,728.1,11.5,884,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2436,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12464,0.51,146.0,692.7,11.7,899,12470,0.00,2.08,0.00,0.000,4,0.000,0.054,2669,3763,2314,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12512,0.51,146.0,687.5,12.3,901,12515,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2448,2313,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12824,0.51,146.0,650.0,10.8,917,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2444,2313,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19954,end climb,SURFACE_DEPTH_REACHED
$STATE,19954,begin surface coast
$FINISH,0.8,1.010764
$STATE,20049,end surface coast,CONTROL_FINISHED_OK
$STATE,20049,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,42.04
$INTERNAL_PRESSURE,9.466
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$XPDR_PINGS,0
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$10V_AH,10.1,21.562
$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,329416
$DATA_FILE_SIZE,134130,1822
$CAP_FILE_SIZE,201356,0
$CFSIZE,260165632,207331328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,125.7,1
$GPS,130412,062137,1937.695,12429.078,36,1.1,36,-2.4