version: 66.10
glider: 176
mission: 5
dive: 187
start: 4 18 112 1 57 4
data:
$ID,176
$MISSION,5
$DIVE,187
$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,-7677.6201
$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
$GPS1,180412,014854,1841.240,12434.448,24,1.3,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.4
$GPS2,180412,015637,1841.286,12434.431,10,2.0,16,-2.2
$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,165.6,94987,-13.1,-7.500
$D_GRID,5827
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.10,0.000,2,0.000,0.000,176,2693,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.0,-5.7,7,105,8.68,2.25,-25.58,0.000,4,0.233,0.037,2350,1145,3526,0,0,0,0,0,0,25.43,26.15,26.51
$GC,153,-0.51,-146.0,23.6,-25.3,20,160,0.08,2.28,0.00,0.000,6,0.204,0.047,2356,2629,3526,0,0,0,0,0,0,25.93,26.08,28.83
$GC,465,-0.51,-146.0,128.4,-29.5,81,472,0.00,2.10,0.00,0.000,4,0.000,0.027,2356,1157,3526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,524,-0.51,-146.0,144.9,-20.1,92,531,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2627,3526,0,0,0,0,0,0,28.83,26.24,28.83
$GC,840,-0.51,-146.0,218.9,-22.0,146,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.51,-146.0,277.6,-18.7,176,1153,0.00,2.08,0.00,0.000,4,0.000,0.026,2348,1156,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1198,-0.51,-146.0,286.4,-15.2,181,1206,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2633,3526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1505,-0.51,-146.0,338.6,-16.1,212,1514,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1146,3525,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1539,-0.51,-146.0,343.3,-15.4,215,1547,0.10,2.25,0.00,0.000,6,0.164,0.044,2362,2637,3525,0,0,0,0,0,0,26.20,26.36,28.83
$GC,1848,-0.51,-146.0,382.8,-12.0,246,1852,0.08,2.12,0.00,0.000,4,0.132,0.024,2305,1149,3524,0,0,0,0,0,0,26.67,26.49,28.83
$GC,1932,-0.51,-146.0,394.9,-15.0,254,1940,0.12,2.28,0.00,0.000,6,0.128,0.046,2359,2628,3524,0,0,0,0,0,0,26.07,26.36,28.83
$GC,2240,-0.51,-146.0,431.3,-10.6,285,2242,0.05,0.00,0.00,0.000,6,0.176,0.000,2302,2628,3522,0,0,0,0,0,0,26.70,28.83,28.83
$GC,2541,-0.51,-146.0,478.4,-15.4,315,2551,0.15,2.08,0.00,0.000,4,0.155,0.024,2353,1156,3520,0,0,0,0,0,0,26.28,26.50,28.83
$GC,2634,-0.51,-146.0,487.0,-7.8,324,2643,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2628,3519,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2943,-0.51,-146.0,519.4,-11.0,355,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2629,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3245,-0.51,-146.0,555.7,-11.7,385,3255,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1143,3515,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3287,-0.51,-146.0,561.0,-11.8,389,3297,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2636,3515,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3597,-0.51,-146.0,595.1,-10.1,420,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3908,-0.51,-146.0,626.0,-9.6,438,3913,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1147,3510,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3940,-0.51,-146.0,628.0,-9.6,439,3947,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2628,3510,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4248,-0.51,-146.0,656.9,-8.9,455,4253,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1145,3507,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4300,-0.51,-146.0,660.4,-8.9,457,4308,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2631,3506,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4607,-0.51,-146.0,687.1,-8.2,473,4613,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1148,3504,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4641,-0.51,-146.0,688.9,-8.2,474,4647,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2627,3504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4949,-0.51,-146.0,716.2,-8.8,490,4955,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1141,3501,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4989,-0.51,-146.0,719.7,-8.7,492,4993,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2626,3501,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5308,-0.51,-146.0,749.2,-9.8,508,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2627,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5607,-0.51,-146.0,777.7,-9.6,523,5613,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1139,3496,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5635,-0.51,-146.0,779.6,-9.6,524,5639,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2633,3496,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5943,-0.51,-146.0,807.4,-8.4,539,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2634,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6243,-0.51,-146.0,830.2,-7.0,554,6248,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1135,3492,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6291,-0.51,-146.0,833.0,-6.9,556,6295,0.00,2.30,0.00,0.000,6,0.000,0.047,2347,2634,3492,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6603,-0.51,-146.0,853.0,-6.2,572,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2634,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6903,-0.51,-146.0,871.4,-6.4,587,6908,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1150,3487,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6947,-0.51,-146.0,874.2,-6.6,589,6951,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2626,3487,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7258,-0.51,-146.0,897.3,-7.6,605,7264,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1143,3486,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7286,-0.51,-146.0,898.7,-7.6,606,7290,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2627,3486,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7594,-0.51,-146.0,920.9,-6.8,621,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2628,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,-0.51,-146.0,940.7,-6.4,636,7899,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1148,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7942,-0.51,-146.0,943.3,-6.6,638,7946,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2633,3484,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8250,-0.51,-146.0,963.4,-6.4,653,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2633,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8549,-0.51,-146.0,983.3,-6.7,668,8555,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1151,3481,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8577,-0.51,-146.0,984.8,-6.8,669,8581,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2625,3481,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8662,begin apogee
$GC,8667,-0.17,0.0,991.2,-6.7,673,8794,0.32,0.12,120.65,1.743,6,0.106,0.097,2463,2532,2928,0,0,0,0,0,0,25.99,24.53,23.34
$STATE,8795,end apogee,CONTROL_FINISHED_OK
$STATE,8795,begin climb
$GC,8798,0.51,146.0,995.2,0.0,679,8948,0.60,2.47,139.85,1.704,4,0.049,0.033,2713,1057,2333,0,0,0,0,0,0,24.80,23.89,22.61
$GC,8983,0.51,146.0,986.9,10.7,689,8988,0.17,2.42,0.00,0.000,6,0.176,0.047,2671,2520,2327,0,0,0,0,0,0,24.32,24.55,28.83
$GC,9296,0.51,146.0,950.0,11.3,705,9302,0.00,1.95,0.00,0.000,4,0.000,0.057,2671,3763,2323,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9356,0.51,146.0,941.9,13.0,708,9361,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2448,2321,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9677,0.51,146.0,904.2,11.8,724,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2444,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9976,0.51,146.0,870.1,11.7,739,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2444,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10276,0.51,146.0,834.4,12.5,754,10280,0.00,2.05,0.00,0.000,4,0.000,0.053,2680,3765,2318,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10306,0.51,146.0,831.3,13.0,755,10311,0.10,1.90,0.00,0.000,6,0.215,0.025,2668,2439,2317,0,0,0,0,0,0,25.91,26.30,28.83
$GC,10613,0.51,146.0,789.4,13.7,770,10618,0.00,2.03,0.00,0.000,4,0.000,0.032,2676,1052,2315,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10641,0.51,146.0,786.6,13.7,771,10645,0.00,2.25,0.00,0.000,6,0.000,0.044,2676,2527,2315,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10949,0.51,146.0,744.2,12.7,786,10954,0.00,1.90,0.00,0.000,4,0.000,0.052,2676,3767,2315,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11020,0.51,146.0,735.7,13.8,789,11029,0.08,1.92,0.00,0.000,6,0.232,0.025,2671,2433,2314,0,0,0,0,0,0,26.06,26.35,28.83
$GC,11328,0.51,146.0,699.8,10.5,805,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2431,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11627,0.51,146.0,668.8,10.3,820,11633,0.00,2.00,0.00,0.000,4,0.000,0.031,2681,1055,2314,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11680,0.51,146.0,664.6,10.4,822,11687,0.00,2.25,0.00,0.000,6,0.000,0.045,2681,2520,2313,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11989,0.51,146.0,626.9,12.1,838,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2520,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12287,0.51,146.0,591.0,11.8,856,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2520,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12592,0.51,146.0,556.7,10.6,886,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2520,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12899,0.51,146.0,528.6,8.6,917,12908,0.00,1.92,0.00,0.000,4,0.000,0.054,2681,3772,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12985,0.51,146.0,519.5,10.8,925,12993,0.10,1.90,0.00,0.000,6,0.204,0.022,2668,2436,2311,0,0,0,0,0,0,26.03,26.45,28.83
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$STATE,19205,end climb,SURFACE_DEPTH_REACHED
$STATE,19205,begin surface coast
$FINISH,0.8,1.022077
$STATE,19226,end surface coast,CONTROL_FINISHED_OK
$STATE,19227,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,41.57
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,10.1,24.379
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.925,161.450,407.900,6.950,0.000,31.932,41.260,237.794,0.000,0.000,21.089,4415.674,10813.142,567.215,3473.734,414.991,0.000,2176.139,0.000,2905.824,0.000,0.543,0.000
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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,329392
$DATA_FILE_SIZE,130537,1750
$CAP_FILE_SIZE,200863,0
$CFSIZE,260165632,204955648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,262.2,1
$GPS,180412,071907,1838.963,12434.761,41,0.9,41,-2.2