version: 66.10
glider: 176
mission: 5
dive: 188
start: 4 18 112 7 26 41
data:
$ID,176
$MISSION,5
$DIVE,188
$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,-7678.9746
$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
$GPS1,180412,071907,1838.963,12434.761,41,0.9,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.0
$GPS2,180412,072614,1839.028,12434.818,12,1.2,12,-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,169.9,90800,-13.1,-7.500
$D_GRID,5882
$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,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,61,0.00,0.00,-41.90,0.000,2,0.000,0.000,186,2664,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.4,-7.9,7,100,8.68,1.73,-20.73,0.000,4,0.234,0.065,2341,3777,3527,0,0,0,0,0,0,25.44,26.06,26.52
$GC,127,-0.51,-146.0,21.8,-29.2,12,135,0.05,1.73,0.00,0.000,6,0.247,0.023,2352,2512,3527,0,0,0,0,0,0,26.07,26.28,28.83
$GC,439,-0.51,-146.0,140.9,-28.8,73,447,0.00,1.90,0.00,0.000,4,0.000,0.026,2352,1149,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,453,-0.51,-146.0,145.0,-29.0,75,461,0.05,2.22,0.00,0.000,6,0.242,0.042,2353,2631,3527,0,0,0,0,0,0,26.11,26.25,28.83
$GC,769,-0.51,-146.0,215.2,-20.3,130,773,0.00,2.12,0.00,0.000,4,0.000,0.027,2354,1145,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,862,-0.51,-146.0,230.2,-14.3,139,871,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2633,3528,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1172,-0.51,-146.0,287.2,-18.2,170,1180,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1148,3528,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1256,-0.51,-146.0,299.2,-13.3,178,1263,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2634,3528,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1563,-0.51,-146.0,348.3,-14.7,209,1567,0.00,1.67,0.00,0.000,4,0.000,0.053,2337,3770,3527,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1586,-0.51,-146.0,351.5,-14.6,211,1594,0.05,1.73,0.00,0.000,6,0.141,0.021,2358,2493,3526,0,0,0,0,0,0,26.36,26.64,28.83
$GC,1894,-0.51,-146.0,387.6,-12.1,242,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2492,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2197,-0.51,-146.0,423.3,-11.8,272,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2492,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,-0.51,-146.0,455.2,-9.7,303,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2492,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-0.51,-146.0,490.0,-11.7,334,2821,0.00,1.92,0.00,0.000,4,0.000,0.024,2358,1140,3519,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2852,-0.51,-146.0,493.6,-10.9,337,2860,0.00,2.25,0.00,0.000,6,0.000,0.044,2358,2629,3519,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3158,-0.51,-146.0,527.2,-10.5,368,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2629,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3461,-0.51,-146.0,557.0,-9.4,398,3464,0.00,1.75,0.00,0.000,4,0.000,0.057,2357,3763,3515,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3492,-0.51,-146.0,560.1,-9.3,401,3496,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2497,3515,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3803,-0.51,-146.0,587.6,-8.1,432,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2493,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4113,-0.51,-146.0,611.1,-7.5,456,4119,0.00,1.95,0.00,0.000,4,0.000,0.055,2356,3766,3511,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4147,-0.51,-146.0,612.7,-7.4,457,4155,0.00,1.70,0.00,0.000,6,0.000,0.023,2356,2488,3510,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4453,-0.51,-146.0,636.7,-7.3,473,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2488,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-0.51,-146.0,658.0,-6.9,488,4759,0.00,1.98,0.00,0.000,4,0.000,0.056,2356,3774,3505,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4776,-0.51,-146.0,659.4,-6.9,489,4780,0.00,1.70,0.00,0.000,6,0.000,0.023,2356,2516,3505,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5093,-0.51,-146.0,682.8,-7.5,505,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2493,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5393,-0.51,-146.0,704.9,-7.5,520,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2493,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.51,-146.0,727.8,-7.5,535,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2493,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5994,-0.51,-146.0,750.2,-7.4,550,6000,0.00,1.95,0.00,0.000,4,0.000,0.055,2357,3763,3496,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6041,-0.51,-146.0,753.3,-7.5,552,6044,0.00,1.73,0.00,0.000,6,0.000,0.023,2357,2466,3495,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6354,-0.51,-146.0,777.5,-7.6,568,6358,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3765,3495,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6398,-0.51,-146.0,780.6,-7.6,570,6401,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2495,3494,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6717,-0.51,-146.0,803.2,-6.5,586,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2491,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-0.51,-146.0,821.0,-5.8,601,7021,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3769,3491,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7038,-0.51,-146.0,822.3,-6.0,602,7042,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2511,3490,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7357,-0.51,-146.0,841.6,-6.1,618,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2484,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,-0.51,-146.0,862.7,-7.5,633,7660,0.00,2.00,0.00,0.000,4,0.000,0.058,2356,3769,3487,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7697,-0.51,-146.0,865.8,-7.6,635,7700,0.00,1.70,0.00,0.000,6,0.000,0.024,2356,2519,3486,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8018,-0.51,-146.0,890.4,-7.7,651,8023,0.00,1.92,0.00,0.000,4,0.000,0.028,2357,1155,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8050,-0.51,-146.0,892.1,-7.8,652,8057,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2634,3485,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8358,-0.51,-146.0,916.1,-7.3,668,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2634,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,-0.51,-146.0,936.6,-6.6,683,8664,0.00,2.15,0.00,0.000,4,0.000,0.027,2356,1153,3484,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8691,-0.51,-146.0,937.9,-6.5,684,8697,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2628,3484,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8999,-0.51,-146.0,955.8,-5.2,700,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,-0.51,-146.0,970.9,-5.1,715,9304,0.00,2.12,0.00,0.000,4,0.000,0.027,2356,1152,3482,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9321,-0.51,-146.0,972.0,-5.1,716,9325,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,2635,3482,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,9631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9631,begin apogee
$GC,9637,-0.17,0.0,990.4,-6.3,732,9766,0.30,0.15,121.15,1.749,6,0.106,0.085,2465,2536,2929,0,0,0,0,0,0,26.03,24.52,23.30
$STATE,9767,end apogee,CONTROL_FINISHED_OK
$STATE,9767,begin climb
$GC,9769,0.51,146.0,994.6,0.0,738,9919,0.60,2.47,140.60,1.709,4,0.050,0.032,2715,1061,2333,0,0,0,0,0,0,24.78,23.87,22.58
$GC,9936,0.51,146.0,988.3,9.4,747,9943,0.17,2.42,0.00,0.000,6,0.174,0.046,2672,2515,2329,0,0,0,0,0,0,24.12,24.32,28.83
$GC,10257,0.51,146.0,948.6,12.6,763,10263,0.00,1.98,0.00,0.000,4,0.000,0.057,2672,3770,2323,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10279,0.51,146.0,945.9,12.8,764,10283,0.00,1.92,0.00,0.000,6,0.000,0.026,2680,2454,2322,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10597,0.51,146.0,901.6,13.9,780,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2450,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10897,0.51,146.0,860.6,13.6,795,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2450,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11197,0.51,146.0,823.7,11.8,810,11201,0.00,2.05,0.00,0.000,4,0.000,0.053,2680,3766,2318,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11231,0.51,146.0,820.8,11.9,811,11239,0.05,1.92,0.00,0.000,6,0.195,0.024,2674,2449,2317,0,0,0,0,0,0,25.96,26.29,28.83
$GC,11539,0.51,146.0,785.6,10.7,827,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2447,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11839,0.51,146.0,753.5,10.6,842,11845,0.00,2.08,0.00,0.000,4,0.000,0.054,2674,3766,2316,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11919,0.51,146.0,743.2,13.1,846,11923,0.03,1.95,0.00,0.000,6,0.153,0.024,2664,2447,2315,0,0,0,0,0,0,25.98,26.36,28.83
$GC,12241,0.51,146.0,708.9,10.5,862,12246,0.08,2.08,0.00,0.000,4,0.135,0.053,2707,3775,2314,0,0,0,0,0,0,26.51,26.02,28.83
$GC,12276,0.51,146.0,705.9,11.1,863,12284,0.17,1.92,0.00,0.000,6,0.188,0.023,2672,2438,2314,0,0,0,0,0,0,25.72,26.37,28.83
$GC,12584,0.51,146.0,668.4,11.2,879,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2436,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12884,0.51,146.0,637.1,9.7,894,12890,0.00,2.08,0.00,0.000,4,0.000,0.054,2672,3766,2315,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12913,0.51,146.0,634.9,9.8,895,12916,0.00,1.88,0.00,0.000,6,0.000,0.024,2682,2444,2314,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13220,0.51,146.0,601.6,10.5,910,13225,0.00,2.00,0.00,0.000,4,0.000,0.033,2692,1058,2313,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13248,0.51,146.0,598.6,10.4,912,13258,0.10,2.25,0.00,0.000,6,0.181,0.046,2669,2518,2313,0,0,0,0,0,0,25.88,26.10,28.83
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$STATE,19857,begin surface coast
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$STATE,19878,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.65
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$XPDR_PINGS,0
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$10V_AH,10.1,24.507
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329436
$DATA_FILE_SIZE,130671,1754
$CAP_FILE_SIZE,200052,0
$CFSIZE,260165632,204853248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,234.0,1
$GPS,180412,130025,1836.445,12435.188,40,1.4,40,-2.2