version: 66.10
glider: 176
mission: 5
dive: 241
start: 4 30 112 19 21 11
data:
$ID,176
$MISSION,5
$DIVE,241
$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,-7750.2446
$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,48
$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
$GPS1,300412,191307,1808.333,12329.148,28,1.3,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.8
$GPS2,300412,192044,1808.383,12329.256,12,1.3,12,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,271.1,134943,-13.1,-7.500
$D_GRID,4635
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.25,0.000,2,0.000,0.000,191,2668,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.3,-7.3,7,106,8.80,2.20,-25.55,0.000,4,0.236,0.039,2348,1155,3526,0,0,0,0,0,0,25.38,26.20,26.56
$GC,330,-0.51,-146.0,70.6,-21.4,52,337,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2633,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,641,-0.51,-146.0,160.5,-24.4,113,649,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1150,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,662,-0.51,-146.0,165.1,-22.8,116,669,0.10,2.22,0.00,0.000,6,0.177,0.043,2361,2641,3527,0,0,0,0,0,0,26.15,26.36,28.83
$GC,979,-0.51,-146.0,228.2,-19.3,164,988,0.08,2.10,0.00,0.000,4,0.134,0.023,2305,1151,3527,0,0,0,0,0,0,26.64,26.51,28.83
$GC,1021,-0.51,-146.0,236.9,-20.9,168,1030,0.20,2.22,0.00,0.000,6,0.148,0.044,2354,2638,3527,0,0,0,0,0,0,26.07,26.39,28.83
$GC,1331,-0.51,-146.0,290.3,-16.1,199,1339,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1140,3527,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1406,-0.51,-146.0,299.9,-12.2,206,1412,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2632,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1712,-0.51,-146.0,348.9,-14.4,237,1721,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1142,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1788,-0.51,-146.0,358.1,-11.7,244,1795,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2632,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2096,-0.51,-146.0,399.5,-11.8,275,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2632,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,-0.51,-146.0,431.3,-10.1,305,2406,0.00,2.08,0.00,0.000,4,0.000,0.026,2345,1152,3523,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2510,-0.51,-146.0,442.1,-8.6,316,2519,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2631,3521,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2820,-0.51,-146.0,480.8,-13.8,347,2824,0.00,1.67,0.00,0.000,4,0.000,0.051,2337,3768,3519,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2852,-0.51,-146.0,485.2,-14.1,350,2856,0.08,1.70,0.00,0.000,6,0.171,0.023,2360,2495,3519,0,0,0,0,0,0,26.41,26.65,28.83
$GC,3163,-0.51,-146.0,518.1,-8.4,381,3165,0.05,0.00,0.00,0.000,6,0.175,0.000,2302,2484,3515,0,0,0,0,0,0,26.69,28.83,28.83
$GC,3465,-0.51,-146.0,556.4,-12.9,411,3474,0.15,1.85,0.00,0.000,4,0.151,0.025,2354,1158,3513,0,0,0,0,0,0,26.29,26.50,28.83
$GC,3540,-0.51,-146.0,562.5,-6.8,418,3547,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2633,3513,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3848,-0.51,-146.0,588.3,-9.2,449,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4158,-0.51,-146.0,618.8,-10.1,471,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2635,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4457,-0.51,-146.0,648.5,-9.5,486,4463,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1145,3504,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4510,-0.51,-146.0,652.1,-9.2,488,4517,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2635,3504,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4817,-0.51,-146.0,680.1,-8.4,504,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2636,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5117,-0.51,-146.0,704.1,-8.1,519,5123,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1148,3499,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5167,-0.51,-146.0,707.3,-8.0,521,5171,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2635,3498,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5472,-0.51,-146.0,734.0,-9.0,536,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2636,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5772,-0.51,-146.0,759.2,-8.1,551,5778,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1147,3493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5816,-0.51,-146.0,762.5,-8.1,553,5820,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2633,3494,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6128,-0.51,-146.0,788.2,-8.5,569,6133,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1147,3492,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6156,-0.51,-146.0,789.9,-8.6,570,6160,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2631,3492,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6464,-0.51,-146.0,817.6,-8.8,585,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6763,-0.51,-146.0,845.0,-9.5,600,6768,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1149,3488,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6811,-0.51,-146.0,848.9,-9.6,602,6815,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2629,3487,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7119,-0.51,-146.0,879.3,-9.3,617,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2629,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7418,-0.51,-146.0,905.3,-8.4,632,7424,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1155,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7458,-0.51,-146.0,908.6,-8.4,634,7462,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2632,3484,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7781,-0.51,-146.0,934.3,-7.8,650,7785,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1152,3482,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7824,-0.51,-146.0,937.8,-8.2,652,7830,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2631,3482,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8144,-0.51,-146.0,960.0,-6.4,668,8148,0.00,1.75,0.00,0.000,4,0.000,0.058,2345,3764,3481,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8195,-0.51,-146.0,962.6,-6.2,670,8198,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2510,3480,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8507,-0.51,-146.0,979.6,-4.9,686,8513,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3766,3479,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8536,-0.51,-146.0,980.6,-4.9,687,8540,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2500,3478,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,8746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8746,begin apogee
$GC,8751,-0.17,0.0,990.8,-4.8,698,8879,0.35,0.08,120.62,1.731,6,0.105,0.096,2470,2435,2929,0,0,0,0,0,0,25.97,24.49,23.20
$STATE,8880,end apogee,CONTROL_FINISHED_OK
$STATE,8880,begin climb
$GC,8882,0.51,146.0,992.7,0.0,704,9031,0.57,2.33,140.57,1.685,4,0.047,0.057,2706,3765,2331,0,0,0,0,0,0,24.80,23.82,22.45
$GC,9057,0.51,146.0,983.6,10.9,713,9066,0.17,2.05,0.00,0.000,6,0.193,0.024,2676,2444,2328,0,0,0,0,0,0,24.22,24.57,28.83
$GC,9363,0.51,146.0,942.4,11.5,729,9369,0.00,2.10,0.00,0.000,4,0.000,0.054,2675,3773,2321,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9392,0.51,146.0,939.9,11.6,730,9396,0.05,1.95,0.00,0.000,6,0.259,0.025,2675,2441,2321,0,0,0,0,0,0,25.87,26.07,28.83
$GC,9699,0.51,146.0,905.1,11.1,745,9705,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1048,2318,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9741,0.51,146.0,901.0,10.7,747,9746,0.05,2.28,0.00,0.000,6,0.229,0.047,2674,2521,2317,0,0,0,0,0,0,26.02,26.11,28.83
$GC,10054,0.51,146.0,865.6,11.3,763,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2521,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10355,0.51,146.0,831.2,11.5,778,10359,0.00,2.17,0.00,0.000,4,0.000,0.030,2684,1046,2315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10429,0.51,146.0,824.7,10.7,781,10438,0.03,2.28,0.00,0.000,6,0.285,0.045,2674,2525,2313,0,0,0,0,0,0,26.10,26.19,28.83
$GC,10737,0.51,146.0,790.5,10.5,797,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2525,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11036,0.51,146.0,758.3,10.7,812,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2525,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11336,0.51,146.0,724.9,11.6,827,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2525,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11638,0.51,146.0,689.1,12.1,842,11643,0.00,2.15,0.00,0.000,4,0.000,0.029,2683,1056,2312,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11720,0.51,146.0,680.2,11.1,846,11724,0.03,2.28,0.00,0.000,6,0.187,0.045,2674,2517,2311,0,0,0,0,0,0,26.06,26.18,28.83
$GC,12039,0.51,146.0,647.7,9.3,862,12044,0.00,2.15,0.00,0.000,4,0.000,0.031,2684,1055,2311,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12070,0.51,146.0,645.8,9.1,863,12078,0.03,2.25,0.00,0.000,6,0.277,0.045,2673,2518,2310,0,0,0,0,0,0,26.10,26.17,28.83
$GC,12377,0.51,146.0,619.9,8.0,879,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2518,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12678,0.51,146.0,592.4,10.0,897,12679,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2518,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12979,0.51,146.0,559.7,10.9,927,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2518,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13279,0.51,146.0,529.2,9.9,957,13283,0.00,2.17,0.00,0.000,4,0.000,0.032,2683,1045,2310,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13382,0.51,146.0,519.5,8.9,967,13391,0.03,2.25,0.00,0.000,6,0.173,0.045,2673,2519,2309,0,0,0,0,0,0,26.01,26.13,28.83
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$STATE,19435,end climb,SURFACE_DEPTH_REACHED
$STATE,19435,begin surface coast
$FINISH,0.7,1.018828
$STATE,19542,end surface coast,CONTROL_FINISHED_OK
$STATE,19542,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.90
$XPDR_PINGS,0
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$10V_AH,10.0,31.415
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.650,155.650,470.475,0.000,0.000,32.007,23.177,250.996,0.000,0.000,15.020,4494.526,10992.186,564.912,3554.608,435.323,0.000,2235.566,0.000,2970.889,0.000,0.543,0.000
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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,329424
$DATA_FILE_SIZE,133684,1779
$CAP_FILE_SIZE,203230,0
$CFSIZE,260165632,199041024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,337.5,1
$GPS,010512,004907,1809.138,12326.387,29,1.0,29,-2.0