version: 66.10
glider: 176
mission: 5
dive: 332
start: 5 20 112 11 26 17
data:
$ID,176
$MISSION,5
$DIVE,332
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,420
$T_MISSION,480
$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,163
$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,-7958.7388
$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,2600
$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
$GPS1,200512,111754,1948.425,12334.188,24,0.9,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.0
$GPS2,200512,112550,1948.340,12334.141,15,0.9,15,-2.4
$SPEED_LIMITS,0.136,0.239
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,30.9,93739,-13.8,-7.857
$D_GRID,5208
$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,-0.52,-146.0,0.0,0.0,0,65,0.00,0.00,-46.53,0.000,2,0.000,0.000,183,2628,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.52,-146.0,3.1,-6.6,8,111,8.80,1.77,-28.17,0.000,4,0.232,0.061,2338,3782,3527,0,0,0,0,0,0,25.18,26.16,26.69
$GC,248,-0.52,-146.0,55.2,-25.3,36,255,0.00,1.73,0.00,0.000,6,0.000,0.024,2338,2531,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,560,-0.52,-146.0,143.1,-26.4,97,568,0.00,1.95,0.00,0.000,4,0.000,0.027,2338,1135,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,641,-0.52,-146.0,159.2,-15.9,112,648,0.08,2.25,0.00,0.000,6,0.194,0.046,2352,2628,3527,0,0,0,0,0,0,26.16,26.29,28.83
$GC,958,-0.52,-146.0,223.5,-22.0,163,967,0.00,2.08,0.00,0.000,4,0.000,0.024,2352,1127,3527,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1019,-0.52,-146.0,234.5,-16.1,169,1029,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2621,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1329,-0.52,-146.0,281.1,-15.2,200,1338,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1135,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1403,-0.52,-146.0,290.5,-12.1,207,1411,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2622,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1711,-0.52,-146.0,337.0,-15.4,238,1714,0.00,1.73,0.00,0.000,4,0.000,0.054,2348,3772,3526,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1746,-0.52,-146.0,341.6,-14.8,241,1753,0.00,1.70,0.00,0.000,6,0.000,0.021,2348,2488,3526,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2051,-0.52,-146.0,380.7,-13.3,272,2055,0.00,1.90,0.00,0.000,4,0.000,0.024,2348,1129,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2119,-0.52,-146.0,387.8,-10.1,278,2128,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2618,3524,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2428,-0.52,-146.0,421.8,-10.8,309,2438,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1129,3522,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2453,-0.52,-146.0,424.2,-10.3,311,2460,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2626,3522,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2760,-0.52,-146.0,455.6,-9.9,342,2769,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1137,3520,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2822,-0.52,-146.0,461.2,-8.7,348,2831,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2627,3520,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3132,-0.52,-146.0,489.5,-8.8,379,3141,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1128,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3164,-0.52,-146.0,492.3,-8.6,382,3173,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2618,3518,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3473,-0.52,-146.0,518.4,-8.7,413,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2618,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,-0.52,-146.0,545.4,-9.3,443,3779,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3769,3512,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3830,-0.52,-146.0,550.3,-9.4,448,3837,0.00,1.73,0.00,0.000,6,0.000,0.022,2345,2469,3511,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4137,-0.52,-146.0,578.0,-9.2,479,4145,0.00,2.00,0.00,0.000,4,0.000,0.054,2344,3765,3508,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4170,-0.52,-146.0,580.9,-9.0,482,4178,0.00,1.75,0.00,0.000,6,0.000,0.022,2344,2472,3508,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4490,-0.52,-146.0,608.6,-8.4,509,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2472,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4788,-0.52,-146.0,632.0,-7.3,524,4794,0.00,2.00,0.00,0.000,4,0.000,0.054,2338,3766,3503,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4842,-0.52,-146.0,634.8,-7.1,526,4849,0.00,1.73,0.00,0.000,6,0.000,0.022,2338,2470,3502,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5149,-0.52,-146.0,657.6,-7.6,542,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2469,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5448,-0.52,-146.0,681.8,-8.7,557,5453,0.00,2.00,0.00,0.000,4,0.000,0.054,2331,3773,3498,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5529,-0.52,-146.0,689.3,-9.4,561,5533,0.08,1.73,0.00,0.000,6,0.169,0.022,2354,2491,3497,0,0,0,0,0,0,26.35,26.60,28.83
$GC,5851,-0.52,-146.0,714.3,-7.5,577,5853,0.05,0.00,0.00,0.000,6,0.174,0.000,2301,2466,3495,0,0,0,0,0,0,26.63,28.83,28.83
$GC,6152,-0.52,-146.0,746.5,-10.8,592,6154,0.17,0.00,0.00,0.000,6,0.135,0.000,2357,2465,3493,0,0,0,0,0,0,26.25,28.83,28.83
$GC,6451,-0.52,-146.0,766.7,-6.8,607,6457,0.08,2.00,0.00,0.000,4,0.126,0.054,2287,3763,3491,0,0,0,0,0,0,26.61,26.03,28.83
$GC,6525,-0.52,-146.0,773.3,-10.1,610,6532,0.20,1.73,0.00,0.000,6,0.127,0.024,2353,2482,3490,0,0,0,0,0,0,26.06,26.55,28.83
$GC,6831,-0.52,-146.0,798.2,-7.9,626,6835,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3768,3489,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6861,-0.52,-146.0,800.0,-8.0,627,6864,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2480,3489,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7174,-0.52,-146.0,825.9,-8.1,643,7179,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3765,3487,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7216,-0.52,-146.0,829.3,-8.3,645,7219,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2473,3487,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7533,-0.52,-146.0,855.3,-8.1,661,7538,0.00,2.05,0.00,0.000,4,0.000,0.057,2345,3772,3485,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7562,-0.52,-146.0,856.9,-8.1,662,7565,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2507,3484,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7873,-0.52,-146.0,882.3,-7.9,678,7879,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3773,3483,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7906,-0.52,-146.0,883.9,-7.9,679,7912,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2453,3483,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8214,-0.52,-146.0,908.7,-7.7,695,8218,0.00,2.05,0.00,0.000,4,0.000,0.057,2345,3771,3482,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8277,-0.52,-146.0,913.4,-7.5,698,8280,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2509,3481,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8599,-0.52,-146.0,936.9,-7.2,714,8604,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3480,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8638,-0.52,-146.0,940.1,-7.5,716,8641,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2504,3480,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8959,-0.52,-146.0,964.3,-7.7,732,8964,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3770,3478,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9002,-0.52,-146.0,967.5,-7.6,734,9006,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2469,3478,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9317,begin apogee
$GC,9323,-0.17,0.0,991.5,-7.3,750,9454,0.32,0.05,123.10,1.719,6,0.102,0.050,2464,2439,2928,0,0,0,0,0,0,26.00,24.32,22.80
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9457,0.52,146.0,996.6,0.0,756,9608,0.60,2.30,141.07,1.675,4,0.049,0.031,2715,1052,2332,0,0,0,0,0,0,24.88,23.98,22.20
$GC,9664,0.52,146.0,986.4,11.5,767,9669,0.15,2.38,0.00,0.000,6,0.170,0.047,2678,2517,2326,0,0,0,0,0,0,24.84,25.08,28.83
$GC,9977,0.52,146.0,947.8,12.2,783,9982,0.00,1.92,0.00,0.000,4,0.000,0.056,2678,3764,2320,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10037,0.52,146.0,939.0,14.1,786,10042,0.00,1.92,0.00,0.000,6,0.000,0.024,2687,2441,2319,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10358,0.52,146.0,896.3,13.0,802,10363,0.00,2.05,0.00,0.000,4,0.000,0.055,2687,3762,2318,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10397,0.52,146.0,890.1,14.0,804,10404,0.10,1.92,0.00,0.000,6,0.215,0.025,2673,2440,2317,0,0,0,0,0,0,25.99,26.37,28.83
$GC,10719,0.52,146.0,853.4,10.3,820,10722,0.00,2.00,0.00,0.000,4,0.000,0.029,2683,1042,2315,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10753,0.52,146.0,851.1,10.2,821,10761,0.00,2.28,0.00,0.000,6,0.000,0.047,2683,2523,2314,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11060,0.52,146.0,818.4,9.6,837,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2523,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11362,0.52,146.0,788.9,9.8,852,11368,0.00,2.12,0.00,0.000,4,0.000,0.030,2693,1056,2313,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11420,0.52,146.0,783.4,9.3,855,11426,0.08,2.25,0.00,0.000,6,0.191,0.047,2677,2522,2313,0,0,0,0,0,0,26.03,26.16,28.83
$GC,11740,0.52,146.0,749.2,11.2,871,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2523,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12043,0.52,146.0,713.4,11.9,886,12049,0.00,2.15,0.00,0.000,4,0.000,0.030,2687,1053,2312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12089,0.52,146.0,708.7,11.7,888,12093,0.00,2.25,0.00,0.000,6,0.000,0.045,2687,2516,2311,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12397,0.52,146.0,674.1,9.9,903,12403,0.00,2.12,0.00,0.000,4,0.000,0.031,2698,1052,2311,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12425,0.52,146.0,672.3,9.6,904,12430,0.10,2.25,0.00,0.000,6,0.177,0.046,2674,2517,2311,0,0,0,0,0,0,25.91,26.12,28.83
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$STATE,19824,end climb,SURFACE_DEPTH_REACHED
$STATE,19824,begin surface coast
$FINISH,0.7,1.013208
$STATE,19896,end surface coast,CONTROL_FINISHED_OK
$STATE,19896,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,42.95
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.70
$XPDR_PINGS,0
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$10V_AH,9.9,42.664
$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,329824
$DATA_FILE_SIZE,137023,1821
$CAP_FILE_SIZE,213665,0
$CFSIZE,260165632,189489152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,170.0,1
$GPS,200512,170007,1948.326,12335.882,25,2.0,25,-2.4