version: 66.10
glider: 176
mission: 5
dive: 379
start: 5 30 112 16 12 36
data:
$ID,176
$MISSION,5
$DIVE,379
$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,175
$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,-8018.2554
$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
$GPS1,300512,160400,1907.865,12422.318,37,0.9,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.6
$GPS2,300512,161208,1907.936,12422.280,13,1.1,13,-2.3
$SPEED_LIMITS,0.136,0.255
$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,160.6,146068,-12.5,-7.857
$D_GRID,5503
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,64,0.00,0.00,-45.53,0.000,2,0.000,0.000,186,2660,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.52,-170.3,3.4,-7.8,8,109,8.77,2.22,-24.75,0.000,4,0.232,0.038,2343,1135,3627,0,0,0,0,0,0,25.11,26.24,26.67
$GC,201,-0.52,-170.3,33.1,-13.1,27,208,0.08,2.25,0.00,0.000,6,0.184,0.041,2353,2626,3628,0,0,0,0,0,0,26.02,26.15,28.83
$GC,529,-0.52,-170.3,99.7,-21.2,88,537,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1138,3628,0,0,0,0,0,0,28.83,26.40,28.83
$GC,571,-0.52,-170.3,107.7,-16.7,95,577,0.00,2.25,0.00,0.000,6,0.000,0.045,2349,2622,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,883,-0.52,-170.3,163.2,-17.6,156,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2623,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1198,-0.52,-170.3,219.0,-17.2,207,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2623,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1502,-0.52,-170.3,263.7,-13.0,237,1511,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1144,3628,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1554,-0.52,-170.3,269.3,-9.6,242,1563,0.00,2.20,0.00,0.000,6,0.000,0.043,2348,2621,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1864,-0.52,-170.3,308.0,-13.6,273,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2621,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-0.52,-170.3,343.5,-10.2,303,2174,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1138,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2270,-0.52,-170.3,352.3,-7.9,313,2280,0.00,2.22,0.00,0.000,6,0.000,0.043,2347,2618,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2579,-0.52,-170.3,383.3,-11.3,344,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2618,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2880,-0.52,-170.3,418.4,-11.2,374,2888,0.00,2.08,0.00,0.000,4,0.000,0.025,2348,1143,3621,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2941,-0.52,-170.3,424.7,-9.3,380,2950,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2627,3621,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3251,-0.52,-170.3,452.3,-8.7,411,3255,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3762,3619,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3275,-0.52,-170.3,454.4,-9.0,413,3283,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2461,3618,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3582,-0.52,-170.3,485.1,-11.2,444,3591,0.00,2.03,0.00,0.000,4,0.000,0.054,2337,3767,3616,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3616,-0.52,-170.3,488.6,-11.1,447,3624,0.05,1.75,0.00,0.000,6,0.200,0.023,2355,2458,3616,0,0,0,0,0,0,26.37,26.56,28.83
$GC,3926,-0.52,-170.3,516.2,-7.3,478,3935,0.05,2.03,0.00,0.000,4,0.173,0.054,2291,3768,3614,0,0,0,0,0,0,26.63,26.03,28.83
$GC,3998,-0.52,-170.3,524.3,-12.1,485,4008,0.20,1.73,0.00,0.000,6,0.125,0.024,2357,2483,3613,0,0,0,0,0,0,26.06,26.55,28.83
$GC,4309,-0.52,-170.3,551.2,-9.3,516,4318,0.08,1.95,0.00,0.000,4,0.127,0.052,2278,3758,3612,0,0,0,0,0,0,26.60,26.03,28.83
$GC,4360,-0.52,-170.3,558.3,-14.5,521,4365,0.22,1.73,0.00,0.000,6,0.122,0.024,2353,2483,3611,0,0,0,0,0,0,26.02,26.54,28.83
$GC,4667,-0.52,-170.3,583.6,-7.2,551,4675,0.00,1.98,0.00,0.000,4,0.000,0.054,2348,3776,3609,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4711,-0.52,-170.3,586.5,-7.1,555,4718,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2466,3608,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5032,-0.52,-170.3,606.8,-6.7,582,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2465,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5328,-0.52,-170.3,629.0,-7.5,597,5334,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3773,3604,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5391,-0.52,-170.3,633.6,-7.6,600,5394,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2468,3602,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5710,-0.52,-170.3,657.7,-7.2,616,5715,0.00,1.98,0.00,0.000,4,0.000,0.055,2339,3755,3601,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5761,-0.52,-170.3,660.7,-7.3,618,5768,0.00,1.73,0.00,0.000,6,0.000,0.024,2339,2467,3600,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6068,-0.52,-170.3,687.4,-9.3,634,6074,0.00,2.03,0.00,0.000,4,0.000,0.056,2332,3768,3598,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6102,-0.52,-170.3,689.3,-9.4,635,6109,0.08,1.75,0.00,0.000,6,0.159,0.024,2357,2466,3598,0,0,0,0,0,0,26.29,26.53,28.83
$GC,6408,-0.52,-170.3,715.3,-7.4,651,6414,0.08,2.03,0.00,0.000,4,0.127,0.054,2288,3771,3596,0,0,0,0,0,0,26.58,25.92,28.83
$GC,6451,-0.52,-170.3,719.5,-8.6,653,6456,0.20,1.75,0.00,0.000,6,0.123,0.024,2354,2484,3595,0,0,0,0,0,0,26.01,26.51,28.83
$GC,6764,-0.52,-170.3,740.3,-6.1,669,6770,0.05,2.00,0.00,0.000,4,0.174,0.054,2293,3769,3594,0,0,0,0,0,0,26.60,25.91,28.83
$GC,6804,-0.52,-170.3,743.9,-7.3,671,6810,0.20,1.75,0.00,0.000,6,0.118,0.024,2360,2477,3594,0,0,0,0,0,0,26.03,26.51,28.83
$GC,7125,-0.52,-170.3,763.4,-6.1,687,7131,0.08,2.00,0.00,0.000,4,0.128,0.054,2292,3757,3592,0,0,0,0,0,0,26.58,25.89,28.83
$GC,7178,-0.52,-170.3,767.3,-7.7,689,7187,0.20,1.73,0.00,0.000,6,0.122,0.024,2359,2474,3591,0,0,0,0,0,0,26.01,26.51,28.83
$GC,7487,-0.52,-170.3,789.5,-6.8,705,7493,0.08,2.00,0.00,0.000,4,0.129,0.054,2292,3768,3590,0,0,0,0,0,0,26.57,25.88,28.83
$GC,7539,-0.52,-170.3,793.5,-8.3,707,7546,0.12,1.77,0.00,0.000,6,0.093,0.024,2354,2490,3589,0,0,0,0,0,0,26.01,26.50,28.83
$GC,7848,-0.52,-170.3,818.2,-7.6,723,7854,0.05,2.00,0.00,0.000,4,0.171,0.054,2293,3768,3588,0,0,0,0,0,0,26.59,25.86,28.83
$GC,7899,-0.52,-170.3,822.5,-8.9,725,7908,0.20,1.75,0.00,0.000,6,0.118,0.024,2360,2481,3588,0,0,0,0,0,0,26.01,26.49,28.83
$GC,8207,-0.52,-170.3,845.1,-6.1,741,8213,0.08,2.00,0.00,0.000,4,0.129,0.054,2292,3763,3586,0,0,0,0,0,0,26.56,25.83,28.83
$GC,8268,-0.52,-170.3,851.0,-8.7,744,8274,0.20,1.75,0.00,0.000,6,0.119,0.024,2359,2490,3586,0,0,0,0,0,0,26.00,26.48,28.83
$GC,8587,-0.52,-170.3,868.3,-4.7,760,8593,0.08,2.00,0.00,0.000,4,0.129,0.054,2292,3771,3585,0,0,0,0,0,0,26.56,25.82,28.83
$GC,8629,-0.52,-170.3,871.5,-6.2,762,8635,0.20,1.75,0.00,0.000,6,0.119,0.024,2359,2483,3585,0,0,0,0,0,0,25.98,26.47,28.83
$GC,8949,-0.52,-170.3,885.7,-3.9,778,8955,0.08,2.00,0.00,0.000,4,0.129,0.055,2292,3754,3584,0,0,0,0,0,0,26.56,25.79,28.83
$GC,8997,-0.52,-170.3,888.5,-5.3,780,9002,0.20,1.73,0.00,0.000,6,0.120,0.024,2358,2487,3583,0,0,0,0,0,0,25.96,26.47,28.83
$GC,9303,-0.52,-170.3,901.8,-3.9,795,9310,0.08,2.00,0.00,0.000,4,0.129,0.056,2300,3763,3583,0,0,0,0,0,0,26.55,25.77,28.83
$GC,9351,-0.52,-170.3,904.6,-5.2,797,9355,0.17,1.75,0.00,0.000,6,0.122,0.025,2358,2492,3583,0,0,0,0,0,0,26.02,26.46,28.83
$GC,9659,-0.52,-170.3,920.2,-4.8,812,9664,0.08,2.00,0.00,0.000,4,0.129,0.056,2291,3763,3582,0,0,0,0,0,0,26.55,25.76,28.83
$GC,9710,-0.52,-170.3,923.6,-6.4,814,9715,0.20,1.75,0.00,0.000,6,0.119,0.025,2358,2491,3581,0,0,0,0,0,0,25.96,26.45,28.83
$GC,10019,-0.52,-170.3,941.6,-5.8,829,10023,0.08,2.00,0.00,0.000,4,0.129,0.056,2300,3762,3581,0,0,0,0,0,0,26.55,25.74,28.83
$GC,10054,-0.52,-170.3,943.4,-6.2,830,10061,0.17,1.75,0.00,0.000,6,0.120,0.024,2358,2478,3580,0,0,0,0,0,0,26.01,26.45,28.83
$GC,10363,-0.52,-170.3,964.1,-6.2,846,10369,0.08,2.00,0.00,0.000,4,0.129,0.056,2301,3765,3579,0,0,0,0,0,0,26.55,25.72,28.83
$GC,10395,-0.52,-170.3,965.8,-6.7,847,10402,0.17,1.75,0.00,0.000,6,0.119,0.024,2359,2476,3579,0,0,0,0,0,0,26.01,26.45,28.83
$GC,10702,-0.52,-170.3,987.7,-6.7,863,10708,0.08,2.05,0.00,0.000,4,0.130,0.054,2326,3772,3578,0,0,0,0,0,0,26.55,25.72,28.83
$STATE,10739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10739,begin apogee
$GC,10748,-0.17,0.0,990.7,-7.3,865,10904,0.38,0.22,146.77,1.718,6,0.102,0.068,2462,2526,2928,0,0,0,0,0,0,25.82,24.20,22.27
$STATE,10905,end apogee,CONTROL_FINISHED_OK
$STATE,10905,begin climb
$GC,10908,0.52,170.3,1000.7,0.0,873,11086,0.65,2.50,167.18,1.678,4,0.050,0.031,2718,1053,2233,0,0,0,0,0,0,24.53,23.70,21.78
$GC,11153,0.52,170.3,986.7,12.4,885,11158,0.17,2.38,0.00,0.000,6,0.168,0.048,2673,2514,2226,0,0,0,0,0,0,24.78,25.05,28.83
$GC,11459,0.52,170.3,947.7,12.0,900,11464,0.00,1.95,0.00,0.000,4,0.000,0.058,2673,3769,2222,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11492,0.52,170.3,944.9,12.4,901,11498,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2448,2222,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11800,0.52,170.3,904.4,12.4,917,11804,0.00,2.08,0.00,0.000,4,0.000,0.057,2683,3773,2220,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11821,0.52,170.3,901.5,12.6,918,11827,0.08,1.90,0.00,0.000,6,0.230,0.024,2678,2455,2220,0,0,0,0,0,0,26.06,26.34,28.83
$GC,12141,0.52,170.3,865.7,11.0,934,12147,0.00,2.08,0.00,0.000,4,0.000,0.056,2678,3766,2219,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,21005,end climb,SURFACE_DEPTH_REACHED
$STATE,21005,begin surface coast
$FINISH,0.7,1.001760
$STATE,21093,end surface coast,CONTROL_FINISHED_OK
$STATE,21093,begin surface
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$IRIDIUM_FIX,1902.38,12423.81,300512,101052
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.8,48.463
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,198.600,444.550,0.000,0.000,24.998,40.441,263.327,0.000,0.000,15.637,4946.619,11625.277,662.181,3899.517,486.001,0.000,2497.902,0.000,3304.261,0.000,0.541,0.000
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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,329604
$DATA_FILE_SIZE,143853,1950
$CAP_FILE_SIZE,233772,0
$CFSIZE,260165632,184508416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,274.5,1
$GPS,300512,220636,1905.430,12422.729,37,0.8,42,-2.3