version: 66.10
glider: 176
mission: 5
dive: 421
start: 6 10 112 0 58 43
data:
$ID,176
$MISSION,5
$DIVE,421
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$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,-8125.4839
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,100612,005036,1752.263,12429.644,28,0.9,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.5
$GPS2,100612,005814,1752.198,12429.804,11,1.5,11,-2.0
$SPEED_LIMITS,0.150,0.280
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,289.0,245346,-12.9,-8.684
$D_GRID,4121
$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,-0.56,-194.6,0.0,0.0,0,67,0.00,0.00,-48.53,0.000,2,0.000,0.000,176,2693,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.56,-194.6,3.0,-6.5,8,121,8.73,2.17,-32.75,0.000,4,0.230,0.037,2332,1173,3725,0,0,0,0,0,0,25.06,26.35,26.73
$GC,209,-0.56,-194.6,38.4,-26.9,30,217,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2670,3725,0,0,0,0,0,0,28.83,26.16,28.83
$GC,540,-0.56,-194.6,140.8,-24.3,91,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2670,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,850,-0.56,-194.6,214.5,-22.4,146,854,0.00,1.65,0.00,0.000,4,0.000,0.052,2325,3776,3725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,884,-0.56,-194.6,221.0,-21.8,149,891,0.03,1.67,0.00,0.000,6,0.178,0.022,2336,2557,3725,0,0,0,0,0,0,26.36,26.55,28.83
$GC,1193,-0.56,-194.6,272.4,-15.8,180,1201,0.00,1.90,0.00,0.000,4,0.000,0.024,2338,1181,3725,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1244,-0.56,-194.6,279.1,-12.2,185,1253,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2677,3725,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1554,-0.56,-194.6,323.6,-14.7,216,1563,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1181,3723,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1606,-0.56,-194.6,330.0,-12.0,221,1615,0.00,2.25,0.00,0.000,6,0.000,0.046,2335,2669,3723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1916,-0.56,-194.6,369.6,-11.9,252,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2669,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-0.56,-194.6,405.3,-11.8,282,2228,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1194,3719,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2284,-0.56,-194.6,411.9,-9.2,288,2291,0.00,2.25,0.00,0.000,6,0.000,0.047,2334,2675,3719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2591,-0.56,-194.6,445.2,-10.5,319,2600,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1178,3715,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2612,-0.56,-194.6,447.4,-10.4,321,2621,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2671,3715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2922,-0.56,-194.6,479.4,-11.0,352,2927,0.00,2.12,-0.08,0.000,4,0.000,0.036,2334,1205,3742,0,0,0,0,0,0,28.83,26.41,25.51
$GC,2964,-0.56,-194.6,483.4,-9.5,356,2973,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2667,3742,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3275,-0.56,-194.6,514.1,-9.9,387,3279,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1179,3740,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3306,-0.56,-194.6,517.1,-9.7,390,3316,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2667,3739,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3616,-0.56,-194.6,545.4,-8.8,421,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2668,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3918,-0.56,-194.6,571.7,-9.0,451,3927,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1187,3734,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3955,-0.56,-194.6,574.4,-8.5,454,3963,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2675,3733,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4261,-0.56,-194.6,601.8,-8.8,484,4267,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1192,3731,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4293,-0.56,-194.6,603.6,-8.8,485,4300,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2674,3731,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4602,-0.56,-194.6,631.3,-8.6,501,4607,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1186,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4628,-0.56,-194.6,633.1,-8.6,502,4632,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2666,3728,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4937,-0.56,-194.6,657.9,-7.7,517,4943,0.00,2.08,0.00,0.000,4,0.000,0.024,2332,1193,3724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4965,-0.56,-194.6,659.4,-7.7,518,4975,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2672,3724,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5276,-0.56,-194.6,682.1,-7.0,534,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2673,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5577,-0.56,-194.6,703.7,-7.4,549,5582,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1178,3720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5618,-0.56,-194.6,706.6,-7.4,551,5622,0.00,2.30,0.00,0.000,6,0.000,0.048,2332,2664,3720,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5931,-0.56,-194.6,730.9,-8.0,567,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2664,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,-0.56,-194.6,754.2,-7.8,582,6239,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1189,3715,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6265,-0.56,-194.6,755.8,-7.8,583,6272,0.00,2.28,0.00,0.000,6,0.000,0.048,2332,2666,3715,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6574,-0.56,-194.6,780.2,-7.6,599,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2666,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6872,-0.56,-194.6,802.6,-7.5,614,6878,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1185,3711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6912,-0.56,-194.6,805.4,-7.3,616,6918,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2667,3710,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7233,-0.56,-194.6,828.5,-7.0,632,7239,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1182,3709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7255,-0.56,-194.6,830.1,-7.0,633,7259,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2668,3709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7567,-0.56,-194.6,852.0,-7.0,649,7573,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1178,3707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7601,-0.56,-194.6,853.3,-6.8,650,7609,0.00,2.30,0.00,0.000,6,0.000,0.049,2332,2664,3706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7908,-0.56,-194.6,874.9,-6.5,666,7913,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1180,3704,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7929,-0.56,-194.6,876.3,-6.6,667,7933,0.00,2.30,0.00,0.000,6,0.000,0.048,2332,2673,3705,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8249,-0.56,-194.6,897.0,-6.4,683,8253,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1175,3703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8274,-0.56,-194.6,898.6,-6.4,684,8278,0.00,2.33,0.00,0.000,6,0.000,0.049,2332,2669,3704,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8587,-0.56,-194.6,919.3,-6.8,700,8592,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1188,3702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8614,-0.56,-194.6,920.6,-6.7,701,8618,0.00,2.30,0.00,0.000,6,0.000,0.049,2332,2666,3702,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8923,-0.56,-194.6,941.0,-6.2,716,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2667,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,-0.56,-194.6,960.6,-6.6,731,9228,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1182,3700,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9264,-0.56,-194.6,963.3,-6.7,733,9268,0.00,2.30,0.00,0.000,6,0.000,0.048,2332,2664,3700,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9576,-0.56,-194.6,984.9,-6.8,749,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2664,3698,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9653,begin apogee
$GC,9660,-0.17,0.0,990.6,-7.0,753,9839,0.38,0.12,171.75,1.704,6,0.098,0.093,2469,2582,2929,0,0,0,0,0,0,25.87,24.23,22.40
$STATE,9840,end apogee,CONTROL_FINISHED_OK
$STATE,9840,begin climb
$GC,9843,0.56,194.6,999.9,0.0,762,10040,0.62,2.10,188.25,1.658,4,0.051,0.057,2710,3765,2133,0,0,0,0,0,0,24.64,23.76,21.92
$GC,10195,0.56,194.6,961.9,19.2,779,10204,0.12,1.85,0.00,0.000,6,0.195,0.024,2690,2492,2127,0,0,0,0,0,0,25.63,26.02,28.83
$GC,10502,0.56,194.6,914.7,14.3,795,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2488,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10802,0.56,194.6,871.6,14.3,810,10808,0.00,2.00,0.00,0.000,4,0.000,0.054,2690,3774,2121,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10826,0.56,194.6,868.4,14.6,811,10830,0.00,1.83,0.00,0.000,6,0.000,0.024,2699,2497,2121,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11137,0.56,194.6,821.9,14.5,827,11143,0.00,2.03,0.00,0.000,4,0.000,0.031,2709,1107,2119,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11180,0.56,194.6,816.4,14.0,829,11185,0.10,2.25,0.00,0.000,6,0.171,0.047,2684,2567,2118,0,0,0,0,0,0,25.94,26.13,28.83
$GC,11494,0.56,194.6,775.0,13.0,845,11496,0.05,0.00,0.00,0.000,6,0.171,0.000,2722,2567,2118,0,0,0,0,0,0,26.53,28.83,28.83
$GC,11794,0.56,194.6,726.6,16.7,860,11796,0.12,0.00,0.00,0.000,6,0.179,0.000,2690,2567,2118,0,0,0,0,0,0,26.15,28.83,28.83
$GC,12094,0.56,194.6,687.9,12.3,875,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2567,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12393,0.56,194.6,652.4,11.6,890,12399,0.00,2.17,0.00,0.000,4,0.000,0.031,2700,1097,2117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12435,0.56,194.6,648.0,11.1,892,12440,0.03,2.30,0.00,0.000,6,0.269,0.046,2689,2581,2115,0,0,0,0,0,0,26.00,26.05,28.83
$GC,12755,0.56,194.6,611.5,11.3,908,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2582,2115,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18857,end climb,SURFACE_DEPTH_REACHED
$STATE,18857,begin surface coast
$FINISH,0.6,0.996984
$STATE,18928,end surface coast,CONTROL_FINISHED_OK
$STATE,18928,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.80
$XPDR_PINGS,0
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$10V_AH,9.8,54.284
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.300,165.425,541.825,0.000,0.000,26.578,33.604,241.447,0.000,0.000,13.958,4274.488,10612.835,680.439,3424.371,441.177,0.000,2292.602,0.000,2832.662,0.000,0.542,0.000
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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,330220
$DATA_FILE_SIZE,127255,1709
$CAP_FILE_SIZE,198274,0
$CFSIZE,260165632,179671040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,105.0,1
$GPS,100612,061637,1752.526,12428.794,39,1.2,39,-2.0