version: 66.10
glider: 176
mission: 5
dive: 199
start: 4 20 112 20 40 52
data:
$ID,176
$MISSION,5
$DIVE,199
$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,-7693.5728
$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
$GPS1,200412,203036,1813.001,12436.998,41,1.0,41,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.5
$GPS2,200412,204026,1812.987,12437.046,12,1.3,12,-2.1
$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,194.1,42724,-13.1,-7.500
$D_GRID,5155
$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,-146.0,0.0,0.0,0,54,0.00,0.00,-34.62,0.000,2,0.000,0.000,178,2634,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.51,-146.0,3.1,-6.5,6,99,8.70,2.20,-28.20,0.000,4,0.231,0.041,2352,1154,3527,0,0,0,0,0,0,25.41,26.17,26.53
$GC,135,-0.51,-146.0,21.3,-29.1,14,143,0.08,2.25,0.00,0.000,6,0.215,0.044,2356,2633,3528,0,0,0,0,0,0,25.91,26.09,28.83
$GC,448,-0.51,-146.0,136.1,-35.7,75,455,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1148,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,544,-0.51,-146.0,158.8,-17.5,93,550,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2640,3527,0,0,0,0,0,0,28.83,26.27,28.83
$GC,858,-0.51,-146.0,229.9,-19.5,141,867,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1139,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,953,-0.51,-146.0,245.1,-14.1,150,961,0.10,2.25,0.00,0.000,6,0.164,0.044,2362,2635,3528,0,0,0,0,0,0,26.17,26.33,28.83
$GC,1259,-0.51,-146.0,296.6,-16.0,181,1269,0.08,2.10,0.00,0.000,4,0.134,0.023,2305,1141,3528,0,0,0,0,0,0,26.65,26.51,28.83
$GC,1282,-0.51,-146.0,300.3,-16.0,183,1293,0.15,2.25,0.00,0.000,6,0.158,0.043,2353,2633,3528,0,0,0,0,0,0,26.10,26.36,28.83
$GC,1592,-0.51,-146.0,347.3,-13.8,214,1595,0.00,2.10,0.00,0.000,4,0.000,0.024,2353,1149,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1665,-0.51,-146.0,355.7,-10.6,221,1674,0.00,2.20,0.00,0.000,6,0.000,0.043,2348,2622,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1975,-0.51,-146.0,396.4,-13.7,252,1983,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1145,3526,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2006,-0.51,-146.0,400.4,-12.6,255,2010,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2632,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2318,-0.51,-146.0,439.2,-12.4,286,2326,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1144,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2359,-0.51,-146.0,444.1,-11.7,290,2368,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2633,3523,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2669,-0.51,-146.0,479.0,-11.2,321,2678,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1139,3521,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2741,-0.51,-146.0,485.7,-8.9,328,2750,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2631,3521,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3050,-0.51,-146.0,517.3,-10.4,359,3060,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1142,3518,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3082,-0.51,-146.0,520.6,-10.2,362,3091,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2629,3519,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3392,-0.51,-146.0,551.6,-10.0,393,3396,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1147,3515,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3485,-0.51,-146.0,560.3,-9.0,402,3494,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2630,3515,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3795,-0.51,-146.0,589.6,-8.6,433,3804,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1148,3511,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3827,-0.51,-146.0,592.4,-8.7,436,3836,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2628,3511,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4138,-0.51,-146.0,619.8,-9.0,456,4144,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1151,3509,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4190,-0.51,-146.0,623.3,-9.0,458,4196,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2631,3509,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4497,-0.51,-146.0,652.2,-9.4,474,4501,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1143,3505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4527,-0.51,-146.0,654.2,-9.5,475,4531,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2633,3505,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4833,-0.51,-146.0,685.4,-10.1,490,4839,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1147,3503,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4886,-0.51,-146.0,689.4,-10.0,492,4893,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2628,3502,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5195,-0.51,-146.0,721.6,-10.3,508,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5493,-0.51,-146.0,751.0,-9.6,523,5499,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1145,3497,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5536,-0.51,-146.0,754.8,-9.6,525,5540,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3497,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5849,-0.51,-146.0,782.4,-8.5,541,5854,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1148,3495,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5881,-0.51,-146.0,784.1,-8.5,542,5888,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3495,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6188,-0.51,-146.0,809.9,-7.7,558,6194,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1145,3493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6232,-0.51,-146.0,812.9,-7.5,560,6236,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3493,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6545,-0.51,-146.0,834.5,-6.6,576,6550,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1142,3490,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6585,-0.51,-146.0,837.0,-6.5,578,6591,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3490,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6906,-0.51,-146.0,857.8,-6.7,594,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,-0.51,-146.0,879.1,-7.4,609,7210,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1148,3486,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7254,-0.51,-146.0,882.1,-7.5,611,7258,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3486,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7560,-0.51,-146.0,905.5,-7.5,626,7565,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1152,3485,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7583,-0.51,-146.0,907.0,-7.6,627,7587,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3485,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7896,-0.51,-146.0,930.1,-7.4,643,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,-0.51,-146.0,953.0,-7.8,658,8200,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1150,3483,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8259,-0.51,-146.0,957.7,-7.9,661,8265,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3483,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8577,-0.51,-146.0,984.2,-8.6,677,8582,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1156,3480,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8628,-0.51,-146.0,987.7,-8.6,679,8636,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3481,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8653,begin apogee
$GC,8659,-0.17,0.0,991.1,-8.5,681,8785,0.32,0.12,120.30,1.745,6,0.108,0.096,2461,2535,2928,0,0,0,0,0,0,25.98,24.56,23.34
$STATE,8786,end apogee,CONTROL_FINISHED_OK
$STATE,8786,begin climb
$GC,8788,0.51,146.0,996.6,0.0,687,8940,0.60,2.50,139.82,1.704,4,0.050,0.031,2710,1055,2332,0,0,0,0,0,0,24.80,23.91,22.60
$GC,9020,0.51,146.0,984.9,11.6,699,9025,0.15,2.38,0.00,0.000,6,0.179,0.046,2674,2517,2325,0,0,0,0,0,0,24.73,24.99,28.83
$GC,9328,0.51,146.0,948.6,11.3,714,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2517,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9628,0.51,146.0,914.8,11.4,729,9634,0.00,1.92,0.00,0.000,4,0.000,0.055,2674,3772,2320,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9680,0.51,146.0,909.7,11.9,731,9687,0.00,1.92,0.00,0.000,6,0.000,0.026,2681,2449,2319,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9989,0.51,146.0,872.8,11.4,747,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2446,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10287,0.51,146.0,839.2,11.8,762,10293,0.00,2.03,0.00,0.000,4,0.000,0.052,2682,3764,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10327,0.51,146.0,833.8,12.8,764,10333,0.10,1.90,0.00,0.000,6,0.214,0.024,2670,2437,2317,0,0,0,0,0,0,25.94,26.34,28.83
$GC,10648,0.51,146.0,796.6,11.8,780,10654,0.00,2.00,0.00,0.000,4,0.000,0.029,2679,1045,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10668,0.51,146.0,794.4,11.6,781,10674,0.00,2.28,0.00,0.000,6,0.000,0.045,2679,2518,2314,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10988,0.51,146.0,754.7,12.3,797,10993,0.00,1.90,0.00,0.000,4,0.000,0.055,2679,3763,2314,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11041,0.51,146.0,749.1,13.0,799,11049,0.08,1.90,0.00,0.000,6,0.229,0.025,2675,2446,2314,0,0,0,0,0,0,26.09,26.38,28.83
$GC,11347,0.51,146.0,713.8,10.6,815,11353,0.00,2.08,0.00,0.000,4,0.000,0.054,2674,3770,2314,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11448,0.51,146.0,701.3,12.9,820,11455,0.05,1.90,0.00,0.000,6,0.262,0.025,2674,2437,2314,0,0,0,0,0,0,26.18,26.39,28.83
$GC,11767,0.51,146.0,668.5,10.1,836,11773,0.00,2.03,0.00,0.000,4,0.000,0.031,2684,1057,2313,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11827,0.51,146.0,662.7,9.6,839,11834,0.03,2.25,0.00,0.000,6,0.283,0.045,2673,2520,2313,0,0,0,0,0,0,26.07,26.14,28.83
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$STATE,19120,end climb,SURFACE_DEPTH_REACHED
$STATE,19120,begin surface coast
$FINISH,0.8,1.010713
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,10.1,25.908
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.700,178.125,417.650,0.925,0.000,62.967,83.434,234.803,0.000,0.000,14.598,4380.044,10746.903,594.111,3578.355,426.980,0.000,2239.019,0.000,2965.195,0.000,0.543,0.000
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$MEM,329392
$DATA_FILE_SIZE,130441,1733
$CAP_FILE_SIZE,203979,0
$CFSIZE,260165632,203681792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,292.7,1
$GPS,210412,020131,1810.797,12436.354,39,1.9,39,-2.1