version: 66.10
glider: 176
mission: 5
dive: 215
start: 4 24 112 14 17 30
data:
$ID,176
$MISSION,5
$DIVE,215
$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,-3
$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,-7716.4004
$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
$GPS1,240412,140837,1752.928,12422.770,26,1.5,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.3
$GPS2,240412,141703,1752.945,12422.752,12,3.0,31,-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,298.9,233120,-13.1,-7.500
$D_GRID,4584
$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,-41.08,0.000,2,0.000,0.000,179,2712,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.0,-6.5,7,111,8.73,2.30,-29.17,0.000,4,0.234,0.039,2352,1146,3525,0,0,0,0,0,0,25.37,26.20,26.55
$GC,330,-0.51,-146.0,63.3,-20.0,55,337,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2630,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,656,-0.51,-146.0,159.1,-25.1,116,663,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1153,3527,0,0,0,0,0,0,28.83,26.43,28.83
$GC,734,-0.51,-146.0,176.2,-18.7,131,743,0.10,2.22,0.00,0.000,6,0.174,0.044,2362,2633,3527,0,0,0,0,0,0,26.13,26.34,28.83
$GC,1051,-0.51,-146.0,236.8,-17.3,173,1055,0.08,1.70,0.00,0.000,4,0.134,0.049,2305,3770,3527,0,0,0,0,0,0,26.63,26.29,28.83
$GC,1072,-0.51,-146.0,241.0,-18.0,175,1077,0.17,1.70,0.00,0.000,6,0.153,0.022,2356,2502,3527,0,0,0,0,0,0,26.10,26.59,28.83
$GC,1378,-0.51,-146.0,292.3,-16.0,205,1388,0.00,1.90,0.00,0.000,4,0.000,0.024,2357,1130,3527,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1460,-0.51,-146.0,302.7,-11.0,213,1470,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2629,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1772,-0.51,-146.0,349.4,-14.9,244,1781,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1136,3525,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1826,-0.51,-146.0,356.4,-12.6,249,1835,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2624,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2133,-0.51,-146.0,398.6,-12.8,280,2142,0.00,2.10,0.00,0.000,4,0.000,0.023,2348,1137,3524,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2168,-0.51,-146.0,402.3,-11.7,283,2175,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2628,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2477,-0.51,-146.0,438.1,-11.2,314,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-0.51,-146.0,472.7,-11.5,345,2796,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1144,3520,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2860,-0.51,-146.0,480.9,-10.3,352,2869,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2626,3519,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3169,-0.51,-146.0,514.9,-10.8,383,3178,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1136,3517,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3210,-0.51,-146.0,519.1,-10.3,387,3219,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2635,3516,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3521,-0.51,-146.0,550.0,-9.9,418,3530,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1136,3514,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3575,-0.51,-146.0,555.0,-9.6,423,3582,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2635,3513,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3883,-0.51,-146.0,583.2,-8.8,454,3892,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1138,3510,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3917,-0.51,-146.0,585.9,-8.5,457,3925,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2631,3509,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4234,-0.51,-146.0,615.0,-9.2,481,4238,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3771,3508,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4258,-0.51,-146.0,617.0,-9.2,482,4262,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2505,3507,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4576,-0.51,-146.0,644.5,-8.6,498,4581,0.00,1.92,0.00,0.000,4,0.000,0.026,2344,1145,3505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4598,-0.51,-146.0,646.3,-8.6,499,4603,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2634,3505,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4911,-0.51,-146.0,675.8,-9.9,515,4915,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1151,3501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4973,-0.51,-146.0,681.8,-9.8,518,4979,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2632,3501,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5293,-0.51,-146.0,714.6,-10.5,534,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2632,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5593,-0.51,-146.0,743.4,-8.8,549,5597,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1146,3497,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5638,-0.51,-146.0,747.1,-8.7,551,5642,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2625,3496,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5950,-0.51,-146.0,771.2,-7.4,567,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6251,-0.51,-146.0,794.6,-8.2,582,6256,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1154,3491,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6278,-0.51,-146.0,796.3,-8.5,583,6282,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3491,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6586,-0.51,-146.0,823.6,-8.8,598,6591,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3489,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6629,-0.51,-146.0,827.0,-8.8,600,6633,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2627,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6941,-0.51,-146.0,854.6,-8.8,616,6945,0.00,1.80,0.00,0.000,4,0.000,0.060,2344,3765,3488,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6965,-0.51,-146.0,856.5,-8.8,617,6969,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2500,3487,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7283,-0.51,-146.0,882.8,-7.8,633,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2498,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7583,-0.51,-146.0,905.7,-7.7,648,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2498,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7883,-0.51,-146.0,929.3,-7.9,663,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2498,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8183,-0.51,-146.0,952.8,-7.9,678,8189,0.00,1.98,0.00,0.000,4,0.000,0.058,2344,3763,3481,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8223,-0.51,-146.0,955.9,-7.8,680,8226,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2503,3481,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8545,-0.51,-146.0,978.9,-6.9,696,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2488,3481,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8701,begin apogee
$GC,8706,-0.17,0.0,990.0,-7.0,704,8831,0.35,0.00,120.55,1.730,6,0.106,0.000,2469,2487,2929,0,0,0,0,0,0,25.96,28.83,23.28
$STATE,8834,end apogee,CONTROL_FINISHED_OK
$STATE,8834,begin climb
$GC,8836,0.51,146.0,994.1,0.0,710,8986,0.57,2.35,140.05,1.691,4,0.048,0.033,2711,1061,2332,0,0,0,0,0,0,24.78,23.87,22.52
$GC,9001,0.51,146.0,987.5,9.7,719,9006,0.15,2.45,0.00,0.000,6,0.176,0.046,2676,2516,2329,0,0,0,0,0,0,24.13,24.32,28.83
$GC,9320,0.51,146.0,947.9,11.6,735,9325,0.00,1.98,0.00,0.000,4,0.000,0.057,2675,3769,2321,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9347,0.51,146.0,945.3,12.0,736,9351,0.05,1.95,0.00,0.000,6,0.265,0.025,2675,2443,2321,0,0,0,0,0,0,25.80,26.01,28.83
$GC,9655,0.51,146.0,909.9,10.9,751,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2438,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,0.51,146.0,876.4,11.3,766,9960,0.00,2.03,0.00,0.000,4,0.000,0.033,2684,1053,2317,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9996,0.51,146.0,872.1,11.1,768,10001,0.05,2.28,0.00,0.000,6,0.230,0.045,2673,2523,2317,0,0,0,0,0,0,26.03,26.13,28.83
$GC,10315,0.51,146.0,833.0,12.2,784,10320,0.00,1.92,0.00,0.000,4,0.000,0.055,2673,3764,2315,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10354,0.51,146.0,827.4,13.1,786,10360,0.00,1.90,0.00,0.000,6,0.000,0.024,2681,2446,2315,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10675,0.51,146.0,784.5,13.4,802,10681,0.00,2.03,0.00,0.000,4,0.000,0.031,2692,1047,2314,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10707,0.51,146.0,781.9,13.3,803,10715,0.10,2.28,0.00,0.000,6,0.186,0.046,2669,2523,2314,0,0,0,0,0,0,25.94,26.15,28.83
$GC,11014,0.51,146.0,745.6,10.6,819,11019,0.00,1.90,0.00,0.000,4,0.000,0.055,2669,3765,2313,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11067,0.51,146.0,740.8,11.3,821,11075,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2437,2313,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11375,0.51,146.0,707.5,10.0,837,11380,0.00,2.05,0.00,0.000,4,0.000,0.054,2678,3765,2313,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11396,0.51,146.0,705.2,10.2,838,11401,0.05,1.92,0.00,0.000,6,0.191,0.024,2672,2448,2312,0,0,0,0,0,0,26.08,26.43,28.83
$GC,11716,0.51,146.0,671.0,10.6,854,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2443,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12014,0.51,146.0,640.7,10.0,869,12020,0.00,2.05,0.00,0.000,4,0.000,0.031,2683,1046,2312,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12042,0.51,146.0,638.9,9.7,870,12046,0.00,2.28,0.00,0.000,6,0.000,0.044,2683,2520,2311,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12350,0.51,146.0,608.2,9.6,885,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2520,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12649,0.51,146.0,575.8,11.2,911,12658,0.00,1.92,0.00,0.000,4,0.000,0.055,2682,3767,2311,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,19369,end climb,SURFACE_DEPTH_REACHED
$STATE,19369,begin surface coast
$FINISH,0.9,1.021461
$STATE,19390,end surface coast,CONTROL_FINISHED_OK
$STATE,19390,begin surface
$SM_CCo,19466,0.00,0.000,0,0,1231,416.52
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$TT8_MAMPS,0.026964,0.026964
$HUMID,40.98
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.5,44.261
$10V_AH,10.1,27.973
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.375,174.575,423.200,0.000,0.000,29.945,37.724,270.145,0.000,0.000,34.916,4482.793,10909.029,601.678,3535.684,411.577,0.000,2230.022,0.000,2928.867,0.000,0.542,0.000
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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,330040
$DATA_FILE_SIZE,133516,1790
$CAP_FILE_SIZE,203419,0
$CFSIZE,260165632,201940992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.005, 84.9,1
$GPS,240412,194306,1753.966,12420.539,35,1.0,40,-2.0