version: 66.10
glider: 176
mission: 5
dive: 378
start: 5 30 112 10 10 36
data:
$ID,176
$MISSION,5
$DIVE,378
$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,-8016.9976
$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
$GPS1,300512,100237,1910.964,12423.565,30,1.2,30,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.2
$GPS2,300512,101007,1910.916,12423.479,10,1.2,14,-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,190.0,151227,-12.5,-7.857
$D_GRID,5623
$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,-0.52,-170.3,0.0,0.0,0,60,0.00,0.00,-41.35,0.000,2,0.000,0.000,199,2674,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.52,-170.3,3.1,-6.8,7,112,8.82,2.28,-29.17,0.000,4,0.236,0.041,2345,1146,3626,0,0,0,0,0,0,25.02,26.22,26.67
$GC,229,-0.52,-170.3,37.5,-14.9,32,237,0.08,2.25,0.00,0.000,6,0.186,0.045,2355,2628,3626,0,0,0,0,0,0,26.01,26.15,28.83
$GC,543,-0.52,-170.3,98.6,-17.7,93,551,0.05,2.15,0.00,0.000,4,0.176,0.025,2309,1133,3626,0,0,0,0,0,0,26.61,26.38,28.83
$GC,584,-0.52,-170.3,105.7,-17.1,100,592,0.15,2.25,0.00,0.000,6,0.146,0.046,2353,2616,3626,0,0,0,0,0,0,25.97,26.20,28.83
$GC,896,-0.52,-170.3,162.6,-17.6,161,904,0.00,2.12,0.00,0.000,4,0.000,0.025,2353,1131,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,971,-0.52,-170.3,172.8,-10.8,175,977,0.00,2.25,0.00,0.000,6,0.000,0.042,2349,2627,3627,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1286,-0.52,-170.3,221.5,-16.3,223,1295,0.00,2.10,0.00,0.000,4,0.000,0.025,2349,1151,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1337,-0.52,-170.3,229.0,-12.7,228,1346,0.00,2.20,0.00,0.000,6,0.000,0.043,2348,2625,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1647,-0.52,-170.3,274.7,-15.8,259,1656,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1143,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1691,-0.52,-170.3,280.4,-13.8,263,1699,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2619,3626,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2000,-0.52,-170.3,319.3,-12.5,294,2009,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1146,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2054,-0.52,-170.3,325.0,-10.4,299,2061,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2613,3625,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2362,-0.52,-170.3,360.4,-11.1,330,2365,0.00,1.75,0.00,0.000,4,0.000,0.051,2338,3777,3624,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2445,-0.52,-170.3,369.2,-10.3,338,2449,0.00,1.73,0.00,0.000,6,0.000,0.024,2339,2490,3623,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2756,-0.52,-170.3,402.2,-9.9,369,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2451,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.52,-170.3,432.1,-10.6,399,3062,0.00,2.00,0.00,0.000,4,0.000,0.053,2335,3764,3620,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3132,-0.52,-170.3,439.8,-9.6,406,3136,0.08,1.70,0.00,0.000,6,0.164,0.023,2359,2480,3619,0,0,0,0,0,0,26.34,26.58,28.83
$GC,3444,-0.52,-170.3,463.6,-6.9,437,3455,0.08,2.03,0.00,0.000,4,0.125,0.051,2290,3766,3617,0,0,0,0,0,0,26.61,26.07,28.83
$GC,3530,-0.52,-170.3,473.4,-12.4,445,3539,0.20,1.75,0.00,0.000,6,0.124,0.023,2356,2481,3617,0,0,0,0,0,0,26.08,26.55,28.83
$GC,3838,-0.52,-170.3,498.4,-7.7,476,3842,0.08,1.90,0.00,0.000,4,0.126,0.025,2288,1144,3615,0,0,0,0,0,0,26.60,26.39,28.83
$GC,3862,-0.52,-170.3,500.5,-8.4,478,3870,0.17,2.28,0.00,0.000,6,0.106,0.045,2354,2614,3615,0,0,0,0,0,0,25.89,26.19,28.83
$GC,4170,-0.52,-170.3,523.3,-6.7,509,4172,0.05,0.00,0.00,0.000,6,0.174,0.000,2291,2614,3613,0,0,0,0,0,0,26.62,28.83,28.83
$GC,4473,-0.52,-170.3,561.7,-14.2,539,4482,0.17,2.12,0.00,0.000,4,0.141,0.024,2352,1136,3611,0,0,0,0,0,0,26.15,26.37,28.83
$GC,4527,-0.52,-170.3,566.8,-8.4,544,4534,0.00,2.30,0.00,0.000,6,0.000,0.044,2349,2622,3611,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4836,-0.52,-170.3,590.4,-7.8,575,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2622,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.52,-170.3,614.2,-7.7,597,5151,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1138,3606,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5167,-0.52,-170.3,615.7,-7.6,598,5172,0.00,2.30,0.00,0.000,6,0.000,0.045,2348,2622,3606,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5487,-0.52,-170.3,641.6,-8.2,614,5490,0.00,1.75,0.00,0.000,4,0.000,0.056,2344,3763,3604,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5515,-0.52,-170.3,643.5,-8.4,615,5519,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2454,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5828,-0.52,-170.3,668.8,-7.5,631,5833,0.00,2.08,0.00,0.000,4,0.000,0.055,2345,3772,3601,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5899,-0.52,-170.3,672.8,-6.9,634,5902,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2502,3600,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6210,-0.52,-170.3,694.9,-6.8,650,6216,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3766,3598,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6243,-0.52,-170.3,696.2,-6.7,651,6249,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2462,3597,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6551,-0.52,-170.3,715.3,-5.4,667,6556,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3761,3596,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6578,-0.52,-170.3,716.3,-5.3,668,6581,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2495,3596,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6892,-0.52,-170.3,734.1,-5.7,684,6897,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3753,3595,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6939,-0.52,-170.3,736.5,-5.8,686,6942,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2498,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7252,-0.52,-170.3,755.6,-6.0,702,7257,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3762,3593,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7300,-0.52,-170.3,757.9,-5.9,704,7304,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2499,3592,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7611,-0.52,-170.3,777.5,-6.6,720,7617,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3763,3591,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7666,-0.52,-170.3,780.3,-6.7,722,7673,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2457,3590,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7973,-0.52,-170.3,803.7,-7.4,738,7979,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3769,3589,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8013,-0.52,-170.3,806.7,-7.3,740,8016,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2495,3588,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8335,-0.52,-170.3,827.2,-5.7,756,8341,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3755,3587,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8389,-0.52,-170.3,829.5,-5.6,758,8395,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2460,3586,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8695,-0.52,-170.3,845.6,-5.0,774,8701,0.00,2.05,0.00,0.000,4,0.000,0.057,2345,3766,3586,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8743,-0.52,-170.3,847.7,-5.0,776,8747,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2501,3585,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9054,-0.52,-170.3,865.1,-5.7,792,9058,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3766,3585,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9090,-0.52,-170.3,866.4,-5.8,793,9098,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2481,3584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9396,-0.52,-170.3,885.4,-6.0,809,9402,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3584,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9429,-0.52,-170.3,886.6,-6.1,810,9436,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2466,3583,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9738,-0.52,-170.3,907.5,-6.8,826,9743,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3758,3582,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9784,-0.52,-170.3,910.1,-6.8,828,9788,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2504,3582,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10096,-0.52,-170.3,931.8,-6.8,844,10102,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3765,3581,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10138,-0.52,-170.3,934.5,-6.6,846,10142,0.00,1.73,0.00,0.000,6,0.000,0.026,2345,2511,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10460,-0.52,-170.3,954.2,-5.9,862,10466,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3773,3580,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10488,-0.52,-170.3,955.5,-5.9,863,10492,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2510,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10802,-0.52,-170.3,974.3,-5.9,879,10807,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3758,3580,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10848,-0.52,-170.3,976.8,-6.1,881,10852,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2504,3579,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,11058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11058,begin apogee
$GC,11065,-0.17,0.0,990.8,-6.6,892,11223,0.32,0.05,147.43,1.717,6,0.086,0.049,2470,2442,2928,0,0,0,0,0,0,26.04,23.81,22.20
$STATE,11224,end apogee,CONTROL_FINISHED_OK
$STATE,11224,begin climb
$GC,11227,0.52,170.3,999.2,0.0,900,11405,0.60,2.33,167.45,1.672,4,0.048,0.030,2718,1060,2233,0,0,0,0,0,0,24.53,23.68,21.75
$GC,11513,0.52,170.3,977.8,13.0,914,11524,0.15,2.33,0.00,0.000,6,0.169,0.047,2679,2516,2224,0,0,0,0,0,0,25.19,25.46,28.83
$GC,11823,0.52,170.3,937.7,12.4,930,11828,0.00,1.95,0.00,0.000,4,0.000,0.057,2679,3767,2222,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11887,0.52,170.3,929.3,13.7,933,11891,0.03,1.92,0.00,0.000,6,0.311,0.024,2679,2451,2221,0,0,0,0,0,0,26.08,26.27,28.83
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$STATE,21016,end climb,SURFACE_DEPTH_REACHED
$STATE,21019,begin surface coast
$FINISH,0.7,1.022030
$STATE,21056,end surface coast,CONTROL_FINISHED_OK
$STATE,21056,begin surface
$SM_CCo,21132,0.00,0.000,0,0,1178,429.27
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.8,48.320
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,183.875,441.575,0.000,0.000,26.966,16.337,248.053,0.000,0.000,18.967,4841.887,11849.762,618.519,3756.537,483.468,0.000,2380.678,0.000,3199.599,0.000,0.540,0.000
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$MEM,329648
$DATA_FILE_SIZE,140674,1911
$CAP_FILE_SIZE,223127,0
$CFSIZE,260165632,184643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,227.1,1
$GPS,300512,160400,1907.865,12422.318,37,0.9,42,-2.3