version: 66.10
glider: 176
mission: 5
dive: 150
start: 4 9 112 15 54 40
data:
$ID,176
$MISSION,5
$DIVE,150
$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,-7619.1816
$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,2510
$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
$GPS1,090412,153937,2014.752,12420.393,36,0.9,36,-2.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.7
$GPS2,090412,155413,2014.865,12420.623,12,1.6,12,-2.5
$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,217.7,269484,-13.1,-7.500
$D_GRID,5563
$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,14,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,64,0.00,0.00,-45.58,0.000,2,0.000,0.000,185,2713,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.51,-146.0,3.2,-5.8,8,104,8.62,2.25,-20.80,0.000,4,0.236,0.039,2346,1155,3528,0,0,0,0,0,0,25.46,26.09,26.44
$GC,237,-0.51,-146.0,39.4,-21.0,40,245,0.08,2.25,0.00,0.000,6,0.205,0.045,2352,2631,3528,0,0,0,0,0,0,25.92,26.09,28.83
$GC,550,-0.51,-146.0,115.7,-23.5,101,557,0.00,2.12,0.00,0.000,4,0.000,0.028,2352,1148,3528,0,0,0,0,0,0,28.83,26.31,28.83
$GC,610,-0.51,-146.0,127.9,-16.8,112,617,0.00,2.25,0.00,0.000,6,0.000,0.044,2342,2634,3528,0,0,0,0,0,0,28.83,26.22,28.83
$GC,920,-0.51,-146.0,196.6,-20.8,173,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2635,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1230,-0.51,-146.0,259.0,-18.4,205,1234,0.00,2.12,0.00,0.000,4,0.000,0.025,2342,1144,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1303,-0.51,-146.0,269.4,-12.6,212,1312,0.05,2.22,0.00,0.000,6,0.147,0.044,2352,2630,3528,0,0,0,0,0,0,26.15,26.34,28.83
$GC,1612,-0.51,-146.0,314.5,-14.9,243,1621,0.00,2.12,0.00,0.000,4,0.000,0.026,2353,1147,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1656,-0.51,-146.0,320.7,-14.9,247,1664,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2630,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1964,-0.51,-146.0,368.0,-15.2,278,1972,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1147,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1995,-0.51,-146.0,372.7,-15.3,281,2004,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2632,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2307,-0.51,-146.0,417.2,-14.0,312,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2632,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-0.51,-146.0,456.9,-12.0,343,2626,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1156,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2719,-0.51,-146.0,467.5,-9.1,353,2728,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2631,3524,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3030,-0.51,-146.0,501.9,-11.1,384,3039,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1152,3522,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3056,-0.51,-146.0,504.2,-10.8,386,3063,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2635,3523,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3361,-0.51,-146.0,537.7,-10.8,417,3365,0.00,1.73,0.00,0.000,4,0.000,0.054,2337,3777,3520,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3393,-0.51,-146.0,541.3,-11.5,420,3397,0.05,1.73,0.00,0.000,6,0.213,0.023,2354,2499,3519,0,0,0,0,0,0,26.45,26.65,28.83
$GC,3705,-0.51,-146.0,573.8,-10.5,451,3714,0.00,1.90,0.00,0.000,4,0.000,0.027,2354,1152,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3737,-0.51,-146.0,577.2,-10.7,454,3746,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2631,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4048,-0.51,-146.0,608.6,-9.8,481,4054,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1155,3515,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4090,-0.51,-146.0,612.4,-9.6,483,4094,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2637,3515,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4402,-0.51,-146.0,640.1,-8.8,499,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2637,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4702,-0.51,-146.0,666.6,-8.8,514,4708,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1152,3510,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4756,-0.51,-146.0,670.3,-8.9,516,4762,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2627,3510,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5062,-0.51,-146.0,700.8,-10.1,532,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-0.51,-146.0,730.0,-9.2,547,5368,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1158,3505,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5396,-0.51,-146.0,731.7,-9.1,548,5402,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2629,3506,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5703,-0.51,-146.0,759.9,-8.7,564,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6003,-0.51,-146.0,785.1,-8.6,579,6008,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1159,3502,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6056,-0.51,-146.0,788.7,-8.7,581,6063,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2626,3501,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6362,-0.51,-146.0,818.6,-9.6,597,6368,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1158,3500,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6390,-0.51,-146.0,820.3,-9.4,598,6394,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,2634,3499,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6698,-0.51,-146.0,850.4,-9.4,613,6703,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1159,3497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6737,-0.51,-146.0,854.0,-9.3,615,6743,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2635,3497,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7058,-0.51,-146.0,881.5,-8.3,631,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7357,-0.51,-146.0,906.2,-8.3,646,7363,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1158,3494,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7399,-0.51,-146.0,909.6,-8.4,648,7404,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2618,3494,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7718,-0.51,-146.0,935.8,-8.3,664,7724,0.00,2.08,0.00,0.000,4,0.000,0.026,2345,1164,3492,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7750,-0.51,-146.0,937.3,-8.3,665,7757,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2626,3493,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8058,-0.51,-146.0,962.6,-7.9,681,8063,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1155,3491,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8086,-0.51,-146.0,964.2,-8.0,682,8090,0.00,2.28,0.00,0.000,6,0.000,0.049,2345,2633,3491,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8398,-0.51,-146.0,988.3,-7.4,698,8404,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1159,3489,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8430,-0.51,-146.0,989.8,-7.4,699,8438,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2634,3490,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,8455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8455,begin apogee
$GC,8461,-0.17,0.0,992.6,-7.2,701,8591,0.32,0.15,122.15,1.752,6,0.111,0.085,2459,2532,2929,0,0,0,0,0,0,25.99,24.56,23.41
$STATE,8592,end apogee,CONTROL_FINISHED_OK
$STATE,8592,begin climb
$GC,8594,0.51,146.0,996.1,0.0,707,8743,0.60,2.45,139.68,1.707,4,0.053,0.031,2706,1053,2332,0,0,0,0,0,0,24.79,23.90,22.70
$GC,8799,0.51,146.0,982.0,13.6,718,8804,0.15,2.42,0.00,0.000,6,0.182,0.046,2671,2519,2326,0,0,0,0,0,0,24.46,24.70,28.83
$GC,9112,0.51,146.0,937.6,14.0,734,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2520,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9412,0.51,146.0,895.0,14.4,749,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2520,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9712,0.51,146.0,854.6,13.1,764,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2520,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10012,0.51,146.0,817.1,12.2,779,10018,0.00,1.90,0.00,0.000,4,0.000,0.055,2671,3765,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10040,0.51,146.0,814.4,12.4,780,10044,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2440,2317,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10347,0.51,146.0,775.1,12.4,795,10348,0.05,0.00,0.00,0.000,6,0.260,0.000,2671,2436,2316,0,0,0,0,0,0,26.35,28.83,28.83
$GC,10647,0.51,146.0,740.3,11.3,810,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2436,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10947,0.51,146.0,707.6,10.6,825,10953,0.00,2.05,0.00,0.000,4,0.000,0.054,2670,3763,2316,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11011,0.51,146.0,700.3,11.8,828,11015,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2443,2314,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11323,0.51,146.0,661.9,12.8,844,11325,0.03,0.00,0.00,0.000,6,0.315,0.000,2670,2439,2315,0,0,0,0,0,0,26.46,28.83,28.83
$GC,11622,0.51,146.0,626.2,11.4,859,11628,0.00,2.08,0.00,0.000,4,0.000,0.054,2670,3769,2314,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11656,0.51,146.0,623.6,11.7,860,11664,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2437,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11962,0.51,146.0,584.8,11.5,882,11971,0.00,2.08,0.00,0.000,4,0.000,0.054,2680,3775,2312,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12054,0.51,146.0,573.0,13.5,891,12058,0.10,1.92,0.00,0.000,6,0.213,0.023,2668,2415,2313,0,0,0,0,0,0,26.00,26.41,28.83
$GC,12366,0.51,146.0,542.1,9.7,922,12374,0.00,2.00,0.00,0.000,4,0.000,0.031,2677,1047,2312,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12417,0.51,146.0,537.3,9.5,927,12426,0.00,2.28,0.00,0.000,6,0.000,0.045,2677,2524,2312,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12727,0.51,146.0,504.8,10.0,958,12730,0.00,1.90,0.00,0.000,4,0.000,0.054,2677,3778,2312,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,18285,end climb,SURFACE_DEPTH_REACHED
$STATE,18285,begin surface coast
$FINISH,0.8,1.023356
$STATE,18352,end surface coast,CONTROL_FINISHED_OK
$STATE,18352,begin surface
$SM_CCo,18367,43.30,0.132,0,0,1395,375.06
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$IRIDIUM_FIX,2006.47,12419.63,090412,151556
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.80
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.7,32.480
$10V_AH,10.2,19.664
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.700,156.775,349.475,43.300,0.000,135.121,116.738,229.688,0.000,0.000,14.925,4323.043,10451.316,591.953,3503.522,392.139,0.000,2138.317,0.000,2849.363,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.542,2161.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,127356,1728
$CAP_FILE_SIZE,190893,0
$CFSIZE,260165632,208961536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138, 68.5,1
$GPS,090412,210237,2013.372,12420.709,33,0.9,33,-2.5