version: 66.10
glider: 176
mission: 5
dive: 155
start: 4 10 112 18 48 41
data:
$ID,176
$MISSION,5
$DIVE,155
$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,-7627.3174
$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
$GPS1,100412,184037,2004.508,12422.539,40,0.8,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.5
$GPS2,100412,184814,2004.594,12422.674,11,1.3,11,-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,200.7,250214,-13.1,-7.500
$D_GRID,5173
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-46.67,0.000,2,0.000,0.000,182,2699,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.5,-7.1,8,105,8.73,2.28,-19.00,0.000,4,0.236,0.043,2346,1158,3527,0,0,0,0,0,0,25.41,26.06,26.41
$GC,192,-0.51,-146.0,34.2,-24.3,28,200,0.08,2.25,0.00,0.000,6,0.202,0.044,2351,2633,3529,0,0,0,0,0,0,25.87,26.03,28.83
$GC,505,-0.51,-146.0,113.3,-29.8,89,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2633,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,816,-0.51,-146.0,186.9,-20.2,150,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2633,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1125,-0.51,-146.0,254.1,-20.0,186,1133,0.00,2.12,0.00,0.000,4,0.000,0.025,2352,1148,3530,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1209,-0.51,-146.0,265.6,-11.8,194,1216,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2633,3529,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1516,-0.51,-146.0,317.3,-19.1,225,1526,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1155,3529,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1581,-0.51,-146.0,327.7,-15.4,231,1589,0.08,2.22,0.00,0.000,6,0.187,0.045,2354,2630,3529,0,0,0,0,0,0,26.20,26.34,28.83
$GC,1890,-0.51,-146.0,374.2,-15.1,262,1893,0.00,2.12,0.00,0.000,4,0.000,0.027,2354,1147,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1921,-0.51,-146.0,378.6,-14.2,265,1925,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2637,3528,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2232,-0.51,-146.0,424.2,-14.5,296,2241,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1155,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2274,-0.51,-146.0,429.9,-13.7,300,2283,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2629,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2583,-0.51,-146.0,471.0,-12.8,331,2592,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1146,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2677,-0.51,-146.0,481.5,-9.9,340,2684,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2629,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2984,-0.51,-146.0,513.2,-9.5,371,2993,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1151,3524,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3036,-0.51,-146.0,517.6,-8.3,376,3045,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2634,3524,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3347,-0.51,-146.0,547.8,-11.2,407,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2634,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3648,-0.51,-146.0,580.6,-10.5,437,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2634,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-0.51,-146.0,613.5,-10.4,462,3962,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1148,3519,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4004,-0.51,-146.0,617.7,-10.5,464,4008,0.00,2.25,0.00,0.000,6,0.000,0.046,2346,2628,3518,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4317,-0.51,-146.0,649.9,-9.9,480,4322,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1157,3517,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4344,-0.51,-146.0,651.9,-10.0,481,4348,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2628,3516,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4652,-0.51,-146.0,682.2,-9.7,496,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2627,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-0.51,-146.0,708.9,-8.3,511,4957,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1146,3511,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5006,-0.51,-146.0,712.1,-8.2,513,5014,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2631,3511,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5312,-0.51,-146.0,737.1,-8.0,529,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2632,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5611,-0.51,-146.0,762.2,-8.6,544,5617,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1148,3506,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5671,-0.51,-146.0,767.0,-8.3,547,5675,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2626,3506,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5993,-0.51,-146.0,793.5,-8.3,563,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2626,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6293,-0.51,-146.0,819.6,-9.1,578,6299,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1158,3502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6335,-0.51,-146.0,823.2,-9.1,580,6339,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2622,3502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6654,-0.51,-146.0,853.0,-9.3,596,6659,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1156,3500,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6716,-0.51,-146.0,858.5,-9.2,599,6720,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3501,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7029,-0.51,-146.0,885.0,-7.8,615,7035,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1156,3498,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7076,-0.51,-146.0,888.1,-7.8,617,7080,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3499,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7383,-0.51,-146.0,912.7,-8.1,632,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,-0.51,-146.0,939.2,-9.1,647,7689,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1147,3496,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7723,-0.51,-146.0,942.9,-9.3,649,7729,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2634,3496,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8043,-0.51,-146.0,970.4,-8.3,665,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2634,3494,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8302,begin apogee
$GC,8308,-0.17,0.0,990.7,-7.6,678,8437,0.32,0.15,123.22,1.743,6,0.112,0.084,2459,2535,2928,0,0,0,0,0,0,25.97,24.53,23.37
$STATE,8438,end apogee,CONTROL_FINISHED_OK
$STATE,8438,begin climb
$GC,8440,0.51,146.0,994.4,0.0,684,8585,0.60,0.00,140.23,1.703,6,0.054,0.000,2692,2535,2332,0,0,0,0,0,0,24.75,28.83,22.68
$GC,8884,0.51,146.0,945.2,14.7,707,8885,0.10,0.00,0.00,0.000,6,0.199,0.000,2671,2536,2322,0,0,0,0,0,0,25.60,28.83,28.83
$GC,9183,0.51,146.0,906.6,13.1,722,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2535,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9484,0.51,146.0,866.4,13.7,737,9489,0.00,2.20,0.00,0.000,4,0.000,0.031,2681,1058,2319,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9546,0.51,146.0,858.9,12.7,740,9551,0.05,2.28,0.00,0.000,6,0.220,0.046,2670,2521,2317,0,0,0,0,0,0,25.94,26.02,28.83
$GC,9859,0.51,146.0,819.1,11.8,756,9864,0.00,2.20,0.00,0.000,4,0.000,0.031,2681,1048,2316,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9913,0.51,146.0,814.6,11.5,758,9921,0.05,2.28,0.00,0.000,6,0.220,0.047,2670,2519,2316,0,0,0,0,0,0,25.99,26.07,28.83
$GC,10219,0.51,146.0,780.1,10.4,774,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2519,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10518,0.51,146.0,749.9,10.5,789,10524,0.00,1.90,0.00,0.000,4,0.000,0.054,2670,3766,2315,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10541,0.51,146.0,747.6,10.7,790,10545,0.00,1.92,0.00,0.000,6,0.000,0.025,2679,2451,2315,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10859,0.51,146.0,713.8,9.8,806,10865,0.00,2.03,0.00,0.000,4,0.000,0.053,2679,3770,2314,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10901,0.51,146.0,708.9,10.8,808,10907,0.10,1.92,0.00,0.000,6,0.217,0.024,2663,2441,2313,0,0,0,0,0,0,25.89,26.34,28.83
$GC,11219,0.51,146.0,682.8,7.7,824,11226,0.05,2.05,0.00,0.000,4,0.177,0.053,2699,3763,2312,0,0,0,0,0,0,26.53,26.03,28.83
$GC,11308,0.51,146.0,672.9,12.5,828,11312,0.17,1.90,0.00,0.000,6,0.191,0.024,2665,2444,2313,0,0,0,0,0,0,25.72,26.36,28.83
$GC,11615,0.51,146.0,642.0,10.1,843,11621,0.00,2.05,0.00,0.000,4,0.000,0.052,2665,3777,2312,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11715,0.51,146.0,629.6,12.7,848,11720,0.00,1.92,0.00,0.000,6,0.000,0.024,2674,2440,2312,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12024,0.51,146.0,596.4,10.5,865,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2436,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12328,0.51,146.0,567.9,9.1,895,12336,0.00,2.03,0.00,0.000,4,0.000,0.052,2674,3763,2311,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12378,0.51,146.0,562.0,11.0,900,12383,0.08,1.90,0.00,0.000,6,0.229,0.023,2670,2435,2311,0,0,0,0,0,0,26.12,26.43,28.83
$GC,12684,0.51,146.0,534.8,8.3,930,12687,0.00,2.08,0.00,0.000,4,0.000,0.050,2670,3774,2311,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12768,0.51,146.0,526.5,10.2,938,12776,0.00,1.90,0.00,0.000,6,0.000,0.022,2680,2433,2311,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13077,0.51,146.0,497.5,9.7,969,13086,0.00,2.00,0.00,0.000,4,0.000,0.050,2679,3763,2311,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13221,0.51,146.0,481.3,11.4,983,13230,0.10,1.88,0.00,0.000,6,0.207,0.022,2667,2438,2311,0,0,0,0,0,0,26.04,26.47,28.83
$GC,13530,0.55,181.1,458.9,6.3,1014,13570,0.10,2.10,29.27,1.383,4,0.109,0.033,2735,1053,2188,0,0,0,0,0,0,26.56,25.78,24.55
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$STATE,18146,end climb,SURFACE_DEPTH_REACHED
$STATE,18146,begin surface coast
$FINISH,0.8,1.011532
$STATE,18179,end surface coast,CONTROL_FINISHED_OK
$STATE,18179,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.39764
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.7,33.332
$10V_AH,10.2,20.292
$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
$DEVICE_SECS,18.150,156.675,366.900,29.750,0.000,24.351,42.318,244.747,0.000,0.000,14.136,4193.266,10209.726,575.156,3304.934,372.138,0.000,2115.907,0.000,2804.542,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329444
$DATA_FILE_SIZE,123949,1661
$CAP_FILE_SIZE,187946,0
$CFSIZE,260165632,208433152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194, 80.1,1
$GPS,100412,235337,2002.669,12424.119,39,1.0,39,-2.5