version: 66.10
glider: 176
mission: 5
dive: 164
start: 4 12 112 19 20 28
data:
$ID,176
$MISSION,5
$DIVE,164
$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,-7639.3027
$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
$GPS1,120412,191236,1943.362,12427.508,32,1.2,32,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.3
$GPS2,120412,192001,1943.392,12427.590,10,1.1,15,-2.4
$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,208.0,210409,-13.1,-7.500
$D_GRID,5624
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.80,0.000,2,0.000,0.000,190,2687,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.4,-6.9,8,105,8.75,2.25,-20.40,0.000,4,0.239,0.037,2346,1141,3526,0,0,0,0,0,0,25.42,26.10,26.45
$GC,164,-0.51,-146.0,23.3,-20.6,22,171,0.10,2.28,0.00,0.000,6,0.176,0.045,2360,2630,3527,0,0,0,0,0,0,25.84,26.03,28.83
$GC,476,-0.51,-146.0,95.2,-21.4,83,483,0.05,2.12,0.00,0.000,4,0.177,0.025,2315,1147,3527,0,0,0,0,0,0,26.46,26.28,28.83
$GC,522,-0.51,-146.0,105.1,-21.9,91,529,0.17,2.25,0.00,0.000,6,0.151,0.044,2356,2628,3527,0,0,0,0,0,0,25.90,26.17,28.83
$GC,833,-0.51,-146.0,170.3,-21.5,152,840,0.00,1.70,0.00,0.000,4,0.000,0.050,2348,3767,3528,0,0,0,0,0,0,28.83,26.20,28.83
$GC,868,-0.51,-146.0,177.0,-19.0,158,875,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2508,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1178,-0.51,-146.0,239.8,-18.9,200,1181,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1146,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1217,-0.51,-146.0,246.1,-17.6,203,1224,0.08,2.25,0.00,0.000,6,0.187,0.044,2356,2635,3527,0,0,0,0,0,0,26.17,26.31,28.83
$GC,1524,-0.51,-146.0,297.6,-16.2,234,1533,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1152,3527,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1599,-0.51,-146.0,307.0,-11.7,241,1607,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2633,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1907,-0.51,-146.0,354.2,-14.2,272,1910,0.00,1.70,0.00,0.000,4,0.000,0.053,2341,3767,3527,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1948,-0.51,-146.0,360.4,-14.6,276,1952,0.05,1.67,0.00,0.000,6,0.217,0.022,2357,2493,3527,0,0,0,0,0,0,26.42,26.63,28.83
$GC,2259,-0.51,-146.0,399.4,-13.1,307,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2478,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,-0.51,-146.0,436.8,-11.8,337,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2478,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,-0.51,-146.0,469.3,-9.7,368,2879,0.00,1.98,0.00,0.000,4,0.000,0.052,2347,3778,3525,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3002,-0.51,-146.0,482.1,-9.6,381,3005,0.00,1.70,0.00,0.000,6,0.000,0.023,2348,2513,3524,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3314,-0.51,-146.0,515.0,-11.0,412,3323,0.00,1.90,0.00,0.000,4,0.000,0.027,2348,1146,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3346,-0.51,-146.0,518.8,-11.7,415,3355,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2630,3523,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3656,-0.51,-146.0,553.5,-10.4,446,3664,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1157,3521,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3708,-0.51,-146.0,558.8,-9.9,451,3717,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2638,3521,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4019,-0.51,-146.0,587.9,-9.0,482,4028,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1154,3518,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4090,-0.51,-146.0,594.1,-8.3,489,4100,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2628,3518,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4401,-0.51,-146.0,623.3,-10.0,508,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2628,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4700,-0.51,-146.0,652.6,-9.4,523,4706,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1159,3514,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4784,-0.51,-146.0,659.8,-9.0,527,4788,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2629,3514,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5095,-0.51,-146.0,689.5,-9.5,543,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2629,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5396,-0.51,-146.0,716.2,-8.6,558,5402,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1152,3508,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5464,-0.51,-146.0,721.0,-8.3,561,5468,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3508,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5771,-0.51,-146.0,746.9,-8.5,576,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2634,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,-0.51,-146.0,772.8,-8.5,591,6077,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1154,3504,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6120,-0.51,-146.0,776.3,-8.5,593,6124,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2634,3504,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6425,-0.51,-146.0,802.3,-8.3,608,6431,0.00,2.17,0.00,0.000,4,0.000,0.027,2344,1150,3502,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6458,-0.51,-146.0,804.0,-8.2,609,6467,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2631,3502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6767,-0.51,-146.0,827.8,-6.9,625,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2631,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.51,-146.0,848.4,-7.3,640,7072,0.00,2.17,0.00,0.000,4,0.000,0.028,2344,1151,3499,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7107,-0.51,-146.0,851.4,-7.4,642,7111,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2629,3499,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7430,-0.51,-146.0,877.5,-8.3,658,7434,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1161,3497,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7475,-0.51,-146.0,881.0,-8.4,660,7479,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3497,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7787,-0.51,-146.0,907.1,-8.2,676,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8086,-0.51,-146.0,931.8,-8.1,691,8092,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1158,3493,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8129,-0.51,-146.0,935.1,-8.3,693,8133,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3494,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8442,-0.51,-146.0,960.5,-8.0,709,8448,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1153,3492,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8474,-0.51,-146.0,962.2,-7.9,710,8481,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2625,3493,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8783,-0.51,-146.0,986.1,-7.3,726,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3491,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8840,begin apogee
$GC,8846,-0.17,0.0,990.3,-7.0,729,8976,0.35,0.10,122.40,1.749,6,0.109,0.070,2468,2534,2929,0,0,0,0,0,0,25.95,24.49,23.36
$STATE,8977,end apogee,CONTROL_FINISHED_OK
$STATE,8977,begin climb
$GC,8979,0.51,146.0,993.3,0.0,735,9131,0.57,2.45,140.57,1.707,4,0.047,0.031,2711,1052,2331,0,0,0,0,0,0,24.79,23.89,22.65
$GC,9163,0.51,146.0,981.5,13.1,745,9170,0.17,2.42,0.00,0.000,6,0.179,0.046,2670,2517,2326,0,0,0,0,0,0,24.28,24.51,28.83
$GC,9484,0.51,146.0,935.0,14.2,761,9489,0.00,1.98,0.00,0.000,4,0.000,0.055,2670,3771,2321,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9523,0.51,146.0,928.5,15.1,763,9527,0.00,1.95,0.00,0.000,6,0.000,0.025,2679,2452,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9839,0.51,146.0,883.4,13.6,779,9845,0.00,2.05,0.00,0.000,4,0.000,0.053,2679,3766,2319,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9860,0.51,146.0,880.6,13.6,780,9866,0.08,1.92,0.00,0.000,6,0.242,0.025,2676,2447,2318,0,0,0,0,0,0,25.84,26.13,28.83
$GC,10179,0.51,146.0,837.9,13.0,796,10185,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1054,2317,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10239,0.51,146.0,830.5,12.7,799,10245,0.05,2.28,0.00,0.000,6,0.232,0.047,2674,2520,2316,0,0,0,0,0,0,25.95,26.05,28.83
$GC,10560,0.51,146.0,789.6,12.5,815,10564,0.00,1.95,0.00,0.000,4,0.000,0.054,2674,3795,2316,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10634,0.51,146.0,780.5,14.1,818,10641,0.00,1.98,0.00,0.000,6,0.000,0.025,2684,2438,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10942,0.51,146.0,739.8,12.5,834,10944,0.03,0.00,0.00,0.000,6,0.314,0.000,2675,2436,2314,0,0,0,0,0,0,26.41,28.83,28.83
$GC,11241,0.51,146.0,704.9,11.6,849,11247,0.00,2.08,0.00,0.000,4,0.000,0.054,2675,3763,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11315,0.51,146.0,696.9,12.7,852,11323,0.05,1.90,0.00,0.000,6,0.263,0.024,2674,2447,2313,0,0,0,0,0,0,26.14,26.35,28.83
$GC,11623,0.51,146.0,662.2,10.4,868,11628,0.00,2.05,0.00,0.000,4,0.000,0.054,2674,3769,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11664,0.51,146.0,657.7,10.8,870,11669,0.03,1.95,0.00,0.000,6,0.224,0.024,2676,2442,2312,0,0,0,0,0,0,26.17,26.37,28.83
$GC,11983,0.51,146.0,625.9,9.8,886,11985,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2438,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12282,0.51,146.0,595.5,9.7,903,12291,0.00,2.08,0.00,0.000,4,0.000,0.052,2676,3773,2311,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12354,0.51,146.0,587.0,12.3,910,12363,0.08,1.90,0.00,0.000,6,0.231,0.023,2671,2440,2311,0,0,0,0,0,0,26.10,26.41,28.83
$GC,12664,0.51,146.0,558.7,8.0,941,12674,0.00,2.05,0.00,0.000,4,0.000,0.034,2681,1051,2311,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18849,end climb,SURFACE_DEPTH_REACHED
$STATE,18849,begin surface coast
$FINISH,0.8,1.022707
$STATE,18891,end surface coast,CONTROL_FINISHED_OK
$STATE,18891,begin surface
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$IRIDIUM_FIX,1936.66,12426.50,120412,131322
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,22.6,34.885
$10V_AH,10.1,21.431
$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
$DEVICE_SECS,17.900,162.550,346.775,39.525,0.000,31.828,21.988,240.407,0.000,0.000,18.103,4452.571,10452.328,577.517,3480.241,402.653,0.000,2196.292,0.000,2976.455,0.000,0.541,0.000
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$SENSOR_SECS,1201.143,2251.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329428
$DATA_FILE_SIZE,130673,1762
$CAP_FILE_SIZE,197345,0
$CFSIZE,260165632,207446016
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 92.7,1
$GPS,130412,003725,1941.149,12427.938,36,1.5,36,-2.4