version: 66.10
glider: 176
mission: 5
dive: 166
start: 4 13 112 6 29 23
data:
$ID,176
$MISSION,5
$DIVE,166
$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,-7642.0083
$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
$GPS1,130412,062137,1937.695,12429.078,36,1.1,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.9
$GPS2,130412,062856,1937.549,12429.338,11,1.7,11,-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,216.4,199431,-13.1,-7.500
$D_GRID,5489
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.20,0.000,2,0.000,0.000,190,2650,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.2,-6.5,7,99,8.82,2.25,-22.70,0.000,4,0.242,0.045,2350,1168,3526,0,0,0,0,0,0,25.41,26.07,26.45
$GC,180,-0.51,-146.0,32.2,-19.1,23,188,0.08,2.25,0.00,0.000,6,0.197,0.044,2357,2635,3528,0,0,0,0,0,0,25.89,26.05,28.83
$GC,492,-0.51,-146.0,107.7,-24.2,84,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2635,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,801,-0.51,-146.0,172.2,-18.6,145,809,0.00,1.70,0.00,0.000,4,0.000,0.050,2349,3777,3529,0,0,0,0,0,0,28.83,26.21,28.83
$GC,852,-0.51,-146.0,182.4,-19.6,154,858,0.00,1.70,0.00,0.000,6,0.000,0.022,2348,2509,3529,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1161,-0.51,-146.0,239.0,-17.2,194,1165,0.00,1.92,0.00,0.000,4,0.000,0.027,2349,1164,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1203,-0.51,-146.0,245.8,-16.5,198,1212,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2634,3529,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1512,-0.51,-146.0,293.4,-14.9,229,1516,0.00,1.70,0.00,0.000,4,0.000,0.050,2338,3765,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1536,-0.51,-146.0,297.0,-15.7,231,1544,0.03,1.73,0.00,0.000,6,0.099,0.022,2363,2490,3528,0,0,0,0,0,0,26.32,26.61,28.83
$GC,1844,-0.51,-146.0,338.3,-12.9,262,1849,0.08,1.90,0.00,0.000,4,0.132,0.025,2311,1142,3528,0,0,0,0,0,0,26.65,26.48,28.83
$GC,1859,-0.51,-146.0,339.8,-12.8,263,1866,0.17,2.25,0.00,0.000,6,0.146,0.042,2357,2639,3528,0,0,0,0,0,0,26.07,26.34,28.83
$GC,2166,-0.51,-146.0,381.4,-13.0,294,2170,0.00,2.12,0.00,0.000,4,0.000,0.026,2358,1154,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2230,-0.51,-146.0,388.4,-10.2,300,2238,0.00,2.25,0.00,0.000,6,0.000,0.044,2350,2627,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2538,-0.51,-146.0,427.1,-12.5,331,2547,0.00,2.10,0.00,0.000,4,0.000,0.027,2350,1148,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2599,-0.51,-146.0,434.1,-10.8,337,2609,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2634,3526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2911,-0.51,-146.0,472.4,-11.9,368,2919,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1148,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2982,-0.51,-146.0,480.1,-9.7,375,2991,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2630,3523,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3293,-0.51,-146.0,512.6,-10.9,406,3301,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1151,3522,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3365,-0.51,-146.0,519.7,-9.4,413,3375,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2633,3521,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3676,-0.51,-146.0,552.3,-10.3,444,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2634,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,-0.51,-146.0,581.7,-10.1,474,3985,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1155,3517,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4007,-0.51,-146.0,585.0,-10.0,477,4018,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2634,3518,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4318,-0.51,-146.0,616.3,-9.9,500,4324,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1148,3515,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4345,-0.51,-146.0,618.3,-9.9,501,4350,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2636,3515,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4653,-0.51,-146.0,646.1,-8.3,516,4659,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1158,3512,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4681,-0.51,-146.0,647.8,-8.4,517,4685,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2629,3512,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4993,-0.51,-146.0,674.9,-9.3,533,4999,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1157,3509,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5033,-0.51,-146.0,678.6,-9.3,535,5036,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2631,3509,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5355,-0.51,-146.0,709.8,-9.8,551,5359,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1145,3507,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5404,-0.51,-146.0,713.8,-9.7,553,5408,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2629,3506,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5711,-0.51,-146.0,742.4,-9.0,568,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6012,-0.51,-146.0,768.6,-8.9,583,6017,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1157,3503,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6064,-0.51,-146.0,772.1,-9.1,585,6072,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2631,3502,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6372,-0.51,-146.0,801.4,-9.2,601,6377,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1157,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6399,-0.51,-146.0,803.3,-9.3,602,6403,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2635,3501,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6706,-0.51,-146.0,831.5,-8.7,617,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7007,-0.51,-146.0,855.5,-7.6,632,7012,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1155,3497,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7066,-0.51,-146.0,860.1,-7.7,635,7072,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2633,3497,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7386,-0.51,-146.0,884.3,-7.5,651,7390,0.00,1.75,0.00,0.000,4,0.000,0.059,2344,3763,3495,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7411,-0.51,-146.0,886.0,-7.6,652,7415,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2506,3494,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7728,-0.51,-146.0,909.2,-7.4,668,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2488,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8027,-0.51,-146.0,932.5,-7.8,683,8033,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3763,3492,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8056,-0.51,-146.0,934.1,-7.9,684,8059,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2499,3491,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8367,-0.51,-146.0,959.1,-7.7,700,8371,0.00,1.95,0.00,0.000,4,0.000,0.028,2343,1154,3490,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8391,-0.51,-146.0,960.7,-7.7,701,8395,0.00,2.30,0.00,0.000,6,0.000,0.047,2343,2621,3491,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8710,-0.51,-146.0,984.9,-7.6,717,8715,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1159,3489,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8737,-0.51,-146.0,986.5,-7.6,718,8741,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2626,3489,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8782,begin apogee
$GC,8787,-0.17,0.0,990.4,-7.3,720,8918,0.35,0.12,122.03,1.745,6,0.109,0.096,2467,2535,2928,0,0,0,0,0,0,25.95,24.53,23.38
$STATE,8919,end apogee,CONTROL_FINISHED_OK
$STATE,8919,begin climb
$GC,8921,0.51,146.0,994.1,0.0,726,9070,0.60,2.47,140.07,1.702,4,0.049,0.031,2716,1055,2332,0,0,0,0,0,0,24.82,23.91,22.67
$GC,9096,0.51,146.0,985.1,11.3,735,9101,0.17,2.42,0.00,0.000,6,0.177,0.045,2675,2513,2327,0,0,0,0,0,0,24.23,24.44,28.83
$GC,9403,0.51,146.0,941.4,13.5,750,9409,0.00,1.98,0.00,0.000,4,0.000,0.056,2674,3769,2322,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9426,0.51,146.0,938.5,13.6,751,9429,0.00,1.95,0.00,0.000,6,0.000,0.025,2682,2453,2321,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9744,0.51,146.0,895.2,12.9,767,9747,0.00,2.08,0.00,0.000,4,0.000,0.031,2693,1052,2320,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9773,0.51,146.0,892.5,12.8,768,9778,0.10,2.30,0.00,0.000,6,0.194,0.045,2670,2526,2318,0,0,0,0,0,0,25.75,25.98,28.83
$GC,10081,0.51,146.0,855.4,11.6,783,10086,0.00,1.90,0.00,0.000,4,0.000,0.055,2670,3765,2317,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10120,0.51,146.0,850.2,12.3,785,10124,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2451,2317,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10436,0.51,146.0,810.3,12.7,801,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2447,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10737,0.51,146.0,772.3,12.3,816,10740,0.00,2.05,0.00,0.000,4,0.000,0.054,2679,3766,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10771,0.51,146.0,769.3,12.6,817,10780,0.05,1.92,0.00,0.000,6,0.197,0.024,2673,2447,2315,0,0,0,0,0,0,25.98,26.33,28.83
$GC,11078,0.51,146.0,729.6,12.2,833,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2445,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11379,0.51,146.0,693.5,11.8,848,11384,0.00,2.03,0.00,0.000,4,0.000,0.030,2684,1058,2314,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11411,0.51,146.0,691.3,11.7,849,11420,0.03,2.25,0.00,0.000,6,0.274,0.045,2673,2517,2312,0,0,0,0,0,0,26.06,26.12,28.83
$GC,11718,0.51,146.0,657.2,10.6,865,11722,0.00,1.90,0.00,0.000,4,0.000,0.055,2673,3764,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11762,0.51,146.0,652.2,11.4,867,11767,0.00,1.90,0.00,0.000,6,0.000,0.024,2683,2440,2313,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,18862,end climb,SURFACE_DEPTH_REACHED
$STATE,18862,begin surface coast
$FINISH,3.2,1.022260
$STATE,18867,end surface coast,CONTROL_FINISHED_OK
$STATE,18867,begin surface
$SM_CCo,18885,8.88,0.141,0,0,1397,375.06
$SM_GC,3.74,6.95,2.45,8.88,0.062,0.041,0.141,190,2630,1397,-7.17,-0.48,375.06,0,0,0,0,0,0,26.34,26.22,25.86
$IRIDIUM_FIX,1932.09,12427.09,130412,000037
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,22.7,35.227
$10V_AH,10.2,21.690
$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,18.750,183.675,370.850,8.875,0.000,31.293,24.496,238.787,0.000,0.000,13.737,4516.690,10320.432,570.788,3492.024,404.589,0.000,2213.829,0.000,2985.839,0.000,0.541,0.000
$DEVICE_MAMPS,273.870,95.625,1744.965,140.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1217.920,2245.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,133704,1788
$CAP_FILE_SIZE,203423,0
$CFSIZE,260165632,207224832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,141.0,1
$GPS,130412,114530,1934.728,12428.639,41,1.2,41,-2.4