version: 66.10
glider: 176
mission: 5
dive: 170
start: 4 14 112 4 45 47
data:
$ID,176
$MISSION,5
$DIVE,170
$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,-7647.4258
$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
$GPS1,140412,043736,1925.730,12430.385,40,0.9,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.8
$GPS2,140412,044520,1925.636,12430.524,11,1.6,11,-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,210.1,177294,-13.1,-7.500
$D_GRID,5339
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.25,0.000,2,0.000,0.000,180,2673,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.4,-7.3,7,100,8.68,2.28,-21.10,0.000,4,0.234,0.041,2347,1157,3528,0,0,0,0,0,0,25.44,26.11,26.48
$GC,127,-0.51,-146.0,21.0,-27.5,12,134,0.10,2.25,0.00,0.000,6,0.192,0.044,2360,2631,3528,0,0,0,0,0,0,25.82,26.04,28.83
$GC,439,-0.51,-146.0,107.9,-25.4,73,447,0.05,2.12,0.00,0.000,4,0.177,0.024,2315,1158,3528,0,0,0,0,0,0,26.48,26.30,28.83
$GC,469,-0.51,-146.0,115.9,-27.2,78,477,0.17,2.22,0.00,0.000,6,0.151,0.044,2356,2632,3528,0,0,0,0,0,0,25.92,26.20,28.83
$GC,780,-0.51,-146.0,187.1,-21.1,139,787,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1154,3529,0,0,0,0,0,0,28.83,26.39,28.83
$GC,835,-0.51,-146.0,196.5,-14.5,149,843,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2632,3529,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1151,-0.51,-146.0,256.6,-19.2,182,1159,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1154,3529,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1205,-0.51,-146.0,265.4,-16.5,187,1212,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2630,3529,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1514,-0.51,-146.0,320.6,-17.6,218,1523,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1159,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1555,-0.51,-146.0,327.5,-16.1,222,1566,0.10,2.22,0.00,0.000,6,0.164,0.044,2363,2637,3528,0,0,0,0,0,0,26.18,26.36,28.83
$GC,1865,-0.51,-146.0,368.6,-13.0,253,1869,0.08,2.10,0.00,0.000,4,0.132,0.024,2306,1165,3528,0,0,0,0,0,0,26.66,26.49,28.83
$GC,1906,-0.51,-146.0,374.9,-15.0,257,1917,0.17,2.22,0.00,0.000,6,0.142,0.044,2358,2629,3528,0,0,0,0,0,0,26.10,26.35,28.83
$GC,2216,-0.51,-146.0,412.8,-11.5,288,2220,0.00,2.10,0.00,0.000,4,0.000,0.025,2358,1155,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2248,-0.51,-146.0,416.4,-11.8,291,2252,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2638,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2559,-0.51,-146.0,453.1,-11.8,322,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2638,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.51,-146.0,488.3,-11.6,352,2869,0.00,2.08,0.00,0.000,4,0.000,0.024,2357,1156,3524,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2894,-0.51,-146.0,491.8,-11.3,355,2902,0.00,2.22,0.00,0.000,6,0.000,0.043,2357,2631,3523,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3203,-0.51,-146.0,522.0,-9.4,386,3212,0.00,2.08,0.00,0.000,4,0.000,0.025,2357,1158,3520,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3247,-0.51,-146.0,525.9,-9.2,390,3254,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2631,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3556,-0.51,-146.0,554.0,-9.0,421,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2631,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3856,-0.51,-146.0,580.9,-8.1,451,3865,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1151,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3910,-0.51,-146.0,585.1,-7.9,456,3917,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2634,3516,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4217,-0.51,-146.0,610.9,-9.1,481,4223,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1146,3514,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4251,-0.51,-146.0,612.8,-9.3,482,4258,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2628,3514,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4558,-0.51,-146.0,644.7,-10.2,498,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,-0.51,-146.0,673.9,-9.2,513,4864,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1156,3508,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4902,-0.51,-146.0,677.5,-8.9,515,4906,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2629,3508,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5213,-0.51,-146.0,701.1,-7.1,531,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5514,-0.51,-146.0,724.2,-7.9,546,5519,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1154,3504,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5541,-0.51,-146.0,725.8,-8.0,547,5545,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2634,3504,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5849,-0.51,-146.0,750.0,-7.6,562,5855,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1148,3502,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5893,-0.51,-146.0,753.0,-7.4,564,5899,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2634,3502,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6210,-0.51,-146.0,776.6,-7.5,580,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2635,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6508,-0.51,-146.0,798.5,-7.1,595,6514,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1155,3498,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6557,-0.51,-146.0,801.4,-7.1,597,6561,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2631,3498,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6863,-0.51,-146.0,823.8,-7.2,612,6867,0.00,1.73,0.00,0.000,4,0.000,0.057,2357,3769,3495,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6888,-0.51,-146.0,825.4,-7.3,613,6891,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2504,3494,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7206,-0.51,-146.0,847.9,-6.8,629,7211,0.00,1.98,0.00,0.000,4,0.000,0.057,2357,3777,3493,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7228,-0.51,-146.0,849.3,-6.7,630,7232,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2497,3493,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7547,-0.51,-146.0,871.0,-6.9,646,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2479,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7846,-0.51,-146.0,891.6,-6.9,661,7851,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3491,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7913,-0.51,-146.0,895.9,-7.1,664,7917,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2490,3490,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8226,-0.51,-146.0,918.1,-6.9,680,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2487,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8525,-0.51,-146.0,937.8,-6.4,695,8529,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3767,3488,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8570,-0.51,-146.0,940.5,-6.3,697,8573,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2501,3487,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8888,-0.51,-146.0,960.4,-6.2,713,8892,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3766,3486,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8917,-0.51,-146.0,961.9,-6.4,714,8921,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2520,3485,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9231,-0.51,-146.0,982.6,-6.5,730,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2499,3485,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9348,begin apogee
$GC,9352,-0.17,0.0,990.2,-6.3,736,9478,0.30,0.00,121.72,1.746,6,0.109,0.000,2464,2499,2929,0,0,0,0,0,0,26.02,28.83,23.35
$STATE,9481,end apogee,CONTROL_FINISHED_OK
$STATE,9481,begin climb
$GC,9483,0.51,146.0,994.0,0.0,742,9633,0.60,2.35,139.95,1.705,4,0.047,0.031,2715,1058,2332,0,0,0,0,0,0,24.79,23.89,22.65
$GC,9668,0.51,146.0,982.9,13.0,752,9673,0.17,2.42,0.00,0.000,6,0.175,0.046,2674,2514,2326,0,0,0,0,0,0,24.30,24.53,28.83
$GC,9981,0.51,146.0,939.1,13.9,768,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2514,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10281,0.51,146.0,899.9,12.7,783,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2514,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10582,0.51,146.0,862.5,12.4,798,10587,0.00,1.95,0.00,0.000,4,0.000,0.055,2673,3772,2318,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10643,0.51,146.0,854.0,13.8,801,10647,0.00,1.95,0.00,0.000,6,0.000,0.026,2681,2456,2317,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10961,0.51,146.0,812.4,12.7,817,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2452,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11261,0.51,146.0,774.9,12.3,832,11267,0.00,2.08,0.00,0.000,4,0.000,0.029,2692,1045,2314,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11294,0.51,146.0,772.5,12.2,833,11302,0.10,2.28,0.00,0.000,6,0.185,0.045,2669,2520,2314,0,0,0,0,0,0,25.87,26.10,28.83
$GC,11601,0.51,146.0,738.1,9.9,849,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2520,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11901,0.51,146.0,707.2,10.5,864,11908,0.00,2.17,0.00,0.000,4,0.000,0.030,2680,1047,2313,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11934,0.51,146.0,705.3,10.5,865,11942,0.00,2.28,0.00,0.000,6,0.000,0.045,2679,2526,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12241,0.51,146.0,667.8,12.3,881,12246,0.00,1.90,0.00,0.000,4,0.000,0.054,2680,3765,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12294,0.51,146.0,662.3,12.9,883,12302,0.08,1.90,0.00,0.000,6,0.231,0.023,2675,2434,2312,0,0,0,0,0,0,26.09,26.41,28.83
$GC,12601,0.51,146.0,626.2,10.9,899,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2431,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19952,end climb,SURFACE_DEPTH_REACHED
$STATE,19952,begin surface coast
$FINISH,0.8,1.022099
$STATE,20010,end surface coast,CONTROL_FINISHED_OK
$STATE,20010,begin surface
$SM_CCo,20025,2.62,0.170,0,0,1397,375.06
$SM_GC,2.42,6.28,0.15,2.62,0.026,0.084,0.170,176,2662,1397,-7.16,-0.62,375.06,0,0,0,0,0,0,26.44,26.46,25.88
$IRIDIUM_FIX,1920.65,12430.86,130412,232342
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.6,35.926
$10V_AH,10.1,22.216
$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,18.425,170.725,395.425,2.625,0.000,32.025,41.982,241.974,0.000,0.000,15.510,4672.159,11195.986,577.134,3586.036,431.110,0.000,2248.154,0.000,3057.628,0.000,0.543,0.000
$DEVICE_MAMPS,261.630,84.150,1745.730,169.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1263.562,2367.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,137193,1856
$CAP_FILE_SIZE,208714,0
$CFSIZE,260165632,206778368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,146.8,1
$GPS,140412,102037,1922.342,12430.104,30,1.2,30,-2.3