version: 66.10
glider: 176
mission: 5
dive: 202
start: 4 21 112 13 0 5
data:
$ID,176
$MISSION,5
$DIVE,202
$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,-7697.6279
$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
$GPS1,210412,125207,1806.312,12436.704,33,1.0,33,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.9
$GPS2,210412,125938,1806.336,12436.737,14,1.0,14,-2.1
$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,186.1,30408,-13.1,-7.500
$D_GRID,4872
$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,-146.0,0.0,0.0,0,54,0.00,0.00,-34.83,0.000,2,0.000,0.000,190,2691,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.51,-146.0,3.1,-6.9,6,99,8.70,2.20,-26.30,0.000,4,0.234,0.037,2347,1155,3526,0,0,0,0,0,0,25.37,26.15,26.52
$GC,112,-0.51,-146.0,15.9,-28.7,12,120,0.10,2.22,0.00,0.000,6,0.196,0.040,2359,2632,3527,0,0,0,0,0,0,25.84,26.09,28.83
$GC,440,-0.51,-146.0,129.1,-32.4,73,447,0.05,2.12,0.00,0.000,4,0.177,0.024,2317,1147,3527,0,0,0,0,0,0,26.52,26.36,28.83
$GC,498,-0.51,-146.0,145.4,-23.3,81,505,0.17,2.22,0.00,0.000,6,0.159,0.041,2355,2632,3527,0,0,0,0,0,0,25.94,26.27,28.83
$GC,810,-0.51,-146.0,214.9,-16.7,134,819,0.00,2.12,0.00,0.000,4,0.000,0.025,2355,1141,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,903,-0.51,-146.0,227.2,-12.1,143,912,0.00,2.20,0.00,0.000,6,0.000,0.041,2347,2633,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1211,-0.51,-146.0,281.5,-17.6,174,1220,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1138,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1247,-0.51,-146.0,286.6,-16.0,177,1255,0.08,2.22,0.00,0.000,6,0.184,0.041,2357,2631,3527,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1554,-0.51,-146.0,330.8,-13.0,208,1563,0.00,2.10,0.00,0.000,4,0.000,0.024,2357,1139,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1626,-0.51,-146.0,338.3,-9.3,215,1637,0.00,2.22,0.00,0.000,6,0.000,0.043,2356,2633,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1936,-0.51,-146.0,374.2,-11.6,246,1944,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1138,3525,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1988,-0.51,-146.0,379.0,-9.2,251,1998,0.00,2.20,0.00,0.000,6,0.000,0.043,2356,2623,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2297,-0.51,-146.0,414.0,-11.9,282,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2623,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.51,-146.0,447.6,-10.6,312,2609,0.00,2.10,0.00,0.000,4,0.000,0.024,2356,1140,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2663,-0.51,-146.0,454.0,-9.0,318,2672,0.00,2.20,0.00,0.000,6,0.000,0.044,2356,2625,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2973,-0.51,-146.0,484.1,-9.7,349,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2625,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-0.51,-146.0,514.8,-10.4,379,3284,0.00,2.08,0.00,0.000,4,0.000,0.024,2356,1145,3516,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3301,-0.51,-146.0,517.4,-10.4,381,3308,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2632,3516,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3607,-0.51,-146.0,547.9,-9.4,412,3616,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1146,3514,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3661,-0.51,-146.0,552.7,-9.0,417,3668,0.00,2.28,0.00,0.000,6,0.000,0.044,2356,2623,3514,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3969,-0.51,-146.0,579.1,-8.8,448,3973,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1140,3511,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4000,-0.51,-146.0,582.0,-8.9,451,4004,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2627,3511,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4314,-0.51,-146.0,610.4,-9.9,477,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2628,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4612,-0.51,-146.0,639.0,-9.2,492,4616,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1149,3505,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4661,-0.51,-146.0,642.7,-9.0,494,4665,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2633,3505,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4969,-0.51,-146.0,668.0,-7.6,509,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.51,-146.0,690.3,-7.5,524,5275,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1151,3501,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5301,-0.51,-146.0,691.7,-7.5,525,5308,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2627,3501,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5610,-0.51,-146.0,714.6,-7.1,541,5615,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1148,3498,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5649,-0.51,-146.0,717.5,-7.3,543,5654,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2628,3499,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5969,-0.51,-146.0,740.4,-7.4,559,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6269,-0.51,-146.0,763.4,-7.8,574,6275,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1136,3495,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6317,-0.51,-146.0,766.6,-7.9,576,6321,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2630,3495,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6624,-0.51,-146.0,792.0,-8.3,591,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2630,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.51,-146.0,815.7,-7.6,606,6929,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1147,3491,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6951,-0.51,-146.0,817.3,-7.6,607,6955,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2634,3491,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7260,-0.51,-146.0,837.9,-6.1,622,7264,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1139,3489,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7284,-0.51,-146.0,839.3,-6.0,623,7289,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2631,3489,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7597,-0.51,-146.0,857.2,-5.6,639,7602,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1149,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7645,-0.51,-146.0,859.6,-5.8,641,7649,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2630,3487,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7957,-0.51,-146.0,878.8,-6.1,657,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2631,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8258,-0.51,-146.0,898.2,-6.5,672,8263,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1155,3485,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8311,-0.51,-146.0,900.7,-6.4,674,8318,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2630,3485,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8617,-0.51,-146.0,921.5,-6.5,690,8620,0.00,1.75,0.00,0.000,4,0.000,0.059,2356,3773,3484,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8652,-0.51,-146.0,922.9,-6.5,691,8660,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2493,3484,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8959,-0.51,-146.0,942.3,-5.9,707,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2493,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9258,-0.51,-146.0,959.7,-5.9,722,9264,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3766,3482,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9292,-0.51,-146.0,960.8,-5.9,723,9300,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2473,3481,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9598,-0.51,-146.0,978.9,-5.7,739,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2473,3480,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9796,begin apogee
$GC,9801,-0.17,0.0,990.6,-6.0,749,9929,0.30,0.08,120.88,1.743,6,0.109,0.096,2464,2436,2928,0,0,0,0,0,0,26.01,24.45,23.24
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin climb
$GC,9932,0.51,146.0,995.0,0.0,755,10077,0.60,0.00,141.05,1.702,6,0.046,0.000,2708,2435,2332,0,0,0,0,0,0,24.75,28.83,22.51
$GC,10373,0.51,146.0,948.2,14.3,778,10379,0.12,2.10,0.00,0.000,4,0.189,0.054,2673,3763,2323,0,0,0,0,0,0,25.54,25.66,28.83
$GC,10415,0.51,146.0,942.2,14.5,780,10419,0.00,1.98,0.00,0.000,6,0.000,0.025,2682,2452,2322,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10734,0.51,146.0,903.3,12.2,796,10739,0.00,2.05,0.00,0.000,4,0.000,0.054,2682,3767,2320,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10781,0.51,146.0,897.8,12.8,798,10785,0.10,1.90,0.00,0.000,6,0.213,0.024,2670,2448,2319,0,0,0,0,0,0,25.81,26.17,28.83
$GC,11088,0.51,146.0,861.6,11.4,813,11094,0.00,2.05,0.00,0.000,4,0.000,0.031,2680,1047,2317,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11122,0.51,146.0,859.4,11.3,814,11128,0.00,2.28,0.00,0.000,6,0.000,0.046,2680,2517,2316,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11428,0.51,146.0,821.0,12.2,830,11434,0.00,2.20,0.00,0.000,4,0.000,0.031,2690,1044,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11490,0.51,146.0,814.2,11.5,833,11495,0.05,2.30,0.00,0.000,6,0.168,0.047,2664,2515,2315,0,0,0,0,0,0,25.82,26.10,28.83
$GC,11809,0.51,146.0,777.8,11.5,849,11815,0.08,1.92,0.00,0.000,4,0.131,0.054,2705,3764,2315,0,0,0,0,0,0,26.48,26.03,28.83
$GC,11836,0.51,146.0,775.2,11.7,850,11840,0.17,1.90,0.00,0.000,6,0.190,0.024,2670,2436,2315,0,0,0,0,0,0,25.72,26.34,28.83
$GC,12145,0.51,146.0,738.1,11.0,865,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2431,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12443,0.51,146.0,706.9,9.9,880,12448,0.00,2.08,0.00,0.000,4,0.000,0.054,2670,3765,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12463,0.51,146.0,704.7,9.9,881,12469,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2438,2314,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,19932,end climb,SURFACE_DEPTH_REACHED
$STATE,19932,begin surface coast
$FINISH,0.9,1.016150
$STATE,20019,end surface coast,CONTROL_FINISHED_OK
$STATE,20020,begin surface
$SM_CCo,20034,5.30,0.145,0,0,1399,375.06
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$IRIDIUM_FIX,1803.24,12358.39,210412,070744
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.5,41.814
$10V_AH,10.1,26.289
$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
$DEVICE_SECS,18.775,167.425,408.875,5.300,0.000,32.237,40.787,229.786,0.000,0.000,17.002,4498.636,11418.932,592.873,3524.121,432.006,0.000,2229.123,0.000,2945.385,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,133862,1782
$CAP_FILE_SIZE,205619,0
$CFSIZE,260165632,203350016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,350.5,1
$GPS,210412,183507,1804.413,12436.581,29,1.0,29,-2.1