version: 66.10
glider: 176
mission: 5
dive: 203
start: 4 21 112 18 45 3
data:
$ID,176
$MISSION,5
$DIVE,203
$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,-7698.8848
$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
$GPS1,210412,183507,1804.413,12436.581,29,1.0,29,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.7
$GPS2,210412,184437,1804.468,12436.692,13,1.4,18,-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,185.1,26960,-13.1,-7.500
$D_GRID,4763
$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,-35.45,0.000,2,0.000,0.000,174,2666,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.51,-146.0,3.1,-6.8,6,99,8.80,0.00,-26.38,0.000,6,0.235,0.000,2349,2667,3526,0,0,0,0,0,0,25.38,28.83,26.52
$GC,405,-0.51,-146.0,132.5,-32.5,70,427,0.00,2.17,0.00,0.000,4,0.000,0.025,2349,1156,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,456,-0.51,-146.0,147.8,-22.5,76,463,0.08,2.22,0.00,0.000,6,0.197,0.042,2356,2639,3527,0,0,0,0,0,0,26.09,26.25,28.83
$GC,768,-0.51,-146.0,222.4,-17.4,126,776,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1141,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,840,-0.51,-146.0,233.4,-14.1,133,849,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2636,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1150,-0.51,-146.0,291.1,-20.0,164,1159,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1145,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1275,-0.51,-146.0,309.6,-13.4,176,1282,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2634,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1582,-0.51,-146.0,355.9,-14.4,207,1592,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1137,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1608,-0.51,-146.0,358.7,-13.7,209,1614,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2634,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1915,-0.51,-146.0,401.4,-13.8,240,1919,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1147,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1988,-0.51,-146.0,410.0,-10.9,247,1998,0.00,2.20,0.00,0.000,6,0.000,0.044,2345,2633,3524,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2296,-0.51,-146.0,451.2,-13.0,278,2300,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1145,3521,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2358,-0.51,-146.0,458.9,-12.0,284,2367,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2633,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2668,-0.51,-146.0,498.1,-13.0,315,2677,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1145,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2722,-0.51,-146.0,504.1,-11.5,320,2730,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2628,3519,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3030,-0.51,-146.0,538.2,-10.3,351,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3333,-0.51,-146.0,568.8,-10.1,381,3342,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1150,3514,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3405,-0.51,-146.0,575.7,-8.8,388,3414,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2628,3513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3726,-0.51,-146.0,606.2,-9.8,417,3732,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1149,3510,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3772,-0.51,-146.0,610.0,-9.7,419,3776,0.00,2.22,0.00,0.000,6,0.000,0.046,2343,2627,3511,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4080,-0.51,-146.0,641.1,-10.0,434,4086,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1141,3507,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4112,-0.51,-146.0,643.2,-10.1,435,4120,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2630,3507,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4420,-0.51,-146.0,676.3,-10.4,451,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2630,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,-0.51,-146.0,708.0,-10.7,466,4726,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1147,3502,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4760,-0.51,-146.0,712.1,-10.6,468,4766,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2633,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5080,-0.51,-146.0,742.8,-9.1,484,5085,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1147,3499,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5128,-0.51,-146.0,746.3,-9.1,486,5132,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3500,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5440,-0.51,-146.0,771.8,-7.8,502,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.51,-146.0,793.9,-7.6,517,5746,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3494,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5788,-0.51,-146.0,797.0,-7.6,519,5792,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3494,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6095,-0.51,-146.0,823.0,-8.8,534,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,-0.51,-146.0,852.7,-10.4,549,6401,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1128,3490,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6456,-0.51,-146.0,858.8,-10.2,552,6461,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2633,3490,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6775,-0.51,-146.0,891.0,-9.8,568,6781,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1145,3487,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6804,-0.51,-146.0,892.9,-9.6,569,6808,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3487,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7111,-0.51,-146.0,919.2,-7.5,584,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7410,-0.51,-146.0,939.8,-6.6,599,7416,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1147,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7464,-0.51,-146.0,942.6,-6.7,601,7471,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3484,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7770,-0.51,-146.0,962.9,-6.4,617,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2625,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,-0.51,-146.0,984.2,-7.5,632,8077,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1156,3482,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8118,-0.51,-146.0,987.4,-7.7,634,8122,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3482,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8143,begin apogee
$GC,8148,-0.17,0.0,990.1,-7.7,635,8276,0.35,0.12,120.65,1.735,6,0.106,0.096,2469,2535,2928,0,0,0,0,0,0,25.96,24.55,23.33
$STATE,8277,end apogee,CONTROL_FINISHED_OK
$STATE,8277,begin climb
$GC,8279,0.51,146.0,995.1,0.0,641,8429,0.57,2.47,140.07,1.696,4,0.049,0.031,2709,1059,2332,0,0,0,0,0,0,24.81,23.89,22.59
$GC,8490,0.51,146.0,986.2,11.3,652,8495,0.15,2.40,0.00,0.000,6,0.174,0.046,2673,2524,2326,0,0,0,0,0,0,24.59,24.83,28.83
$GC,8798,0.51,146.0,948.9,11.8,667,8803,0.00,1.92,0.00,0.000,4,0.000,0.056,2673,3768,2322,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8820,0.51,146.0,946.4,12.1,668,8824,0.00,1.95,0.00,0.000,6,0.000,0.024,2680,2461,2321,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9139,0.51,146.0,905.8,12.5,684,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2457,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9438,0.51,146.0,869.1,12.0,699,9443,0.00,2.03,0.00,0.000,4,0.000,0.054,2680,3766,2318,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9458,0.51,146.0,866.3,12.4,700,9463,0.10,1.95,0.00,0.000,6,0.215,0.024,2668,2416,2318,0,0,0,0,0,0,25.91,26.29,28.83
$GC,9780,0.51,146.0,828.5,11.8,716,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2411,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,0.51,146.0,794.3,11.2,731,10085,0.00,2.08,0.00,0.000,4,0.000,0.054,2667,3765,2315,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10109,0.51,146.0,791.9,11.3,732,10112,0.00,1.90,0.00,0.000,6,0.000,0.024,2677,2444,2315,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10415,0.51,146.0,754.2,11.2,747,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2440,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10715,0.51,146.0,722.1,10.6,762,10721,0.00,2.05,0.00,0.000,4,0.000,0.030,2688,1041,2314,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10756,0.51,146.0,718.0,10.5,764,10762,0.05,2.25,0.00,0.000,6,0.159,0.045,2671,2518,2313,0,0,0,0,0,0,25.94,26.14,28.83
$GC,11075,0.51,146.0,685.3,10.1,780,11081,0.00,1.92,0.00,0.000,4,0.000,0.055,2671,3773,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11103,0.51,146.0,683.0,10.2,781,11107,0.00,1.92,0.00,0.000,6,0.000,0.024,2680,2439,2313,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11411,0.51,146.0,651.0,10.2,796,11417,0.00,2.03,0.00,0.000,4,0.000,0.053,2680,3762,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11432,0.51,146.0,648.7,10.5,797,11437,0.05,1.92,0.00,0.000,6,0.191,0.022,2672,2442,2313,0,0,0,0,0,0,26.08,26.43,28.83
$GC,11750,0.51,146.0,615.7,10.4,813,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2438,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12051,0.51,146.0,585.5,9.8,835,12055,0.00,2.05,0.00,0.000,4,0.000,0.052,2672,3764,2312,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12082,0.51,146.0,581.9,11.0,838,12086,0.00,1.92,0.00,0.000,6,0.000,0.022,2682,2438,2312,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12393,0.51,146.0,551.1,9.1,869,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2434,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12694,0.51,146.0,524.2,9.0,899,12704,0.00,2.05,0.00,0.000,4,0.000,0.052,2682,3758,2312,0,0,0,0,0,0,28.83,26.01,28.83
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$GC,15288,0.57,194.5,279.2,7.9,1157,15296,0.00,2.05,0.00,0.000,4,0.000,0.049,2689,3777,2129,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,18683,end climb,SURFACE_DEPTH_REACHED
$STATE,18683,begin surface coast
$FINISH,0.7,1.021613
$STATE,18747,end surface coast,CONTROL_FINISHED_OK
$STATE,18747,begin surface
$SM_CCo,18822,0.00,0.000,0,0,1322,394.20
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$IRIDIUM_FIX,1758.70,12436.12,210412,181822
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.45
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.6,41.995
$10V_AH,10.2,26.415
$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,18.325,149.625,406.925,0.000,0.000,59.055,52.234,238.975,0.000,0.000,21.496,4344.325,10604.106,516.899,3489.234,403.610,0.000,2114.296,0.000,2869.623,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,96.390,1735.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.107,2263.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,127143,1724
$CAP_FILE_SIZE,192170,0
$CFSIZE,260165632,203264000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.006, 29.3,1
$GPS,220412,000007,1802.140,12436.808,52,1.0,52,-2.0