version: 66.10
glider: 176
mission: 5
dive: 208
start: 4 22 112 22 48 53
data:
$ID,176
$MISSION,5
$DIVE,208
$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,-3
$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,-7707.1255
$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
$GPS1,220412,223825,1752.571,12436.010,37,1.2,37,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.6
$GPS2,220412,224755,1752.609,12436.018,10,1.0,15,-2.0
$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,211.3,5154,-15.6,-7.500
$D_GRID,4072
$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,18,-0.52,-110.0,0.0,0.0,0,59,0.00,0.00,-39.17,0.000,2,0.000,0.000,182,2697,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.56,-134.8,3.3,-6.4,7,99,8.65,2.30,-21.48,0.000,4,0.234,0.041,2335,1152,3482,0,0,0,0,0,0,25.42,26.20,26.58
$GC,212,-0.56,-134.8,44.5,-26.7,29,220,0.08,2.25,0.00,0.000,6,0.209,0.044,2340,2637,3483,0,0,0,0,0,0,26.02,26.19,28.83
$GC,542,-0.56,-134.8,161.5,-26.3,90,549,0.00,2.12,0.00,0.000,4,0.000,0.024,2340,1138,3483,0,0,0,0,0,0,28.83,26.43,28.83
$GC,636,-0.56,-134.8,181.4,-16.1,108,643,0.00,2.22,0.00,0.000,6,0.000,0.042,2333,2631,3483,0,0,0,0,0,0,28.83,26.33,28.83
$GC,946,-0.56,-134.8,250.4,-22.2,147,950,0.00,2.10,0.00,0.000,4,0.000,0.026,2333,1149,3483,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1000,-0.56,-134.8,260.2,-18.1,152,1008,0.08,2.22,0.00,0.000,6,0.190,0.043,2341,2635,3484,0,0,0,0,0,0,26.23,26.38,28.83
$GC,1308,-0.56,-134.8,313.8,-18.0,183,1312,0.00,2.10,0.00,0.000,4,0.000,0.024,2341,1151,3483,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1410,-0.56,-134.8,328.4,-12.8,193,1420,0.00,2.22,0.00,0.000,6,0.000,0.043,2332,2636,3483,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1721,-0.56,-134.8,380.1,-16.0,224,1729,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1146,3481,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1764,-0.56,-134.8,386.4,-15.0,228,1771,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2627,3481,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2072,-0.56,-134.8,434.1,-14.7,259,2081,0.00,2.08,0.00,0.000,4,0.000,0.025,2331,1153,3479,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2164,-0.56,-134.8,445.1,-10.9,268,2174,0.08,2.22,0.00,0.000,6,0.184,0.044,2343,2633,3479,0,0,0,0,0,0,26.25,26.39,28.83
$GC,2473,-0.56,-134.8,481.8,-12.6,299,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,-0.56,-134.8,518.3,-11.6,329,2786,0.00,2.08,0.00,0.000,4,0.000,0.026,2343,1158,3474,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2830,-0.56,-134.8,524.3,-10.7,334,2839,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2636,3474,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3139,-0.56,-134.8,558.6,-10.4,365,3148,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1155,3471,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3221,-0.56,-134.8,566.3,-8.9,373,3225,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2633,3471,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3533,-0.56,-134.8,598.1,-10.7,404,3541,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1155,3467,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3594,-0.56,-134.8,604.2,-10.1,408,3600,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2631,3467,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3915,-0.56,-134.8,637.9,-10.0,424,3920,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1156,3464,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3983,-0.56,-134.8,643.5,-9.5,427,3987,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2634,3463,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4289,-0.56,-134.8,672.9,-9.6,442,4295,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1156,3460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4334,-0.56,-134.8,676.5,-9.4,444,4339,0.00,2.25,0.00,0.000,6,0.000,0.046,2331,2633,3460,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4649,-0.56,-134.8,706.6,-9.7,460,4655,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1148,3457,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4682,-0.56,-134.8,708.5,-9.7,461,4690,0.00,2.25,0.00,0.000,6,0.000,0.046,2331,2629,3457,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4990,-0.56,-134.8,738.9,-9.5,477,4994,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1156,3454,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5024,-0.56,-134.8,741.2,-9.6,478,5031,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2648,3454,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5332,-0.56,-134.8,771.5,-9.4,494,5337,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1150,3450,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5392,-0.56,-134.8,776.9,-9.0,497,5397,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2633,3450,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5711,-0.56,-134.8,807.6,-9.9,513,5717,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1149,3448,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5760,-0.56,-134.8,811.7,-9.9,515,5764,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2633,3448,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6067,-0.56,-134.8,842.9,-9.9,530,6072,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1149,3445,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6099,-0.56,-134.8,845.0,-10.0,531,6106,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2633,3445,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6407,-0.56,-134.8,875.3,-9.3,547,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2633,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6707,-0.56,-134.8,903.3,-9.3,562,6712,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1151,3440,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6766,-0.56,-134.8,908.9,-9.5,565,6772,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2626,3440,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7087,-0.56,-134.8,938.5,-9.2,581,7092,0.00,2.12,0.00,0.000,4,0.000,0.027,2331,1148,3439,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7134,-0.56,-134.8,942.1,-9.1,583,7138,0.00,2.30,0.00,0.000,6,0.000,0.048,2331,2633,3439,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7442,-0.56,-134.8,969.7,-8.7,598,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2633,3438,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7680,begin apogee
$GC,7686,-0.17,0.0,990.1,-8.3,610,7803,0.38,0.12,110.70,1.736,6,0.112,0.095,2463,2543,2928,0,0,0,0,0,0,25.90,24.67,23.44
$STATE,7805,end apogee,CONTROL_FINISHED_OK
$STATE,7805,begin climb
$GC,7807,0.56,134.8,993.9,0.0,616,7945,0.62,2.47,129.27,1.697,4,0.050,0.031,2723,1056,2378,0,0,0,0,0,0,24.93,23.98,22.67
$GC,7975,0.56,134.8,986.7,9.5,624,7983,0.15,2.40,0.00,0.000,6,0.181,0.046,2688,2515,2374,0,0,0,0,0,0,24.37,24.58,28.83
$GC,8283,0.56,134.8,945.7,12.8,640,8288,0.00,1.92,0.00,0.000,4,0.000,0.055,2687,3766,2368,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8345,0.56,134.8,936.6,14.6,643,8349,0.00,1.92,0.00,0.000,6,0.000,0.025,2697,2441,2366,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8657,0.56,134.8,894.8,12.8,659,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2437,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8958,0.56,134.8,856.5,12.3,674,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2438,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9257,0.56,134.8,820.1,12.0,689,9263,0.00,2.05,0.00,0.000,4,0.000,0.054,2696,3766,2362,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9301,0.56,134.8,814.5,12.9,691,9305,0.10,1.90,0.00,0.000,6,0.217,0.025,2685,2448,2361,0,0,0,0,0,0,25.97,26.36,28.83
$GC,9614,0.56,134.8,776.6,11.8,707,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2444,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,0.56,134.8,739.1,13.1,722,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2444,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10212,0.56,134.8,701.4,11.8,737,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2444,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,0.56,134.8,669.4,10.1,752,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2444,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10812,0.56,134.8,640.1,10.1,767,10818,0.00,2.05,0.00,0.000,4,0.000,0.054,2684,3766,2358,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10886,0.56,134.8,632.8,11.8,770,10893,0.00,1.90,0.00,0.000,6,0.000,0.023,2694,2429,2358,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11192,0.56,134.8,596.8,11.1,787,11201,0.00,2.03,0.00,0.000,4,0.000,0.030,2704,1045,2357,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11237,0.56,134.8,592.3,10.8,791,11244,0.08,2.25,0.00,0.000,6,0.197,0.044,2688,2519,2357,0,0,0,0,0,0,26.01,26.16,28.83
$GC,11544,0.56,134.8,560.2,9.6,822,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2519,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11845,0.56,134.8,532.5,8.7,852,11853,0.00,2.15,0.00,0.000,4,0.000,0.030,2699,1054,2356,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11899,0.56,134.8,528.4,7.6,857,11907,0.00,2.25,0.00,0.000,6,0.000,0.044,2699,2529,2356,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12208,0.56,134.8,498.9,9.7,888,12217,0.03,1.88,0.00,0.000,4,0.303,0.050,2689,3766,2356,0,0,0,0,0,0,26.58,26.06,28.83
$GC,12260,0.56,134.8,493.4,10.6,893,12270,0.00,1.90,0.00,0.000,6,0.000,0.023,2698,2415,2355,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12569,0.56,134.8,462.5,9.8,924,12579,0.00,2.00,0.00,0.000,4,0.000,0.032,2708,1048,2355,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12605,0.56,134.8,459.4,9.5,927,12612,0.10,2.25,0.00,0.000,6,0.177,0.042,2683,2525,2355,0,0,0,0,0,0,25.93,26.14,28.83
$GC,12912,0.56,134.8,429.4,9.3,958,12913,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2525,2355,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18054,end climb,SURFACE_DEPTH_REACHED
$STATE,18055,begin surface coast
$FINISH,0.7,1.021647
$STATE,18087,end surface coast,CONTROL_FINISHED_OK
$STATE,18087,begin surface
$SM_CCo,18103,18.35,0.132,0,0,1396,375.06
$SM_GC,3.32,6.53,0.15,18.35,0.034,0.079,0.132,176,2670,1396,-7.16,-0.45,375.06,0,0,0,0,0,0,26.44,26.54,25.85
$IRIDIUM_FIX,1745.10,12435.41,220412,222241
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.7,42.921
$10V_AH,10.1,27.055
$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,17.950,154.525,355.250,18.350,0.000,60.727,57.792,240.074,0.000,0.000,17.869,4251.168,10089.120,561.383,3378.648,412.299,0.000,2067.887,0.000,2772.890,0.000,0.542,0.000
$DEVICE_MAMPS,302.940,94.860,1735.785,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1143.164,2216.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,127186,1681
$CAP_FILE_SIZE,187833,0
$CFSIZE,260165632,202731520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020, 57.4,1
$GPS,230412,035207,1750.673,12435.172,41,1.1,41,-2.0