version: 66.10
glider: 176
mission: 5
dive: 213
start: 4 24 112 2 56 40
data:
$ID,176
$MISSION,5
$DIVE,213
$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,-7713.6963
$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
$GPS1,240412,024837,1752.470,12426.392,41,0.9,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.8
$GPS2,240412,025613,1752.451,12426.359,10,1.1,15,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,289.9,239434,-13.1,-7.500
$D_GRID,4274
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.58,0.000,2,0.000,0.000,190,2728,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.3,-7.6,8,110,8.75,1.58,-26.08,0.000,4,0.236,0.061,2343,3776,3526,0,0,0,0,0,0,25.41,26.10,26.57
$GC,284,-0.51,-146.0,68.4,-30.4,43,290,0.00,1.70,0.00,0.000,6,0.000,0.022,2343,2524,3526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,610,-0.51,-146.0,168.9,-26.3,104,617,0.00,1.92,0.00,0.000,4,0.000,0.026,2343,1136,3527,0,0,0,0,0,0,28.83,26.47,28.83
$GC,654,-0.51,-146.0,179.8,-24.2,112,661,0.10,2.25,0.00,0.000,6,0.181,0.047,2358,2627,3526,0,0,0,0,0,0,26.12,26.31,28.83
$GC,969,-0.51,-146.0,239.7,-17.2,153,978,0.00,2.10,0.00,0.000,4,0.000,0.024,2358,1138,3527,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1011,-0.51,-146.0,245.8,-14.7,157,1020,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2636,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1320,-0.51,-146.0,301.1,-18.5,188,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-0.51,-146.0,354.2,-17.1,218,1632,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1136,3525,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1687,-0.51,-146.0,363.4,-13.4,224,1694,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2631,3524,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1995,-0.51,-146.0,405.8,-14.4,255,2004,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1143,3523,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2079,-0.51,-146.0,415.7,-11.1,263,2086,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2621,3522,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2387,-0.51,-146.0,452.0,-11.6,294,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2622,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-0.51,-146.0,485.8,-11.0,324,2697,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1145,3519,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2750,-0.51,-146.0,492.0,-9.5,330,2760,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2631,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3059,-0.51,-146.0,522.7,-10.5,361,3068,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1139,3515,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3122,-0.51,-146.0,528.8,-9.4,367,3130,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2620,3514,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3430,-0.51,-146.0,561.5,-11.1,398,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2621,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,-0.51,-146.0,592.4,-9.4,428,3741,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1138,3510,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3796,-0.51,-146.0,598.1,-8.3,434,3804,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2627,3509,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4104,-0.51,-146.0,625.0,-8.9,451,4107,0.00,1.75,0.00,0.000,4,0.000,0.058,2344,3766,3506,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4148,-0.51,-146.0,628.9,-9.2,453,4151,0.00,1.73,0.00,0.000,6,0.000,0.023,2343,2491,3505,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4465,-0.51,-146.0,661.1,-10.6,469,4470,0.00,1.98,0.00,0.000,4,0.000,0.055,2335,3769,3503,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4507,-0.51,-146.0,665.6,-10.9,471,4512,0.05,1.73,0.00,0.000,6,0.125,0.023,2359,2505,3502,0,0,0,0,0,0,26.36,26.63,28.83
$GC,4826,-0.51,-146.0,696.3,-9.8,487,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2502,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5125,-0.51,-146.0,723.2,-8.5,502,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2501,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5425,-0.51,-146.0,747.1,-7.8,517,5431,0.00,1.92,0.00,0.000,4,0.000,0.026,2359,1152,3495,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5453,-0.51,-146.0,748.7,-7.8,518,5457,0.03,2.28,0.00,0.000,6,0.252,0.046,2314,2634,3495,0,0,0,0,0,0,26.22,26.24,28.83
$GC,5760,-0.51,-146.0,783.0,-11.0,533,5762,0.15,0.00,0.00,0.000,6,0.145,0.000,2360,2635,3492,0,0,0,0,0,0,26.33,28.83,28.83
$GC,6061,-0.51,-146.0,803.7,-6.4,548,6067,0.05,2.12,0.00,0.000,4,0.175,0.024,2314,1153,3490,0,0,0,0,0,0,26.67,26.45,28.83
$GC,6108,-0.51,-146.0,807.1,-7.4,550,6113,0.17,2.28,0.00,0.000,6,0.130,0.046,2360,2635,3491,0,0,0,0,0,0,26.01,26.20,28.83
$GC,6416,-0.51,-146.0,826.9,-6.1,565,6422,0.05,2.12,0.00,0.000,4,0.175,0.024,2311,1149,3487,0,0,0,0,0,0,26.67,26.44,28.83
$GC,6448,-0.51,-146.0,828.4,-6.3,566,6457,0.17,2.28,0.00,0.000,6,0.130,0.047,2360,2632,3488,0,0,0,0,0,0,25.98,26.18,28.83
$GC,6756,-0.51,-146.0,849.6,-6.4,582,6757,0.05,0.00,0.00,0.000,6,0.177,0.000,2310,2633,3485,0,0,0,0,0,0,26.66,28.83,28.83
$GC,7055,-0.51,-146.0,880.1,-10.0,597,7062,0.12,2.12,0.00,0.000,4,0.149,0.024,2355,1142,3485,0,0,0,0,0,0,26.34,26.41,28.83
$GC,7117,-0.51,-146.0,884.5,-8.0,600,7121,0.00,2.30,0.00,0.000,6,0.000,0.047,2355,2634,3485,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7436,-0.51,-146.0,903.8,-5.8,616,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2634,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7736,-0.51,-146.0,921.4,-5.7,631,7742,0.00,2.12,0.00,0.000,4,0.000,0.026,2355,1153,3481,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7783,-0.51,-146.0,923.8,-6.0,633,7788,0.00,2.28,0.00,0.000,6,0.000,0.047,2355,2628,3482,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8091,-0.51,-146.0,942.0,-5.8,648,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2628,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8391,-0.51,-146.0,959.0,-5.8,663,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2628,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8691,-0.51,-146.0,977.4,-6.3,678,8696,0.00,2.12,0.00,0.000,4,0.000,0.027,2355,1152,3478,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8730,-0.51,-146.0,980.1,-6.5,680,8736,0.00,2.30,0.00,0.000,6,0.000,0.048,2356,2631,3478,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,8888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8888,begin apogee
$GC,8893,-0.17,0.0,990.7,-6.8,688,9020,0.30,0.12,120.22,1.740,6,0.103,0.095,2465,2540,2929,0,0,0,0,0,0,26.07,24.53,23.30
$STATE,9021,end apogee,CONTROL_FINISHED_OK
$STATE,9021,begin climb
$GC,9023,0.51,146.0,996.0,0.0,694,9174,0.60,2.47,140.20,1.701,4,0.048,0.032,2714,1061,2332,0,0,0,0,0,0,24.80,23.88,22.54
$GC,9256,0.51,146.0,984.4,11.6,706,9261,0.17,2.38,0.00,0.000,6,0.177,0.047,2671,2520,2325,0,0,0,0,0,0,24.72,25.00,28.83
$GC,9562,0.51,146.0,949.6,11.2,721,9567,0.00,1.95,0.00,0.000,4,0.000,0.056,2671,3770,2321,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9611,0.51,146.0,944.1,12.5,723,9614,0.00,1.92,0.00,0.000,6,0.000,0.024,2680,2450,2320,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9917,0.51,146.0,902.6,12.7,738,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2446,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10217,0.51,146.0,863.4,13.4,753,10223,0.00,2.05,0.00,0.000,4,0.000,0.052,2680,3766,2317,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10237,0.51,146.0,860.5,13.5,754,10244,0.10,1.92,0.00,0.000,6,0.215,0.024,2667,2435,2316,0,0,0,0,0,0,25.93,26.32,28.83
$GC,10557,0.51,146.0,822.4,11.5,770,10563,0.05,2.10,0.00,0.000,4,0.181,0.053,2700,3772,2315,0,0,0,0,0,0,26.48,26.08,28.83
$GC,10599,0.51,146.0,816.4,13.0,772,10604,0.12,1.95,0.00,0.000,6,0.173,0.024,2671,2449,2315,0,0,0,0,0,0,25.80,26.36,28.83
$GC,10918,0.51,146.0,778.0,11.4,788,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2445,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11217,0.51,146.0,743.7,11.1,803,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2445,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11518,0.51,146.0,712.6,10.2,818,11523,0.00,2.05,0.00,0.000,4,0.000,0.029,2681,1041,2314,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11577,0.51,146.0,706.9,9.6,821,11582,0.00,2.28,0.00,0.000,6,0.000,0.046,2681,2518,2313,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11897,0.51,146.0,673.0,10.8,837,11902,0.00,1.92,0.00,0.000,4,0.000,0.054,2681,3772,2313,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11926,0.51,146.0,670.6,11.0,838,11930,0.10,1.90,0.00,0.000,6,0.210,0.023,2668,2445,2312,0,0,0,0,0,0,26.03,26.44,28.83
$GC,12232,0.51,146.0,639.9,9.2,853,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2441,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12533,0.51,146.0,611.0,9.6,868,12539,0.00,2.03,0.00,0.000,4,0.000,0.053,2668,3760,2312,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12605,0.51,146.0,604.2,11.0,871,12613,0.00,1.90,0.00,0.000,6,0.000,0.022,2678,2427,2311,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12912,0.51,146.0,570.4,9.7,901,12916,0.00,2.00,0.00,0.000,4,0.000,0.031,2688,1053,2311,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12939,0.51,146.0,567.9,9.6,903,12949,0.08,2.25,0.00,0.000,6,0.194,0.044,2672,2522,2311,0,0,0,0,0,0,26.00,26.14,28.83
$GC,13248,0.51,146.0,538.7,8.9,934,13252,0.00,1.92,0.00,0.000,4,0.000,0.053,2672,3761,2311,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19706,end climb,SURFACE_DEPTH_REACHED
$STATE,19706,begin surface coast
$FINISH,0.8,1.020817
$STATE,19764,end surface coast,CONTROL_FINISHED_OK
$STATE,19764,begin surface
$SM_CCo,19842,0.00,0.000,0,0,1042,462.88
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$IRIDIUM_FIX,1742.84,12425.38,230412,212131
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.62
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.5,43.888
$10V_AH,10.1,27.713
$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
$DEVICE_SECS,19.600,171.275,452.250,0.000,0.000,24.341,41.083,237.749,0.000,0.000,18.707,4491.778,11199.059,609.459,3544.854,419.770,0.000,2272.567,0.000,2954.747,0.000,0.543,0.000
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$SENSOR_SECS,1217.165,2389.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330008
$DATA_FILE_SIZE,134011,1790
$CAP_FILE_SIZE,207051,0
$CFSIZE,260165632,202158080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,100.9,1
$GPS,240412,082831,1752.994,12424.577,39,1.4,39,-2.0