version: 66.10
glider: 176
mission: 5
dive: 220
start: 4 25 112 17 53 11
data:
$ID,176
$MISSION,5
$DIVE,220
$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,-7723.0718
$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
$GPS1,250412,174506,1755.169,12412.696,34,0.9,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.5
$GPS2,250412,175244,1755.188,12412.763,13,1.1,13,-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,296.1,215153,-13.1,-7.500
$D_GRID,4843
$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,-45.67,0.000,2,0.000,0.000,179,2696,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.4,-7.2,8,107,8.75,2.30,-23.25,0.000,4,0.235,0.039,2354,1137,3527,0,0,0,0,0,0,25.39,26.21,26.55
$GC,218,-0.51,-146.0,41.9,-23.8,33,225,0.00,2.28,0.00,0.000,6,0.000,0.043,2343,2640,3528,0,0,0,0,0,0,28.83,26.17,28.83
$GC,529,-0.51,-146.0,144.6,-29.0,94,536,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1145,3528,0,0,0,0,0,0,28.83,26.40,28.83
$GC,604,-0.51,-146.0,162.4,-20.1,108,612,0.10,2.22,0.00,0.000,6,0.177,0.043,2358,2633,3528,0,0,0,0,0,0,26.10,26.32,28.83
$GC,920,-0.51,-146.0,224.4,-18.1,157,924,0.00,2.12,0.00,0.000,4,0.000,0.026,2358,1142,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,962,-0.51,-146.0,231.4,-16.9,161,971,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2631,3529,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1272,-0.51,-146.0,279.8,-16.1,192,1280,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1156,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1346,-0.51,-146.0,290.0,-13.1,199,1354,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2640,3528,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1653,-0.51,-146.0,340.9,-15.3,230,1662,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1148,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1728,-0.51,-146.0,350.4,-12.1,237,1735,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2634,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2036,-0.51,-146.0,388.9,-10.7,268,2045,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1150,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2118,-0.51,-146.0,397.4,-9.6,276,2127,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2633,3525,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2428,-0.51,-146.0,435.9,-13.0,307,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2729,-0.51,-146.0,470.4,-10.5,337,2738,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1152,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2831,-0.51,-146.0,480.0,-8.7,347,2841,0.10,2.22,0.00,0.000,6,0.157,0.044,2364,2631,3520,0,0,0,0,0,0,26.20,26.35,28.83
$GC,3141,-0.51,-146.0,507.2,-9.2,378,3151,0.08,2.12,0.00,0.000,4,0.131,0.023,2305,1145,3518,0,0,0,0,0,0,26.67,26.50,28.83
$GC,3173,-0.51,-146.0,510.9,-11.0,381,3183,0.17,2.25,0.00,0.000,6,0.138,0.045,2359,2632,3518,0,0,0,0,0,0,26.09,26.32,28.83
$GC,3484,-0.51,-146.0,541.3,-9.7,412,3489,0.05,2.12,0.00,0.000,4,0.177,0.024,2305,1149,3515,0,0,0,0,0,0,26.69,26.48,28.83
$GC,3516,-0.51,-146.0,545.1,-11.1,415,3527,0.17,2.22,0.00,0.000,6,0.137,0.046,2359,2628,3515,0,0,0,0,0,0,26.08,26.30,28.83
$GC,3827,-0.51,-146.0,574.5,-8.9,446,3829,0.05,0.00,0.00,0.000,6,0.177,0.000,2302,2628,3512,0,0,0,0,0,0,26.68,28.83,28.83
$GC,4138,-0.51,-146.0,618.1,-14.0,471,4144,0.15,2.12,0.00,0.000,4,0.151,0.024,2354,1150,3510,0,0,0,0,0,0,26.28,26.47,28.83
$GC,4230,-0.51,-146.0,625.9,-9.5,475,4238,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2633,3509,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4537,-0.51,-146.0,655.5,-9.3,491,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4837,-0.51,-146.0,681.9,-8.4,506,4842,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1152,3503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4880,-0.51,-146.0,685.2,-8.3,508,4884,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2628,3503,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5192,-0.51,-146.0,709.6,-7.6,524,5198,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1151,3501,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5220,-0.51,-146.0,711.1,-7.7,525,5224,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2633,3501,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5528,-0.51,-146.0,735.0,-7.6,540,5532,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1155,3498,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5562,-0.51,-146.0,736.9,-7.7,541,5570,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2628,3498,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5869,-0.51,-146.0,761.8,-7.8,557,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2628,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6171,-0.51,-146.0,784.9,-7.6,572,6177,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1158,3494,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6223,-0.51,-146.0,787.9,-7.5,574,6229,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2628,3494,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6530,-0.51,-146.0,810.7,-7.2,590,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2628,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6831,-0.51,-146.0,832.8,-7.3,605,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7130,-0.51,-146.0,855.5,-7.7,620,7135,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1152,3488,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7172,-0.51,-146.0,858.7,-7.8,622,7176,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2628,3488,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7485,-0.51,-146.0,883.6,-7.8,638,7491,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1152,3486,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7525,-0.51,-146.0,886.7,-8.0,640,7531,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2626,3486,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7846,-0.51,-146.0,911.2,-7.7,656,7849,0.00,1.77,0.00,0.000,4,0.000,0.060,2344,3767,3485,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7896,-0.51,-146.0,914.5,-7.8,658,7900,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2503,3485,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8207,-0.51,-146.0,939.6,-8.0,674,8211,0.00,1.95,0.00,0.000,4,0.000,0.028,2344,1155,3483,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8237,-0.51,-146.0,941.2,-8.0,675,8241,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2630,3484,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8543,-0.51,-146.0,966.7,-8.1,690,8549,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1159,3482,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8571,-0.51,-146.0,968.3,-8.0,691,8575,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3482,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8863,-0.17,0.0,990.7,-7.5,705,8990,0.35,0.15,120.97,1.731,6,0.104,0.086,2470,2534,2928,0,0,0,0,0,0,25.96,24.54,23.25
$STATE,8991,end apogee,CONTROL_FINISHED_OK
$STATE,8991,begin climb
$GC,8993,0.51,146.0,995.1,0.0,711,9142,0.57,2.40,139.90,1.691,4,0.049,0.029,2709,1063,2332,0,0,0,0,0,0,24.77,23.87,22.51
$GC,9157,0.51,146.0,988.1,9.5,720,9162,0.15,2.42,0.00,0.000,6,0.174,0.045,2674,2514,2328,0,0,0,0,0,0,24.11,24.30,28.83
$GC,9476,0.51,146.0,947.5,12.6,736,9481,0.00,1.95,0.00,0.000,4,0.000,0.055,2674,3764,2322,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9518,0.51,146.0,941.8,13.3,738,9522,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2451,2321,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9835,0.51,146.0,901.5,12.4,754,9841,0.00,2.05,0.00,0.000,4,0.000,0.030,2690,1050,2318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9859,0.51,146.0,899.3,12.2,755,9864,0.08,2.28,0.00,0.000,6,0.194,0.046,2674,2520,2317,0,0,0,0,0,0,25.94,26.08,28.83
$GC,10171,0.51,146.0,862.4,11.8,771,10177,0.00,2.15,0.00,0.000,4,0.000,0.031,2684,1054,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10199,0.51,146.0,860.2,11.7,772,10204,0.05,2.25,0.00,0.000,6,0.223,0.046,2673,2518,2315,0,0,0,0,0,0,26.05,26.13,28.83
$GC,10507,0.51,146.0,824.4,11.2,787,10511,0.00,1.95,0.00,0.000,4,0.000,0.055,2673,3763,2315,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10576,0.51,146.0,816.4,12.6,790,10580,0.00,1.90,0.00,0.000,6,0.000,0.025,2682,2445,2314,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10890,0.51,146.0,780.1,11.1,806,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2440,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11189,0.51,146.0,746.0,11.0,821,11195,0.00,2.08,0.00,0.000,4,0.000,0.055,2682,3771,2314,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11256,0.51,146.0,738.2,12.5,824,11261,0.10,1.90,0.00,0.000,6,0.210,0.025,2669,2447,2313,0,0,0,0,0,0,26.01,26.40,28.83
$GC,11569,0.51,146.0,706.2,9.2,840,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2442,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11868,0.51,146.0,677.6,9.9,855,11874,0.00,2.03,0.00,0.000,4,0.000,0.031,2679,1051,2313,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11917,0.51,146.0,673.7,9.8,857,11921,0.00,2.25,0.00,0.000,6,0.000,0.045,2678,2518,2312,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12224,0.51,146.0,639.1,11.6,872,12230,0.00,1.92,0.00,0.000,4,0.000,0.054,2678,3771,2312,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12251,0.51,146.0,636.5,11.8,873,12256,0.08,1.90,0.00,0.000,6,0.226,0.023,2674,2445,2312,0,0,0,0,0,0,26.15,26.46,28.83
$GC,12565,0.51,146.0,601.3,10.3,889,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2441,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19524,end climb,SURFACE_DEPTH_REACHED
$STATE,19525,begin surface coast
$FINISH,0.7,1.020280
$STATE,19552,end surface coast,CONTROL_FINISHED_OK
$STATE,19552,begin surface
$SM_CCo,19627,0.00,0.000,0,0,1159,434.18
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$IRIDIUM_FIX,1749.63,12415.34,250412,121248
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.5,45.200
$10V_AH,10.1,28.610
$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,18.550,173.400,433.425,0.000,0.000,29.198,20.264,253.827,0.000,0.000,16.467,4476.807,11010.224,587.641,3566.114,413.223,0.000,2221.053,0.000,2987.627,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,85.680,1731.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1209.266,2362.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330024
$DATA_FILE_SIZE,133779,1778
$CAP_FILE_SIZE,204777,0
$CFSIZE,260165632,201404416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 79.6,1
$GPS,250412,232125,1756.102,12410.696,37,1.6,37,-2.0