version: 66.10
glider: 176
mission: 5
dive: 373
start: 5 29 112 4 39 18
data:
$ID,176
$MISSION,5
$DIVE,373
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,420
$T_MISSION,480
$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,175
$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,163
$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,-8010.605
$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,2600
$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,48
$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
$GPS1,290512,043101,1926.164,12421.271,35,1.2,35,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.5
$GPS2,290512,043850,1926.038,12421.274,12,1.2,12,-2.4
$SPEED_LIMITS,0.136,0.255
$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,162.5,179501,-12.5,-7.857
$D_GRID,5704
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,65,0.00,0.00,-46.35,0.000,2,0.000,0.000,186,2632,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.52,-170.3,3.1,-6.2,8,113,8.80,2.22,-29.05,0.000,4,0.233,0.040,2348,1137,3625,0,0,0,0,0,0,25.09,26.25,26.68
$GC,232,-0.52,-170.3,38.9,-14.7,35,239,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2619,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,559,-0.52,-170.3,108.3,-22.4,96,566,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1145,3626,0,0,0,0,0,0,28.83,26.40,28.83
$GC,660,-0.52,-170.3,124.0,-12.0,115,667,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2619,3627,0,0,0,0,0,0,28.83,26.24,28.83
$GC,971,-0.52,-170.3,178.7,-18.0,176,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2620,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1287,-0.52,-170.3,230.8,-15.6,219,1296,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1135,3626,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1371,-0.52,-170.3,240.2,-9.5,227,1379,0.00,2.20,0.00,0.000,6,0.000,0.041,2336,2615,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1681,-0.52,-170.3,287.5,-15.6,258,1691,0.05,2.10,0.00,0.000,4,0.239,0.024,2349,1148,3626,0,0,0,0,0,0,26.58,26.41,28.83
$GC,1709,-0.52,-170.3,290.9,-14.9,260,1716,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2623,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2014,-0.52,-170.3,328.2,-11.5,291,2022,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1146,3624,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2047,-0.52,-170.3,331.7,-11.3,294,2056,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2617,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2355,-0.52,-170.3,364.1,-9.2,325,2359,0.00,1.73,0.00,0.000,4,0.000,0.054,2343,3773,3623,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2380,-0.52,-170.3,366.0,-8.8,327,2387,0.00,1.73,0.00,0.000,6,0.000,0.022,2344,2458,3623,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2686,-0.52,-170.3,395.3,-10.5,358,2690,0.00,1.88,0.00,0.000,4,0.000,0.025,2344,1133,3621,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2713,-0.52,-170.3,398.3,-10.7,360,2722,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2619,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3024,-0.52,-170.3,433.1,-11.1,391,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2619,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3325,-0.52,-170.3,461.2,-8.4,421,3333,0.00,2.10,0.00,0.000,4,0.000,0.024,2343,1148,3617,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3367,-0.52,-170.3,464.4,-7.7,425,3376,0.00,2.22,0.00,0.000,6,0.000,0.044,2343,2627,3617,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3677,-0.52,-170.3,490.2,-8.7,456,3679,0.00,0.00,-0.10,0.000,6,0.000,0.000,2343,2626,3638,0,0,0,0,0,0,28.83,28.83,25.99
$GC,3977,-0.52,-170.3,512.5,-6.8,486,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2626,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,-0.52,-170.3,536.3,-8.8,516,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2626,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4579,-0.52,-170.3,565.1,-9.8,546,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2626,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.52,-170.3,593.8,-8.7,577,4898,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1136,3631,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4932,-0.52,-170.3,597.6,-8.5,581,4940,0.00,2.22,0.00,0.000,6,0.000,0.046,2343,2615,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5241,-0.52,-170.3,622.8,-7.9,598,5244,0.00,1.75,0.00,0.000,4,0.000,0.056,2343,3772,3628,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5285,-0.52,-170.3,625.9,-7.7,600,5288,0.00,1.77,0.00,0.000,6,0.000,0.024,2343,2447,3627,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5603,-0.52,-170.3,647.2,-6.2,616,5609,0.00,2.03,0.00,0.000,4,0.000,0.054,2342,3766,3625,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5642,-0.52,-170.3,649.9,-6.4,618,5646,0.00,1.75,0.00,0.000,6,0.000,0.024,2342,2501,3624,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5964,-0.52,-170.3,671.1,-6.8,634,5970,0.00,2.00,0.00,0.000,4,0.000,0.054,2334,3762,3622,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6038,-0.52,-170.3,675.7,-7.4,637,6045,0.08,1.73,0.00,0.000,6,0.160,0.024,2360,2479,3622,0,0,0,0,0,0,26.30,26.53,28.83
$GC,6345,-0.52,-170.3,697.2,-6.6,653,6347,0.08,0.00,0.00,0.000,6,0.128,0.000,2290,2478,3620,0,0,0,0,0,0,26.58,28.83,28.83
$GC,6646,-0.52,-170.3,732.0,-11.5,668,6650,0.17,2.00,0.00,0.000,4,0.140,0.054,2343,3764,3618,0,0,0,0,0,0,26.14,25.94,28.83
$GC,6700,-0.52,-170.3,735.6,-9.9,670,6708,0.00,1.77,0.00,0.000,6,0.000,0.024,2343,2446,3617,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7009,-0.52,-170.3,755.4,-6.2,686,7015,0.00,2.05,0.00,0.000,4,0.000,0.055,2334,3761,3616,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7077,-0.52,-170.3,759.4,-6.7,689,7081,0.08,1.75,0.00,0.000,6,0.158,0.024,2360,2492,3616,0,0,0,0,0,0,26.29,26.51,28.83
$GC,7390,-0.52,-170.3,779.5,-6.5,705,7395,0.08,2.00,0.00,0.000,4,0.129,0.054,2287,3763,3614,0,0,0,0,0,0,26.58,25.91,28.83
$GC,7422,-0.52,-170.3,781.5,-7.0,706,7426,0.20,1.75,0.00,0.000,6,0.124,0.024,2354,2468,3614,0,0,0,0,0,0,26.01,26.52,28.83
$GC,7729,-0.52,-170.3,806.5,-7.6,721,7734,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3771,3612,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7778,-0.52,-170.3,809.6,-7.6,723,7781,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2508,3612,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8090,-0.52,-170.3,833.3,-7.0,739,8095,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3769,3611,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8122,-0.52,-170.3,834.6,-6.8,740,8129,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2469,3610,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8430,-0.52,-170.3,855.0,-6.3,756,8436,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3759,3610,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8477,-0.52,-170.3,857.5,-6.2,758,8480,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2498,3609,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8791,-0.52,-170.3,878.6,-6.7,774,8796,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3764,3608,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8837,-0.52,-170.3,881.3,-6.9,776,8840,0.00,1.75,0.00,0.000,6,0.000,0.026,2347,2512,3607,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9149,-0.52,-170.3,900.9,-5.5,792,9155,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3768,3606,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9183,-0.52,-170.3,902.1,-5.6,793,9190,0.00,1.75,0.00,0.000,6,0.000,0.026,2347,2485,3606,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9489,-0.52,-170.3,918.9,-5.1,809,9495,0.00,2.00,0.00,0.000,4,0.000,0.057,2347,3768,3606,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9522,-0.52,-170.3,919.9,-5.0,810,9530,0.00,1.75,0.00,0.000,6,0.000,0.026,2347,2486,3605,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9831,-0.52,-170.3,938.0,-6.2,826,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2487,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10129,-0.52,-170.3,958.6,-7.1,841,10135,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3769,3603,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10171,-0.52,-170.3,961.3,-6.9,843,10175,0.00,1.80,0.00,0.000,6,0.000,0.026,2347,2484,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10491,-0.52,-170.3,984.3,-6.8,859,10496,0.00,1.95,0.00,0.000,4,0.000,0.028,2347,1135,3602,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10582,-0.52,-170.3,989.7,-6.8,863,10589,0.00,2.30,0.00,0.000,6,0.000,0.047,2347,2624,3602,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,10608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10609,begin apogee
$GC,10614,-0.17,0.0,992.2,-6.6,865,10774,0.32,0.15,151.68,1.716,6,0.083,0.084,2474,2544,2929,0,0,0,0,0,0,26.08,24.14,22.27
$STATE,10775,end apogee,CONTROL_FINISHED_OK
$STATE,10775,begin climb
$GC,10778,0.52,170.3,999.9,0.0,873,10954,0.60,2.45,166.70,1.668,4,0.052,0.031,2718,1059,2233,0,0,0,0,0,0,24.49,23.74,21.83
$GC,11094,0.52,170.3,970.9,14.0,889,11099,0.15,2.33,0.00,0.000,6,0.169,0.047,2679,2523,2223,0,0,0,0,0,0,25.42,25.69,28.83
$GC,11402,0.52,170.3,927.8,13.4,904,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2524,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11702,0.52,170.3,889.7,12.1,919,11707,0.00,1.92,0.00,0.000,4,0.000,0.056,2679,3772,2219,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11725,0.52,170.3,886.8,12.6,920,11729,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2439,2219,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12037,0.52,170.3,842.8,14.3,936,12043,0.00,2.05,0.00,0.000,4,0.000,0.055,2689,3766,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12079,0.52,170.3,836.2,15.5,938,12084,0.10,1.90,0.00,0.000,6,0.211,0.024,2676,2439,2218,0,0,0,0,0,0,25.98,26.37,28.83
$GC,12393,0.52,170.3,793.2,13.4,954,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2436,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12692,0.52,170.3,755.0,12.3,969,12698,0.00,2.08,0.00,0.000,4,0.000,0.055,2676,3763,2216,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,20375,end climb,SURFACE_DEPTH_REACHED
$STATE,20375,begin surface coast
$FINISH,0.7,1.008934
$STATE,20455,end surface coast,CONTROL_FINISHED_OK
$STATE,20455,begin surface
$SM_CCo,20530,0.00,0.000,0,0,1261,409.16
$SM_GC,1.76,6.40,0.12,0.00,0.034,0.088,0.000,198,2667,1261,-7.14,-0.54,409.16,0,0,0,0,0,0,26.31,26.52,28.83
$IRIDIUM_FIX,1920.65,12421.33,280512,222224
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,21.8,78.420
$10V_AH,9.8,47.624
$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,18.800,160.425,447.275,0.000,0.000,28.769,20.273,261.765,0.000,0.000,15.463,4717.005,11494.943,629.901,3663.589,456.338,0.000,2331.601,0.000,3124.427,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,87.975,1715.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.319,2415.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,137324,1877
$CAP_FILE_SIZE,212834,0
$CFSIZE,260165632,185237504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,179.3,1
$GPS,290512,102237,1922.764,12422.243,39,1.2,39,-2.3