version: 66.10
glider: 176
mission: 5
dive: 386
start: 6 1 112 10 39 16
data:
$ID,176
$MISSION,5
$DIVE,386
$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,-8027.0571
$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
$GPS1,010612,103024,1850.852,12425.308,24,1.0,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.7
$GPS2,010612,103849,1850.961,12425.270,10,1.7,10,-2.2
$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,179.2,114195,-12.5,-7.857
$D_GRID,5395
$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,-0.52,-170.3,0.0,0.0,0,60,0.00,0.00,-40.92,0.000,2,0.000,0.000,187,2667,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.52,-170.3,3.4,-8.2,7,102,8.75,2.28,-22.60,0.000,4,0.233,0.040,2346,1137,3627,0,0,0,0,0,0,25.03,26.23,26.67
$GC,162,-0.52,-170.3,25.4,-16.2,21,170,0.08,2.22,0.00,0.000,6,0.194,0.042,2352,2625,3628,0,0,0,0,0,0,26.01,26.15,28.83
$GC,476,-0.52,-170.3,91.8,-18.7,82,482,0.00,2.12,0.00,0.000,4,0.000,0.026,2353,1140,3628,0,0,0,0,0,0,28.83,26.38,28.83
$GC,511,-0.52,-170.3,97.6,-15.5,88,518,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2618,3628,0,0,0,0,0,0,28.83,26.23,28.83
$GC,823,-0.52,-170.3,158.5,-19.0,149,830,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1140,3629,0,0,0,0,0,0,28.83,26.40,28.83
$GC,909,-0.52,-170.3,171.1,-12.0,165,916,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2618,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1220,-0.52,-170.3,218.4,-14.9,214,1223,0.00,1.70,0.00,0.000,4,0.000,0.051,2340,3768,3629,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1244,-0.52,-170.3,221.7,-15.4,216,1251,0.00,1.70,0.00,0.000,6,0.000,0.022,2341,2484,3628,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1551,-0.52,-170.3,269.5,-16.9,247,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2483,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.52,-170.3,316.0,-14.5,277,1864,0.00,1.98,0.00,0.000,4,0.000,0.051,2333,3773,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1947,-0.52,-170.3,328.0,-11.2,286,1952,0.05,1.75,0.00,0.000,6,0.132,0.021,2357,2459,3626,0,0,0,0,0,0,26.33,26.60,28.83
$GC,2259,-0.52,-170.3,358.6,-11.3,317,2269,0.08,1.85,0.00,0.000,4,0.128,0.024,2290,1134,3625,0,0,0,0,0,0,26.62,26.42,28.83
$GC,2282,-0.52,-170.3,361.7,-12.4,319,2292,0.22,2.25,0.00,0.000,6,0.129,0.042,2351,2627,3625,0,0,0,0,0,0,25.95,26.25,28.83
$GC,2592,-0.52,-170.3,401.6,-11.1,350,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2628,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-0.52,-170.3,428.0,-8.1,380,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2628,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.52,-170.3,457.6,-10.3,411,3213,0.00,2.12,0.00,0.000,4,0.000,0.025,2352,1145,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3266,-0.52,-170.3,463.8,-9.4,417,3276,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2628,3619,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3576,-0.52,-170.3,494.6,-9.8,448,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3877,-0.52,-170.3,521.4,-7.9,478,3886,0.00,2.10,0.00,0.000,4,0.000,0.026,2349,1153,3614,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3903,-0.52,-170.3,523.4,-8.2,480,3909,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2617,3615,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4208,-0.52,-170.3,547.8,-8.3,511,4217,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1136,3613,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4241,-0.52,-170.3,550.2,-8.1,514,4250,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2630,3613,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4550,-0.52,-170.3,574.5,-8.1,545,4553,0.00,1.73,0.00,0.000,4,0.000,0.055,2347,3772,3610,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4574,-0.52,-170.3,576.0,-7.6,547,4581,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2464,3610,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4891,-0.52,-170.3,601.6,-7.6,578,4895,0.00,2.00,0.00,0.000,4,0.000,0.054,2347,3765,3607,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4941,-0.52,-170.3,604.9,-7.8,580,4944,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2502,3606,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5254,-0.52,-170.3,627.9,-7.1,596,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2472,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5553,-0.52,-170.3,648.5,-7.0,611,5558,0.00,2.03,0.00,0.000,4,0.000,0.054,2347,3773,3602,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5606,-0.52,-170.3,651.4,-7.1,613,5614,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2467,3601,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5914,-0.52,-170.3,675.6,-7.7,629,5920,0.00,2.00,0.00,0.000,4,0.000,0.054,2347,3759,3599,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5966,-0.52,-170.3,678.7,-7.8,631,5975,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2469,3598,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6275,-0.52,-170.3,701.9,-6.8,647,6280,0.00,1.98,0.00,0.000,4,0.000,0.054,2347,3762,3597,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6321,-0.52,-170.3,704.6,-6.7,649,6325,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2469,3596,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6633,-0.52,-170.3,723.7,-5.8,665,6639,0.00,2.00,0.00,0.000,4,0.000,0.054,2347,3763,3596,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6667,-0.52,-170.3,724.9,-5.9,666,6674,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2454,3595,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6974,-0.52,-170.3,747.0,-7.4,682,6979,0.00,2.05,0.00,0.000,4,0.000,0.054,2347,3772,3593,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7021,-0.52,-170.3,750.0,-7.5,684,7025,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2505,3592,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7335,-0.52,-170.3,774.7,-7.5,700,7340,0.00,2.03,0.00,0.000,4,0.000,0.055,2347,3754,3591,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7381,-0.52,-170.3,777.7,-7.4,702,7385,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2472,3591,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7695,-0.52,-170.3,798.4,-5.9,718,7701,0.00,2.00,0.00,0.000,4,0.000,0.055,2347,3754,3589,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7741,-0.52,-170.3,800.7,-5.9,720,7745,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2467,3589,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8053,-0.52,-170.3,818.1,-5.1,736,8059,0.00,2.05,0.00,0.000,4,0.000,0.056,2347,3770,3588,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8103,-0.52,-170.3,820.1,-5.0,738,8107,0.00,1.77,0.00,0.000,6,0.000,0.025,2347,2470,3587,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8415,-0.52,-170.3,836.3,-5.2,754,8420,0.00,2.00,0.00,0.000,4,0.000,0.055,2347,3761,3586,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8447,-0.52,-170.3,837.2,-5.2,755,8454,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2463,3585,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8756,-0.52,-170.3,856.3,-6.4,771,8761,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3761,3585,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8797,-0.52,-170.3,858.9,-6.4,773,8800,0.00,1.77,0.00,0.000,6,0.000,0.025,2347,2480,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9116,-0.52,-170.3,880.0,-6.5,789,9121,0.00,2.00,0.00,0.000,4,0.000,0.056,2347,3760,3583,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9154,-0.52,-170.3,882.7,-6.6,791,9158,0.00,1.73,0.00,0.000,6,0.000,0.026,2347,2504,3583,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9475,-0.52,-170.3,902.3,-5.9,807,9481,0.00,2.05,0.00,0.000,4,0.000,0.056,2347,3769,3582,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9519,-0.52,-170.3,904.6,-5.7,809,9523,0.00,1.77,0.00,0.000,6,0.000,0.025,2347,2488,3582,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9835,-0.52,-170.3,921.1,-4.8,825,9841,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3773,3581,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9875,-0.52,-170.3,923.2,-4.9,827,9879,0.00,1.77,0.00,0.000,6,0.000,0.025,2347,2508,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10198,-0.52,-170.3,939.6,-5.1,843,10203,0.00,2.00,0.00,0.000,4,0.000,0.056,2347,3754,3580,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10224,-0.52,-170.3,940.5,-5.0,844,10228,0.00,1.73,0.00,0.000,6,0.000,0.025,2347,2494,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10538,-0.52,-170.3,957.5,-5.3,860,10543,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3758,3579,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10569,-0.52,-170.3,958.6,-5.3,861,10577,0.00,1.75,0.00,0.000,6,0.000,0.026,2347,2485,3579,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10877,-0.52,-170.3,977.6,-6.0,877,10878,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2485,3578,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11074,begin apogee
$GC,11080,-0.17,0.0,990.1,-6.2,887,11238,0.32,0.00,146.77,1.717,6,0.098,0.000,2466,2484,2928,0,0,0,0,0,0,25.94,28.83,22.27
$STATE,11239,end apogee,CONTROL_FINISHED_OK
$STATE,11239,begin climb
$GC,11241,0.52,170.3,997.6,0.0,895,11420,0.60,2.38,167.62,1.672,4,0.050,0.029,2709,1052,2233,0,0,0,0,0,0,24.56,23.70,21.77
$GC,11475,0.52,170.3,985.1,11.8,906,11483,0.12,2.40,0.00,0.000,6,0.166,0.048,2679,2521,2226,0,0,0,0,0,0,24.72,24.93,28.83
$GC,11785,0.52,170.3,946.5,11.7,922,11790,0.00,1.92,0.00,0.000,4,0.000,0.055,2679,3765,2222,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11823,0.52,170.3,941.2,12.4,924,11826,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2457,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12139,0.52,170.3,902.9,12.0,940,12144,0.00,2.05,0.00,0.000,4,0.000,0.032,2698,1054,2219,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,21572,end climb,SURFACE_DEPTH_REACHED
$STATE,21572,begin surface coast
$FINISH,0.7,1.013250
$STATE,21640,end surface coast,CONTROL_FINISHED_OK
$STATE,21640,begin surface
$SM_CCo,21715,0.00,0.000,0,0,1286,403.03
$SM_GC,1.80,6.43,0.12,0.00,0.037,0.089,0.000,202,2676,1286,-7.14,-0.57,403.03,0,0,0,0,0,0,26.21,26.53,28.83
$IRIDIUM_FIX,1846.42,12425.00,010612,040455
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.8,81.049
$10V_AH,9.8,49.459
$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,18.300,199.050,455.625,0.000,0.000,23.615,18.318,304.284,0.000,0.000,12.968,4945.287,12158.177,645.739,3932.229,500.817,0.000,2476.219,0.000,3291.646,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,88.740,1716.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1333.851,2570.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,143947,1955
$CAP_FILE_SIZE,232020,0
$CFSIZE,260165632,183681024
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024, 56.0,1
$GPS,010612,164207,1848.499,12425.457,27,1.3,27,-2.2