version: 66.10
glider: 176
mission: 5
dive: 426
start: 6 11 112 3 56 1
data:
$ID,176
$MISSION,5
$DIVE,426
$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,380
$T_MISSION,420
$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,200
$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,-8139.5347
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,110612,034807,1752.895,12425.470,32,1.1,32,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.6
$GPS2,110612,035532,1752.771,12425.590,11,1.2,11,-2.0
$SPEED_LIMITS,0.150,0.280
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,291.0,237967,-12.9,-8.684
$D_GRID,4291
$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,16,-0.56,-194.6,0.0,0.0,0,81,0.00,0.00,-62.17,0.000,2,0.000,0.000,188,2713,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.56,-194.6,3.0,-5.9,11,130,8.75,2.25,-29.58,0.000,4,0.233,0.040,2338,1192,3726,0,0,0,0,0,0,25.01,26.29,26.73
$GC,204,-0.56,-194.6,32.0,-18.7,32,210,0.00,2.22,0.00,0.000,6,0.000,0.046,2335,2669,3727,0,0,0,0,0,0,28.83,26.19,28.83
$GC,516,-0.56,-194.6,127.9,-23.4,93,524,0.00,1.65,0.00,0.000,4,0.000,0.050,2328,3779,3726,0,0,0,0,0,0,28.83,26.20,28.83
$GC,561,-0.56,-194.6,138.7,-23.0,101,569,0.00,1.65,0.00,0.000,6,0.000,0.023,2328,2563,3726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,878,-0.56,-194.6,204.3,-19.2,161,881,0.00,1.80,0.00,0.000,4,0.000,0.049,2319,3773,3726,0,0,0,0,0,0,28.83,26.20,28.83
$GC,911,-0.56,-194.6,210.3,-19.5,164,919,0.05,1.67,0.00,0.000,6,0.149,0.021,2338,2519,3726,0,0,0,0,0,0,26.29,26.59,28.83
$GC,1219,-0.56,-194.6,263.2,-17.5,195,1222,0.00,1.90,0.00,0.000,4,0.000,0.048,2333,3770,3726,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1250,-0.56,-194.6,268.6,-17.2,198,1254,0.00,1.65,0.00,0.000,6,0.000,0.022,2333,2528,3726,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1561,-0.56,-194.6,316.2,-14.9,229,1565,0.00,1.88,0.00,0.000,4,0.000,0.027,2333,1192,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1620,-0.56,-194.6,322.6,-10.0,234,1628,0.00,2.25,0.00,0.000,6,0.000,0.047,2332,2658,3724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1928,-0.56,-194.6,358.9,-12.4,265,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2658,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.56,-194.6,393.6,-12.0,295,2240,0.00,2.08,0.00,0.000,4,0.000,0.027,2332,1199,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2266,-0.56,-194.6,397.4,-11.5,298,2272,0.00,2.25,0.00,0.000,6,0.000,0.047,2332,2677,3720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2572,-0.56,-194.6,431.5,-10.8,329,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2677,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,-0.56,-194.6,462.6,-10.4,359,2885,0.00,2.12,0.00,0.000,4,0.000,0.028,2332,1196,3715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2931,-0.56,-194.6,467.4,-8.6,364,2938,0.00,2.25,-0.08,0.000,6,0.000,0.048,2332,2671,3738,0,0,0,0,0,0,28.83,26.17,25.06
$GC,3237,-0.56,-194.6,496.8,-9.9,395,3248,0.00,2.12,0.00,0.000,4,0.000,0.027,2332,1196,3735,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3280,-0.56,-194.6,500.8,-9.3,399,3289,0.00,2.25,0.00,0.000,6,0.000,0.048,2332,2666,3735,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3591,-0.56,-194.6,530.0,-9.6,430,3594,0.00,1.67,0.00,0.000,4,0.000,0.056,2331,3769,3732,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3614,-0.56,-194.6,531.9,-9.2,432,3621,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2541,3732,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3923,-0.56,-194.6,562.8,-10.4,463,3927,0.00,1.95,0.00,0.000,4,0.000,0.026,2331,1164,3729,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3955,-0.56,-194.6,566.1,-10.5,466,3964,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2669,3729,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4264,-0.56,-194.6,597.0,-10.0,497,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2670,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,-0.56,-194.6,626.0,-9.4,514,4571,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1188,3722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4612,-0.56,-194.6,629.6,-9.4,516,4616,0.00,2.30,0.00,0.000,6,0.000,0.049,2331,2674,3722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4920,-0.56,-194.6,656.6,-8.6,531,4925,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1189,3720,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4964,-0.56,-194.6,659.9,-8.6,533,4970,0.00,2.28,0.00,0.000,6,0.000,0.048,2331,2666,3720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5280,-0.56,-194.6,685.9,-7.9,549,5283,0.00,1.67,0.00,0.000,4,0.000,0.057,2331,3765,3717,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5304,-0.56,-194.6,687.5,-7.9,550,5308,0.00,1.65,0.00,0.000,6,0.000,0.025,2331,2544,3716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5621,-0.56,-194.6,709.2,-6.6,566,5627,0.00,1.92,0.00,0.000,4,0.000,0.057,2330,3773,3715,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5661,-0.56,-194.6,711.8,-6.4,568,5664,0.00,1.67,0.00,0.000,6,0.000,0.024,2330,2539,3714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5983,-0.56,-194.6,731.7,-6.3,584,5989,0.00,1.95,0.00,0.000,4,0.000,0.059,2330,3771,3711,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6005,-0.56,-194.6,733.1,-6.4,585,6008,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2544,3711,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6322,-0.56,-194.6,755.7,-7.5,601,6328,0.00,1.92,0.00,0.000,4,0.000,0.058,2331,3766,3709,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6371,-0.56,-194.6,758.8,-7.7,603,6374,0.00,1.65,0.00,0.000,6,0.000,0.024,2330,2548,3709,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6683,-0.56,-194.6,784.2,-8.0,619,6689,0.00,1.92,0.00,0.000,4,0.000,0.026,2331,1192,3707,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6712,-0.56,-194.6,785.8,-8.1,620,6716,0.00,2.30,0.00,0.000,6,0.000,0.050,2331,2677,3707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7020,-0.56,-194.6,810.7,-7.8,635,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2677,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,-0.56,-194.6,834.4,-8.0,650,7324,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1192,3703,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7342,-0.56,-194.6,836.0,-8.1,651,7346,0.00,2.28,0.00,0.000,6,0.000,0.048,2330,2675,3703,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7654,-0.56,-194.6,859.9,-7.4,667,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2674,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,-0.56,-194.6,881.5,-7.2,682,7960,0.00,2.15,0.00,0.000,4,0.000,0.027,2331,1193,3700,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7998,-0.56,-194.6,884.3,-7.1,684,8002,0.00,2.30,0.00,0.000,6,0.000,0.049,2331,2674,3700,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8310,-0.56,-194.6,906.7,-7.3,700,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2674,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8612,-0.56,-194.6,928.4,-7.3,715,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2674,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,-0.56,-194.6,949.8,-7.0,730,8916,0.00,2.12,0.00,0.000,4,0.000,0.028,2331,1199,3696,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8943,-0.56,-194.6,951.4,-7.2,731,8950,0.00,2.28,0.00,0.000,6,0.000,0.050,2331,2664,3696,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9251,-0.56,-194.6,973.8,-7.1,747,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2665,3694,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9488,begin apogee
$GC,9493,-0.17,0.0,990.5,-7.0,759,9674,0.38,0.12,170.65,1.698,6,0.098,0.093,2467,2582,2928,0,0,0,0,0,0,25.88,24.27,22.42
$STATE,9675,end apogee,CONTROL_FINISHED_OK
$STATE,9675,begin climb
$GC,9677,0.56,194.6,999.7,0.0,768,9876,0.62,2.47,188.65,1.652,4,0.049,0.030,2722,1111,2134,0,0,0,0,0,0,24.74,23.88,21.94
$GC,9907,0.56,194.6,984.7,14.2,779,9915,0.12,2.40,0.00,0.000,6,0.162,0.048,2691,2568,2127,0,0,0,0,0,0,24.60,24.77,28.83
$GC,10213,0.56,194.6,937.1,14.9,795,10217,0.00,1.85,0.00,0.000,4,0.000,0.055,2691,3767,2123,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10254,0.56,194.6,930.2,15.7,797,10258,0.00,1.85,0.00,0.000,6,0.000,0.024,2701,2493,2123,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10571,0.56,194.6,880.7,15.4,813,10577,0.03,1.98,0.00,0.000,4,0.307,0.053,2691,3762,2121,0,0,0,0,0,0,26.44,26.06,28.83
$GC,10632,0.56,194.6,870.4,16.7,816,10637,0.00,1.83,0.00,0.000,6,0.000,0.025,2700,2496,2121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10952,0.56,194.6,821.6,15.1,832,10957,0.00,1.92,0.00,0.000,4,0.000,0.055,2700,3762,2119,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10978,0.56,194.6,818.4,15.2,833,10983,0.10,1.83,0.00,0.000,6,0.203,0.024,2685,2493,2119,0,0,0,0,0,0,25.98,26.36,28.83
$GC,11285,0.56,194.6,775.5,12.7,848,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2489,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11587,0.56,194.6,738.1,12.1,863,11590,0.00,1.98,0.00,0.000,4,0.000,0.054,2686,3766,2118,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11630,0.56,194.6,732.2,12.7,865,11634,0.00,1.85,0.00,0.000,6,0.000,0.024,2695,2497,2117,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11948,0.56,194.6,690.0,12.9,881,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2493,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12249,0.56,194.6,651.3,12.8,896,12254,0.00,1.98,0.00,0.000,4,0.000,0.054,2695,3769,2116,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12288,0.56,194.6,645.5,13.6,898,12294,0.08,1.83,0.00,0.000,6,0.215,0.022,2689,2496,2116,0,0,0,0,0,0,26.10,26.39,28.83
$GC,12608,0.56,194.6,606.9,11.8,914,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2492,2116,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15261,0.60,230.1,325.4,7.6,1175,15302,0.10,2.08,29.88,1.235,4,0.104,0.033,2752,1096,1988,0,0,0,0,0,0,26.52,25.75,23.70
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$STATE,18619,end climb,SURFACE_DEPTH_REACHED
$STATE,18619,begin surface coast
$FINISH,0.7,1.017685
$STATE,18706,end surface coast,CONTROL_FINISHED_OK
$STATE,18706,begin surface
$SM_CCo,18782,0.00,0.000,0,0,735,538.19
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$IRIDIUM_FIX,1747.37,12425.38,100612,222204
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,21.9,89.604
$10V_AH,9.8,54.912
$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,19.050,154.050,539.175,0.000,0.000,31.787,16.611,240.107,0.000,0.000,13.917,4278.758,10490.843,662.564,3331.334,435.054,0.000,2222.238,0.000,2790.052,0.000,0.543,0.000
$DEVICE_MAMPS,306.765,93.330,1698.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.854,2236.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330268
$DATA_FILE_SIZE,127207,1708
$CAP_FILE_SIZE,194646,0
$CFSIZE,260165632,179142656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,114.3,1
$GPS,110612,091006,1752.986,12424.635,33,1.0,33,-2.0