version: 66.10
glider: 176
mission: 5
dive: 431
start: 6 12 112 7 13 6
data:
$ID,176
$MISSION,5
$DIVE,431
$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,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,-8149.3467
$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
$GPS1,120612,070506,1753.349,12422.996,35,1.2,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.7
$GPS2,120612,071238,1753.229,12423.121,11,1.4,11,-2.0
$SPEED_LIMITS,0.150,0.264
$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,289.4,233578,-14.0,-8.684
$D_GRID,4500
$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,-170.3,0.0,0.0,0,84,0.00,0.00,-65.05,0.000,2,0.000,0.000,182,2701,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.56,-170.3,3.3,-7.7,11,132,8.68,2.17,-26.90,0.000,4,0.229,0.044,2333,1200,3625,0,0,0,0,0,0,25.01,26.25,26.74
$GC,194,-0.56,-170.3,30.7,-19.6,27,201,0.08,2.22,0.00,0.000,6,0.186,0.044,2342,2682,3626,0,0,0,0,0,0,26.07,26.22,28.83
$GC,524,-0.56,-170.3,128.9,-26.8,88,546,0.00,1.65,0.00,0.000,4,0.000,0.052,2335,3773,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,615,-0.56,-170.3,152.5,-19.0,102,621,0.00,1.62,0.00,0.000,6,0.000,0.024,2335,2574,3625,0,0,0,0,0,0,28.83,26.52,28.83
$GC,930,-0.56,-170.3,213.0,-18.5,157,934,0.00,1.92,0.00,0.000,4,0.000,0.026,2336,1182,3625,0,0,0,0,0,0,28.83,26.45,28.83
$GC,953,-0.56,-170.3,216.8,-18.4,159,961,0.00,2.20,0.00,0.000,6,0.000,0.043,2332,2661,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1263,-0.56,-170.3,269.2,-16.4,190,1272,0.00,2.05,0.00,0.000,4,0.000,0.024,2332,1198,3625,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1319,-0.56,-170.3,277.1,-14.1,195,1326,0.08,2.20,0.00,0.000,6,0.181,0.042,2342,2670,3625,0,0,0,0,0,0,26.13,26.25,28.83
$GC,1625,-0.56,-170.3,318.6,-14.6,226,1634,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1180,3623,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1680,-0.56,-170.3,324.9,-11.7,231,1688,0.03,2.22,0.00,0.000,6,0.251,0.043,2291,2671,3623,0,0,0,0,0,0,26.21,26.24,28.83
$GC,1987,-0.56,-170.3,379.2,-16.9,262,1996,0.15,2.12,0.00,0.000,4,0.163,0.024,2342,1181,3621,0,0,0,0,0,0,26.18,26.41,28.83
$GC,2061,-0.56,-170.3,386.7,-8.1,269,2070,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2672,3620,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2369,-0.56,-170.3,420.9,-11.3,300,2378,0.00,2.10,0.00,0.000,4,0.000,0.025,2335,1193,3617,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2411,-0.56,-170.3,425.4,-11.0,304,2420,0.00,2.20,0.00,0.000,6,0.000,0.044,2334,2663,3617,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2720,-0.56,-170.3,459.7,-11.0,335,2722,0.00,0.00,-0.08,0.000,6,0.000,0.000,2334,2663,3638,0,0,0,0,0,0,28.83,28.83,25.39
$GC,3020,-0.56,-170.3,491.7,-10.3,365,3030,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1188,3636,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3083,-0.56,-170.3,497.7,-9.0,371,3092,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2672,3636,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3393,-0.56,-170.3,529.2,-10.2,402,3397,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1182,3632,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3435,-0.56,-170.3,533.1,-9.6,406,3444,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2677,3632,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3744,-0.56,-170.3,562.4,-9.3,437,3754,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1192,3629,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3791,-0.56,-170.3,566.3,-9.3,441,3799,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2671,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4096,-0.56,-170.3,594.0,-8.8,472,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2672,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.56,-170.3,622.9,-9.2,491,4415,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1183,3622,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4460,-0.56,-170.3,626.4,-8.9,493,4468,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2667,3622,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4767,-0.56,-170.3,655.1,-9.0,509,4773,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1186,3619,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4791,-0.56,-170.3,657.1,-9.2,510,4795,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2672,3619,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5103,-0.56,-170.3,685.5,-9.3,526,5107,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1181,3616,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5145,-0.56,-170.3,689.3,-9.2,528,5149,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2666,3616,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5467,-0.56,-170.3,718.7,-9.3,544,5471,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1190,3613,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5509,-0.56,-170.3,722.5,-9.0,546,5513,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2675,3613,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5833,-0.56,-170.3,749.8,-8.5,562,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2675,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6133,-0.56,-170.3,773.1,-7.5,577,6138,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1192,3608,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6159,-0.56,-170.3,774.6,-7.6,578,6163,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2671,3608,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6467,-0.56,-170.3,797.1,-7.1,593,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2671,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,-0.56,-170.3,818.7,-7.2,608,6772,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1182,3605,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6809,-0.56,-170.3,821.5,-7.0,610,6813,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2669,3605,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7124,-0.56,-170.3,843.1,-6.7,626,7129,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1186,3603,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7150,-0.56,-170.3,844.5,-6.7,627,7154,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2674,3603,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7459,-0.56,-170.3,865.6,-6.7,642,7464,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1193,3600,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7491,-0.56,-170.3,867.1,-7.0,643,7497,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2667,3600,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7797,-0.56,-170.3,889.2,-7.0,659,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2667,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.56,-170.3,910.1,-6.8,674,8104,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1186,3597,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8140,-0.56,-170.3,913.0,-6.9,676,8144,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2669,3598,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8452,-0.56,-170.3,933.9,-6.5,692,8458,0.00,2.15,0.00,0.000,4,0.000,0.024,2332,1182,3596,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8494,-0.56,-170.3,936.6,-6.4,694,8500,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2664,3596,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8813,-0.56,-170.3,957.0,-6.5,710,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2664,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9114,-0.56,-170.3,976.3,-6.5,725,9119,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1193,3593,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9152,-0.56,-170.3,979.1,-6.7,727,9158,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2665,3593,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9330,begin apogee
$GC,9336,-0.17,0.0,991.0,-6.7,736,9496,0.38,0.08,149.18,1.705,6,0.103,0.067,2467,2590,2928,0,0,0,0,0,0,25.83,24.40,22.58
$STATE,9497,end apogee,CONTROL_FINISHED_OK
$STATE,9497,begin climb
$GC,9499,0.56,170.3,997.9,0.0,744,9672,0.62,0.00,164.93,1.665,6,0.050,0.000,2713,2590,2234,0,0,0,0,0,0,24.96,28.83,22.08
$GC,9972,0.56,170.3,939.9,16.7,768,9978,0.10,2.20,0.00,0.000,4,0.195,0.027,2701,1098,2223,0,0,0,0,0,0,26.09,26.18,28.83
$GC,10032,0.56,170.3,931.7,14.4,771,10039,0.05,2.30,0.00,0.000,6,0.214,0.047,2689,2571,2221,0,0,0,0,0,0,26.01,26.08,28.83
$GC,10353,0.56,170.3,886.2,14.4,787,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2572,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10653,0.56,170.3,845.5,13.3,802,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2572,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10952,0.56,170.3,807.8,12.5,817,10956,0.00,1.85,0.00,0.000,4,0.000,0.057,2689,3780,2218,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10975,0.56,170.3,804.9,12.7,818,10980,0.00,1.85,0.00,0.000,6,0.000,0.023,2697,2485,2217,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11294,0.56,170.3,764.3,12.3,834,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2482,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11595,0.56,170.3,726.5,13.3,849,11600,0.00,1.98,0.00,0.000,4,0.000,0.054,2698,3762,2216,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11628,0.56,170.3,723.7,13.4,850,11635,0.10,1.80,0.00,0.000,6,0.204,0.022,2684,2489,2215,0,0,0,0,0,0,25.98,26.39,28.83
$GC,11934,0.56,170.3,685.7,11.3,866,11940,0.03,2.00,0.00,0.000,4,0.254,0.028,2731,1100,2214,0,0,0,0,0,0,26.55,26.23,28.83
$GC,12015,0.56,170.3,675.7,12.4,870,12022,0.12,2.25,0.00,0.000,6,0.171,0.046,2694,2566,2214,0,0,0,0,0,0,25.71,26.03,28.83
$GC,12335,0.56,170.3,633.8,13.3,886,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2566,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12634,0.56,170.3,593.7,13.0,903,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2566,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12935,0.56,170.3,555.0,12.2,933,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2567,2213,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18926,end climb,SURFACE_DEPTH_REACHED
$STATE,18926,begin surface coast
$FINISH,1.3,1.021092
$STATE,18948,end surface coast,CONTROL_FINISHED_OK
$STATE,18948,begin surface
$SM_CCo,19026,0.00,0.000,0,0,601,571.06
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$IRIDIUM_FIX,1745.10,12422.23,120612,010128
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,22.1,90.680
$10V_AH,9.8,55.556
$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
$DEVICE_SECS,18.925,158.175,542.350,0.000,0.000,25.708,21.707,251.400,0.000,0.000,15.644,4274.608,10637.268,678.758,3418.972,434.706,0.000,2274.521,0.000,2790.647,0.000,0.543,0.000
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$SENSOR_SECS,1161.887,2333.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,127220,1710
$CAP_FILE_SIZE,195785,0
$CFSIZE,260165632,178606080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 97.5,1
$GPS,120612,123124,1753.702,12422.587,25,1.2,42,-2.0