version: 66.10
glider: 176
mission: 5
dive: 448
start: 6 16 112 3 7 12
data:
$ID,176
$MISSION,5
$DIVE,448
$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,-8180.5073
$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
$GPS1,160612,025925,1758.804,12411.021,40,0.9,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.9
$GPS2,160612,030644,1758.849,12410.994,11,1.2,11,-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,270.3,210160,-14.0,-8.684
$D_GRID,4746
$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,14,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,72,0.00,0.00,-53.53,0.000,2,0.000,0.000,181,2709,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.56,-170.3,3.1,-3.9,6,123,8.73,2.22,-29.23,0.000,4,0.227,0.041,2338,1202,3625,0,0,0,0,0,0,25.02,26.28,26.72
$GC,236,-0.56,-170.3,43.3,-24.4,30,243,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2680,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,564,-0.56,-170.3,154.6,-33.2,91,572,0.00,1.62,0.00,0.000,4,0.000,0.052,2327,3769,3625,0,0,0,0,0,0,28.83,26.18,28.83
$GC,619,-0.56,-170.3,171.0,-24.4,98,626,0.00,1.65,0.00,0.000,6,0.000,0.023,2327,2566,3625,0,0,0,0,0,0,28.83,26.53,28.83
$GC,934,-0.56,-170.3,239.7,-22.7,142,937,0.00,1.85,0.00,0.000,4,0.000,0.047,2319,3775,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,949,-0.56,-170.3,241.8,-22.5,143,957,0.10,1.62,0.00,0.000,6,0.171,0.023,2346,2509,3625,0,0,0,0,0,0,26.24,26.58,28.83
$GC,1255,-0.56,-170.3,287.7,-13.6,174,1259,0.08,1.85,0.00,0.000,4,0.133,0.024,2285,1195,3625,0,0,0,0,0,0,26.60,26.40,28.83
$GC,1280,-0.56,-170.3,291.1,-14.6,176,1288,0.17,2.25,0.00,0.000,6,0.119,0.047,2341,2659,3625,0,0,0,0,0,0,25.91,26.20,28.83
$GC,1587,-0.56,-170.3,332.8,-14.5,207,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2659,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.56,-170.3,370.3,-11.2,237,1899,0.00,2.08,0.00,0.000,4,0.000,0.025,2341,1192,3624,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1944,-0.56,-170.3,375.7,-9.6,242,1951,0.00,2.25,0.00,0.000,6,0.000,0.045,2336,2677,3623,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2252,-0.56,-170.3,409.2,-11.5,273,2255,0.00,1.62,0.00,0.000,4,0.000,0.054,2332,3771,3621,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2272,-0.56,-170.3,411.5,-11.1,275,2276,0.00,1.67,0.00,0.000,6,0.000,0.023,2332,2542,3621,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2583,-0.56,-170.3,444.1,-10.8,306,2587,0.00,1.90,0.00,0.000,4,0.000,0.025,2332,1192,3618,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2632,-0.56,-170.3,449.0,-10.4,310,2641,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2675,3618,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2941,-0.56,-170.3,479.9,-10.2,341,2950,0.00,2.17,-0.10,0.000,4,0.000,0.037,2332,1187,3638,0,0,0,0,0,0,28.83,26.35,25.98
$GC,2995,-0.56,-170.3,484.6,-8.9,346,3003,0.00,2.25,0.00,0.000,6,0.000,0.047,2332,2661,3637,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3303,-0.56,-170.3,514.5,-9.7,377,3312,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1188,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3340,-0.56,-170.3,517.5,-9.4,380,3346,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2676,3634,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3645,-0.56,-170.3,546.3,-8.6,411,3654,0.00,2.15,0.00,0.000,4,0.000,0.026,2332,1190,3632,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3669,-0.56,-170.3,548.3,-8.7,413,3676,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2663,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3978,-0.56,-170.3,575.0,-8.6,444,3982,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1195,3628,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4003,-0.56,-170.3,577.0,-8.5,446,4009,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2672,3628,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4312,-0.56,-170.3,603.6,-8.7,475,4317,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1199,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4352,-0.56,-170.3,607.1,-8.9,477,4356,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2678,3625,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4671,-0.56,-170.3,635.7,-9.1,493,4677,0.00,2.15,0.00,0.000,4,0.000,0.026,2332,1193,3622,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4703,-0.56,-170.3,637.5,-9.0,494,4710,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2671,3622,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5010,-0.56,-170.3,664.6,-8.4,510,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2671,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5311,-0.56,-170.3,691.1,-9.0,525,5317,0.00,2.12,0.00,0.000,4,0.000,0.026,2332,1199,3617,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5354,-0.56,-170.3,694.6,-9.0,527,5358,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2677,3617,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5666,-0.56,-170.3,722.6,-8.6,543,5670,0.00,2.15,0.00,0.000,4,0.000,0.026,2332,1189,3614,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5702,-0.56,-170.3,724.5,-8.5,544,5709,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2670,3614,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6008,-0.56,-170.3,749.3,-7.5,560,6013,0.00,2.10,0.00,0.000,4,0.000,0.026,2331,1200,3612,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6040,-0.56,-170.3,750.9,-7.5,561,6047,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2677,3612,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6349,-0.56,-170.3,775.4,-7.9,577,6354,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1200,3610,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6392,-0.56,-170.3,778.6,-7.9,579,6396,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2672,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6706,-0.56,-170.3,802.9,-7.7,595,6712,0.00,2.10,0.00,0.000,4,0.000,0.026,2331,1200,3608,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6738,-0.56,-170.3,804.3,-7.5,596,6745,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2675,3608,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7046,-0.56,-170.3,828.7,-7.5,612,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2675,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7345,-0.56,-170.3,852.1,-7.8,627,7351,0.00,2.17,0.00,0.000,4,0.000,0.026,2331,1189,3604,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7398,-0.56,-170.3,855.1,-7.8,629,7405,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2677,3604,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7705,-0.56,-170.3,879.8,-7.6,645,7709,0.00,2.15,0.00,0.000,4,0.000,0.027,2331,1198,3602,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7736,-0.56,-170.3,881.4,-7.5,646,7745,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2668,3602,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8047,-0.56,-170.3,904.9,-7.1,662,8053,0.00,2.17,0.00,0.000,4,0.000,0.026,2331,1182,3601,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8070,-0.56,-170.3,906.3,-7.0,663,8074,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2666,3601,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8383,-0.56,-170.3,926.7,-6.4,679,8389,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1201,3599,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8410,-0.56,-170.3,928.0,-6.5,680,8414,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2669,3599,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8719,-0.56,-170.3,947.9,-6.0,695,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2669,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9017,-0.56,-170.3,965.5,-5.8,710,9023,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1196,3597,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9060,-0.56,-170.3,967.8,-5.7,712,9064,0.00,2.30,0.00,0.000,6,0.000,0.049,2331,2671,3597,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9374,-0.56,-170.3,986.3,-6.0,728,9380,0.00,2.15,0.00,0.000,4,0.000,0.027,2331,1193,3596,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9400,-0.56,-170.3,987.4,-6.0,729,9404,0.00,2.30,0.00,0.000,6,0.000,0.050,2331,2665,3595,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,9445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9445,begin apogee
$GC,9450,-0.17,0.0,991.0,-6.3,731,9610,0.38,0.10,148.77,1.699,6,0.100,0.068,2466,2579,2929,0,0,0,0,0,0,25.82,24.40,22.59
$STATE,9612,end apogee,CONTROL_FINISHED_OK
$STATE,9612,begin climb
$GC,9614,0.56,170.3,997.4,0.0,739,9787,0.62,0.00,164.27,1.655,6,0.047,0.000,2715,2579,2233,0,0,0,0,0,0,25.01,28.83,22.10
$GC,10087,0.56,170.3,940.5,16.2,763,10093,0.12,2.20,0.00,0.000,4,0.187,0.026,2690,1090,2222,0,0,0,0,0,0,25.93,26.19,28.83
$GC,10129,0.56,170.3,935.1,15.0,765,10133,0.00,2.30,0.00,0.000,6,0.000,0.047,2690,2567,2220,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10449,0.56,170.3,892.2,13.7,781,10452,0.00,1.85,0.00,0.000,4,0.000,0.055,2690,3765,2220,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10512,0.56,170.3,882.5,15.0,784,10516,0.00,1.83,0.00,0.000,6,0.000,0.024,2699,2493,2219,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10830,0.56,170.3,836.9,13.6,800,10835,0.00,2.05,0.00,0.000,4,0.000,0.031,2709,1096,2217,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10871,0.56,170.3,831.9,13.2,802,10877,0.05,2.25,0.00,0.000,6,0.148,0.047,2690,2559,2216,0,0,0,0,0,0,25.90,26.08,28.83
$GC,11190,0.56,170.3,792.2,12.3,818,11193,0.00,1.88,0.00,0.000,4,0.000,0.056,2690,3774,2216,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11226,0.56,170.3,787.2,13.0,820,11229,0.00,1.85,0.00,0.000,6,0.000,0.024,2700,2493,2216,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11543,0.56,170.3,746.5,12.9,836,11549,0.03,2.03,0.00,0.000,4,0.310,0.028,2700,1102,2215,0,0,0,0,0,0,26.46,26.22,28.83
$GC,11566,0.56,170.3,743.8,13.1,837,11570,0.03,2.28,0.00,0.000,6,0.267,0.047,2688,2570,2215,0,0,0,0,0,0,25.96,26.02,28.83
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$STATE,18998,end climb,SURFACE_DEPTH_REACHED
$STATE,18998,begin surface coast
$FINISH,0.6,1.008217
$STATE,19062,end surface coast,CONTROL_FINISHED_OK
$STATE,19063,begin surface
$SM_CCo,19138,0.00,0.000,0,0,722,541.38
$SM_GC,1.50,6.53,0.12,0.00,0.032,0.096,0.000,194,2692,722,-7.15,-0.57,541.38,0,0,0,0,0,0,26.27,26.49,28.83
$IRIDIUM_FIX,1751.90,12410.32,150612,212148
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,22.1,94.465
$10V_AH,9.8,57.726
$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,18.800,190.225,554.075,0.000,0.000,30.529,20.360,237.462,0.000,0.000,15.640,4311.086,10542.587,686.001,3547.481,458.477,0.000,2329.955,0.000,2861.207,0.000,0.543,0.000
$DEVICE_MAMPS,309.825,96.390,1699.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.751,2408.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,127116,1711
$CAP_FILE_SIZE,208114,0
$CFSIZE,260165632,176766976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165, 95.9,1
$GPS,160612,082724,1758.676,12410.301,26,1.1,44,-2.0