version: 66.10
glider: 176
mission: 5
dive: 460
start: 6 18 112 20 11 42
data:
$ID,176
$MISSION,5
$DIVE,460
$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,460
$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,165
$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,-8200.5176
$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
$GPS1,180612,200336,1806.318,12352.046,42,1.0,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.0
$GPS2,180612,201114,1806.403,12351.998,14,1.2,14,-2.0
$SPEED_LIMITS,0.136,0.248
$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,267.2,174232,-13.0,-7.857
$D_GRID,4435
$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,-160.6,0.0,0.0,0,73,0.00,0.00,-54.28,0.000,2,0.000,0.000,175,2742,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.52,-160.6,3.3,-6.9,9,121,9.00,2.28,-25.38,0.000,4,0.237,0.041,2347,1200,3586,0,0,0,0,0,0,25.03,26.25,26.71
$GC,205,-0.52,-160.6,36.7,-21.7,29,212,0.05,2.22,0.00,0.000,6,0.239,0.041,2348,2682,3585,0,0,0,0,0,0,26.06,26.18,28.83
$GC,520,-0.52,-160.6,129.0,-23.5,90,526,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1192,3585,0,0,0,0,0,0,28.83,26.36,28.83
$GC,655,-0.52,-160.6,150.7,-13.4,116,663,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2674,3586,0,0,0,0,0,0,28.83,26.22,28.83
$GC,969,-0.52,-160.6,207.1,-16.6,173,978,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1188,3586,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1012,-0.52,-160.6,212.9,-13.2,177,1021,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2678,3586,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1323,-0.52,-160.6,260.1,-15.1,208,1332,0.00,2.10,0.00,0.000,4,0.000,0.026,2343,1193,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1398,-0.52,-160.6,269.2,-11.3,215,1406,0.08,2.22,0.00,0.000,6,0.184,0.041,2353,2682,3586,0,0,0,0,0,0,26.09,26.24,28.83
$GC,1705,-0.52,-160.6,306.9,-12.4,246,1709,0.00,1.65,0.00,0.000,4,0.000,0.052,2346,3768,3585,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1738,-0.52,-160.6,310.9,-12.6,249,1742,0.00,1.65,0.00,0.000,6,0.000,0.022,2346,2530,3584,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2049,-0.52,-160.6,344.5,-10.6,280,2053,0.00,1.90,0.00,0.000,4,0.000,0.025,2346,1185,3583,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2096,-0.52,-160.6,348.8,-9.4,284,2107,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2675,3583,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2405,-0.52,-160.6,382.3,-12.0,315,2414,0.00,2.12,0.00,0.000,4,0.000,0.024,2346,1195,3581,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2470,-0.52,-160.6,388.9,-10.5,321,2477,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2670,3581,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2778,-0.52,-160.6,423.3,-10.7,352,2790,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1199,3579,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2814,-0.52,-160.6,427.0,-10.7,355,2822,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2659,3578,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3122,-0.52,-160.6,455.9,-9.2,386,3126,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1198,3576,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3173,-0.52,-160.6,460.4,-8.5,391,3182,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2676,3575,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3484,-0.52,-160.6,488.6,-9.6,422,3493,0.00,2.17,-0.08,0.000,4,0.000,0.037,2345,1195,3602,0,0,0,0,0,0,28.83,26.32,25.46
$GC,3536,-0.52,-160.6,493.4,-8.9,427,3545,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2674,3602,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3846,-0.52,-160.6,520.9,-8.8,458,3855,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1193,3600,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3890,-0.52,-160.6,524.3,-8.5,462,3897,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2669,3599,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4198,-0.52,-160.6,550.3,-8.6,493,4207,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1189,3597,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4241,-0.52,-160.6,553.9,-8.8,497,4249,0.00,2.30,0.00,0.000,6,0.000,0.045,2345,2672,3596,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4550,-0.52,-160.6,579.3,-7.9,528,4560,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1196,3593,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4593,-0.52,-160.6,582.5,-7.5,532,4603,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2669,3593,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4904,-0.52,-160.6,605.1,-7.5,560,4908,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1193,3590,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4960,-0.52,-160.6,608.3,-7.5,562,4967,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2672,3590,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5268,-0.52,-160.6,632.0,-7.4,578,5273,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1199,3588,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5315,-0.52,-160.6,635.0,-7.5,580,5319,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2677,3588,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5621,-0.52,-160.6,657.4,-7.0,595,5627,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1188,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5654,-0.52,-160.6,658.8,-7.0,596,5662,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2669,3585,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5962,-0.52,-160.6,682.8,-7.9,612,5966,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1199,3583,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5996,-0.52,-160.6,684.5,-7.8,613,6004,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2677,3583,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6304,-0.52,-160.6,709.4,-8.2,629,6309,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1188,3580,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6347,-0.52,-160.6,712.6,-8.1,631,6352,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2668,3580,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6659,-0.52,-160.6,737.6,-7.6,647,6665,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1193,3578,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6700,-0.52,-160.6,740.6,-7.5,649,6706,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2668,3578,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7021,-0.52,-160.6,763.2,-6.8,665,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2668,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,-0.52,-160.6,782.1,-6.3,680,7325,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1195,3574,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7374,-0.52,-160.6,784.7,-6.3,682,7381,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2669,3574,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7680,-0.52,-160.6,804.1,-5.9,698,7686,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1184,3572,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7708,-0.52,-160.6,805.3,-6.0,699,7712,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2671,3572,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8016,-0.52,-160.6,824.4,-6.3,714,8021,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1191,3571,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8055,-0.52,-160.6,827.2,-6.7,716,8060,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2669,3571,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8375,-0.52,-160.6,849.0,-6.9,732,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2669,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.52,-160.6,869.6,-6.8,747,8682,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1192,3568,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8715,-0.52,-160.6,872.5,-6.9,749,8721,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2664,3568,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9037,-0.52,-160.6,893.0,-6.1,765,9042,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1189,3567,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9058,-0.52,-160.6,894.2,-5.9,766,9062,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2669,3567,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9370,-0.52,-160.6,911.7,-5.4,782,9376,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1187,3566,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9394,-0.52,-160.6,912.9,-5.5,783,9400,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2668,3566,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9710,-0.52,-160.6,931.9,-6.1,799,9715,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1184,3565,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9738,-0.52,-160.6,933.1,-6.3,800,9742,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2666,3565,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10046,-0.52,-160.6,954.2,-6.7,815,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2666,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,-0.52,-160.6,974.5,-6.6,830,10350,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1194,3563,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10394,-0.52,-160.6,977.2,-6.7,832,10404,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2667,3563,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,10582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10583,begin apogee
$GC,10588,-0.17,0.0,990.6,-6.6,842,10740,0.32,0.12,142.55,1.701,6,0.086,0.090,2470,2581,2928,0,0,0,0,0,0,25.99,24.41,22.51
$STATE,10741,end apogee,CONTROL_FINISHED_OK
$STATE,10741,begin climb
$GC,10743,0.52,160.6,998.1,0.0,849,10909,0.60,2.08,156.45,1.658,4,0.050,0.055,2706,3758,2273,0,0,0,0,0,0,24.89,23.82,21.87
$GC,11070,0.52,160.6,964.6,17.2,866,11076,0.15,1.85,0.00,0.000,6,0.190,0.024,2678,2508,2267,0,0,0,0,0,0,25.57,26.03,28.83
$GC,11390,0.52,160.6,927.9,10.7,882,11395,0.00,2.05,0.00,0.000,4,0.000,0.031,2688,1097,2261,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11419,0.52,160.6,925.8,10.6,883,11423,0.00,2.28,0.00,0.000,6,0.000,0.047,2688,2567,2259,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11725,0.52,160.6,889.7,12.0,898,11731,0.00,2.15,0.00,0.000,4,0.000,0.029,2698,1103,2258,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11765,0.52,160.6,885.3,11.7,900,11771,0.10,2.28,0.00,0.000,6,0.177,0.047,2674,2566,2257,0,0,0,0,0,0,25.85,26.05,28.83
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$STATE,21162,end climb,SURFACE_DEPTH_REACHED
$STATE,21163,begin surface coast
$FINISH,0.7,1.021253
$STATE,21205,end surface coast,CONTROL_FINISHED_OK
$STATE,21205,begin surface
$SM_CCo,21280,0.00,0.000,0,0,1193,426.09
$SM_GC,1.85,6.38,0.12,0.00,0.028,0.084,0.000,180,2715,1193,-7.16,-0.45,426.09,0,0,0,0,0,0,26.37,26.53,28.83
$IRIDIUM_FIX,1758.70,12355.24,180612,141416
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,21.9,97.102
$10V_AH,9.8,59.269
$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,19.075,218.925,474.500,0.000,0.000,27.475,22.981,253.811,0.000,0.000,17.196,4813.091,11874.300,675.599,3847.317,499.391,0.000,2505.802,0.000,3219.322,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,89.505,1701.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1295.727,2543.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,140360,1903
$CAP_FILE_SIZE,229810,0
$CFSIZE,260165632,175439872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 35.7,1
$GPS,190612,020755,1806.720,12349.911,63,1.9,63,-2.0