version: 66.10
glider: 176
mission: 5
dive: 470
start: 6 21 112 9 6 41
data:
$ID,176
$MISSION,5
$DIVE,470
$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,-8213.0996
$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,2620
$C_ROLL_CLIMB,2520
$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
$GPS1,210612,085807,1810.297,12339.349,28,1.2,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.2
$GPS2,210612,090614,1810.326,12339.472,14,1.3,14,-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,283.7,151099,-13.0,-7.857
$D_GRID,5355
$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,-160.6,0.0,0.0,0,68,0.00,0.00,-49.08,0.000,2,0.000,0.000,176,2691,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.52,-160.6,3.4,-7.0,8,110,8.77,2.28,-23.83,0.000,4,0.229,0.038,2346,1150,3585,0,0,0,0,0,0,24.98,26.27,26.70
$GC,194,-0.52,-160.6,33.3,-18.1,27,202,0.05,2.25,0.00,0.000,6,0.232,0.042,2350,2643,3586,0,0,0,0,0,0,26.03,26.15,28.83
$GC,526,-0.52,-160.6,131.8,-24.0,88,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2643,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,853,-0.52,-160.6,194.6,-16.7,149,859,0.00,2.10,0.00,0.000,4,0.000,0.024,2350,1153,3586,0,0,0,0,0,0,28.83,26.39,28.83
$GC,949,-0.52,-160.6,206.2,-10.0,162,957,0.00,2.20,0.00,0.000,6,0.000,0.041,2349,2633,3586,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1257,-0.52,-160.6,251.4,-15.0,193,1266,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1158,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1293,-0.52,-160.6,255.5,-13.7,196,1300,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2641,3586,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1598,-0.52,-160.6,294.8,-11.9,227,1608,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1154,3585,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1663,-0.52,-160.6,301.2,-9.4,233,1670,0.00,2.28,0.00,0.000,6,0.000,0.041,2348,2642,3585,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1972,-0.52,-160.6,330.8,-8.8,264,1981,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1165,3583,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2014,-0.52,-160.6,334.0,-7.7,268,2023,0.00,2.20,0.00,0.000,6,0.000,0.042,2345,2633,3583,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2323,-0.52,-160.6,361.3,-10.0,299,2327,0.00,1.73,0.00,0.000,4,0.000,0.054,2345,3776,3581,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2377,-0.52,-160.6,366.3,-10.0,304,2384,0.00,1.73,0.00,0.000,6,0.000,0.021,2346,2486,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2684,-0.52,-160.6,397.1,-9.2,335,2688,0.00,1.88,0.00,0.000,4,0.000,0.025,2345,1164,3578,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2744,-0.52,-160.6,402.4,-8.5,340,2751,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2660,3578,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3051,-0.52,-160.6,431.9,-9.5,371,3062,0.00,2.17,-0.10,0.000,4,0.000,0.037,2345,1163,3597,0,0,0,0,0,0,28.83,26.30,25.96
$GC,3086,-0.52,-160.6,434.8,-9.0,374,3094,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2636,3597,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3394,-0.52,-160.6,463.4,-8.9,405,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2636,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3697,-0.52,-160.6,489.1,-8.0,435,3707,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1171,3592,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3764,-0.52,-160.6,494.0,-7.4,441,3771,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2638,3591,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4070,-0.52,-160.6,515.5,-6.5,472,4079,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1164,3589,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4102,-0.52,-160.6,517.5,-6.2,475,4112,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2643,3588,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4412,-0.52,-160.6,536.9,-6.3,506,4421,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1156,3586,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4434,-0.52,-160.6,538.3,-6.4,508,4443,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3585,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4743,-0.52,-160.6,562.4,-9.4,539,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2634,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5045,-0.52,-160.6,593.0,-9.7,569,5053,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1165,3581,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5097,-0.52,-160.6,598.1,-9.4,574,5106,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2634,3580,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5416,-0.52,-160.6,624.7,-7.6,591,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-0.52,-160.6,646.5,-7.3,606,5721,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1157,3575,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5760,-0.52,-160.6,649.7,-7.3,608,5766,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2644,3575,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6080,-0.52,-160.6,672.8,-6.7,624,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2644,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6381,-0.52,-160.6,693.4,-7.0,639,6386,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1161,3571,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6419,-0.52,-160.6,696.3,-7.1,641,6425,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2644,3571,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6739,-0.52,-160.6,719.6,-7.2,657,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2644,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7042,-0.52,-160.6,740.9,-7.1,672,7047,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1156,3567,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7073,-0.52,-160.6,742.3,-6.9,673,7080,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2645,3567,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7382,-0.52,-160.6,764.6,-7.0,689,7387,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1164,3565,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7420,-0.52,-160.6,767.4,-6.9,691,7426,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2645,3565,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7740,-0.52,-160.6,789.3,-6.6,707,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2645,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8043,-0.52,-160.6,809.4,-6.7,722,8049,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1165,3562,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8082,-0.52,-160.6,812.1,-6.7,724,8087,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2630,3562,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8402,-0.52,-160.6,834.1,-7.1,740,8407,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1168,3561,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8431,-0.52,-160.6,835.7,-7.4,741,8440,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3561,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8743,-0.52,-160.6,860.7,-8.2,757,8746,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3763,3561,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8777,-0.52,-160.6,862.7,-8.3,758,8784,0.00,1.70,0.00,0.000,6,0.000,0.025,2344,2472,3560,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9085,-0.52,-160.6,887.7,-7.4,774,9089,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3766,3559,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9120,-0.52,-160.6,889.3,-7.3,775,9128,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2483,3559,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9428,-0.52,-160.6,909.3,-5.8,791,9434,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3754,3557,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9460,-0.52,-160.6,910.3,-5.5,792,9467,0.00,1.70,0.00,0.000,6,0.000,0.026,2344,2487,3557,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9767,-0.52,-160.6,926.3,-4.8,808,9773,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3556,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9791,-0.52,-160.6,927.2,-4.6,809,9795,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2523,3555,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10108,-0.52,-160.6,942.9,-5.1,825,10113,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3765,3554,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10136,-0.52,-160.6,943.9,-5.1,826,10139,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2519,3554,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10449,-0.52,-160.6,961.4,-5.6,842,10453,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3770,3554,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10483,-0.52,-160.6,962.8,-5.7,843,10491,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2471,3554,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10791,-0.52,-160.6,982.2,-6.3,859,10796,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3764,3553,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10832,-0.52,-160.6,984.9,-6.4,861,10835,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2514,3553,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10912,begin apogee
$GC,10918,-0.17,0.0,990.4,-6.6,865,11068,0.32,0.08,140.20,1.701,6,0.101,0.098,2463,2463,2928,0,0,0,0,0,0,25.84,24.25,22.50
$STATE,11069,end apogee,CONTROL_FINISHED_OK
$STATE,11069,begin climb
$GC,11071,0.52,160.6,997.9,0.0,872,11238,0.60,2.30,157.20,1.659,4,0.052,0.057,2701,3755,2273,0,0,0,0,0,0,24.87,23.77,21.80
$GC,11259,0.52,160.6,992.0,9.3,882,11263,0.15,2.00,0.00,0.000,6,0.188,0.024,2677,2474,2271,0,0,0,0,0,0,24.25,24.62,28.83
$GC,11573,0.52,160.6,957.0,10.8,898,11578,0.00,2.03,0.00,0.000,4,0.000,0.056,2677,3766,2263,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11613,0.52,160.6,951.8,11.6,900,11617,0.00,1.92,0.00,0.000,6,0.000,0.024,2687,2463,2262,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11932,0.52,160.6,914.8,11.6,916,11938,0.00,2.03,0.00,0.000,4,0.000,0.031,2697,1069,2260,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11951,0.52,160.6,912.6,11.6,917,11957,0.10,2.30,0.00,0.000,6,0.175,0.049,2673,2539,2259,0,0,0,0,0,0,25.83,26.02,28.83
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$STATE,21822,end climb,SURFACE_DEPTH_REACHED
$STATE,21823,begin surface coast
$FINISH,0.8,1.018067
$STATE,21927,end surface coast,CONTROL_FINISHED_OK
$STATE,21927,begin surface
$SM_CCo,22002,0.00,0.000,0,0,711,544.08
$SM_GC,1.55,6.45,0.12,0.00,0.028,0.093,0.000,184,2669,711,-7.15,-0.48,544.08,0,0,0,0,0,0,26.37,26.51,28.83
$IRIDIUM_FIX,1805.50,12340.15,210612,020228
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.20
$XPDR_PINGS,2
$24V_AH,21.8,99.257
$10V_AH,9.8,60.703
$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,19.750,201.525,527.575,0.000,0.000,27.866,38.359,258.923,0.500,0.000,16.846,5024.080,12137.161,691.268,4072.038,527.579,0.000,2578.981,0.000,3322.477,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,111.690,1701.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1354.533,2740.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,146940,1991
$CAP_FILE_SIZE,236152,0
$CFSIZE,260165632,174247936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 56.7,1
$GPS,210612,151431,1811.731,12338.052,39,1.3,39,-2.0