version: 66.10
glider: 176
mission: 5
dive: 131
start: 4 5 112 10 16 15
data:
$ID,176
$MISSION,5
$DIVE,131
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,440
$T_MISSION,500
$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,150
$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,161
$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,-7593.5537
$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,2510
$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,2610
$C_ROLL_CLIMB,2500
$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,49
$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
$GPS1,050412,100630,1946.756,12326.537,39,1.7,39,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.1
$GPS2,050412,101549,1946.669,12326.725,9,1.7,9,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,58.6,106404,-13.1,-7.500
$D_GRID,5158
$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,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.67,0.000,2,0.000,0.000,190,2664,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.1,-6.2,7,104,8.55,1.73,-23.52,0.000,4,0.235,0.068,2334,3767,3526,0,0,0,0,0,0,25.51,26.02,26.45
$GC,278,-0.51,-146.0,65.7,-26.2,45,286,0.08,1.73,0.00,0.000,6,0.199,0.023,2350,2523,3526,0,0,0,0,0,0,26.08,26.32,28.83
$GC,606,-0.51,-146.0,151.5,-22.3,106,613,0.00,1.95,0.00,0.000,4,0.000,0.028,2351,1145,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,752,-0.51,-146.0,178.0,-15.9,134,759,0.00,2.25,0.00,0.000,6,0.000,0.046,2343,2634,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1062,-0.51,-146.0,242.7,-20.6,175,1071,0.00,2.12,0.00,0.000,4,0.000,0.027,2342,1152,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1113,-0.51,-146.0,252.5,-18.4,180,1123,0.10,2.22,0.00,0.000,6,0.170,0.043,2359,2637,3528,0,0,0,0,0,0,26.22,26.41,28.83
$GC,1423,-0.51,-146.0,300.9,-14.7,211,1433,0.08,2.12,0.00,0.000,4,0.134,0.025,2302,1155,3527,0,0,0,0,0,0,26.64,26.51,28.83
$GC,1485,-0.51,-146.0,311.2,-17.0,217,1496,0.20,2.20,0.00,0.000,6,0.147,0.041,2352,2632,3527,0,0,0,0,0,0,26.15,26.43,28.83
$GC,1795,-0.51,-146.0,355.4,-13.8,248,1804,0.00,2.10,0.00,0.000,4,0.000,0.026,2353,1151,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1819,-0.51,-146.0,358.1,-13.3,250,1826,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2628,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2126,-0.51,-146.0,397.7,-12.5,281,2136,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1148,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2202,-0.51,-146.0,405.8,-10.5,288,2208,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2629,3524,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2508,-0.51,-146.0,443.9,-12.6,319,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2630,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,-0.51,-146.0,481.1,-12.6,349,2819,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1155,3520,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2891,-0.51,-146.0,490.9,-11.3,357,2902,0.00,2.22,0.00,0.000,6,0.000,0.045,2343,2630,3520,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3203,-0.51,-146.0,527.8,-11.9,388,3212,0.00,2.08,0.00,0.000,4,0.000,0.027,2343,1159,3519,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3266,-0.51,-146.0,534.9,-10.8,394,3275,0.05,2.20,0.00,0.000,6,0.132,0.045,2357,2621,3518,0,0,0,0,0,0,26.26,26.43,28.83
$GC,3574,-0.51,-146.0,563.4,-8.6,425,3576,0.08,0.00,0.00,0.000,6,0.133,0.000,2295,2622,3515,0,0,0,0,0,0,26.68,28.83,28.83
$GC,3876,-0.51,-146.0,606.3,-15.1,453,3882,0.17,2.08,0.00,0.000,4,0.146,0.024,2354,1159,3514,0,0,0,0,0,0,26.29,26.53,28.83
$GC,3929,-0.51,-146.0,611.0,-13.5,455,3936,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2630,3514,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4234,-0.51,-146.0,642.6,-10.2,471,4240,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1157,3511,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4283,-0.51,-146.0,646.4,-10.0,473,4287,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2635,3511,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4589,-0.51,-146.0,676.7,-9.7,488,4595,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1149,3507,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4630,-0.51,-146.0,680.6,-9.6,490,4634,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2628,3508,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4952,-0.51,-146.0,712.0,-9.8,506,4956,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1156,3504,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4976,-0.51,-146.0,714.3,-9.9,507,4980,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3504,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5294,-0.51,-146.0,744.9,-9.5,523,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,-0.51,-146.0,772.2,-8.9,538,5599,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1154,3500,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5649,-0.51,-146.0,775.8,-8.8,540,5656,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2634,3500,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5957,-0.51,-146.0,803.1,-8.5,556,5962,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1152,3497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6010,-0.51,-146.0,806.5,-8.4,558,6017,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2627,3497,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6317,-0.51,-146.0,832.4,-7.9,574,6322,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1158,3495,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6356,-0.51,-146.0,835.5,-8.0,576,6362,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2626,3495,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6677,-0.51,-146.0,860.0,-7.6,592,6683,0.00,2.12,0.00,0.000,4,0.000,0.027,2346,1158,3493,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6717,-0.51,-146.0,863.1,-7.7,594,6723,0.00,2.25,0.00,0.000,6,0.000,0.048,2347,2627,3493,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7038,-0.51,-146.0,887.8,-8.0,610,7043,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1158,3491,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7059,-0.51,-146.0,889.3,-8.0,611,7063,0.00,2.25,0.00,0.000,6,0.000,0.048,2347,2626,3491,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7371,-0.51,-146.0,915.1,-8.4,627,7377,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1151,3489,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7412,-0.51,-146.0,918.5,-8.4,629,7418,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2628,3489,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7731,-0.51,-146.0,945.9,-9.0,645,7737,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1156,3487,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7760,-0.51,-146.0,947.6,-8.9,646,7764,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2633,3487,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8068,-0.51,-146.0,974.8,-8.5,661,8071,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1153,3486,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8102,-0.51,-146.0,976.7,-8.4,662,8109,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2656,3485,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,8248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8248,begin apogee
$GC,8253,-0.17,0.0,990.2,-8.4,670,8381,0.32,0.15,120.93,1.743,6,0.109,0.086,2463,2535,2928,0,0,0,0,0,0,26.09,24.62,23.53
$STATE,8382,end apogee,CONTROL_FINISHED_OK
$STATE,8382,begin climb
$GC,8384,0.51,146.0,995.2,0.0,676,8533,0.60,2.47,138.15,1.703,4,0.050,0.031,2711,1061,2332,0,0,0,0,0,0,24.85,23.99,22.83
$GC,8594,0.51,146.0,984.6,11.8,687,8599,0.17,2.38,0.00,0.000,6,0.180,0.046,2669,2515,2327,0,0,0,0,0,0,24.57,24.82,28.83
$GC,8900,0.51,146.0,947.9,11.5,702,8906,0.00,1.98,0.00,0.000,4,0.000,0.057,2669,3771,2323,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8934,0.51,146.0,945.3,11.9,703,8941,0.00,1.95,0.00,0.000,6,0.000,0.026,2678,2450,2321,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9240,0.51,146.0,905.8,12.3,719,9246,0.00,2.08,0.00,0.000,4,0.000,0.032,2687,1048,2320,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9260,0.51,146.0,903.5,12.3,720,9266,0.10,2.28,0.00,0.000,6,0.191,0.046,2665,2517,2319,0,0,0,0,0,0,25.79,26.00,28.83
$GC,9581,0.51,146.0,869.5,10.8,736,9586,0.00,2.15,0.00,0.000,4,0.000,0.032,2675,1055,2318,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9628,0.51,146.0,865.5,10.4,738,9632,0.00,2.28,0.00,0.000,6,0.000,0.047,2675,2522,2317,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9940,0.51,146.0,827.8,12.1,754,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2522,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10241,0.51,146.0,792.3,12.3,769,10245,0.00,2.17,0.00,0.000,4,0.000,0.032,2686,1055,2316,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10270,0.51,146.0,789.5,12.3,770,10275,0.10,2.28,0.00,0.000,6,0.190,0.047,2663,2522,2315,0,0,0,0,0,0,25.94,26.17,28.83
$GC,10577,0.51,146.0,754.6,11.0,785,10579,0.05,0.00,0.00,0.000,6,0.177,0.000,2697,2522,2315,0,0,0,0,0,0,26.50,28.83,28.83
$GC,10877,0.51,146.0,716.3,12.4,800,10879,0.12,0.00,0.00,0.000,6,0.187,0.000,2667,2522,2315,0,0,0,0,0,0,26.13,28.83,28.83
$GC,11178,0.51,146.0,684.9,10.2,815,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2522,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11478,0.51,146.0,653.9,10.5,830,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2523,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11777,0.51,146.0,623.8,10.1,845,11781,0.00,2.17,0.00,0.000,4,0.000,0.032,2677,1051,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11820,0.51,146.0,619.8,10.0,847,11826,0.00,2.22,0.00,0.000,6,0.000,0.045,2677,2512,2312,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12129,0.51,146.0,586.9,10.5,868,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2512,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12431,0.51,146.0,556.0,10.4,898,12441,0.00,2.12,0.00,0.000,4,0.000,0.032,2688,1053,2312,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12474,0.51,146.0,551.7,9.4,902,12484,0.10,2.25,0.00,0.000,6,0.184,0.044,2665,2526,2311,0,0,0,0,0,0,26.01,26.23,28.83
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$STATE,18936,end climb,SURFACE_DEPTH_REACHED
$STATE,18936,begin surface coast
$FINISH,0.8,1.007548
$STATE,18994,end surface coast,CONTROL_FINISHED_OK
$STATE,18994,begin surface
$SM_CCo,19010,27.80,0.130,0,0,1397,375.06
$SM_GC,1.73,6.22,0.15,27.80,0.033,0.080,0.130,189,2674,1397,-7.13,-0.37,375.06,0,0,0,0,0,0,26.46,26.54,26.03
$IRIDIUM_FIX,1934.38,12324.27,050412,040426
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.8,29.231
$10V_AH,10.2,17.275
$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,19.050,184.300,376.675,27.800,0.000,57.776,33.337,264.502,0.000,0.000,11.936,4421.180,10667.937,600.253,3460.250,417.855,0.000,2222.151,0.000,2923.428,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,85.680,1743.435,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.586,2255.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,130376,1759
$CAP_FILE_SIZE,202019,0
$CFSIZE,260165632,210976768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 90.1,1
$GPS,050412,153437,1947.920,12330.159,32,1.0,32,-2.4