version: 66.10
glider: 176
mission: 5
dive: 137
start: 4 6 112 18 21 16
data:
$ID,176
$MISSION,5
$DIVE,137
$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,-7601.1001
$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
$GPS1,060412,181231,1955.571,12344.409,39,1.3,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.0
$GPS2,060412,182050,1955.484,12344.495,8,2.0,8,-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,37.1,71499,-13.1,-7.500
$D_GRID,5131
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-46.47,0.000,2,0.000,0.000,181,2626,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.1,-4.9,8,105,8.65,2.20,-20.92,0.000,4,0.234,0.041,2344,1151,3527,0,0,0,0,0,0,25.46,26.08,26.42
$GC,127,-0.51,-146.0,15.0,-24.6,15,134,0.08,2.28,0.00,0.000,6,0.200,0.046,2350,2632,3527,0,0,0,0,0,0,25.86,26.00,28.83
$GC,438,-0.51,-146.0,96.9,-28.3,76,445,0.00,2.12,0.00,0.000,4,0.000,0.027,2350,1162,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,553,-0.51,-146.0,120.7,-17.7,98,560,0.00,2.22,0.00,0.000,6,0.000,0.043,2340,2641,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,863,-0.51,-146.0,193.7,-23.1,159,870,0.00,2.15,0.00,0.000,4,0.000,0.028,2341,1155,3527,0,0,0,0,0,0,28.83,26.38,28.83
$GC,941,-0.51,-146.0,207.8,-16.8,169,949,0.08,2.22,0.00,0.000,6,0.197,0.042,2350,2634,3527,0,0,0,0,0,0,26.16,26.31,28.83
$GC,1249,-0.51,-146.0,264.8,-18.1,200,1258,0.00,2.08,0.00,0.000,4,0.000,0.026,2350,1159,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1291,-0.51,-146.0,271.9,-17.0,204,1300,0.00,2.20,0.00,0.000,6,0.000,0.043,2348,2636,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1601,-0.51,-146.0,326.5,-16.4,235,1610,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1160,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1696,-0.51,-146.0,338.8,-11.8,244,1703,0.00,2.22,0.00,0.000,6,0.000,0.044,2339,2642,3528,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2002,-0.51,-146.0,388.5,-15.3,275,2011,0.00,2.12,0.00,0.000,4,0.000,0.027,2339,1145,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2055,-0.51,-146.0,396.0,-14.5,280,2064,0.05,2.22,0.00,0.000,6,0.138,0.043,2356,2630,3528,0,0,0,0,0,0,26.21,26.39,28.83
$GC,2365,-0.51,-146.0,436.3,-12.9,311,2374,0.05,2.08,0.00,0.000,4,0.178,0.024,2305,1162,3527,0,0,0,0,0,0,26.69,26.51,28.83
$GC,2467,-0.51,-146.0,452.3,-15.7,321,2478,0.17,2.22,0.00,0.000,6,0.143,0.044,2363,2633,3526,0,0,0,0,0,0,26.13,26.39,28.83
$GC,2776,-0.51,-146.0,488.0,-10.5,352,2786,0.10,2.10,0.00,0.000,4,0.107,0.024,2294,1154,3525,0,0,0,0,0,0,26.65,26.52,28.83
$GC,2861,-0.51,-146.0,499.3,-14.1,360,2870,0.17,2.20,0.00,0.000,6,0.120,0.044,2354,2632,3525,0,0,0,0,0,0,26.12,26.39,28.83
$GC,3169,-0.51,-146.0,533.7,-10.7,391,3172,0.00,1.73,0.00,0.000,4,0.000,0.054,2346,3776,3523,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3201,-0.51,-146.0,537.1,-10.8,394,3204,0.00,1.73,0.00,0.000,6,0.000,0.023,2347,2509,3522,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3511,-0.51,-146.0,571.8,-11.2,425,3515,0.00,1.88,0.00,0.000,4,0.000,0.026,2346,1151,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3569,-0.51,-146.0,577.7,-10.0,430,3577,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2629,3520,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3889,-0.51,-146.0,613.9,-10.9,456,3894,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1151,3519,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3942,-0.51,-146.0,618.0,-10.6,458,3949,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2633,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4249,-0.51,-146.0,648.7,-9.0,474,4253,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1153,3516,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4298,-0.51,-146.0,652.5,-8.8,476,4302,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2631,3515,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4605,-0.51,-146.0,678.8,-8.2,491,4611,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1158,3513,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4654,-0.51,-146.0,682.0,-8.3,493,4658,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2633,3513,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4960,-0.51,-146.0,707.5,-8.4,508,4966,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5001,-0.51,-146.0,710.7,-8.3,510,5005,0.00,2.22,0.00,0.000,6,0.000,0.046,2344,2628,3511,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5323,-0.51,-146.0,738.5,-9.0,526,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.51,-146.0,765.4,-8.9,541,5628,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1148,3506,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5687,-0.51,-146.0,770.5,-8.6,544,5693,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3505,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6004,-0.51,-146.0,799.7,-9.3,560,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2632,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.51,-146.0,827.7,-9.4,575,6308,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1154,3501,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6364,-0.51,-146.0,833.1,-9.1,578,6369,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2628,3502,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6683,-0.51,-146.0,861.5,-8.5,594,6689,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1150,3500,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6731,-0.51,-146.0,864.9,-8.6,596,6735,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2635,3500,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7038,-0.51,-146.0,891.7,-8.7,611,7044,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1156,3498,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7071,-0.51,-146.0,893.4,-8.7,612,7077,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3497,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7379,-0.51,-146.0,920.4,-8.3,628,7385,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1158,3496,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7438,-0.51,-146.0,925.2,-8.2,631,7444,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2625,3495,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7758,-0.51,-146.0,950.0,-7.7,647,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8061,-0.51,-146.0,972.7,-7.6,662,8066,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1157,3493,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8107,-0.51,-146.0,975.7,-7.4,664,8111,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2630,3493,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,8314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8314,begin apogee
$GC,8319,-0.17,0.0,991.4,-7.3,674,8448,0.32,0.12,122.05,1.740,6,0.110,0.096,2459,2538,2929,0,0,0,0,0,0,26.04,24.57,23.48
$STATE,8449,end apogee,CONTROL_FINISHED_OK
$STATE,8449,begin climb
$GC,8451,0.51,146.0,994.9,0.0,680,8598,0.60,2.42,139.23,1.703,4,0.051,0.030,2708,1058,2332,0,0,0,0,0,0,24.82,23.94,22.77
$GC,8635,0.51,146.0,984.4,11.8,690,8640,0.15,2.42,0.00,0.000,6,0.184,0.046,2671,2521,2327,0,0,0,0,0,0,24.36,24.57,28.83
$GC,8947,0.51,146.0,941.2,13.8,706,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2521,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9247,0.51,146.0,898.7,14.1,721,9251,0.00,1.92,0.00,0.000,4,0.000,0.055,2671,3774,2320,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9277,0.51,146.0,896.3,14.2,722,9285,0.05,1.92,0.00,0.000,6,0.269,0.025,2671,2445,2319,0,0,0,0,0,0,25.89,26.09,28.83
$GC,9583,0.51,146.0,853.9,12.2,738,9589,0.00,2.08,0.00,0.000,4,0.000,0.054,2671,3770,2318,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9606,0.51,146.0,851.4,12.2,739,9611,0.05,1.90,0.00,0.000,6,0.265,0.024,2671,2447,2318,0,0,0,0,0,0,26.01,26.22,28.83
$GC,9925,0.51,146.0,813.8,11.5,755,9928,0.00,2.03,0.00,0.000,4,0.000,0.031,2681,1054,2316,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9979,0.51,146.0,808.9,11.7,757,9986,0.05,2.25,0.00,0.000,6,0.229,0.047,2670,2517,2316,0,0,0,0,0,0,26.03,26.11,28.83
$GC,10287,0.51,146.0,771.6,12.0,773,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,0.51,146.0,735.4,12.2,788,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10888,0.51,146.0,702.4,10.2,803,10893,0.00,2.15,0.00,0.000,4,0.000,0.031,2680,1058,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10909,0.51,146.0,700.4,10.0,804,10914,0.05,2.25,0.00,0.000,6,0.226,0.046,2669,2523,2313,0,0,0,0,0,0,26.08,26.17,28.83
$GC,11221,0.51,146.0,668.3,10.8,820,11227,0.00,1.90,0.00,0.000,4,0.000,0.054,2669,3775,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11274,0.51,146.0,663.1,11.9,822,11282,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2443,2313,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11582,0.51,146.0,623.7,12.3,838,11588,0.00,2.00,0.00,0.000,4,0.000,0.031,2690,1054,2312,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11614,0.51,146.0,621.2,12.2,839,11622,0.10,2.25,0.00,0.000,6,0.185,0.045,2666,2520,2312,0,0,0,0,0,0,25.96,26.18,28.83
$GC,11925,0.51,146.0,586.0,11.0,861,11933,0.00,1.88,0.00,0.000,4,0.000,0.054,2665,3767,2312,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11966,0.51,146.0,580.4,12.9,865,11969,0.00,1.90,0.00,0.000,6,0.000,0.023,2675,2434,2311,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12272,0.51,146.0,545.9,11.0,895,12276,0.00,2.05,0.00,0.000,4,0.000,0.034,2686,1028,2311,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,18529,end climb,SURFACE_DEPTH_REACHED
$STATE,18529,begin surface coast
$FINISH,0.8,1.023667
$STATE,18586,end surface coast,CONTROL_FINISHED_OK
$STATE,18587,begin surface
$SM_CCo,18602,46.45,0.130,0,0,1397,375.06
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$IRIDIUM_FIX,1948.12,12341.40,060412,121211
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.8,30.280
$10V_AH,10.2,18.031
$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,18.375,178.850,332.025,46.450,0.000,29.790,49.903,275.574,0.000,0.000,11.413,4414.101,10245.354,591.386,3440.731,429.012,0.000,2193.910,0.000,2932.392,0.000,0.541,0.000
$DEVICE_MAMPS,268.515,96.390,1740.375,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1192.286,2192.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,130561,1749
$CAP_FILE_SIZE,197960,0
$CFSIZE,260165632,210337792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 89.1,1
$GPS,060412,233306,1957.588,12346.873,29,1.0,29,-2.4