version: 66.10
glider: 176
mission: 5
dive: 195
start: 4 19 112 22 8 14
data:
$ID,176
$MISSION,5
$DIVE,195
$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,-7688.3496
$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,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
$GPS1,190412,215957,1821.932,12435.882,27,3.8,46,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.2
$GPS2,190412,220746,1821.942,12435.875,11,3.9,30,-2.1
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,180.3,59176,-13.1,-7.500
$D_GRID,5433
$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,-0.51,-146.0,0.0,0.0,0,58,0.00,0.00,-40.12,0.000,2,0.000,0.000,177,2678,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.3,-7.2,7,99,8.70,2.28,-22.50,0.000,4,0.233,0.041,2349,1154,3527,0,0,0,0,0,0,25.42,26.18,26.54
$GC,146,-0.51,-146.0,27.6,-31.9,16,154,0.08,2.25,0.00,0.000,6,0.210,0.044,2353,2636,3528,0,0,0,0,0,0,25.95,26.12,28.83
$GC,458,-0.51,-146.0,136.4,-29.9,77,466,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1156,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,553,-0.51,-146.0,158.2,-17.5,95,560,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2632,3528,0,0,0,0,0,0,28.83,26.28,28.83
$GC,868,-0.51,-146.0,231.3,-21.0,143,877,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1148,3528,0,0,0,0,0,0,28.83,26.45,28.83
$GC,933,-0.51,-146.0,240.8,-14.1,149,941,0.08,2.22,0.00,0.000,6,0.187,0.042,2356,2636,3528,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1241,-0.51,-146.0,292.5,-17.9,180,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2636,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1542,-0.51,-146.0,341.5,-15.6,210,1551,0.00,2.08,0.00,0.000,4,0.000,0.025,2356,1156,3529,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1573,-0.51,-146.0,346.6,-15.4,213,1583,0.00,2.20,0.00,0.000,6,0.000,0.041,2348,2640,3529,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1884,-0.51,-146.0,390.9,-13.5,244,1892,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1151,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1957,-0.51,-146.0,399.6,-10.7,251,1965,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2629,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2265,-0.51,-146.0,437.9,-11.7,282,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,-0.51,-146.0,474.4,-11.9,312,2576,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1150,3523,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2619,-0.51,-146.0,480.4,-11.1,317,2629,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2630,3522,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2929,-0.51,-146.0,515.0,-10.2,348,2938,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1150,3520,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2981,-0.51,-146.0,519.8,-9.2,353,2992,0.00,2.20,0.00,0.000,6,0.000,0.044,2345,2621,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3290,-0.51,-146.0,548.3,-9.3,384,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2621,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3593,-0.51,-146.0,577.6,-10.1,414,3602,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1154,3515,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3657,-0.51,-146.0,583.8,-9.5,420,3665,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2633,3514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3964,-0.51,-146.0,612.6,-8.8,444,3970,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1152,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3998,-0.51,-146.0,614.3,-8.7,445,4007,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2634,3511,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4304,-0.51,-146.0,640.2,-8.0,461,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2634,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4604,-0.51,-146.0,666.5,-9.4,476,4611,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1154,3506,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4665,-0.51,-146.0,671.8,-9.0,479,4671,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2629,3506,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4985,-0.51,-146.0,703.0,-10.0,495,4990,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1151,3503,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5027,-0.51,-146.0,707.0,-10.1,497,5032,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2635,3504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5340,-0.51,-146.0,737.7,-9.4,513,5346,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1150,3501,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5379,-0.51,-146.0,741.4,-9.6,515,5385,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2635,3501,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5700,-0.51,-146.0,771.1,-9.4,531,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-0.51,-146.0,798.9,-9.2,546,6007,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1151,3496,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6067,-0.51,-146.0,804.6,-9.4,549,6072,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2636,3496,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6380,-0.51,-146.0,834.8,-9.5,565,6386,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1148,3494,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6412,-0.51,-146.0,836.6,-9.5,566,6419,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2628,3494,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6720,-0.51,-146.0,864.4,-8.2,582,6726,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1149,3492,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6753,-0.51,-146.0,866.0,-8.2,583,6760,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2630,3492,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7061,-0.51,-146.0,889.1,-7.0,599,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2630,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,-0.51,-146.0,910.0,-6.9,614,7366,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1159,3488,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7434,-0.51,-146.0,914.0,-6.7,617,7442,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2635,3488,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7740,-0.51,-146.0,934.5,-6.4,633,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,-0.51,-146.0,954.4,-6.8,648,8047,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1153,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8088,-0.51,-146.0,957.3,-6.9,650,8093,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3485,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8395,-0.51,-146.0,978.6,-6.8,665,8401,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1158,3484,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8424,-0.51,-146.0,979.9,-6.8,666,8428,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2630,3484,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8568,begin apogee
$GC,8573,-0.17,0.0,990.2,-6.6,673,8701,0.35,0.12,120.50,1.737,6,0.106,0.096,2469,2539,2928,0,0,0,0,0,0,25.96,24.54,23.34
$STATE,8702,end apogee,CONTROL_FINISHED_OK
$STATE,8702,begin climb
$GC,8704,0.51,146.0,993.2,0.0,679,8854,0.57,2.47,139.45,1.695,4,0.048,0.031,2710,1062,2332,0,0,0,0,0,0,24.81,23.90,22.61
$GC,8868,0.51,146.0,984.9,10.3,688,8873,0.15,2.42,0.00,0.000,6,0.177,0.046,2676,2517,2329,0,0,0,0,0,0,24.13,24.33,28.83
$GC,9187,0.51,146.0,940.8,13.5,704,9192,0.00,1.92,0.00,0.000,4,0.000,0.055,2675,3764,2323,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9227,0.51,146.0,934.7,14.2,706,9233,0.05,1.92,0.00,0.000,6,0.265,0.026,2675,2447,2322,0,0,0,0,0,0,25.77,25.97,28.83
$GC,9547,0.51,146.0,892.2,12.5,722,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2443,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,0.51,146.0,853.9,12.7,737,9852,0.00,2.05,0.00,0.000,4,0.000,0.054,2675,3765,2318,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9886,0.51,146.0,848.2,13.6,739,9890,0.05,1.90,0.00,0.000,6,0.271,0.026,2675,2440,2318,0,0,0,0,0,0,26.06,26.27,28.83
$GC,10204,0.51,146.0,807.9,12.5,755,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2436,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,0.51,146.0,770.9,12.5,770,10509,0.00,2.03,0.00,0.000,4,0.000,0.030,2685,1047,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10525,0.51,146.0,768.3,12.5,771,10530,0.05,2.25,0.00,0.000,6,0.224,0.046,2674,2517,2314,0,0,0,0,0,0,26.03,26.13,28.83
$GC,10844,0.51,146.0,729.9,12.0,787,10849,0.00,1.92,0.00,0.000,4,0.000,0.054,2673,3770,2314,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10931,0.51,146.0,719.3,13.2,791,10934,0.00,1.90,0.00,0.000,6,0.000,0.024,2683,2442,2315,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11244,0.51,146.0,685.5,9.5,807,11249,0.00,2.03,0.00,0.000,4,0.000,0.031,2693,1057,2314,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11283,0.51,146.0,681.8,9.5,809,11289,0.10,2.25,0.00,0.000,6,0.185,0.045,2670,2522,2313,0,0,0,0,0,0,25.91,26.14,28.83
$GC,11603,0.51,146.0,654.9,8.8,825,11608,0.00,2.17,0.00,0.000,4,0.000,0.031,2680,1057,2313,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11672,0.51,146.0,649.6,8.9,828,11676,0.00,2.22,0.00,0.000,6,0.000,0.044,2680,2521,2313,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11978,0.51,146.0,616.8,11.0,843,11984,0.00,1.90,0.00,0.000,4,0.000,0.054,2680,3773,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12007,0.51,146.0,614.5,11.2,844,12012,0.10,1.90,0.00,0.000,6,0.208,0.022,2667,2445,2312,0,0,0,0,0,0,26.01,26.43,28.83
$GC,12313,0.51,146.0,582.5,9.5,868,12315,0.05,0.00,0.00,0.000,6,0.183,0.000,2707,2441,2313,0,0,0,0,0,0,26.59,28.83,28.83
$GC,12613,0.51,146.0,548.1,11.7,898,12623,0.12,2.08,0.00,0.000,4,0.179,0.050,2670,3775,2312,0,0,0,0,0,0,26.13,26.03,28.83
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$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,0.8,1.015305
$STATE,18571,end surface coast,CONTROL_FINISHED_OK
$STATE,18571,begin surface
$SM_CCo,18647,0.00,0.000,0,0,1368,382.91
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$IRIDIUM_FIX,1819.13,12433.09,190412,161648
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.80
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.6,40.492
$10V_AH,10.2,25.388
$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,18.325,153.925,406.550,0.000,0.000,32.854,39.800,233.397,0.000,0.000,34.087,4250.828,10511.632,552.225,3363.031,411.072,0.000,2128.453,0.000,2819.481,0.000,0.543,0.000
$DEVICE_MAMPS,270.810,95.625,1736.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1148.747,2212.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,123816,1687
$CAP_FILE_SIZE,191811,0
$CFSIZE,260165632,204128256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,284.6,1
$GPS,200412,032007,1819.683,12435.766,36,0.8,36,-2.1