version: 66.10
glider: 176
mission: 5
dive: 412
start: 6 7 112 22 46 16
data:
$ID,176
$MISSION,5
$DIVE,412
$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,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$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,-8113.6914
$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,2600
$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,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
$GPS1,070612,223736,1752.410,12435.912,35,1.1,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.9
$GPS2,070612,224532,1752.249,12436.177,13,1.8,13,-2.0
$SPEED_LIMITS,0.136,0.255
$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,253.5,4653,-12.5,-7.857
$D_GRID,4017
$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,13,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,72,0.00,0.00,-53.40,0.000,2,0.000,0.000,176,2702,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.52,-170.3,3.2,-6.2,9,120,8.77,2.30,-28.08,0.000,4,0.230,0.039,2349,1137,3625,0,0,0,0,0,0,25.02,26.32,26.74
$GC,162,-0.52,-170.3,24.8,-27.4,21,168,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2625,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,473,-0.52,-170.3,111.7,-21.3,82,480,0.00,1.70,0.00,0.000,4,0.000,0.050,2340,3769,3625,0,0,0,0,0,0,28.83,26.20,28.83
$GC,544,-0.52,-170.3,125.4,-18.6,95,551,0.00,1.70,0.00,0.000,6,0.000,0.023,2339,2502,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,870,-0.52,-170.3,192.2,-19.7,156,877,0.00,1.92,0.00,0.000,4,0.000,0.053,2335,3767,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,945,-0.52,-170.3,206.4,-17.6,167,949,0.08,1.73,0.00,0.000,6,0.182,0.022,2355,2490,3625,0,0,0,0,0,0,26.31,26.55,28.83
$GC,1257,-0.52,-170.3,251.3,-14.7,198,1259,0.05,0.00,0.00,0.000,6,0.176,0.000,2303,2484,3625,0,0,0,0,0,0,26.64,28.83,28.83
$GC,1558,-0.52,-170.3,310.2,-21.0,228,1565,0.17,0.00,0.00,0.000,6,0.152,0.000,2356,2484,3624,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1866,-0.52,-170.3,350.7,-12.5,259,1868,0.05,0.00,0.00,0.000,6,0.174,0.000,2295,2484,3623,0,0,0,0,0,0,26.64,28.83,28.83
$GC,2166,-0.52,-170.3,403.0,-16.5,289,2176,0.15,1.88,0.00,0.000,4,0.155,0.023,2347,1134,3621,0,0,0,0,0,0,26.22,26.46,28.83
$GC,2212,-0.52,-170.3,407.9,-11.7,293,2219,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2630,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2520,-0.52,-170.3,437.1,-9.3,324,2529,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1142,3619,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2562,-0.52,-170.3,440.9,-9.1,328,2571,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2621,3618,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2872,-0.52,-170.3,468.8,-8.9,359,2881,0.00,2.10,0.00,0.000,4,0.000,0.025,2346,1135,3616,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2956,-0.52,-170.3,476.1,-8.5,367,2965,0.00,2.25,0.00,0.000,6,0.000,0.043,2346,2616,3615,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3266,-0.52,-170.3,502.9,-8.7,398,3274,0.00,2.05,0.00,0.000,4,0.000,0.025,2345,1139,3612,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3340,-0.52,-170.3,509.1,-8.2,405,3347,0.00,2.22,0.00,0.000,6,0.000,0.043,2346,2623,3612,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3649,-0.52,-170.3,533.7,-7.5,436,3657,0.00,2.08,0.00,0.000,4,0.000,0.025,2345,1140,3609,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3741,-0.52,-170.3,541.2,-8.1,445,3750,0.00,2.22,0.00,0.000,6,0.000,0.044,2346,2617,3608,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4052,-0.52,-170.3,566.7,-8.2,476,4061,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1134,3605,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4107,-0.52,-170.3,570.7,-7.2,481,4114,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2626,3605,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4414,-0.52,-170.3,593.0,-6.8,512,4423,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1127,3602,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4467,-0.52,-170.3,596.7,-6.9,517,4476,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2616,3602,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4778,-0.52,-170.3,619.0,-7.2,535,4783,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1141,3599,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4817,-0.52,-170.3,621.8,-7.1,537,4822,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2618,3599,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5136,-0.52,-170.3,645.9,-8.0,553,5142,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1136,3597,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5198,-0.52,-170.3,650.9,-8.3,556,5204,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2613,3596,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5517,-0.52,-170.3,678.8,-8.7,572,5522,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1136,3593,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5557,-0.52,-170.3,682.1,-8.5,574,5563,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2619,3593,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5877,-0.52,-170.3,705.6,-6.8,590,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2619,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,-0.52,-170.3,724.9,-6.3,605,6184,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1132,3588,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6221,-0.52,-170.3,727.6,-6.4,607,6225,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2625,3588,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6533,-0.52,-170.3,747.6,-6.3,623,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2626,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6834,-0.52,-170.3,765.8,-6.1,638,6839,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1142,3584,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6860,-0.52,-170.3,767.0,-6.0,639,6865,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2615,3584,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7168,-0.52,-170.3,786.3,-6.3,654,7174,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1137,3583,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7191,-0.52,-170.3,787.6,-6.3,655,7195,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2616,3583,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7503,-0.52,-170.3,808.1,-6.5,671,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2615,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,-0.52,-170.3,828.1,-6.6,686,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2615,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,-0.52,-170.3,847.6,-6.1,701,8110,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1135,3578,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8130,-0.52,-170.3,848.8,-6.2,702,8135,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2621,3578,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8438,-0.52,-170.3,868.2,-5.9,717,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2621,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,-0.52,-170.3,886.4,-6.0,732,8743,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1138,3575,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8764,-0.52,-170.3,887.9,-6.2,733,8768,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2620,3575,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9077,-0.52,-170.3,906.2,-5.8,749,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2621,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9377,-0.52,-170.3,925.4,-6.5,764,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2621,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9676,-0.52,-170.3,946.1,-7.0,779,9682,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1135,3572,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9705,-0.52,-170.3,947.5,-7.1,780,9709,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2617,3573,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10011,-0.52,-170.3,970.0,-7.2,795,10015,0.00,1.77,0.00,0.000,4,0.000,0.059,2344,3765,3571,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10041,-0.52,-170.3,971.5,-7.2,796,10044,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2488,3571,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10290,begin apogee
$GC,10297,-0.17,0.0,990.2,-7.1,809,10448,0.32,0.10,144.23,1.709,6,0.098,0.078,2465,2443,2928,0,0,0,0,0,0,25.94,24.37,22.50
$STATE,10449,end apogee,CONTROL_FINISHED_OK
$STATE,10449,begin climb
$GC,10452,0.52,170.3,998.4,0.0,816,10629,0.60,0.00,166.15,1.666,6,0.051,0.000,2702,2443,2233,0,0,0,0,0,0,24.77,28.83,21.91
$GC,10927,0.52,170.3,955.2,13.5,840,10933,0.10,2.08,0.00,0.000,4,0.192,0.054,2678,3772,2223,0,0,0,0,0,0,26.07,25.98,28.83
$GC,10951,0.52,170.3,952.4,13.7,841,10955,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2445,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11262,0.52,170.3,913.7,11.7,857,11268,0.00,2.05,0.00,0.000,4,0.000,0.055,2689,3766,2219,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11315,0.52,170.3,907.9,13.1,859,11322,0.10,1.88,0.00,0.000,6,0.208,0.024,2675,2450,2220,0,0,0,0,0,0,25.96,26.34,28.83
$GC,11625,0.52,170.3,870.1,11.8,875,11630,0.00,2.03,0.00,0.000,4,0.000,0.055,2675,3763,2219,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11652,0.52,170.3,867.5,12.1,876,11656,0.00,1.88,0.00,0.000,6,0.000,0.024,2685,2451,2219,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11959,0.52,170.3,828.1,12.4,891,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2447,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12259,0.52,170.3,791.3,12.2,906,12264,0.00,2.03,0.00,0.000,4,0.000,0.054,2685,3769,2217,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12332,0.52,170.3,783.0,13.5,909,12340,0.08,1.88,0.00,0.000,6,0.223,0.024,2679,2446,2217,0,0,0,0,0,0,26.07,26.37,28.83
$GC,12639,0.52,170.3,746.7,10.8,925,12643,0.00,2.05,0.00,0.000,4,0.000,0.055,2679,3765,2216,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12682,0.52,170.3,741.4,11.5,927,12687,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2438,2216,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13000,0.52,170.3,703.6,11.9,943,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2434,2215,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20638,end climb,SURFACE_DEPTH_REACHED
$STATE,20638,begin surface coast
$FINISH,0.7,1.018915
$STATE,20719,end surface coast,CONTROL_FINISHED_OK
$STATE,20720,begin surface
$SM_CCo,20795,0.00,0.000,0,0,864,506.30
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$IRIDIUM_FIX,1747.37,12504.35,070612,161614
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,21.9,86.423
$10V_AH,9.8,53.119
$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
$DEVICE_SECS,19.675,168.950,506.375,0.000,0.000,29.058,26.026,261.059,0.000,0.000,16.553,4748.231,11656.479,676.772,3696.368,473.080,0.000,2385.976,0.000,3096.588,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330472
$DATA_FILE_SIZE,140816,1885
$CAP_FILE_SIZE,216280,0
$CFSIZE,260165632,180637696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,114.0,1
$GPS,080612,043406,1750.469,12435.560,39,1.1,45,-2.0