version: 66.10
glider: 176
mission: 5
dive: 442
start: 6 14 112 18 32 36
data:
$ID,176
$MISSION,5
$DIVE,442
$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,380
$T_MISSION,420
$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,-8170.5151
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,140612,182437,1756.178,12416.190,30,1.0,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.0
$GPS2,140612,183208,1756.128,12416.243,14,1.1,14,-2.0
$SPEED_LIMITS,0.150,0.264
$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,277.0,220447,-14.0,-8.684
$D_GRID,5017
$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,-0.56,-170.3,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,185,2717,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-170.3,3.5,-8.2,10,126,8.82,2.25,-23.98,0.000,4,0.233,0.042,2336,1197,3627,0,0,0,0,0,0,25.03,26.28,26.73
$GC,213,-0.56,-170.3,37.2,-18.8,28,220,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2671,3627,0,0,0,0,0,0,28.83,26.19,28.83
$GC,541,-0.56,-170.3,140.0,-29.2,89,548,0.00,1.62,0.00,0.000,4,0.000,0.049,2324,3769,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,582,-0.56,-170.3,149.4,-23.9,96,589,0.08,1.62,0.00,0.000,6,0.194,0.024,2342,2564,3626,0,0,0,0,0,0,26.27,26.53,28.83
$GC,897,-0.56,-170.3,215.3,-21.0,151,901,0.00,1.85,0.00,0.000,4,0.000,0.050,2333,3768,3626,0,0,0,0,0,0,28.83,26.18,28.83
$GC,919,-0.56,-170.3,219.5,-20.4,153,923,0.00,1.62,0.00,0.000,6,0.000,0.022,2333,2557,3626,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1231,-0.56,-170.3,269.4,-15.1,184,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2553,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1533,-0.56,-170.3,316.8,-15.1,214,1536,0.00,1.85,0.00,0.000,4,0.000,0.050,2324,3769,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1573,-0.56,-170.3,323.0,-14.6,218,1577,0.08,1.65,0.00,0.000,6,0.179,0.023,2344,2521,3625,0,0,0,0,0,0,26.32,26.58,28.83
$GC,1885,-0.56,-170.3,357.7,-10.7,249,1889,0.05,1.90,0.00,0.000,4,0.177,0.047,2279,3768,3623,0,0,0,0,0,0,26.62,26.16,28.83
$GC,1904,-0.56,-170.3,359.8,-11.4,250,1912,0.12,1.65,0.00,0.000,6,0.122,0.023,2343,2531,3623,0,0,0,0,0,0,26.05,26.58,28.83
$GC,2213,-0.56,-170.3,393.1,-11.2,281,2222,0.05,1.88,0.00,0.000,4,0.176,0.049,2275,3771,3621,0,0,0,0,0,0,26.62,26.13,28.83
$GC,2245,-0.56,-170.3,397.7,-13.5,284,2254,0.22,1.65,0.00,0.000,6,0.130,0.023,2347,2510,3621,0,0,0,0,0,0,26.02,26.55,28.83
$GC,2556,-0.56,-170.3,431.2,-9.8,315,2566,0.08,1.88,0.00,0.000,4,0.129,0.025,2282,1186,3618,0,0,0,0,0,0,26.59,26.37,28.83
$GC,2581,-0.56,-170.3,433.9,-10.2,317,2589,0.20,2.28,0.00,0.000,6,0.129,0.049,2344,2669,3618,0,0,0,0,0,0,25.94,26.16,28.83
$GC,2889,-0.56,-170.3,465.0,-9.3,348,2899,0.05,2.12,0.00,0.000,4,0.174,0.024,2281,1194,3616,0,0,0,0,0,0,26.60,26.38,28.83
$GC,2915,-0.56,-170.3,467.5,-10.1,350,2923,0.20,2.25,0.00,0.000,6,0.131,0.048,2341,2667,3616,0,0,0,0,0,0,25.92,26.17,28.83
$GC,3222,-0.56,-170.3,495.2,-8.6,381,3231,0.00,2.15,-0.10,0.000,4,0.000,0.037,2341,1189,3637,0,0,0,0,0,0,28.83,26.35,25.98
$GC,3268,-0.56,-170.3,498.6,-7.9,385,3275,0.00,2.25,0.00,0.000,6,0.000,0.047,2335,2668,3637,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3576,-0.56,-170.3,526.1,-9.4,416,3579,0.00,1.67,0.00,0.000,4,0.000,0.057,2332,3765,3633,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3620,-0.56,-170.3,530.1,-9.3,420,3627,0.00,1.65,0.00,0.000,6,0.000,0.023,2332,2532,3633,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3928,-0.56,-170.3,559.2,-9.5,451,3938,0.00,1.92,0.00,0.000,4,0.000,0.057,2332,3767,3630,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3971,-0.56,-170.3,563.1,-9.3,455,3975,0.00,1.65,0.00,0.000,6,0.000,0.024,2332,2552,3629,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4284,-0.56,-170.3,593.1,-9.8,486,4292,0.00,1.90,0.00,0.000,4,0.000,0.057,2332,3765,3626,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4308,-0.56,-170.3,595.2,-9.6,488,4316,0.00,1.67,0.00,0.000,6,0.000,0.023,2331,2548,3626,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4616,-0.56,-170.3,623.7,-8.9,506,4622,0.00,1.90,0.00,0.000,4,0.000,0.057,2332,3765,3624,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4656,-0.56,-170.3,627.2,-8.8,508,4659,0.00,1.65,0.00,0.000,6,0.000,0.024,2332,2543,3623,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4979,-0.56,-170.3,655.1,-8.7,524,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2537,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,-0.56,-170.3,680.5,-8.1,539,5282,0.00,1.92,0.00,0.000,4,0.000,0.057,2325,3769,3618,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5317,-0.56,-170.3,684.0,-8.3,541,5321,0.03,1.70,0.00,0.000,6,0.155,0.024,2340,2544,3617,0,0,0,0,0,0,26.31,26.50,28.83
$GC,5640,-0.56,-170.3,707.5,-7.5,557,5644,0.00,1.92,0.00,0.000,4,0.000,0.057,2334,3783,3616,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5670,-0.56,-170.3,709.3,-7.5,558,5673,0.00,1.70,0.00,0.000,6,0.000,0.024,2334,2545,3615,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5982,-0.56,-170.3,735.8,-8.4,574,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2535,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6283,-0.56,-170.3,762.1,-8.9,589,6287,0.00,1.95,0.00,0.000,4,0.000,0.058,2332,3760,3611,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6337,-0.56,-170.3,765.9,-8.7,591,6345,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2544,3611,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6647,-0.56,-170.3,793.5,-8.3,607,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2544,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,-0.56,-170.3,817.9,-8.0,622,6950,0.00,1.92,0.00,0.000,4,0.000,0.059,2332,3765,3607,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6977,-0.56,-170.3,819.5,-8.0,623,6985,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2532,3606,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7286,-0.56,-170.3,843.2,-7.1,639,7291,0.00,1.95,0.00,0.000,4,0.000,0.060,2332,3766,3605,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7312,-0.56,-170.3,844.5,-7.0,640,7316,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2545,3604,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7625,-0.56,-170.3,867.2,-7.1,656,7631,0.00,1.92,0.00,0.000,4,0.000,0.060,2332,3771,3602,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7654,-0.56,-170.3,868.7,-7.1,657,7657,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2545,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7965,-0.56,-170.3,891.0,-7.1,673,7969,0.00,1.92,0.00,0.000,4,0.000,0.060,2332,3771,3601,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7990,-0.56,-170.3,892.5,-7.1,674,7993,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2544,3601,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8308,-0.56,-170.3,917.2,-8.0,690,8313,0.00,1.95,0.00,0.000,4,0.000,0.060,2332,3766,3600,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8347,-0.56,-170.3,920.5,-8.2,692,8351,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2548,3599,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8670,-0.56,-170.3,945.8,-7.8,708,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2540,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8969,-0.56,-170.3,968.4,-7.4,723,8974,0.00,1.95,0.00,0.000,4,0.000,0.060,2332,3769,3598,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9009,-0.56,-170.3,971.3,-7.4,725,9012,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2544,3597,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9267,begin apogee
$GC,9274,-0.17,0.0,990.3,-7.2,738,9431,0.38,0.00,149.52,1.701,6,0.102,0.000,2467,2534,2929,0,0,0,0,0,0,25.83,28.83,22.64
$STATE,9432,end apogee,CONTROL_FINISHED_OK
$STATE,9432,begin climb
$GC,9434,0.56,170.3,998.1,0.0,746,9610,0.62,2.35,164.98,1.657,4,0.050,0.032,2723,1111,2232,0,0,0,0,0,0,24.94,24.09,22.13
$GC,9623,0.56,170.3,990.3,10.4,755,9628,0.15,2.42,0.00,0.000,6,0.160,0.047,2685,2566,2228,0,0,0,0,0,0,24.41,24.62,28.83
$GC,9930,0.56,170.3,948.5,12.7,770,9934,0.00,1.85,0.00,0.000,4,0.000,0.057,2685,3765,2222,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9970,0.56,170.3,943.2,13.6,772,9974,0.00,1.85,0.00,0.000,6,0.000,0.024,2694,2486,2222,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10287,0.56,170.3,900.2,13.1,788,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2482,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,0.56,170.3,859.6,13.8,803,10592,0.00,2.00,0.00,0.000,4,0.000,0.056,2694,3772,2218,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10609,0.56,170.3,856.8,14.0,804,10613,0.08,1.88,0.00,0.000,6,0.222,0.024,2689,2495,2218,0,0,0,0,0,0,26.10,26.38,28.83
$GC,10931,0.56,170.3,814.1,12.9,820,10937,0.00,2.03,0.00,0.000,4,0.000,0.031,2699,1101,2217,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10950,0.56,170.3,811.7,12.6,821,10956,0.00,2.28,0.00,0.000,6,0.000,0.047,2699,2566,2216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11272,0.56,170.3,768.4,12.9,837,11277,0.00,2.12,0.00,0.000,4,0.000,0.031,2706,1112,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11293,0.56,170.3,765.8,13.0,838,11298,0.10,2.28,0.00,0.000,6,0.169,0.046,2681,2577,2215,0,0,0,0,0,0,25.87,26.06,28.83
$GC,11607,0.56,170.3,727.6,12.2,854,11609,0.05,0.00,0.00,0.000,6,0.172,0.000,2719,2578,2215,0,0,0,0,0,0,26.53,28.83,28.83
$GC,11906,0.56,170.3,684.6,13.9,869,11912,0.12,2.20,0.00,0.000,4,0.175,0.029,2691,1104,2215,0,0,0,0,0,0,26.08,26.17,28.83
$GC,11934,0.56,170.3,682.1,13.6,870,11938,0.00,2.28,0.00,0.000,6,0.000,0.046,2691,2568,2214,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,18943,end climb,SURFACE_DEPTH_REACHED
$STATE,18943,begin surface coast
$FINISH,2.3,1.021164
$STATE,18954,end surface coast,CONTROL_FINISHED_OK
$STATE,18954,begin surface
$SM_CCo,19033,0.00,0.000,0,0,660,556.59
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$IRIDIUM_FIX,1749.63,12417.21,140612,131356
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.1,93.097
$10V_AH,9.8,56.952
$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
$DEVICE_SECS,20.800,175.725,556.425,0.000,0.000,30.740,23.327,242.342,0.250,0.000,18.315,4303.300,10532.562,697.593,3471.444,447.611,0.000,2326.418,0.000,2823.340,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,127096,1710
$CAP_FILE_SIZE,206694,0
$CFSIZE,260165632,177418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 70.7,1
$GPS,140612,235054,1756.976,12415.174,35,2.0,35,-2.0