version: 66.10
glider: 176
mission: 5
dive: 443
start: 6 15 112 0 1 29
data:
$ID,176
$MISSION,5
$DIVE,443
$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,-8171.772
$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
$GPS1,140612,235054,1756.976,12415.174,35,2.0,35,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.7
$GPS2,150612,000102,1756.996,12415.250,12,2.0,12,-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,271.0,218306,-14.0,-8.684
$D_GRID,5121
$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,-0.56,-170.3,0.0,0.0,0,78,0.00,0.00,-59.97,0.000,2,0.000,0.000,183,2691,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.2,-6.6,10,125,8.77,2.22,-27.88,0.000,4,0.230,0.039,2333,1178,3625,0,0,0,0,0,0,25.01,26.33,26.74
$GC,207,-0.56,-170.3,35.9,-22.5,27,215,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2671,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,538,-0.56,-170.3,144.4,-31.9,88,560,0.00,1.65,0.00,0.000,4,0.000,0.046,2324,3773,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,613,-0.56,-170.3,166.4,-22.9,99,622,0.05,1.65,0.00,0.000,6,0.226,0.022,2339,2533,3625,0,0,0,0,0,0,26.33,26.55,28.83
$GC,945,-0.56,-170.3,231.7,-18.8,144,954,0.00,1.85,0.00,0.000,4,0.000,0.024,2340,1183,3625,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1018,-0.56,-170.3,241.8,-12.0,151,1028,0.00,2.20,0.00,0.000,6,0.000,0.041,2335,2667,3625,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1326,-0.56,-170.3,292.6,-17.2,182,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2667,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1630,-0.56,-170.3,336.9,-13.4,212,1638,0.00,2.08,0.00,0.000,4,0.000,0.024,2337,1200,3624,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1734,-0.56,-170.3,348.3,-9.1,222,1743,0.00,2.20,0.00,0.000,6,0.000,0.042,2335,2677,3623,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2043,-0.56,-170.3,383.8,-12.0,253,2052,0.00,2.12,0.00,0.000,4,0.000,0.025,2337,1191,3621,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2096,-0.56,-170.3,389.3,-10.3,258,2104,0.00,2.20,0.00,0.000,6,0.000,0.043,2335,2664,3621,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2406,-0.56,-170.3,424.5,-11.3,289,2414,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1189,3618,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2469,-0.56,-170.3,430.5,-8.9,295,2478,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2675,3617,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2777,-0.56,-170.3,463.8,-10.7,326,2787,0.00,2.15,-0.08,0.000,4,0.000,0.036,2334,1188,3644,0,0,0,0,0,0,28.83,26.39,25.51
$GC,2812,-0.56,-170.3,467.0,-10.3,329,2819,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2670,3644,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3120,-0.56,-170.3,499.5,-10.6,360,3129,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1193,3641,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3172,-0.56,-170.3,504.5,-9.6,365,3181,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2675,3640,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3483,-0.56,-170.3,535.7,-10.3,396,3491,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1182,3637,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3526,-0.56,-170.3,540.0,-10.1,400,3535,0.00,2.28,0.00,0.000,6,0.000,0.044,2332,2677,3636,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3835,-0.56,-170.3,570.2,-9.6,431,3845,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1188,3633,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3877,-0.56,-170.3,573.9,-8.7,435,3887,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2679,3633,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4188,-0.56,-170.3,600.3,-8.6,466,4194,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1191,3630,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4241,-0.56,-170.3,603.6,-8.2,468,4248,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2669,3630,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4548,-0.56,-170.3,629.6,-8.4,484,4554,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1185,3627,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4597,-0.56,-170.3,632.7,-8.2,486,4601,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2670,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4903,-0.56,-170.3,657.7,-7.9,501,4908,0.00,2.15,0.00,0.000,4,0.000,0.024,2332,1182,3624,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4943,-0.56,-170.3,660.8,-7.8,503,4949,0.00,2.30,0.00,0.000,6,0.000,0.046,2332,2674,3624,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5264,-0.56,-170.3,686.5,-8.4,519,5269,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1195,3621,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5303,-0.56,-170.3,689.9,-8.6,521,5308,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2669,3621,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5624,-0.56,-170.3,717.7,-8.7,537,5629,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1193,3618,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5670,-0.56,-170.3,721.3,-8.9,539,5674,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2673,3618,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5983,-0.56,-170.3,747.8,-8.2,555,5989,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1192,3615,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6029,-0.56,-170.3,751.1,-8.2,557,6034,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2665,3615,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6345,-0.56,-170.3,775.7,-7.5,573,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2664,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6645,-0.56,-170.3,797.6,-7.3,588,6650,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1189,3611,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6697,-0.56,-170.3,800.6,-7.4,590,6704,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2669,3611,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7003,-0.56,-170.3,824.2,-7.8,606,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2669,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,-0.56,-170.3,847.6,-7.6,621,7310,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1193,3607,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7356,-0.56,-170.3,850.6,-7.5,623,7364,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2668,3607,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7663,-0.56,-170.3,874.3,-7.3,639,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2667,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.56,-170.3,895.3,-6.9,654,7968,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1189,3603,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8019,-0.56,-170.3,898.3,-7.1,656,8026,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2677,3603,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8329,-0.56,-170.3,919.5,-6.6,672,8334,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1188,3602,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8367,-0.56,-170.3,922.1,-6.5,674,8372,0.00,2.30,0.00,0.000,6,0.000,0.048,2332,2666,3601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8687,-0.56,-170.3,942.6,-6.4,690,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2666,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8988,-0.56,-170.3,962.0,-6.4,705,8993,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1192,3600,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9020,-0.56,-170.3,963.3,-6.3,706,9026,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2675,3600,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9327,-0.56,-170.3,984.9,-7.0,722,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2675,3598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9411,-0.17,0.0,990.4,-6.8,726,9569,0.38,0.12,149.95,1.700,6,0.103,0.093,2467,2585,2928,0,0,0,0,0,0,25.83,24.52,22.65
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9572,0.56,170.3,997.4,0.0,734,9750,0.62,2.05,163.80,1.658,4,0.050,0.057,2712,3761,2233,0,0,0,0,0,0,24.97,24.06,22.17
$GC,9797,0.56,170.3,980.8,15.4,745,9801,0.15,1.90,0.00,0.000,6,0.197,0.025,2686,2504,2230,0,0,0,0,0,0,25.04,25.45,28.83
$GC,10110,0.56,170.3,937.4,13.3,761,10114,0.00,1.98,0.00,0.000,4,0.000,0.055,2686,3772,2223,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10164,0.56,170.3,931.0,14.0,763,10172,0.00,1.85,0.00,0.000,6,0.000,0.024,2695,2493,2222,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10473,0.56,170.3,887.0,13.4,779,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2491,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10771,0.56,170.3,846.9,13.1,794,10777,0.00,2.00,0.00,0.000,4,0.000,0.054,2695,3773,2219,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10812,0.56,170.3,841.1,13.7,796,10818,0.08,1.83,0.00,0.000,6,0.224,0.024,2690,2499,2218,0,0,0,0,0,0,26.08,26.36,28.83
$GC,11133,0.56,170.3,803.0,11.1,812,11138,0.00,2.03,0.00,0.000,4,0.000,0.030,2700,1100,2217,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11154,0.56,170.3,800.9,11.1,813,11159,0.05,2.28,0.00,0.000,6,0.217,0.047,2688,2566,2216,0,0,0,0,0,0,25.99,26.06,28.83
$GC,11466,0.56,170.3,765.3,11.3,829,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2566,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11768,0.56,170.3,730.6,12.1,844,11770,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2566,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12066,0.56,170.3,693.4,12.3,859,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2567,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12366,0.56,170.3,657.4,11.8,874,12372,0.00,2.15,0.00,0.000,4,0.000,0.031,2697,1107,2215,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12416,0.56,170.3,653.0,11.6,876,12420,0.00,2.28,0.00,0.000,6,0.000,0.046,2697,2575,2214,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12721,0.56,170.3,617.5,11.0,891,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2575,2214,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19184,end climb,SURFACE_DEPTH_REACHED
$STATE,19185,begin surface coast
$FINISH,0.7,0.997286
$STATE,19242,end surface coast,CONTROL_FINISHED_OK
$STATE,19242,begin surface
$SM_CCo,19317,0.00,0.000,0,0,790,524.45
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$IRIDIUM_FIX,1751.90,12413.47,140612,232314
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,22.2,93.330
$10V_AH,9.8,57.084
$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,19.300,168.750,550.225,0.000,0.000,63.521,86.034,242.142,0.250,0.000,14.748,4312.952,10757.480,705.720,3673.924,442.387,0.000,2381.334,0.000,2898.700,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,94.095,1699.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1170.578,2397.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330268
$DATA_FILE_SIZE,130558,1725
$CAP_FILE_SIZE,205216,0
$CFSIZE,260165632,177307648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 94.5,1
$GPS,150612,052456,1756.767,12414.931,38,2.2,57,-2.0