version: 66.10
glider: 176
mission: 5
dive: 444
start: 6 15 112 5 33 12
data:
$ID,176
$MISSION,5
$DIVE,444
$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,-8173.1235
$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
$GPS1,150612,052456,1756.767,12414.931,38,2.2,57,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.6
$GPS2,150612,053244,1756.784,12414.972,10,1.5,10,-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,280.0,217954,-14.0,-8.684
$D_GRID,5032
$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,-0.56,-170.3,0.0,0.0,0,72,0.00,0.00,-53.38,0.000,2,0.000,0.000,178,2697,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.56,-170.3,3.0,-6.1,9,121,8.65,2.22,-30.15,0.000,4,0.227,0.042,2340,1200,3626,0,0,0,0,0,0,25.05,26.28,26.74
$GC,225,-0.56,-170.3,38.9,-22.7,36,232,0.00,2.22,0.00,0.000,6,0.000,0.047,2335,2667,3626,0,0,0,0,0,0,28.83,26.18,28.83
$GC,554,-0.56,-170.3,144.5,-25.2,97,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2669,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-0.56,-170.3,213.1,-20.2,152,867,0.00,1.65,0.00,0.000,4,0.000,0.051,2326,3779,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,924,-0.56,-170.3,223.6,-16.5,158,928,0.05,1.65,0.00,0.000,6,0.223,0.022,2341,2538,3626,0,0,0,0,0,0,26.36,26.57,28.83
$GC,1235,-0.56,-170.3,271.2,-16.1,189,1239,0.00,1.90,0.00,0.000,4,0.000,0.050,2333,3769,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1267,-0.56,-170.3,276.4,-16.8,192,1271,0.00,1.65,0.00,0.000,6,0.000,0.022,2333,2555,3626,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1578,-0.56,-170.3,322.2,-14.5,223,1582,0.00,1.92,0.00,0.000,4,0.000,0.026,2333,1185,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1637,-0.56,-170.3,329.0,-11.4,228,1644,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2668,3625,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1945,-0.56,-170.3,367.2,-11.5,259,1954,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1181,3622,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1969,-0.56,-170.3,369.6,-11.1,261,1977,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2664,3622,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2280,-0.56,-170.3,402.7,-10.2,292,2289,0.00,2.08,0.00,0.000,4,0.000,0.024,2332,1197,3619,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2331,-0.56,-170.3,408.0,-9.2,297,2340,0.00,2.25,0.00,0.000,6,0.000,0.046,2331,2678,3619,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2642,-0.56,-170.3,441.7,-11.5,328,2646,0.00,1.67,-0.10,0.000,4,0.000,0.070,2331,3766,3638,0,0,0,0,0,0,28.83,26.10,26.00
$GC,2668,-0.56,-170.3,444.2,-11.5,330,2674,0.00,1.65,0.00,0.000,6,0.000,0.022,2331,2529,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2973,-0.56,-170.3,479.2,-11.8,361,2977,0.00,1.90,0.00,0.000,4,0.000,0.055,2331,3776,3635,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3031,-0.56,-170.3,485.5,-11.0,366,3034,0.00,1.65,0.00,0.000,6,0.000,0.022,2332,2545,3635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3345,-0.56,-170.3,519.2,-10.8,397,3354,0.00,1.88,0.00,0.000,4,0.000,0.055,2331,3765,3632,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3387,-0.56,-170.3,523.6,-10.1,401,3391,0.00,1.65,0.00,0.000,6,0.000,0.023,2331,2535,3631,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3700,-0.56,-170.3,553.4,-9.3,432,3709,0.00,1.90,0.00,0.000,4,0.000,0.025,2331,1184,3628,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3725,-0.56,-170.3,555.6,-9.5,434,3732,0.00,2.28,0.00,0.000,6,0.000,0.048,2331,2669,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4031,-0.56,-170.3,583.9,-9.4,465,4040,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1193,3624,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4063,-0.56,-170.3,586.8,-9.1,468,4072,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2677,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4384,-0.56,-170.3,617.5,-9.8,491,4389,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1198,3622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4437,-0.56,-170.3,621.3,-9.7,493,4444,0.00,2.25,0.00,0.000,6,0.000,0.047,2331,2669,3622,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4742,-0.56,-170.3,650.6,-8.9,509,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2670,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,-0.56,-170.3,675.5,-8.1,524,5050,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1191,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5096,-0.56,-170.3,678.8,-8.1,526,5102,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2675,3615,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5404,-0.56,-170.3,704.8,-8.5,542,5409,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1200,3613,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5426,-0.56,-170.3,706.6,-8.7,543,5430,0.00,2.25,0.00,0.000,6,0.000,0.046,2331,2667,3612,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5737,-0.56,-170.3,734.8,-9.4,559,5743,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1182,3609,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5767,-0.56,-170.3,736.7,-9.5,560,5771,0.00,2.30,0.00,0.000,6,0.000,0.046,2331,2678,3610,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6072,-0.56,-170.3,766.5,-9.8,575,6078,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1193,3608,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6107,-0.56,-170.3,768.4,-9.8,576,6114,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2670,3608,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6417,-0.56,-170.3,799.1,-9.4,592,6423,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1192,3606,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6456,-0.56,-170.3,803.1,-9.4,594,6462,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2666,3605,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6777,-0.56,-170.3,831.3,-8.5,610,6782,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1185,3603,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6800,-0.56,-170.3,833.1,-8.6,611,6804,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2674,3603,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7112,-0.56,-170.3,858.4,-7.8,627,7118,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1195,3601,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7141,-0.56,-170.3,860.2,-8.0,628,7145,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2667,3600,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7449,-0.56,-170.3,884.6,-7.9,643,7454,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1196,3599,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7470,-0.56,-170.3,886.3,-7.9,644,7474,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2666,3599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7784,-0.56,-170.3,909.7,-7.1,660,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,-0.56,-170.3,930.7,-6.6,675,8088,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1188,3596,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8126,-0.56,-170.3,933.4,-6.8,677,8130,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2674,3596,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8440,-0.56,-170.3,956.1,-7.2,693,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2674,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,-0.56,-170.3,978.2,-7.7,708,8744,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1194,3593,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8780,-0.56,-170.3,981.2,-7.5,710,8785,0.00,2.30,0.00,0.000,6,0.000,0.049,2331,2667,3593,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,8911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8911,begin apogee
$GC,8916,-0.17,0.0,991.4,-7.5,717,9076,0.38,0.12,148.25,1.698,6,0.100,0.061,2466,2582,2930,0,0,0,0,0,0,25.85,24.56,22.70
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.56,170.3,999.7,0.0,725,9256,0.65,2.40,163.55,1.659,4,0.047,0.030,2731,1113,2232,0,0,0,0,0,0,25.10,24.27,22.30
$GC,9279,0.56,170.3,989.2,12.4,735,9285,0.17,2.38,0.00,0.000,6,0.163,0.047,2685,2566,2227,0,0,0,0,0,0,24.77,25.01,28.83
$GC,9600,0.56,170.3,949.1,12.3,751,9605,0.00,1.85,0.00,0.000,4,0.000,0.055,2685,3775,2222,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9659,0.56,170.3,940.4,14.1,754,9663,0.00,1.85,0.00,0.000,6,0.000,0.024,2694,2498,2221,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9975,0.56,170.3,899.5,13.0,770,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2494,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10277,0.56,170.3,860.7,13.0,785,10282,0.00,2.00,0.00,0.000,4,0.000,0.055,2694,3781,2218,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10308,0.56,170.3,857.9,13.3,786,10315,0.08,1.85,0.00,0.000,6,0.220,0.024,2688,2493,2217,0,0,0,0,0,0,26.09,26.38,28.83
$GC,10616,0.56,170.3,817.9,11.7,802,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2491,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10915,0.56,170.3,782.1,11.8,817,10921,0.00,2.05,0.00,0.000,4,0.000,0.030,2699,1091,2216,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10948,0.56,170.3,779.9,11.4,818,10955,0.00,2.28,0.00,0.000,6,0.000,0.046,2699,2566,2215,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11256,0.56,170.3,741.6,12.2,834,11259,0.00,1.85,0.00,0.000,4,0.000,0.055,2698,3766,2215,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11270,0.56,170.3,741.6,12.2,834,11277,0.10,1.83,0.00,0.000,6,0.208,0.023,2685,2474,2214,0,0,0,0,0,0,25.96,26.39,28.83
$GC,11577,0.56,170.3,703.6,11.8,850,11582,0.00,2.00,0.00,0.000,4,0.000,0.054,2685,3765,2214,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11606,0.56,170.3,700.9,12.1,851,11610,0.00,1.83,0.00,0.000,6,0.000,0.023,2693,2493,2214,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11913,0.56,170.3,658.9,13.2,866,11919,0.00,1.98,0.00,0.000,4,0.000,0.052,2693,3773,2214,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,18501,end climb,SURFACE_DEPTH_REACHED
$STATE,18502,begin surface coast
$FINISH,0.7,0.999496
$STATE,18563,end surface coast,CONTROL_FINISHED_OK
$STATE,18563,begin surface
$SM_CCo,18638,0.00,0.000,0,0,755,533.28
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$IRIDIUM_FIX,1749.63,12412.19,140612,232334
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,22.3,93.551
$10V_AH,9.8,57.211
$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,18.850,177.750,529.025,0.000,0.000,26.297,42.311,247.810,0.250,0.000,13.109,4261.636,10272.852,665.045,3431.271,443.544,0.000,2261.137,0.000,2835.840,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,94.095,1698.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.801,2249.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,127192,1694
$CAP_FILE_SIZE,199788,0
$CFSIZE,260165632,177205248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,102.3,1
$GPS,150612,104506,1756.946,12414.092,40,0.9,46,-2.0