version: 66.10
glider: 176
mission: 5
dive: 473
start: 6 22 112 3 21 18
data:
$ID,176
$MISSION,5
$DIVE,473
$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,400
$T_MISSION,440
$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,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,-8216.876
$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,2620
$C_ROLL_CLIMB,2520
$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
$GPS1,220612,030624,1812.332,12337.920,38,1.2,38,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.2
$GPS2,220612,032050,1812.427,12338.229,14,1.2,14,-2.0
$SPEED_LIMITS,0.143,0.259
$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,262.4,148022,-13.2,-8.250
$D_GRID,5229
$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,-0.54,-170.3,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,2,0.000,0.000,185,2707,2326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.3,-7.0,9,119,8.85,2.20,-27.42,0.000,4,0.233,0.037,2344,1157,3625,0,0,0,0,0,0,25.00,26.29,26.72
$GC,214,-0.54,-170.3,37.4,-22.9,34,220,0.00,2.25,0.00,0.000,6,0.000,0.043,2334,2649,3625,0,0,0,0,0,0,28.83,26.16,28.83
$GC,541,-0.54,-170.3,141.7,-24.2,95,549,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1160,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,620,-0.54,-170.3,156.5,-14.2,107,628,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2650,3625,0,0,0,0,0,0,28.83,26.21,28.83
$GC,934,-0.54,-170.3,217.4,-20.8,160,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2651,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.54,-170.3,269.9,-14.6,190,1246,0.00,2.10,0.00,0.000,4,0.000,0.027,2333,1166,3625,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1309,-0.54,-170.3,279.2,-11.0,197,1319,0.05,2.22,0.00,0.000,6,0.222,0.042,2347,2644,3625,0,0,0,0,0,0,26.10,26.20,28.83
$GC,1621,-0.54,-170.3,314.6,-11.9,228,1625,0.00,1.70,0.00,0.000,4,0.000,0.053,2340,3762,3623,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1682,-0.54,-170.3,322.3,-12.2,234,1686,0.00,1.67,0.00,0.000,6,0.000,0.021,2340,2498,3622,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1993,-0.54,-170.3,360.9,-12.5,265,1997,0.00,1.85,0.00,0.000,4,0.000,0.025,2341,1180,3621,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2019,-0.54,-170.3,363.4,-12.2,267,2027,0.00,2.22,0.00,0.000,6,0.000,0.042,2335,2638,3621,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2325,-0.54,-170.3,397.3,-11.2,298,2333,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1155,3618,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2367,-0.54,-170.3,401.5,-10.4,302,2376,0.00,2.25,0.00,0.000,6,0.000,0.042,2335,2646,3618,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2676,-0.54,-170.3,437.3,-11.9,333,2685,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1153,3616,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2717,-0.54,-170.3,441.7,-10.7,337,2727,0.00,2.28,-0.10,0.000,6,0.000,0.043,2335,2645,3638,0,0,0,0,0,0,28.83,26.16,25.61
$GC,3028,-0.54,-170.3,472.6,-9.7,368,3037,0.00,2.15,0.00,0.000,4,0.000,0.024,2336,1156,3636,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3072,-0.54,-170.3,476.6,-9.5,372,3079,0.00,2.28,0.00,0.000,6,0.000,0.043,2335,2634,3635,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3379,-0.54,-170.3,508.4,-10.4,403,3389,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1162,3631,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3411,-0.54,-170.3,511.6,-10.2,406,3420,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2638,3631,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3722,-0.54,-170.3,542.2,-9.6,437,3731,0.00,2.15,0.00,0.000,4,0.000,0.025,2335,1154,3628,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3747,-0.54,-170.3,544.3,-9.9,439,3755,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2648,3628,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4053,-0.54,-170.3,573.1,-9.3,470,4062,0.00,2.17,0.00,0.000,4,0.000,0.025,2335,1156,3624,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4097,-0.54,-170.3,576.9,-9.1,474,4104,0.00,2.30,0.00,0.000,6,0.000,0.044,2335,2637,3624,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4416,-0.54,-170.3,605.4,-8.5,503,4421,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1165,3621,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4464,-0.54,-170.3,608.8,-8.6,505,4469,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2649,3621,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4771,-0.54,-170.3,634.8,-8.5,520,4774,0.00,1.73,0.00,0.000,4,0.000,0.057,2332,3765,3618,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4792,-0.54,-170.3,636.6,-8.6,521,4796,0.05,1.73,0.00,0.000,6,0.200,0.024,2351,2502,3618,0,0,0,0,0,0,26.30,26.49,28.83
$GC,5115,-0.54,-170.3,660.6,-7.4,537,5121,0.05,1.88,0.00,0.000,4,0.174,0.024,2297,1170,3615,0,0,0,0,0,0,26.56,26.32,28.83
$GC,5142,-0.54,-170.3,662.4,-7.7,538,5147,0.17,2.25,0.00,0.000,6,0.127,0.045,2347,2635,3615,0,0,0,0,0,0,25.84,26.05,28.83
$GC,5450,-0.54,-170.3,686.6,-7.6,553,5454,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1164,3613,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5480,-0.54,-170.3,688.5,-7.7,554,5484,0.00,2.28,0.00,0.000,6,0.000,0.045,2347,2646,3613,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5787,-0.54,-170.3,712.3,-7.4,569,5793,0.00,2.17,0.00,0.000,4,0.000,0.025,2348,1157,3610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5812,-0.54,-170.3,713.7,-7.4,570,5817,0.00,2.28,0.00,0.000,6,0.000,0.045,2347,2635,3610,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6127,-0.54,-170.3,735.2,-6.4,586,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6428,-0.54,-170.3,754.2,-6.3,601,6434,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1170,3605,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6456,-0.54,-170.3,755.8,-6.5,602,6460,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2645,3605,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6764,-0.54,-170.3,776.7,-6.5,617,6767,0.00,1.75,0.00,0.000,4,0.000,0.057,2345,3769,3604,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6789,-0.54,-170.3,778.2,-6.5,618,6793,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2474,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7106,-0.54,-170.3,799.0,-6.3,634,7112,0.00,2.05,0.00,0.000,4,0.000,0.056,2346,3772,3601,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7134,-0.54,-170.3,800.3,-6.4,635,7137,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2518,3601,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7447,-0.54,-170.3,819.6,-5.9,651,7452,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3755,3599,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7486,-0.54,-170.3,821.9,-5.8,653,7489,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2519,3599,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7809,-0.54,-170.3,842.2,-6.8,669,7814,0.00,1.98,0.00,0.000,4,0.000,0.056,2345,3759,3597,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7847,-0.54,-170.3,845.2,-7.0,671,7850,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2515,3596,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8168,-0.54,-170.3,869.1,-7.5,687,8174,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3771,3595,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8202,-0.54,-170.3,870.6,-7.6,688,8209,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2484,3595,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8509,-0.54,-170.3,893.2,-6.7,704,8514,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3763,3595,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8548,-0.54,-170.3,895.9,-6.7,706,8551,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2519,3594,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8871,-0.54,-170.3,916.0,-6.0,722,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2491,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9169,-0.54,-170.3,934.5,-6.2,737,9173,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3769,3592,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9214,-0.54,-170.3,937.0,-6.2,739,9218,0.00,1.73,0.00,0.000,6,0.000,0.026,2345,2522,3591,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9532,-0.54,-170.3,956.0,-5.9,755,9536,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3771,3591,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9557,-0.54,-170.3,957.2,-5.8,756,9560,0.00,1.77,0.00,0.000,6,0.000,0.025,2345,2503,3590,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9876,-0.54,-170.3,975.9,-5.7,772,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2501,3589,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10132,begin apogee
$GC,10137,-0.17,0.0,990.6,-5.5,785,10297,0.32,0.00,148.23,1.698,6,0.098,0.000,2465,2500,2928,0,0,0,0,0,0,25.88,28.83,22.58
$STATE,10298,end apogee,CONTROL_FINISHED_OK
$STATE,10298,begin climb
$GC,10300,0.54,170.3,996.6,0.0,793,10476,0.62,2.33,164.60,1.653,4,0.047,0.030,2728,1073,2232,0,0,0,0,0,0,25.01,24.02,21.99
$GC,10543,0.54,170.3,976.8,14.9,805,10548,0.17,2.35,0.00,0.000,6,0.163,0.049,2682,2541,2224,0,0,0,0,0,0,25.16,25.45,28.83
$GC,10855,0.54,170.3,933.1,13.6,821,10860,0.00,1.90,0.00,0.000,4,0.000,0.057,2682,3764,2220,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10916,0.54,170.3,923.9,15.2,824,10921,0.00,1.88,0.00,0.000,6,0.000,0.025,2691,2473,2219,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11237,0.54,170.3,881.1,12.8,840,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2468,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11535,0.54,170.3,844.8,11.6,855,11540,0.00,2.03,0.00,0.000,4,0.000,0.055,2691,3765,2217,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11657,0.54,170.3,827.9,14.3,861,11663,0.10,1.88,0.00,0.000,6,0.206,0.024,2678,2469,2216,0,0,0,0,0,0,25.92,26.32,28.83
$GC,11975,0.54,170.3,792.3,10.5,877,11981,0.00,2.05,0.00,0.000,4,0.000,0.030,2688,1062,2215,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12020,0.54,170.3,788.2,10.1,879,12024,0.00,2.28,0.00,0.000,6,0.000,0.048,2688,2537,2214,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,19683,end climb,SURFACE_DEPTH_REACHED
$STATE,19683,begin surface coast
$FINISH,0.6,1.003037
$STATE,19732,end surface coast,CONTROL_FINISHED_OK
$STATE,19732,begin surface
$SM_CCo,19808,0.00,0.000,0,0,863,506.79
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$IRIDIUM_FIX,1805.50,12333.86,220612,030301
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.0,99.944
$10V_AH,9.8,61.117
$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,19.250,189.000,542.100,0.000,0.000,85.658,114.173,341.394,0.000,0.000,16.757,4324.804,11330.972,689.079,3804.902,488.212,0.000,2351.651,0.000,2922.261,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,57.375,1697.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.146,2354.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,126920,1718
$CAP_FILE_SIZE,211971,0
$CFSIZE,260165632,173940736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 86.1,1
$GPS,220612,085236,1812.148,12337.610,36,0.9,41,-2.0