version: 66.10
glider: 176
mission: 5
dive: 479
start: 6 23 112 14 1 43
data:
$ID,176
$MISSION,5
$DIVE,479
$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,-8233.7969
$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
$GPS1,230612,135331,1814.598,12335.943,41,0.9,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.4
$GPS2,230612,140114,1814.712,12336.073,10,1.5,10,-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,251.2,143374,-13.2,-8.250
$D_GRID,4999
$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,-0.54,-170.3,0.0,0.0,0,76,0.00,0.00,-57.55,0.000,2,0.000,0.000,189,2656,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.54,-170.3,3.1,-5.8,10,128,8.82,2.17,-30.70,0.000,4,0.231,0.041,2338,1165,3626,0,0,0,0,0,0,24.99,26.27,26.72
$GC,236,-0.54,-170.3,41.0,-22.1,33,243,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2635,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,563,-0.54,-170.3,149.5,-31.7,94,570,0.00,2.10,0.00,0.000,4,0.000,0.025,2335,1157,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,619,-0.54,-170.3,162.3,-17.5,104,626,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2639,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,947,-0.54,-170.3,229.9,-16.6,151,951,0.00,1.73,0.00,0.000,4,0.000,0.054,2335,3769,3626,0,0,0,0,0,0,28.83,26.10,28.83
$GC,982,-0.54,-170.3,235.6,-17.3,154,989,0.00,1.67,0.00,0.000,6,0.000,0.022,2335,2538,3626,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1289,-0.54,-170.3,281.0,-14.0,185,1297,0.00,1.95,0.00,0.000,4,0.000,0.026,2337,1146,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1353,-0.54,-170.3,288.1,-10.4,191,1361,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2638,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1660,-0.54,-170.3,327.7,-12.6,222,1669,0.00,2.10,0.00,0.000,4,0.000,0.023,2335,1156,3624,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1713,-0.54,-170.3,333.4,-10.7,227,1722,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2640,3624,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2021,-0.54,-170.3,368.1,-11.4,258,2025,0.00,1.70,0.00,0.000,4,0.000,0.054,2334,3766,3622,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2084,-0.54,-170.3,374.3,-9.6,264,2088,0.00,1.67,0.00,0.000,6,0.000,0.021,2334,2516,3621,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2395,-0.54,-170.3,406.0,-10.3,295,2399,0.00,1.88,0.00,0.000,4,0.000,0.024,2334,1147,3618,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2452,-0.54,-170.3,411.1,-8.6,300,2461,0.00,2.25,0.00,0.000,6,0.000,0.043,2333,2642,3618,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2762,-0.54,-170.3,443.7,-11.5,331,2766,0.00,1.73,-0.08,0.000,4,0.000,0.069,2333,3769,3636,0,0,0,0,0,0,28.83,26.00,25.79
$GC,2787,-0.54,-170.3,446.3,-11.1,333,2794,0.00,1.70,0.00,0.000,6,0.000,0.021,2334,2471,3635,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3093,-0.54,-170.3,478.7,-10.6,364,3102,0.00,1.85,0.00,0.000,4,0.000,0.025,2333,1157,3633,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3135,-0.54,-170.3,482.7,-9.6,368,3144,0.00,2.28,0.00,0.000,6,0.000,0.043,2333,2648,3632,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3446,-0.54,-170.3,513.2,-9.8,399,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2649,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-0.54,-170.3,543.1,-10.1,429,3754,0.00,2.12,0.00,0.000,4,0.000,0.026,2333,1168,3626,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3788,-0.54,-170.3,547.0,-9.5,433,3798,0.05,2.25,0.00,0.000,6,0.213,0.044,2350,2638,3625,0,0,0,0,0,0,26.01,26.10,28.83
$GC,4098,-0.54,-170.3,571.7,-7.6,464,4107,0.05,2.12,0.00,0.000,4,0.174,0.023,2291,1167,3622,0,0,0,0,0,0,26.57,26.32,28.83
$GC,4144,-0.54,-170.3,575.8,-9.9,468,4151,0.17,2.25,0.00,0.000,6,0.131,0.046,2347,2635,3622,0,0,0,0,0,0,25.86,26.08,28.83
$GC,4450,-0.54,-170.3,599.5,-7.6,499,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2636,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.54,-170.3,622.6,-7.6,515,4768,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1168,3616,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4813,-0.54,-170.3,625.5,-7.5,517,4820,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2639,3616,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5121,-0.54,-170.3,647.9,-6.6,533,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2639,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.54,-170.3,667.9,-6.9,548,5428,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1165,3611,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5484,-0.54,-170.3,672.2,-7.1,551,5488,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2646,3611,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5797,-0.54,-170.3,695.9,-7.7,567,5801,0.00,1.75,0.00,0.000,4,0.000,0.056,2348,3774,3609,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5872,-0.54,-170.3,700.7,-7.7,570,5879,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2467,3607,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6181,-0.54,-170.3,724.2,-7.1,586,6186,0.00,1.88,0.00,0.000,4,0.000,0.026,2347,1163,3605,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6220,-0.54,-170.3,727.3,-7.4,588,6225,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2632,3605,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6540,-0.54,-170.3,749.5,-6.8,604,6543,0.00,1.75,0.00,0.000,4,0.000,0.055,2347,3765,3603,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6625,-0.54,-170.3,755.2,-6.9,608,6628,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2501,3602,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6942,-0.54,-170.3,776.8,-6.5,624,6947,0.00,1.88,0.00,0.000,4,0.000,0.027,2347,1164,3600,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6991,-0.54,-170.3,779.6,-6.7,626,6995,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2645,3600,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7302,-0.54,-170.3,800.5,-6.6,642,7306,0.00,1.73,0.00,0.000,4,0.000,0.057,2347,3766,3599,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7392,-0.54,-170.3,805.8,-6.6,646,7396,0.03,1.75,0.00,0.000,6,0.112,0.025,2303,2500,3598,0,0,0,0,0,0,26.27,26.44,28.83
$GC,7705,-0.54,-170.3,838.2,-11.1,662,7711,0.12,1.92,0.00,0.000,4,0.148,0.025,2349,1163,3597,0,0,0,0,0,0,26.22,26.20,28.83
$GC,7738,-0.54,-170.3,840.3,-10.9,663,7746,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2641,3596,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8046,-0.54,-170.3,867.3,-8.5,679,8052,0.00,2.17,0.00,0.000,4,0.000,0.027,2348,1164,3595,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8078,-0.54,-170.3,869.0,-8.5,680,8085,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2638,3595,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8386,-0.54,-170.3,896.4,-8.4,696,8389,0.00,1.75,0.00,0.000,4,0.000,0.055,2348,3765,3594,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8580,-0.54,-170.3,911.1,-8.4,705,8588,0.08,1.75,0.00,0.000,6,0.168,0.024,2328,2488,3593,0,0,0,0,0,0,26.16,26.40,28.83
$GC,8890,-0.54,-170.3,932.3,-6.3,721,8895,0.08,2.00,0.00,0.000,4,0.128,0.054,2358,3768,3592,0,0,0,0,0,0,26.51,25.72,28.83
$GC,9122,-0.54,-170.3,946.6,-6.7,732,9126,0.10,1.73,0.00,0.000,6,0.134,0.025,2320,2518,3590,0,0,0,0,0,0,26.13,26.39,28.83
$GC,9436,-0.54,-170.3,965.3,-5.9,748,9437,0.10,0.00,0.00,0.000,6,0.112,0.000,2359,2502,3589,0,0,0,0,0,0,26.45,28.83,28.83
$GC,9735,-0.54,-170.3,983.2,-6.3,763,9739,0.10,1.95,0.00,0.000,4,0.111,0.026,2313,1154,3588,0,0,0,0,0,0,26.46,26.14,28.83
$GC,9819,-0.54,-170.3,989.7,-7.9,767,9826,0.15,2.33,0.00,0.000,6,0.129,0.048,2352,2644,3588,0,0,0,0,0,0,25.63,25.80,28.83
$STATE,9836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9836,begin apogee
$GC,9842,-0.17,0.0,991.4,-8.1,768,10003,0.30,0.15,147.07,1.690,6,0.096,0.086,2465,2557,2928,0,0,0,0,0,0,25.93,24.46,22.65
$STATE,10003,end apogee,CONTROL_FINISHED_OK
$STATE,10004,begin climb
$GC,10006,0.54,170.3,999.9,0.0,776,10181,0.60,2.40,163.18,1.651,4,0.047,0.030,2722,1077,2233,0,0,0,0,0,0,25.10,24.16,22.13
$GC,10289,0.54,170.3,980.3,12.3,790,10295,0.15,2.30,0.00,0.000,6,0.164,0.048,2683,2539,2224,0,0,0,0,0,0,25.51,25.78,28.83
$GC,10603,0.54,170.3,943.4,11.6,806,10609,0.00,1.90,0.00,0.000,4,0.000,0.057,2683,3763,2221,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10633,0.54,170.3,940.8,11.9,807,10636,0.00,1.88,0.00,0.000,6,0.000,0.024,2692,2470,2220,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10938,0.54,170.3,902.0,12.2,822,10944,0.00,2.05,0.00,0.000,4,0.000,0.057,2692,3767,2219,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10971,0.54,170.3,899.4,12.5,823,10980,0.10,1.88,0.00,0.000,6,0.207,0.024,2679,2470,2218,0,0,0,0,0,0,25.93,26.31,28.83
$GC,11279,0.54,170.3,860.8,12.3,839,11284,0.00,2.03,0.00,0.000,4,0.000,0.054,2679,3765,2217,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11301,0.54,170.3,858.1,12.5,840,11305,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2464,2217,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11622,0.54,170.3,818.7,11.9,856,11628,0.00,2.03,0.00,0.000,4,0.000,0.056,2688,3755,2216,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11660,0.54,170.3,813.1,12.6,858,11666,0.08,1.88,0.00,0.000,6,0.223,0.024,2683,2463,2216,0,0,0,0,0,0,26.02,26.32,28.83
$GC,11980,0.54,170.3,776.7,10.9,874,11986,0.00,2.05,0.00,0.000,4,0.000,0.055,2683,3762,2215,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12009,0.54,170.3,774.4,10.9,875,12013,0.00,1.88,0.00,0.000,6,0.000,0.024,2692,2462,2215,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12315,0.54,170.3,740.5,10.8,890,12319,0.00,2.08,0.00,0.000,4,0.000,0.056,2692,3772,2215,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,20375,end climb,SURFACE_DEPTH_REACHED
$STATE,20375,begin surface coast
$FINISH,0.7,1.006806
$STATE,20419,end surface coast,CONTROL_FINISHED_OK
$STATE,20419,begin surface
$SM_CCo,20495,0.00,0.000,0,0,510,593.38
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$IRIDIUM_FIX,1805.50,12337.00,230612,080859
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,22.1,101.301
$10V_AH,9.8,61.942
$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,20.600,194.800,561.350,0.000,0.000,27.504,19.550,256.438,0.000,0.000,13.808,4620.458,11109.987,689.406,3980.557,521.557,0.000,2527.717,0.000,3247.312,0.000,0.883,0.000
$DEVICE_MAMPS,231.030,85.680,1689.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1232.937,2562.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,136857,1815
$CAP_FILE_SIZE,230627,0
$CFSIZE,260165632,173223936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 69.0,1
$GPS,230612,194424,1814.929,12336.677,37,1.3,37,-2.0