version: 66.10
glider: 176
mission: 5
dive: 480
start: 6 23 112 19 53 12
data:
$ID,176
$MISSION,5
$DIVE,480
$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,-8235.0557
$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
$GPS1,230612,194424,1814.929,12336.677,37,1.3,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.8
$GPS2,230612,195244,1815.057,12336.812,14,1.2,14,-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,252.8,144505,-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,13,begin dive
$GC,16,-0.54,-170.3,0.0,0.0,0,82,0.00,0.00,-63.47,0.000,2,0.000,0.000,179,2698,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.54,-170.3,3.1,-6.5,11,134,8.77,2.25,-29.58,0.000,4,0.229,0.041,2338,1177,3626,0,0,0,0,0,0,25.00,26.27,26.73
$GC,236,-0.54,-170.3,40.4,-22.5,33,244,0.00,2.22,0.00,0.000,6,0.000,0.044,2336,2649,3626,0,0,0,0,0,0,28.83,26.16,28.83
$GC,551,-0.54,-170.3,140.4,-29.1,94,557,0.00,2.12,0.00,0.000,4,0.000,0.025,2336,1149,3625,0,0,0,0,0,0,28.83,26.40,28.83
$GC,597,-0.54,-170.3,150.2,-19.4,102,603,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2644,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,924,-0.54,-170.3,218.3,-16.8,156,932,0.00,2.08,0.00,0.000,4,0.000,0.025,2334,1171,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,947,-0.54,-170.3,221.7,-16.0,158,955,0.05,2.22,0.00,0.000,6,0.134,0.041,2346,2635,3625,0,0,0,0,0,0,26.03,26.22,28.83
$GC,1255,-0.54,-170.3,267.9,-14.1,189,1258,0.00,1.70,0.00,0.000,4,0.000,0.051,2338,3769,3625,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1300,-0.54,-170.3,273.6,-13.9,193,1308,0.00,1.67,0.00,0.000,6,0.000,0.022,2338,2534,3625,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1606,-0.54,-170.3,308.8,-11.5,224,1614,0.00,1.92,0.00,0.000,4,0.000,0.024,2338,1153,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1669,-0.54,-170.3,315.2,-9.8,230,1677,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2642,3624,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1978,-0.54,-170.3,358.0,-14.1,261,1982,0.00,1.70,0.00,0.000,4,0.000,0.054,2335,3769,3622,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2042,-0.54,-170.3,366.2,-12.6,267,2046,0.00,1.70,0.00,0.000,6,0.000,0.022,2335,2516,3622,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2354,-0.54,-170.3,402.4,-10.9,298,2362,0.00,1.90,0.00,0.000,4,0.000,0.024,2334,1148,3619,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2395,-0.54,-170.3,406.6,-10.1,302,2404,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2647,3619,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2705,-0.54,-170.3,437.5,-9.8,333,2714,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1149,3616,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2737,-0.54,-170.3,440.3,-9.2,336,2746,0.00,2.28,0.00,0.000,6,0.000,0.044,2333,2646,3616,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3047,-0.54,-170.3,469.1,-9.5,367,3057,0.00,2.15,-0.10,0.000,4,0.000,0.035,2334,1155,3645,0,0,0,0,0,0,28.83,26.35,25.95
$GC,3110,-0.54,-170.3,474.9,-8.7,373,3120,0.00,2.28,0.00,0.000,6,0.000,0.044,2333,2641,3645,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3420,-0.54,-170.3,506.4,-10.7,404,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2641,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3723,-0.54,-170.3,535.0,-9.1,434,3732,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1156,3638,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3789,-0.54,-170.3,540.1,-7.5,440,3797,0.05,2.25,0.00,0.000,6,0.214,0.044,2349,2635,3638,0,0,0,0,0,0,26.02,26.10,28.83
$GC,4095,-0.54,-170.3,560.3,-6.3,471,4104,0.05,2.15,0.00,0.000,4,0.174,0.023,2292,1147,3635,0,0,0,0,0,0,26.57,26.34,28.83
$GC,4119,-0.54,-170.3,561.9,-6.7,473,4129,0.15,2.28,0.00,0.000,6,0.107,0.045,2349,2638,3635,0,0,0,0,0,0,25.83,26.08,28.83
$GC,4427,-0.54,-170.3,582.3,-6.7,504,4431,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1158,3632,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4452,-0.54,-170.3,583.8,-6.8,506,4459,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2646,3632,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4760,-0.54,-170.3,606.1,-7.5,533,4766,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1151,3630,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4787,-0.54,-170.3,607.7,-7.5,534,4791,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2635,3629,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5095,-0.54,-170.3,628.9,-6.5,549,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2635,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.54,-170.3,646.7,-5.8,564,5399,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1158,3623,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5443,-0.54,-170.3,649.0,-5.8,566,5452,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2638,3623,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5755,-0.54,-170.3,667.7,-5.9,582,5760,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1153,3621,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5787,-0.54,-170.3,668.9,-6.1,583,5794,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2635,3621,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6095,-0.54,-170.3,688.6,-6.0,599,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6395,-0.54,-170.3,706.9,-6.3,614,6400,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1159,3617,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6422,-0.54,-170.3,708.3,-6.4,615,6426,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2635,3617,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6731,-0.54,-170.3,727.5,-6.1,630,6735,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1154,3614,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6757,-0.54,-170.3,729.0,-6.1,631,6761,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2639,3614,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7070,-0.54,-170.3,747.3,-5.6,647,7074,0.00,1.75,0.00,0.000,4,0.000,0.059,2348,3764,3613,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7092,-0.54,-170.3,748.5,-5.6,648,7095,0.00,1.70,0.00,0.000,6,0.000,0.024,2347,2511,3612,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7413,-0.54,-170.3,765.4,-5.3,664,7418,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3765,3611,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7442,-0.54,-170.3,766.5,-5.3,665,7446,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2516,3610,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7754,-0.54,-170.3,784.9,-5.7,681,7759,0.00,2.00,0.00,0.000,4,0.000,0.057,2347,3766,3609,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7793,-0.54,-170.3,787.2,-5.8,683,7797,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2515,3609,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8116,-0.54,-170.3,806.3,-5.8,699,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2487,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8415,-0.54,-170.3,823.5,-5.7,714,8421,0.00,1.98,0.00,0.000,4,0.000,0.057,2347,3755,3606,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8458,-0.54,-170.3,825.8,-5.8,716,8461,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2512,3606,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8776,-0.54,-170.3,844.4,-5.6,732,8782,0.00,1.90,0.00,0.000,4,0.000,0.026,2348,1156,3605,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8858,-0.54,-170.3,849.2,-5.9,736,8862,0.00,2.30,0.00,0.000,6,0.000,0.046,2347,2640,3604,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9172,-0.54,-170.3,866.2,-5.6,752,9175,0.00,1.73,0.00,0.000,4,0.000,0.057,2347,3764,3603,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9296,-0.54,-170.3,873.3,-5.9,758,9300,0.00,1.73,0.00,0.000,6,0.000,0.026,2347,2526,3602,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9615,-0.54,-170.3,894.2,-6.8,774,9620,0.00,1.98,0.00,0.000,4,0.000,0.057,2347,3759,3601,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9782,-0.54,-170.3,906.4,-8.0,782,9786,0.08,1.73,0.00,0.000,6,0.158,0.024,2325,2516,3601,0,0,0,0,0,0,26.17,26.39,28.83
$GC,10096,-0.54,-170.3,930.4,-7.4,798,10102,0.08,1.92,0.00,0.000,4,0.129,0.024,2353,1157,3600,0,0,0,0,0,0,26.51,26.19,28.83
$GC,10128,-0.54,-170.3,931.9,-7.4,799,10135,0.08,2.30,0.00,0.000,6,0.125,0.045,2320,2644,3600,0,0,0,0,0,0,25.79,25.82,28.83
$GC,10436,-0.54,-170.3,955.7,-7.4,815,10442,0.10,2.15,0.00,0.000,4,0.138,0.024,2356,1156,3599,0,0,0,0,0,0,26.39,26.17,28.83
$GC,10455,-0.54,-170.3,957.1,-7.4,816,10462,0.08,2.30,0.00,0.000,6,0.125,0.045,2320,2636,3599,0,0,0,0,0,0,25.79,25.82,28.83
$GC,10778,-0.54,-170.3,979.9,-6.9,832,10784,0.10,2.15,0.00,0.000,4,0.138,0.024,2356,1156,3598,0,0,0,0,0,0,26.39,26.17,28.83
$GC,10797,-0.54,-170.3,981.5,-6.9,833,10804,0.08,2.30,0.00,0.000,6,0.127,0.044,2321,2636,3598,0,0,0,0,0,0,25.77,25.80,28.83
$STATE,10935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10935,begin apogee
$GC,10942,-0.17,0.0,990.6,-6.6,840,11100,0.40,0.15,149.73,1.694,6,0.084,0.085,2473,2553,2928,0,0,0,0,0,0,25.89,24.36,22.56
$STATE,11101,end apogee,CONTROL_FINISHED_OK
$STATE,11101,begin climb
$GC,11103,0.54,170.3,998.2,0.0,848,11281,0.60,2.42,165.68,1.648,4,0.052,0.028,2718,1073,2232,0,0,0,0,0,0,24.83,23.89,21.87
$GC,11451,0.54,170.3,966.6,13.3,865,11456,0.15,2.30,0.00,0.000,6,0.164,0.047,2679,2542,2221,0,0,0,0,0,0,25.60,25.88,28.83
$GC,11760,0.54,170.3,926.7,12.9,880,11765,0.00,2.12,0.00,0.000,4,0.000,0.029,2689,1069,2218,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11791,0.54,170.3,924.1,13.0,881,11798,0.00,2.28,0.00,0.000,6,0.000,0.047,2689,2535,2216,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12100,0.54,170.3,882.1,12.9,897,12105,0.00,1.92,0.00,0.000,4,0.000,0.059,2690,3769,2216,0,0,0,0,0,0,28.83,25.89,28.83
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$GC,20758,1.04,575.4,49.5,4.5,1786,20815,0.15,2.25,48.80,0.228,4,0.076,0.031,2911,1078,580,0,0,0,0,0,0,26.51,26.13,25.22
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$STATE,21221,end climb,SURFACE_DEPTH_REACHED
$STATE,21221,begin surface coast
$FINISH,0.6,1.007590
$STATE,21278,end surface coast,CONTROL_FINISHED_OK
$STATE,21279,begin surface
$SM_CCo,21354,0.00,0.000,0,0,575,577.19
$SM_GC,1.48,6.53,0.12,0.00,0.030,0.090,0.000,185,2679,575,-7.15,-0.51,577.19,0,0,0,0,0,0,26.30,26.50,28.83
$IRIDIUM_FIX,1810.04,12335.11,230612,131355
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.17
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.20
$XPDR_PINGS,2
$24V_AH,21.9,101.529
$10V_AH,9.8,62.086
$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,19.875,215.600,570.325,0.000,0.000,28.397,44.658,261.724,0.500,0.000,17.595,4754.891,11822.876,740.780,3961.235,537.025,0.000,2605.964,0.000,3276.683,0.000,0.543,0.000
$DEVICE_MAMPS,255.510,90.270,1693.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1278.591,2572.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,140734,1882
$CAP_FILE_SIZE,235686,0
$CFSIZE,260165632,173092864
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 80.3,1
$GPS,240612,015007,1814.900,12337.130,32,0.9,32,-2.0