version: 66.10
glider: 176
mission: 5
dive: 5
start: 3 14 112 14 36 23
data:
$ID,176
$MISSION,5
$DIVE,5
$N_DIVES,10
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$D_ABORT,1010
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-7362.4321
$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,2540
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$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,0
$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,49
$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
$GPS1,140312,143024,2207.089,12238.062,24,0.9,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.7
$GPS2,140312,143556,2207.162,12238.031,13,0.9,13,-2.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,152.9,273020,-14.9,-10.000
$D_GRID,4501
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,96,0.00,0.00,-76.07,0.000,2,0.000,0.000,194,2528,2673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.61,-194.6,3.2,-6.6,11,134,8.43,2.12,-20.08,0.000,4,0.242,0.046,2342,1052,3723,0,0,0,0,0,0,25.96,26.36,26.65
$GC,212,-0.59,-194.6,32.1,-18.0,29,220,0.10,2.22,0.00,0.000,6,0.175,0.050,2360,2521,3724,0,0,0,0,0,0,26.26,26.37,28.83
$GC,578,-0.51,-194.6,113.6,-17.5,90,587,0.10,1.90,0.00,0.000,4,0.179,0.056,2379,3763,3723,0,0,0,0,0,0,26.49,26.50,28.83
$GC,663,-0.51,-194.6,124.7,-9.3,104,671,0.00,1.88,0.00,0.000,6,0.000,0.028,2379,2430,3723,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1018,-0.48,-194.6,169.4,-15.0,165,1025,0.00,2.03,0.00,0.000,4,0.000,0.056,2374,3765,3723,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1102,-0.48,-194.6,182.1,-13.7,179,1109,0.08,1.85,0.00,0.000,6,0.174,0.027,2395,2419,3723,0,0,0,0,0,0,26.56,26.73,28.83
$GC,1427,-0.51,-194.6,219.7,-11.4,222,1436,0.10,2.05,0.00,0.000,4,0.102,0.056,2322,3772,3723,0,0,0,0,0,0,26.78,26.63,28.83
$GC,1521,-0.47,-194.6,235.5,-17.5,231,1529,0.17,1.88,0.00,0.000,6,0.102,0.027,2399,2434,3723,0,0,0,0,0,0,26.58,26.76,28.83
$GC,1830,-0.51,-194.6,271.2,-10.3,262,1839,0.10,2.03,0.00,0.000,4,0.103,0.054,2321,3766,3722,0,0,0,0,0,0,26.80,26.65,28.83
$GC,1892,-0.44,-194.6,280.5,-16.3,268,1901,0.28,1.85,0.00,0.000,6,0.116,0.027,2414,2423,3722,0,0,0,0,0,0,26.59,26.78,28.83
$GC,2202,-0.53,-194.6,301.1,-6.2,299,2212,0.12,2.03,0.00,0.000,4,0.088,0.054,2318,3771,3721,0,0,0,0,0,0,26.82,26.67,28.83
$GC,2288,-0.49,-194.6,312.0,-14.7,307,2295,0.22,1.85,0.00,0.000,6,0.116,0.027,2395,2429,3721,0,0,0,0,0,0,26.62,26.79,28.83
$GC,2595,-0.55,-194.6,338.8,-8.4,338,2605,0.12,2.00,0.00,0.000,4,0.087,0.054,2295,3766,3721,0,0,0,0,0,0,26.83,26.68,28.83
$GC,2648,-0.49,-194.6,346.7,-16.2,343,2657,0.30,1.88,0.00,0.000,6,0.116,0.027,2397,2419,3721,0,0,0,0,0,0,26.60,26.79,28.83
$GC,2958,-0.55,-194.6,374.0,-9.4,374,2968,0.12,2.00,0.00,0.000,4,0.086,0.054,2293,3761,3719,0,0,0,0,0,0,26.84,26.67,28.83
$GC,3003,-0.51,-194.6,380.8,-15.8,378,3010,0.22,1.88,0.00,0.000,6,0.117,0.027,2386,2407,3719,0,0,0,0,0,0,26.58,26.82,28.83
$GC,3310,-0.56,-194.6,416.0,-10.6,409,3321,0.12,2.08,0.00,0.000,4,0.088,0.056,2290,3767,3718,0,0,0,0,0,0,26.83,26.67,28.83
$GC,3425,-0.50,-194.6,435.1,-17.5,420,3434,0.28,1.85,0.00,0.000,6,0.120,0.027,2389,2423,3718,0,0,0,0,0,0,26.60,26.82,28.83
$GC,3736,-0.56,-194.6,460.7,-8.1,451,3745,0.12,2.00,0.00,0.000,4,0.088,0.054,2292,3763,3716,0,0,0,0,0,0,26.84,26.68,28.83
$GC,3770,-0.56,-194.6,464.9,-11.3,454,3778,0.17,1.88,0.00,0.000,6,0.106,0.027,2370,2426,3716,0,0,0,0,0,0,26.61,26.82,28.83
$GC,4078,-0.61,-194.6,495.9,-8.7,485,4089,0.10,2.03,0.00,0.000,4,0.104,0.056,2287,3767,3715,0,0,0,0,0,0,26.84,26.67,28.83
$GC,4152,-0.54,-194.6,505.3,-13.9,492,4161,0.22,1.85,0.00,0.000,6,0.126,0.026,2370,2415,3714,0,0,0,0,0,0,26.60,26.82,28.83
$GC,4462,-0.58,-194.6,530.5,-8.3,523,4471,0.10,2.08,0.00,0.000,4,0.104,0.057,2287,3773,3713,0,0,0,0,0,0,26.83,26.67,28.83
$GC,4535,-0.49,-194.6,541.1,-15.6,530,4545,0.28,1.88,0.00,0.000,6,0.129,0.025,2385,2399,3713,0,0,0,0,0,0,26.57,26.82,28.83
$GC,4845,-0.57,-194.6,559.5,-5.8,561,4849,0.12,2.08,0.00,0.000,4,0.089,0.056,2289,3766,3711,0,0,0,0,0,0,26.83,26.66,28.83
$GC,4968,-0.53,-194.6,575.6,-13.9,573,4979,0.25,1.85,0.00,0.000,6,0.120,0.026,2379,2416,3711,0,0,0,0,0,0,26.60,26.82,28.83
$GC,5278,-0.61,-194.6,596.8,-6.3,604,5282,0.12,2.08,0.00,0.000,4,0.087,0.057,2287,3771,3709,0,0,0,0,0,0,26.82,26.65,28.83
$GC,5368,-0.54,-194.6,607.6,-14.3,610,5373,0.25,1.88,0.00,0.000,6,0.119,0.026,2373,2417,3709,0,0,0,0,0,0,26.59,26.81,28.83
$GC,5679,-0.62,-194.6,633.3,-7.5,625,5684,0.12,2.05,0.00,0.000,4,0.090,0.057,2279,3759,3707,0,0,0,0,0,0,26.82,26.65,28.83
$GC,5798,-0.58,-194.6,648.5,-12.9,631,5804,0.22,1.85,0.00,0.000,6,0.125,0.027,2361,2426,3706,0,0,0,0,0,0,26.58,26.81,28.83
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5981,-0.17,0.0,661.1,-6.5,640,6146,0.35,0.05,157.90,1.467,6,0.101,0.056,2493,2444,2928,0,0,0,0,0,0,26.63,24.75,23.92
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6149,0.61,194.6,667.0,0.0,648,6331,0.65,2.22,172.18,1.447,4,0.042,0.055,2768,3767,2134,0,0,0,0,0,0,25.11,24.81,23.87
$GC,6464,0.31,194.6,630.9,24.6,664,6471,0.52,1.92,0.00,0.000,6,0.194,0.028,2634,2443,2129,0,0,0,0,0,0,25.64,25.85,28.83
$GC,6781,0.29,194.6,594.7,10.4,682,6790,0.00,2.05,0.00,0.000,4,0.000,0.057,2635,3765,2124,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6873,0.22,194.6,584.0,11.8,691,6883,0.12,1.90,0.00,0.000,6,0.181,0.028,2607,2435,2123,0,0,0,0,0,0,26.15,26.34,28.83
$GC,7184,0.38,303.5,561.1,6.2,722,7283,0.20,0.00,93.75,1.405,6,0.073,0.000,2707,2435,1690,0,0,0,0,0,0,26.46,28.83,24.02
$GC,7584,0.29,303.5,504.5,16.4,762,7593,0.25,2.08,0.00,0.000,4,0.159,0.054,2629,3769,1684,0,0,0,0,0,0,25.99,26.08,28.83
$GC,7688,0.40,334.3,493.7,8.9,772,7720,0.08,1.90,26.30,1.339,6,0.065,0.028,2694,2424,1565,0,0,0,0,0,0,26.22,26.26,24.63
$GC,8021,0.35,334.3,444.4,15.9,805,8026,0.15,2.03,0.00,0.000,4,0.158,0.038,2653,1061,1562,0,0,0,0,0,0,26.09,26.20,28.83
$GC,8075,0.43,334.3,437.9,10.9,810,8084,0.08,2.20,0.00,0.000,6,0.060,0.044,2715,2511,1560,0,0,0,0,0,0,26.22,26.23,28.83
$GC,8384,0.35,334.3,383.5,17.0,841,8388,0.20,1.90,0.00,0.000,4,0.157,0.054,2650,3764,1560,0,0,0,0,0,0,26.26,26.35,28.83
$GC,8458,0.41,334.3,374.5,10.4,848,8466,0.05,1.92,0.00,0.000,6,0.082,0.029,2700,2438,1560,0,0,0,0,0,0,26.37,26.46,28.83
$GC,8767,0.39,334.3,333.4,12.5,879,8776,0.12,2.03,0.00,0.000,4,0.158,0.038,2665,1052,1559,0,0,0,0,0,0,26.40,26.51,28.83
$GC,8812,0.47,360.7,329.5,9.1,883,8841,0.10,2.22,22.67,1.242,6,0.105,0.045,2727,2524,1457,0,0,0,0,0,0,26.48,26.49,25.00
$GC,9139,0.40,360.7,282.0,15.2,916,9143,0.20,1.90,0.00,0.000,4,0.152,0.054,2662,3775,1455,0,0,0,0,0,0,26.18,26.27,28.83
$GC,9191,0.45,371.3,276.4,9.6,921,9212,0.10,1.90,10.18,1.146,6,0.106,0.029,2717,2438,1414,0,0,0,0,0,0,26.33,26.37,25.14
$GC,9511,0.42,371.3,232.5,15.6,953,9515,0.15,2.03,0.00,0.000,4,0.149,0.039,2667,1063,1414,0,0,0,0,0,0,26.25,26.36,28.83
$GC,9566,0.58,413.7,227.4,8.5,958,9613,0.20,2.20,36.55,1.183,6,0.067,0.043,2772,2520,1241,0,0,0,0,0,0,26.41,26.37,24.70
$GC,9939,0.49,413.7,148.5,20.6,1014,9949,0.25,1.92,0.00,0.000,4,0.150,0.052,2692,3763,1240,0,0,0,0,0,0,26.13,26.20,28.83
$GC,9986,0.53,413.7,141.1,12.7,1021,9995,0.10,1.90,0.00,0.000,6,0.107,0.029,2746,2447,1239,0,0,0,0,0,0,26.26,26.31,28.83
$GC,10339,0.51,413.7,86.0,12.9,1082,10349,0.15,2.08,0.00,0.000,4,0.147,0.038,2704,1054,1239,0,0,0,0,0,0,26.35,26.45,28.83
$GC,10363,0.54,413.7,83.5,11.1,1085,10372,0.05,2.20,0.00,0.000,6,0.173,0.042,2742,2520,1239,0,0,0,0,0,0,26.39,26.44,28.83
$GC,10713,0.59,413.7,47.2,11.4,1146,10723,0.10,2.17,0.00,0.000,4,0.163,0.037,2718,1065,1240,0,0,0,0,0,0,26.49,26.55,28.83
$GC,10749,0.79,466.3,44.4,8.2,1151,10779,0.22,2.17,21.17,0.230,6,0.070,0.041,2826,2525,1025,0,0,0,0,0,0,26.57,26.54,26.19
$STATE,10951,end climb,SURFACE_DEPTH_REACHED
$STATE,10951,begin surface coast
$FINISH,0.5,1.008709
$STATE,10967,end surface coast,CONTROL_FINISHED_OK
$STATE,10967,begin surface
$SM_CCo,11043,0.00,0.000,0,0,1022,468.03
$SM_GC,1.36,6.45,0.08,0.00,0.031,0.105,0.000,206,2435,1022,-7.22,0.42,468.03,0,0,0,0,0,0,26.52,26.63,28.83
$IRIDIUM_FIX,2159.71,12223.99,140312,111102
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.19
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,23.9,3.535
$10V_AH,10.4,2.884
$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,23.825,103.950,540.700,0.000,0.000,28.609,20.721,162.717,0.250,0.000,16.604,2950.215,4708.985,635.355,2808.028,259.118,0.000,1825.507,0.000,2484.564,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,104.805,1467.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.698,1905.467,672.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,80307,1188
$CAP_FILE_SIZE,144131,0
$CFSIZE,260165632,221913088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,  9.4,1
$GPS,140312,174122,2206.687,12238.953,7,3.9,26,-2.9