version: 66.10
glider: 176
mission: 5
dive: 63
start: 3 24 112 6 11 39
data:
$ID,176
$MISSION,5
$DIVE,63
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,360
$T_MISSION,400
$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,375
$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,-7465.0913
$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,2510
$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,2610
$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,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,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
$GPS1,240312,060430,2134.959,12242.272,36,0.9,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.5
$GPS2,240312,061113,2134.949,12242.078,10,1.1,16,-2.8
$SPEED_LIMITS,0.159,0.286
$TGT_NAME,DOGLEG
$TGT_LATLONG,2100.000,12250.000
$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,135.7,66159,-13.6,-9.167
$D_GRID,3702
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.58,-194.6,0.0,0.0,0,68,0.00,0.00,-49.45,0.000,2,0.000,0.000,182,2662,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.58,-194.6,3.1,-5.3,7,107,8.55,2.25,-20.85,0.000,4,0.243,0.043,2321,1153,3724,0,0,0,0,0,0,25.73,26.13,26.41
$GC,275,-0.58,-194.6,54.9,-25.5,41,283,0.08,2.28,0.00,0.000,6,0.200,0.049,2327,2630,3726,0,0,0,0,0,0,26.08,26.20,28.83
$GC,624,-0.58,-194.6,171.7,-34.1,102,633,0.00,2.15,0.00,0.000,4,0.000,0.028,2327,1158,3726,0,0,0,0,0,0,28.83,26.41,28.83
$GC,726,-0.58,-194.6,196.2,-17.8,119,732,0.00,2.25,0.00,0.000,6,0.000,0.049,2318,2632,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1036,-0.58,-194.6,281.3,-26.6,151,1044,0.00,2.12,0.00,0.000,4,0.000,0.027,2318,1147,3727,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1059,-0.58,-194.6,286.8,-26.6,153,1068,0.10,2.25,0.00,0.000,6,0.185,0.047,2332,2633,3727,0,0,0,0,0,0,26.31,26.46,28.83
$GC,1367,-0.58,-194.6,358.2,-20.5,184,1376,0.05,2.12,0.00,0.000,4,0.175,0.025,2285,1150,3726,0,0,0,0,0,0,26.64,26.56,28.83
$GC,1421,-0.58,-194.6,368.7,-20.2,189,1430,0.15,2.28,0.00,0.000,6,0.132,0.047,2340,2632,3727,0,0,0,0,0,0,26.34,26.50,28.83
$GC,1728,-0.58,-194.6,421.7,-14.1,220,1730,0.10,0.00,0.00,0.000,6,0.106,0.000,2276,2631,3726,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2031,-0.58,-194.6,489.2,-23.0,250,2040,0.15,2.08,0.00,0.000,4,0.174,0.026,2325,1162,3726,0,0,0,0,0,0,26.38,26.59,28.83
$GC,2155,-0.58,-194.6,504.8,-9.2,262,2164,0.00,2.20,0.00,0.000,6,0.000,0.047,2318,2627,3726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2462,-0.58,-194.6,550.9,-16.3,293,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2628,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-0.58,-194.6,599.5,-16.7,323,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2627,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.58,-194.6,646.1,-14.0,339,3078,0.00,2.12,0.00,0.000,4,0.000,0.028,2318,1152,3720,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3154,-0.58,-194.6,656.1,-12.2,343,3160,0.00,2.25,0.00,0.000,6,0.000,0.050,2317,2626,3720,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3474,-0.58,-194.6,698.1,-12.8,359,3477,0.00,1.70,0.00,0.000,4,0.000,0.060,2312,3764,3717,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3543,-0.58,-194.6,705.9,-13.0,362,3547,0.08,1.70,0.00,0.000,6,0.180,0.024,2333,2504,3716,0,0,0,0,0,0,26.51,26.72,28.83
$GC,3855,-0.58,-194.6,741.9,-11.4,378,3857,0.05,0.00,0.00,0.000,6,0.177,0.000,2290,2495,3714,0,0,0,0,0,0,26.73,28.83,28.83
$GC,4155,-0.58,-194.6,789.0,-15.6,393,4161,0.12,1.92,0.00,0.000,4,0.161,0.056,2322,3764,3712,0,0,0,0,0,0,26.47,26.53,28.83
$GC,4187,-0.58,-194.6,792.0,-15.6,394,4194,0.00,1.73,0.00,0.000,6,0.000,0.024,2322,2510,3711,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4495,-0.58,-194.6,830.4,-12.4,410,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2510,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4795,-0.58,-194.6,866.5,-11.7,425,4800,0.00,1.95,0.00,0.000,4,0.000,0.060,2317,3770,3706,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4895,-0.58,-194.6,877.5,-10.9,430,4899,0.00,1.73,0.00,0.000,6,0.000,0.025,2317,2509,3705,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5218,-0.58,-194.6,910.2,-9.9,446,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2496,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.58,-194.6,940.6,-10.3,461,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2496,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-0.58,-194.6,972.7,-11.1,476,5823,0.00,1.95,0.00,0.000,4,0.000,0.060,2317,3763,3699,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5864,-0.58,-194.6,977.2,-11.1,478,5867,0.00,1.73,0.00,0.000,6,0.000,0.024,2317,2499,3699,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5974,begin apogee
$GC,5979,-0.17,0.0,990.7,-11.3,484,6169,0.40,0.00,181.68,1.711,6,0.115,0.000,2459,2495,2929,0,0,0,0,0,0,26.39,28.83,23.63
$STATE,6170,end apogee,CONTROL_FINISHED_OK
$STATE,6170,begin climb
$GC,6172,0.58,194.6,1001.8,0.0,493,6390,0.68,2.15,208.80,1.687,4,0.051,0.054,2721,3760,2134,0,0,0,0,0,0,24.76,23.96,23.01
$GC,6455,0.58,194.6,974.7,20.0,507,6460,0.17,2.00,0.00,0.000,6,0.203,0.026,2691,2458,2131,0,0,0,0,0,0,24.70,24.96,28.83
$GC,6767,0.58,194.6,924.2,14.9,523,6773,0.00,2.10,0.00,0.000,4,0.000,0.034,2701,1047,2125,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6815,0.58,194.6,918.2,14.9,525,6819,0.00,2.33,0.00,0.000,6,0.000,0.047,2701,2519,2123,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7123,0.58,194.6,863.7,17.1,540,7128,0.00,1.92,0.00,0.000,4,0.000,0.057,2701,3762,2122,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7170,0.58,194.6,856.1,17.7,542,7174,0.10,1.92,0.00,0.000,6,0.220,0.026,2690,2445,2122,0,0,0,0,0,0,25.92,26.17,28.83
$GC,7482,0.58,194.6,800.5,19.1,558,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2441,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,0.58,194.6,747.4,16.6,573,7787,0.00,2.05,0.00,0.000,4,0.000,0.057,2690,3766,2118,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7806,0.58,194.6,743.4,16.9,574,7810,0.00,1.92,0.00,0.000,6,0.000,0.026,2699,2453,2119,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8124,0.58,194.6,692.2,15.2,590,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2449,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8425,0.58,194.6,649.9,14.0,605,8429,0.00,2.03,0.00,0.000,4,0.000,0.055,2700,3771,2118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8506,0.58,194.6,635.9,17.2,609,8511,0.10,1.92,0.00,0.000,6,0.220,0.025,2688,2421,2118,0,0,0,0,0,0,26.19,26.47,28.83
$GC,8819,0.58,194.6,590.9,14.9,627,8828,0.00,1.98,0.00,0.000,4,0.000,0.034,2698,1051,2117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8841,0.58,194.6,587.6,14.6,629,8850,0.00,2.22,0.00,0.000,6,0.000,0.047,2698,2515,2116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9151,0.58,194.6,539.5,13.9,660,9159,0.00,1.90,0.00,0.000,4,0.000,0.055,2698,3764,2116,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9305,0.58,194.6,515.5,16.9,675,9313,0.05,1.92,0.00,0.000,6,0.197,0.026,2692,2451,2117,0,0,0,0,0,0,26.27,26.53,28.83
$GC,9613,0.58,194.6,478.9,11.8,706,9622,0.00,2.03,0.00,0.000,4,0.000,0.037,2702,1058,2116,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9675,0.58,194.6,471.6,11.6,712,9684,0.00,2.22,0.00,0.000,6,0.000,0.043,2702,2528,2115,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9987,0.58,194.6,424.5,15.7,743,9996,0.00,1.88,0.00,0.000,4,0.000,0.053,2702,3767,2116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10030,0.58,194.6,416.8,18.0,747,10038,0.05,1.90,0.00,0.000,6,0.194,0.024,2696,2448,2116,0,0,0,0,0,0,26.31,26.59,28.83
$GC,10339,0.58,194.6,374.3,11.0,778,10342,0.00,2.03,0.00,0.000,4,0.000,0.052,2696,3773,2115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10372,0.58,194.6,370.1,12.5,781,10380,0.03,1.92,0.00,0.000,6,0.219,0.024,2696,2438,2116,0,0,0,0,0,0,26.41,26.59,28.83
$GC,10680,0.58,194.6,335.6,9.3,812,10689,0.00,2.00,0.00,0.000,4,0.000,0.035,2706,1051,2115,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10742,0.62,227.1,330.3,8.1,818,10776,0.00,2.22,28.27,1.258,6,0.000,0.042,2706,2523,2002,0,0,0,0,0,0,28.83,26.51,25.02
$GC,11078,0.62,227.1,291.5,13.5,851,11082,0.00,2.17,0.00,0.000,4,0.000,0.035,2717,1062,1999,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11114,0.62,227.1,287.3,13.1,854,11122,0.05,2.22,0.00,0.000,6,0.219,0.043,2705,2519,1997,0,0,0,0,0,0,26.08,26.17,28.83
$GC,11420,0.62,227.1,246.2,11.7,885,11429,0.00,1.90,0.00,0.000,4,0.000,0.052,2705,3771,1998,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11491,0.62,227.1,236.5,14.0,892,11495,0.00,1.92,0.00,0.000,6,0.000,0.025,2714,2437,1999,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11798,0.62,227.1,199.5,12.3,922,11807,0.00,2.05,0.00,0.000,4,0.000,0.051,2714,3759,1998,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11834,0.62,227.1,194.8,14.1,927,11841,0.10,1.88,0.00,0.000,6,0.200,0.026,2700,2447,1999,0,0,0,0,0,0,26.22,26.48,28.83
$GC,12193,0.66,258.5,159.1,8.2,988,12231,0.10,2.08,30.00,1.109,4,0.112,0.033,2760,1059,1873,0,0,0,0,0,0,26.55,25.88,25.06
$GC,12293,0.66,258.5,146.2,13.2,1003,12300,0.17,2.25,0.00,0.000,6,0.145,0.041,2709,2527,1870,0,0,0,0,0,0,25.86,25.98,28.83
$GC,12652,0.66,258.5,107.6,9.6,1064,12660,0.08,0.00,0.00,0.000,6,0.133,0.000,2757,2528,1870,0,0,0,0,0,0,26.34,28.83,28.83
$GC,13013,0.66,258.5,59.1,13.2,1125,13020,0.12,2.15,0.00,0.000,4,0.163,0.032,2727,1058,1871,0,0,0,0,0,0,26.26,26.40,28.83
$GC,13163,0.73,314.0,46.8,7.4,1150,13192,0.05,2.22,22.95,0.233,6,0.073,0.042,2785,2520,1647,0,0,0,0,0,0,26.36,26.42,25.98
$STATE,13398,end climb,SURFACE_DEPTH_REACHED
$STATE,13398,begin surface coast
$FINISH,0.8,1.010622
$STATE,13423,end surface coast,CONTROL_FINISHED_OK
$STATE,13423,begin surface
$SM_CCo,13438,23.30,0.135,0,0,1398,375.06
$SM_GC,1.08,6.43,0.15,23.30,0.034,0.080,0.135,199,2682,1398,-7.13,-0.62,375.06,0,0,0,0,0,0,26.43,26.45,26.15
$IRIDIUM_FIX,2127.21,12243.56,240312,020221
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.0,15.781
$10V_AH,10.3,9.869
$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,18.100,106.325,471.700,23.300,0.000,27.285,43.665,200.303,0.000,0.000,18.909,3000.359,7187.141,552.576,2824.957,282.221,0.000,1736.483,0.000,2465.522,0.000,0.540,0.000
$DEVICE_MAMPS,243.270,80.325,1711.305,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.839,1896.329,630.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,90289,1193
$CAP_FILE_SIZE,138247,0
$CFSIZE,260165632,217190400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,298.1,1
$GPS,240312,095704,2134.257,12242.459,11,3.2,30,-2.8