version: 66.10
glider: 176
mission: 5
dive: 84
start: 3 27 112 21 20 15
data:
$ID,176
$MISSION,5
$DIVE,84
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$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,125
$T_MISSION,140
$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,-7533.9746
$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,3
$C_ROLL_DIVE,3350
$C_ROLL_CLIMB,450
$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
$GPS1,270312,211330,2109.454,12247.506,53,1.0,53,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.2
$GPS2,270312,211950,2109.401,12247.465,11,1.3,11,-2.7
$SPEED_LIMITS,0.185,0.302
$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,136.6,17953,-15.9,-10.667
$D_GRID,3045
$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,-0.64,-194.6,0.0,0.0,0,65,0.00,0.00,-47.00,0.000,2,0.000,0.000,179,2659,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.64,-194.6,3.1,-4.0,8,106,8.40,0.95,-23.80,0.000,4,0.238,0.080,2304,3270,3725,0,0,0,0,0,0,25.63,26.13,26.46
$GC,255,-0.64,-194.6,69.0,-34.0,43,261,0.00,0.12,0.00,0.000,6,0.000,0.093,2303,3391,3725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,566,-0.64,-194.6,170.1,-29.6,104,573,0.00,0.22,0.00,0.000,4,0.000,0.045,2303,3169,3726,0,0,0,0,0,0,28.83,26.49,28.83
$GC,680,-0.64,-194.6,206.3,-32.2,125,683,0.00,0.28,0.00,0.000,6,0.000,0.063,2301,3373,3726,0,0,0,0,0,0,28.83,26.42,28.83
$GC,991,-0.64,-194.6,293.2,-23.9,156,994,0.00,0.20,0.00,0.000,4,0.000,0.049,2301,3178,3726,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1115,-0.64,-194.6,322.3,-25.0,168,1121,0.00,0.28,0.00,0.000,6,0.000,0.067,2299,3379,3726,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1422,-0.64,-194.6,388.0,-21.5,199,1425,0.00,0.20,0.00,0.000,4,0.000,0.054,2300,3187,3726,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1481,begin apogee
$GC,1490,-0.17,0.0,401.0,-21.8,205,1655,0.47,0.00,157.75,1.257,6,0.136,0.000,2457,431,2928,0,0,0,0,0,0,26.23,28.83,24.16
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1658,0.64,194.6,415.3,0.0,222,1837,0.73,0.22,168.12,1.252,4,0.070,0.054,2724,620,2134,0,0,0,0,0,0,25.06,24.71,23.92
$GC,2000,0.64,194.6,392.9,12.0,256,2004,0.05,0.28,0.00,0.000,6,0.156,0.053,2707,408,2130,0,0,0,0,0,0,25.60,25.79,28.83
$GC,2312,0.65,207.3,359.3,10.2,287,2327,0.08,0.12,11.35,1.127,4,0.134,0.095,2748,318,2083,0,0,0,0,0,0,26.23,25.88,25.02
$GC,2434,0.65,207.3,345.6,12.0,298,2442,0.10,0.20,0.00,0.000,6,0.129,0.057,2712,549,2082,0,0,0,0,0,0,25.95,26.15,28.83
$GC,2740,0.67,222.4,313.3,10.1,329,2760,0.08,0.00,14.18,1.141,6,0.135,0.000,2751,549,2021,0,0,0,0,0,0,26.36,28.83,25.14
$GC,3060,0.67,222.4,275.6,11.6,361,3064,0.12,0.32,0.00,0.000,4,0.153,0.044,2710,312,2018,0,0,0,0,0,0,26.17,26.29,28.83
$GC,3071,0.67,222.4,274.2,11.9,362,3075,0.05,0.22,0.00,0.000,6,0.080,0.052,2751,549,2018,0,0,0,0,0,0,26.23,26.36,28.83
$GC,3382,0.67,222.4,236.6,12.5,393,3386,0.12,0.32,0.00,0.000,4,0.152,0.042,2709,312,2017,0,0,0,0,0,0,26.29,26.41,28.83
$GC,3466,0.69,236.2,227.8,10.2,401,3485,0.10,0.25,12.43,1.095,6,0.111,0.051,2755,554,1965,0,0,0,0,0,0,26.39,26.50,25.31
$GC,3783,0.69,236.2,189.4,10.8,442,3791,0.12,0.32,0.00,0.000,4,0.150,0.041,2714,315,1962,0,0,0,0,0,0,26.26,26.39,28.83
$GC,3798,0.69,236.2,187.8,10.7,444,3805,0.05,0.20,0.00,0.000,6,0.081,0.057,2753,552,1962,0,0,0,0,0,0,26.32,26.44,28.83
$GC,4109,0.74,275.8,158.1,9.2,505,4145,0.00,0.00,34.50,1.105,6,0.000,0.000,2753,552,1804,0,0,0,0,0,0,28.83,28.83,25.00
$GC,4449,0.77,301.9,125.8,9.7,571,4463,0.00,0.00,11.43,0.959,4,0.000,0.000,2753,552,1697,0,0,0,0,0,0,28.83,28.83,25.21
$GC,4541,0.80,331.2,116.6,9.6,588,4561,0.05,0.15,12.73,0.931,6,0.083,0.075,2793,402,1577,0,0,0,0,0,0,26.08,26.18,25.15
$GC,4868,0.80,331.2,79.6,11.9,651,4875,0.12,0.00,0.00,0.000,6,0.142,0.000,2750,401,1573,0,0,0,0,0,0,26.21,28.83,28.83
$GC,5196,0.95,447.1,52.9,6.4,712,5246,0.17,0.12,45.62,0.239,4,0.080,0.095,2834,313,1103,0,0,0,0,0,0,26.46,26.18,25.89
$GC,5300,0.95,447.1,41.6,11.9,730,5307,0.08,0.22,0.00,0.000,6,0.099,0.053,2799,571,1099,0,0,0,0,0,0,26.21,26.37,28.83
$GC,5612,0.99,483.6,10.6,9.3,791,5632,0.12,0.35,12.70,0.148,4,0.097,0.044,2861,318,952,0,0,0,0,0,0,26.48,26.41,26.17
$STATE,5658,end climb,SURFACE_DEPTH_REACHED
$STATE,5658,begin surface coast
$FINISH,0.8,1.023475
$STATE,5691,end surface coast,CONTROL_FINISHED_OK
$STATE,5691,begin surface
$SM_CCo,5770,0.00,0.000,0,0,949,485.69
$SM_GC,1.70,6.85,4.72,0.00,0.053,0.047,0.000,188,3366,949,-7.14,-0.45,485.69,0,0,0,0,0,0,26.46,26.37,28.83
$IRIDIUM_FIX,2106.38,12248.84,270312,171751
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.86
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.9,20.167
$10V_AH,10.4,12.291
$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,17.875,14.450,480.800,0.000,0.000,28.000,19.022,200.480,0.000,0.000,14.430,1913.712,1950.792,463.500,1623.251,174.921,0.000,1202.952,0.000,1297.825,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,94.860,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.324,856.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324444
$DATA_FILE_SIZE,60329,805
$CAP_FILE_SIZE,80626,0
$CFSIZE,260165632,215457792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.338,263.7,1
$GPS,270312,225702,2109.329,12246.466,9,1.5,9,-2.7