version: 66.10
glider: 176
mission: 5
dive: 86
start: 3 28 112 3 8 44
data:
$ID,176
$MISSION,5
$DIVE,86
$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,-7536.479
$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,450
$C_ROLL_CLIMB,3350
$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
$GPS1,280312,030136,2108.167,12246.839,34,1.0,34,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.1
$GPS2,280312,030819,2108.121,12246.674,8,1.0,14,-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,117.0,16103,-15.9,-10.667
$D_GRID,3112
$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,-194.6,0.0,0.0,0,66,0.00,0.00,-47.12,0.000,2,0.000,0.000,190,2671,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.64,-194.6,3.4,-7.8,8,107,8.43,3.80,-22.02,0.000,4,0.241,0.041,2309,146,3725,0,0,0,0,0,0,25.67,26.08,26.46
$GC,165,-0.64,-194.6,28.4,-20.0,25,172,0.00,0.47,0.00,0.000,6,0.000,0.042,2307,503,3726,0,0,0,0,0,0,28.83,26.25,28.83
$GC,477,-0.64,-194.6,78.4,-14.6,86,486,0.00,2.05,0.00,0.000,4,0.000,0.043,2304,1887,3726,0,0,0,0,0,0,28.83,26.32,28.83
$GC,549,-0.64,-194.6,93.8,-27.1,99,556,0.00,2.12,0.00,0.000,6,0.000,0.031,2304,411,3726,0,0,0,0,0,0,28.83,26.38,28.83
$GC,861,-0.64,-194.6,144.2,-12.9,160,867,0.00,0.38,0.00,0.000,4,0.000,0.053,2304,128,3727,0,0,0,0,0,0,28.83,26.48,28.83
$GC,945,-0.64,-194.6,155.1,-13.1,176,951,0.00,0.50,0.00,0.000,6,0.000,0.043,2304,505,3726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1258,-0.64,-194.6,197.6,-14.8,237,1264,0.00,2.05,0.00,0.000,4,0.000,0.044,2304,1895,3727,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1493,-0.64,-194.6,249.6,-21.7,262,1503,0.00,2.12,0.00,0.000,6,0.000,0.031,2304,423,3727,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1805,-0.64,-194.6,291.2,-11.9,293,1814,0.00,2.15,0.00,0.000,4,0.000,0.042,2303,1885,3727,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2030,-0.64,-194.6,328.8,-20.3,315,2038,0.00,2.15,0.00,0.000,6,0.000,0.032,2303,416,3727,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2340,-0.64,-194.6,371.4,-13.7,346,2343,0.00,0.38,0.00,0.000,4,0.000,0.053,2303,132,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2421,-0.64,-194.6,382.5,-13.3,354,2425,0.00,0.50,0.00,0.000,6,0.000,0.041,2303,506,3726,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,2560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2560,begin apogee
$GC,2570,-0.17,0.0,400.7,-12.3,368,2735,0.45,0.00,157.40,1.258,6,0.133,0.000,2456,3369,2929,0,0,0,0,0,0,26.30,28.83,24.21
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin climb
$GC,2738,0.64,194.6,409.5,0.0,385,2915,0.73,0.65,168.95,1.245,4,0.056,0.054,2735,3783,2134,0,0,0,0,0,0,25.15,24.78,24.01
$GC,3141,0.64,194.6,357.2,18.9,425,3149,0.12,0.70,0.00,0.000,6,0.190,0.028,2708,3200,2130,0,0,0,0,0,0,25.72,26.01,28.83
$GC,3449,0.64,194.6,315.4,11.3,456,3459,0.00,1.88,0.00,0.000,4,0.000,0.028,2718,1892,2126,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3486,0.64,194.6,311.4,11.9,459,3492,0.00,2.25,0.00,0.000,6,0.000,0.045,2718,3366,2125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3791,0.64,194.6,265.5,16.7,490,3794,0.00,0.57,0.00,0.000,4,0.000,0.059,2718,3771,2124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3835,0.64,194.6,258.2,18.1,494,3842,0.03,0.62,0.00,0.000,6,0.208,0.028,2712,3212,2124,0,0,0,0,0,0,26.30,26.51,28.83
$GC,4142,0.64,194.6,210.0,15.3,525,4151,0.00,1.88,0.00,0.000,4,0.000,0.027,2722,1893,2122,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4378,0.68,231.2,183.6,9.3,564,4417,0.00,2.25,30.38,1.115,6,0.000,0.047,2722,3375,1985,0,0,0,0,0,0,28.83,26.46,25.10
$GC,4721,0.68,231.2,139.2,12.2,630,4728,0.00,0.57,0.00,0.000,4,0.000,0.057,2722,3780,1980,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4867,0.68,231.2,119.9,13.0,658,4874,0.00,0.65,0.00,0.000,6,0.000,0.028,2726,3199,1980,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5178,0.69,239.5,82.9,10.4,719,5185,0.00,0.90,2.90,0.333,4,0.000,0.053,2726,3783,1950,0,0,0,0,0,0,28.83,26.42,25.89
$GC,5413,0.69,239.5,54.4,11.3,765,5420,0.00,0.65,0.00,0.000,6,0.000,0.028,2731,3222,1950,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5724,0.74,278.4,26.1,9.2,826,5746,0.08,0.85,15.98,0.186,4,0.135,0.054,2781,3777,1791,0,0,0,0,0,0,26.63,26.46,26.14
$STATE,5857,end climb,SURFACE_DEPTH_REACHED
$STATE,5857,begin surface coast
$FINISH,0.8,1.010605
$STATE,5874,end surface coast,CONTROL_FINISHED_OK
$STATE,5874,begin surface
$SM_CCo,5894,35.62,0.127,0,0,1398,375.06
$SM_GC,2.13,6.47,5.15,35.62,0.042,0.044,0.127,198,427,1398,-7.13,0.20,375.06,0,0,0,0,0,0,26.50,26.46,26.20
$IRIDIUM_FIX,2104.07,12245.64,270312,222238
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.71
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.0,20.500
$10V_AH,10.4,12.450
$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,16.300,42.700,375.600,35.625,0.000,27.959,42.796,198.869,0.000,0.000,16.833,2038.840,1880.200,449.694,1762.139,180.729,0.000,1227.957,0.000,1407.929,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,58.905,1257.660,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.615,883.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324412
$DATA_FILE_SIZE,63700,851
$CAP_FILE_SIZE,82000,0
$CFSIZE,260165632,215306240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.418,282.3,1
$GPS,280312,044834,2108.545,12245.156,9,3.7,28,-2.7