version: 66.10
glider: 176
mission: 5
dive: 368
start: 5 27 112 22 39 5
data:
$ID,176
$MISSION,5
$DIVE,368
$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,420
$T_MISSION,480
$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,-8004.314
$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,2600
$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,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
$GPS1,270512,223031,1935.641,12414.491,40,1.6,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.2
$GPS2,270512,223838,1935.572,12414.435,15,0.9,15,-2.4
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,DOGLEG
$TGT_LATLONG,1930.000,12425.000
$TGT_RADIUS,10000.000
$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,103.3,21135,-12.5,-7.857
$D_GRID,5670
$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,-0.52,-170.3,0.0,0.0,0,71,0.00,0.00,-52.62,0.000,2,0.000,0.000,177,2625,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.52,-170.3,3.5,-7.1,9,113,8.75,2.22,-22.70,0.000,4,0.230,0.041,2344,1135,3626,0,0,0,0,0,0,25.08,26.25,26.67
$GC,145,-0.52,-170.3,25.3,-34.3,18,153,0.08,2.25,0.00,0.000,6,0.200,0.042,2351,2626,3627,0,0,0,0,0,0,25.98,26.14,28.83
$GC,474,-0.52,-170.3,100.6,-24.3,79,480,0.00,2.10,0.00,0.000,4,0.000,0.026,2352,1144,3627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,538,-0.52,-170.3,113.1,-16.7,91,545,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2618,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,848,-0.52,-170.3,176.4,-19.2,152,856,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1143,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,944,-0.52,-170.3,189.9,-11.4,170,951,0.00,2.22,0.00,0.000,6,0.000,0.042,2345,2626,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1259,-0.52,-170.3,236.8,-14.1,208,1262,0.00,2.12,0.00,0.000,4,0.000,0.026,2346,1142,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1291,-0.52,-170.3,241.1,-14.2,211,1295,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2617,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1602,-0.52,-170.3,284.6,-14.5,242,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2617,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1905,-0.52,-170.3,329.2,-15.5,272,1914,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1139,3625,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1939,-0.52,-170.3,333.9,-13.9,275,1946,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2629,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2247,-0.52,-170.3,368.0,-9.9,306,2256,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1136,3623,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2298,-0.52,-170.3,372.6,-9.0,311,2307,0.00,2.25,0.00,0.000,6,0.000,0.043,2344,2629,3623,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2608,-0.52,-170.3,406.1,-11.0,342,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-0.52,-170.3,438.6,-10.0,372,2919,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1137,3620,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2931,-0.52,-170.3,440.9,-9.6,374,2940,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2617,3619,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3243,-0.52,-170.3,473.0,-10.4,405,3247,0.00,1.77,0.00,0.000,4,0.000,0.056,2344,3768,3617,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3267,-0.52,-170.3,475.5,-10.7,407,3274,0.00,1.75,0.00,0.000,6,0.000,0.021,2344,2454,3617,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3575,-0.52,-170.3,507.1,-9.8,438,3584,0.00,2.03,0.00,0.000,4,0.000,0.053,2336,3766,3615,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3647,-0.52,-170.3,514.0,-9.4,445,3651,0.05,1.73,0.00,0.000,6,0.200,0.023,2355,2487,3614,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3959,-0.52,-170.3,536.4,-6.3,476,3969,0.05,2.03,0.00,0.000,4,0.173,0.053,2286,3770,3612,0,0,0,0,0,0,26.63,26.08,28.83
$GC,4022,-0.52,-170.3,543.0,-11.7,482,4031,0.20,1.73,0.00,0.000,6,0.127,0.023,2351,2467,3611,0,0,0,0,0,0,26.08,26.56,28.83
$GC,4333,-0.52,-170.3,564.3,-6.6,513,4342,0.00,2.00,0.00,0.000,4,0.000,0.054,2344,3763,3609,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4375,-0.52,-170.3,567.4,-7.5,517,4378,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2498,3609,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4686,-0.52,-170.3,591.4,-7.6,548,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2453,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4986,-0.52,-170.3,615.1,-8.2,569,4992,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3769,3605,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5040,-0.52,-170.3,618.3,-8.1,571,5047,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2473,3604,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5346,-0.52,-170.3,644.7,-8.3,587,5351,0.00,2.00,0.00,0.000,4,0.000,0.054,2338,3764,3602,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5386,-0.52,-170.3,647.9,-8.1,589,5390,0.00,1.73,0.00,0.000,6,0.000,0.024,2338,2496,3601,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5709,-0.52,-170.3,673.0,-7.4,605,5714,0.00,2.00,0.00,0.000,4,0.000,0.055,2330,3768,3599,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5788,-0.52,-170.3,679.5,-8.1,609,5792,0.08,1.73,0.00,0.000,6,0.164,0.024,2355,2494,3598,0,0,0,0,0,0,26.31,26.54,28.83
$GC,6111,-0.52,-170.3,701.0,-7.0,625,6117,0.05,2.00,0.00,0.000,4,0.174,0.053,2292,3761,3597,0,0,0,0,0,0,26.61,25.98,28.83
$GC,6182,-0.52,-170.3,707.4,-9.7,628,6191,0.12,1.75,0.00,0.000,6,0.096,0.024,2354,2497,3596,0,0,0,0,0,0,26.05,26.53,28.83
$GC,6490,-0.52,-170.3,732.6,-7.3,644,6496,0.05,1.98,0.00,0.000,4,0.172,0.053,2292,3762,3595,0,0,0,0,0,0,26.60,25.96,28.83
$GC,6519,-0.52,-170.3,734.3,-7.5,645,6524,0.20,1.73,0.00,0.000,6,0.123,0.024,2359,2491,3595,0,0,0,0,0,0,26.03,26.52,28.83
$GC,6825,-0.52,-170.3,755.4,-6.0,660,6832,0.08,2.00,0.00,0.000,4,0.129,0.054,2290,3765,3592,0,0,0,0,0,0,26.58,25.94,28.83
$GC,6869,-0.52,-170.3,759.3,-7.6,662,6875,0.20,1.75,0.00,0.000,6,0.123,0.024,2357,2479,3592,0,0,0,0,0,0,26.03,26.52,28.83
$GC,7188,-0.52,-170.3,781.2,-6.6,678,7194,0.08,2.00,0.00,0.000,4,0.129,0.054,2288,3765,3591,0,0,0,0,0,0,26.58,25.91,28.83
$GC,7216,-0.52,-170.3,782.8,-7.0,679,7220,0.20,1.75,0.00,0.000,6,0.125,0.024,2354,2480,3590,0,0,0,0,0,0,26.00,26.51,28.83
$GC,7524,-0.52,-170.3,805.1,-6.2,694,7530,0.05,2.00,0.00,0.000,4,0.173,0.055,2299,3768,3589,0,0,0,0,0,0,26.60,25.91,28.83
$GC,7577,-0.52,-170.3,808.5,-7.2,696,7586,0.17,1.75,0.00,0.000,6,0.125,0.024,2357,2487,3588,0,0,0,0,0,0,26.06,26.50,28.83
$GC,7884,-0.52,-170.3,826.6,-4.8,712,7888,0.08,2.00,0.00,0.000,4,0.127,0.055,2287,3773,3587,0,0,0,0,0,0,26.58,25.88,28.83
$GC,7934,-0.52,-170.3,830.2,-6.5,714,7939,0.20,1.75,0.00,0.000,6,0.125,0.024,2353,2478,3586,0,0,0,0,0,0,25.99,26.51,28.83
$GC,8243,-0.52,-170.3,847.3,-5.0,729,8247,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3767,3586,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8286,-0.52,-170.3,849.5,-5.0,731,8290,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2510,3585,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8608,-0.52,-170.3,868.5,-6.4,747,8613,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3766,3584,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8642,-0.52,-170.3,869.8,-6.4,748,8650,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2468,3584,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8947,-0.52,-170.3,891.8,-7.1,764,8953,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3766,3583,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8990,-0.52,-170.3,894.7,-7.1,766,8994,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2512,3582,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9309,-0.52,-170.3,915.0,-5.8,782,9313,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3762,3581,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9343,-0.52,-170.3,916.3,-5.7,783,9350,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2481,3581,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9652,-0.52,-170.3,933.2,-5.1,799,9657,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3755,3581,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9698,-0.52,-170.3,935.3,-5.1,801,9702,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2485,3580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10012,-0.52,-170.3,953.3,-5.9,817,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2483,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10312,-0.52,-170.3,972.8,-6.9,832,10316,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3769,3579,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10373,-0.52,-170.3,977.2,-6.9,835,10377,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2508,3578,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,10552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10552,begin apogee
$GC,10559,-0.17,0.0,991.1,-7.8,844,10716,0.32,0.08,146.10,1.717,6,0.089,0.096,2472,2442,2929,0,0,0,0,0,0,26.07,24.08,22.34
$STATE,10717,end apogee,CONTROL_FINISHED_OK
$STATE,10717,begin climb
$GC,10719,0.52,170.3,1001.6,0.0,852,10898,0.57,2.28,166.32,1.676,4,0.050,0.030,2712,1055,2232,0,0,0,0,0,0,24.60,23.75,21.87
$GC,11065,0.52,170.3,974.6,12.6,869,11070,0.15,2.28,0.00,0.000,6,0.168,0.048,2673,2516,2222,0,0,0,0,0,0,25.53,25.80,28.83
$GC,11379,0.52,170.3,936.0,12.0,885,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2516,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11679,0.52,170.3,900.6,11.5,900,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2516,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11979,0.52,170.3,866.7,11.4,915,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2516,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12278,0.52,170.3,833.0,11.4,930,12284,0.00,1.90,0.00,0.000,4,0.000,0.056,2673,3770,2217,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12311,0.52,170.3,830.6,11.6,931,12317,0.00,1.90,0.00,0.000,6,0.000,0.024,2683,2445,2217,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,21031,end climb,SURFACE_DEPTH_REACHED
$STATE,21032,begin surface coast
$FINISH,1.0,1.021615
$STATE,21078,end surface coast,CONTROL_FINISHED_OK
$STATE,21079,begin surface
$SM_CCo,21158,0.00,0.000,0,0,1087,452.09
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$IRIDIUM_FIX,1929.80,12413.78,270512,161610
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.30
$XPDR_PINGS,0
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$10V_AH,9.9,46.926
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,329612
$DATA_FILE_SIZE,143773,1929
$CAP_FILE_SIZE,226375,0
$CFSIZE,260165632,185806848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,193.4,1
$GPS,280512,043255,1933.538,12416.780,43,1.1,43,-2.4