version: 66.10
glider: 176
mission: 5
dive: 4
start: 3 14 112 11 28 41
data:
$ID,176
$MISSION,5
$DIVE,4
$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,-7361.1733
$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
$GPS1,140312,112414,2207.473,12237.608,8,1.1,8,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.4
$GPS2,140312,112814,2207.517,12237.555,9,1.2,9,-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,144.2,274057,-14.9,-10.000
$D_GRID,4371
$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,-0.61,-194.6,0.0,0.0,0,102,0.00,0.00,-82.72,0.000,2,0.000,0.000,194,2433,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.61,-194.6,3.8,-8.6,12,135,8.43,2.05,-15.27,0.000,4,0.245,0.054,2341,1053,3725,0,0,0,0,0,0,26.19,26.58,26.87
$GC,218,-0.58,-194.6,35.5,-18.3,30,229,0.08,2.22,0.00,0.000,6,0.136,0.050,2359,2514,3726,0,0,0,0,0,0,26.45,26.58,28.83
$GC,581,-0.50,-194.6,112.1,-18.0,91,588,0.10,1.88,0.00,0.000,4,0.182,0.056,2380,3765,3724,0,0,0,0,0,0,26.63,26.64,28.83
$GC,683,-0.50,-194.6,127.1,-11.8,108,692,0.03,1.88,0.00,0.000,6,0.120,0.028,2345,2428,3724,0,0,0,0,0,0,26.65,26.77,28.83
$GC,1045,-0.43,-194.6,194.3,-17.7,169,1052,0.17,2.03,0.00,0.000,4,0.147,0.055,2400,3766,3724,0,0,0,0,0,0,26.61,26.68,28.83
$GC,1147,-0.51,-194.6,205.3,-7.6,181,1156,0.10,1.85,0.00,0.000,6,0.106,0.028,2339,2410,3723,0,0,0,0,0,0,26.74,26.82,28.83
$GC,1455,-0.44,-194.6,253.2,-16.1,212,1457,0.20,0.00,0.00,0.000,6,0.135,0.000,2403,2408,3723,0,0,0,0,0,0,26.63,28.83,28.83
$GC,1757,-0.51,-194.6,285.0,-11.8,242,1768,0.10,2.03,0.00,0.000,4,0.105,0.055,2334,3763,3721,0,0,0,0,0,0,26.86,26.70,28.83
$GC,1886,-0.49,-194.6,305.5,-16.5,254,1895,0.17,1.85,0.00,0.000,6,0.127,0.028,2393,2415,3720,0,0,0,0,0,0,26.65,26.84,28.83
$GC,2193,-0.53,-194.6,341.3,-9.1,285,2202,0.10,2.03,0.00,0.000,4,0.103,0.055,2320,3765,3719,0,0,0,0,0,0,26.87,26.70,28.83
$GC,2258,-0.48,-194.6,349.8,-14.7,291,2265,0.22,1.85,0.00,0.000,6,0.121,0.028,2396,2416,3719,0,0,0,0,0,0,26.63,26.84,28.83
$GC,2565,-0.56,-194.6,375.3,-7.2,322,2570,0.12,2.05,0.00,0.000,4,0.088,0.056,2305,3771,3718,0,0,0,0,0,0,26.87,26.70,28.83
$GC,2618,-0.50,-194.6,382.0,-14.4,327,2628,0.22,1.85,0.00,0.000,6,0.127,0.028,2385,2426,3717,0,0,0,0,0,0,26.61,26.84,28.83
$GC,2928,-0.55,-194.6,408.4,-7.6,358,2933,0.10,2.03,0.00,0.000,4,0.105,0.055,2306,3769,3715,0,0,0,0,0,0,26.87,26.70,28.83
$GC,3003,-0.49,-194.6,418.6,-15.6,365,3011,0.25,1.85,0.00,0.000,6,0.120,0.028,2390,2420,3715,0,0,0,0,0,0,26.61,26.84,28.83
$GC,3311,-0.56,-194.6,445.7,-8.3,396,3321,0.12,2.03,-0.05,0.000,4,0.090,0.070,2292,3765,3734,0,0,0,0,0,0,26.86,26.68,25.44
$GC,3364,-0.52,-194.6,453.4,-15.7,401,3373,0.28,1.85,0.00,0.000,6,0.118,0.028,2386,2421,3734,0,0,0,0,0,0,26.60,26.83,28.83
$GC,3674,-0.60,-194.6,479.7,-7.5,432,3679,0.12,2.05,0.00,0.000,4,0.090,0.057,2290,3774,3732,0,0,0,0,0,0,26.84,26.67,28.83
$GC,3720,-0.56,-194.6,485.4,-13.9,436,3727,0.25,1.85,0.00,0.000,6,0.121,0.028,2374,2430,3732,0,0,0,0,0,0,26.60,26.82,28.83
$GC,4028,-0.62,-194.6,513.6,-8.3,467,4037,0.12,2.03,0.00,0.000,4,0.090,0.056,2278,3767,3730,0,0,0,0,0,0,26.85,26.67,28.83
$GC,4161,-0.55,-194.6,534.6,-17.1,480,4165,0.20,1.88,0.00,0.000,6,0.101,0.028,2369,2415,3729,0,0,0,0,0,0,26.57,26.84,28.83
$GC,4474,-0.61,-194.6,563.9,-8.9,511,4483,0.10,2.03,0.00,0.000,4,0.104,0.057,2288,3762,3727,0,0,0,0,0,0,26.86,26.65,28.83
$GC,4590,-0.56,-194.6,580.0,-14.6,522,4599,0.25,1.85,0.00,0.000,6,0.125,0.028,2372,2401,3726,0,0,0,0,0,0,26.56,26.83,28.83
$GC,4898,-0.64,-194.6,602.8,-6.3,551,4904,0.12,2.05,0.00,0.000,4,0.090,0.057,2274,3765,3724,0,0,0,0,0,0,26.85,26.64,28.83
$GC,5007,-0.56,-194.6,616.5,-14.8,556,5011,0.28,1.88,0.00,0.000,6,0.127,0.027,2366,2396,3724,0,0,0,0,0,0,26.53,26.84,28.83
$GC,5320,-0.63,-194.6,644.0,-8.7,572,5326,0.12,2.08,0.00,0.000,4,0.090,0.058,2277,3767,3722,0,0,0,0,0,0,26.84,26.63,28.83
$GC,5404,-0.59,-194.6,655.6,-14.6,576,5408,0.25,1.85,0.00,0.000,6,0.128,0.027,2361,2397,3720,0,0,0,0,0,0,26.52,26.84,28.83
$STATE,5434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5434,begin apogee
$GC,5439,-0.17,0.0,660.2,-14.6,578,5609,0.35,0.08,161.75,1.484,6,0.100,0.103,2492,2443,2928,0,0,0,0,0,0,26.60,24.91,24.00
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5610,begin climb
$GC,5612,0.61,194.6,669.0,0.0,586,5799,0.65,2.22,171.93,1.449,4,0.048,0.041,2769,1054,2134,0,0,0,0,0,0,25.25,25.00,23.99
$GC,5850,0.37,194.6,653.9,17.5,598,5856,0.40,2.30,0.00,0.000,6,0.184,0.047,2659,2519,2130,0,0,0,0,0,0,25.52,25.67,28.83
$GC,6157,0.31,194.6,616.4,10.2,613,6164,0.10,1.90,0.00,0.000,4,0.200,0.056,2633,3770,2127,0,0,0,0,0,0,26.17,26.23,28.83
$GC,6226,0.24,194.6,610.0,10.7,616,6230,0.12,1.90,0.00,0.000,6,0.185,0.030,2607,2454,2125,0,0,0,0,0,0,26.17,26.37,28.83
$GC,6533,0.45,331.8,590.5,5.2,639,6664,0.20,2.22,117.68,1.411,4,0.074,0.057,2709,3771,1575,0,0,0,0,0,0,26.51,24.99,24.04
$GC,6690,0.36,331.8,568.5,16.7,654,6698,0.20,2.00,0.00,0.000,6,0.138,0.030,2644,2453,1575,0,0,0,0,0,0,25.41,25.56,28.83
$GC,6998,0.50,406.9,542.9,7.4,685,7069,0.17,0.00,64.55,1.382,6,0.076,0.000,2732,2449,1269,0,0,0,0,0,0,26.30,28.83,24.15
$GC,7369,0.43,406.9,476.1,17.6,722,7378,0.17,2.05,0.00,0.000,4,0.160,0.054,2675,3776,1265,0,0,0,0,0,0,26.08,26.17,28.83
$GC,7434,0.48,406.9,468.0,11.1,728,7441,0.08,1.92,0.00,0.000,6,0.132,0.031,2721,2442,1265,0,0,0,0,0,0,26.24,26.31,28.83
$GC,7742,0.44,406.9,423.5,15.2,759,7752,0.12,2.03,0.00,0.000,4,0.165,0.041,2687,1058,1264,0,0,0,0,0,0,26.34,26.44,28.83
$GC,7785,0.48,406.9,418.7,11.1,763,7795,0.00,2.20,0.00,0.000,6,0.000,0.044,2687,2519,1262,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8095,0.50,406.9,384.9,11.3,794,8104,0.08,1.88,0.00,0.000,4,0.132,0.054,2734,3774,1263,0,0,0,0,0,0,26.60,26.49,28.83
$GC,8148,0.46,406.9,376.8,16.5,799,8158,0.17,1.90,0.00,0.000,6,0.150,0.032,2681,2459,1264,0,0,0,0,0,0,26.42,26.57,28.83
$GC,8458,0.50,406.9,343.0,11.9,830,8467,0.10,2.05,0.00,0.000,4,0.111,0.041,2734,1052,1263,0,0,0,0,0,0,26.65,26.60,28.83
$GC,8502,0.54,406.9,337.0,14.3,834,8510,0.10,2.20,0.00,0.000,6,0.152,0.046,2705,2518,1262,0,0,0,0,0,0,26.49,26.58,28.83
$GC,8810,0.54,406.9,289.1,15.4,865,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2518,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9113,0.55,406.9,244.0,14.6,895,9123,0.08,1.85,0.00,0.000,4,0.133,0.054,2751,3760,1263,0,0,0,0,0,0,26.73,26.62,28.83
$GC,9127,0.55,406.9,242.5,14.6,896,9136,0.12,1.90,0.00,0.000,6,0.131,0.029,2714,2445,1263,0,0,0,0,0,0,26.53,26.71,28.83
$GC,9435,0.55,406.9,201.5,10.5,927,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2442,1263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9773,0.57,406.9,165.6,11.7,985,9780,0.00,2.00,0.00,0.000,4,0.000,0.054,2713,3764,1264,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9822,0.62,406.9,159.3,12.9,993,9830,0.10,1.85,0.00,0.000,6,0.112,0.031,2775,2445,1264,0,0,0,0,0,0,26.67,26.73,28.83
$GC,10170,0.55,406.9,92.4,19.4,1054,10179,0.20,2.03,0.00,0.000,4,0.145,0.050,2707,3767,1264,0,0,0,0,0,0,26.56,26.67,28.83
$GC,10206,0.57,406.9,87.2,15.2,1059,10214,0.08,1.88,0.00,0.000,6,0.134,0.032,2752,2451,1265,0,0,0,0,0,0,26.67,26.75,28.83
$GC,10554,0.61,423.4,43.8,9.4,1120,10570,0.10,2.08,6.45,0.232,4,0.159,0.043,2721,1057,1201,0,0,0,0,0,0,26.70,26.70,26.36
$GC,10603,0.96,575.3,40.7,4.7,1127,10674,0.35,2.17,58.83,0.212,6,0.055,0.044,2875,2522,578,0,0,0,0,0,0,26.74,26.70,26.21
$STATE,10746,end climb,SURFACE_DEPTH_REACHED
$STATE,10746,begin surface coast
$FINISH,0.4,1.022722
$STATE,10759,end surface coast,CONTROL_FINISHED_OK
$STATE,10759,begin surface
$SM_CCo,10834,0.00,0.000,0,0,576,577.19
$SM_GC,1.17,6.62,0.00,0.00,0.035,0.000,0.000,204,2523,576,-7.22,0.65,577.19,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,2159.71,12218.82,140312,111113
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.0,3.317
$10V_AH,10.5,2.766
$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,23.300,95.625,581.175,0.000,0.000,0.000,0.000,0.000,0.250,0.000,12.509,2832.356,4729.742,667.094,2452.518,215.739,0.000,1808.071,0.000,2362.413,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,102.510,1484.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.367,1829.955,637.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,77047,1151
$CAP_FILE_SIZE,146117,0
$CFSIZE,260165632,221995008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,334.9,1
$GPS,140312,143024,2207.089,12238.062,24,0.9,41,-2.9