version: 66.10
glider: 176
mission: 5
dive: 57
start: 3 23 112 7 16 1
data:
$ID,176
$MISSION,5
$DIVE,57
$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,300
$T_MISSION,340
$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,-7457.5425
$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,2600
$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
$GPS1,230312,070536,2140.129,12241.571,35,1.1,40,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.3
$GPS2,230312,071531,2140.305,12241.507,14,1.2,14,-2.8
$SPEED_LIMITS,0.191,0.305
$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,129.9,76076,-16.3,-11.000
$D_GRID,4509
$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,17,-0.65,-194.6,0.0,0.0,0,67,0.00,0.00,-47.95,0.000,2,0.000,0.000,191,2625,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.65,-194.6,3.0,-4.3,7,108,8.27,1.75,-20.30,0.000,4,0.237,0.065,2292,3767,3726,0,0,0,0,0,0,25.73,26.09,26.42
$GC,166,-0.65,-194.6,44.1,-49.5,20,176,0.03,1.75,0.00,0.000,6,0.209,0.024,2301,2516,3726,0,0,0,0,0,0,26.12,26.25,28.83
$GC,516,-0.65,-194.6,173.8,-33.8,81,525,0.00,1.92,0.00,0.000,4,0.000,0.025,2301,1143,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,558,-0.65,-194.6,185.9,-27.6,87,566,0.08,2.28,0.00,0.000,6,0.208,0.048,2308,2633,3727,0,0,0,0,0,0,26.21,26.35,28.83
$GC,877,-0.65,-194.6,277.1,-26.8,123,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2633,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1179,-0.65,-194.6,349.9,-22.5,153,1188,0.00,2.10,0.00,0.000,4,0.000,0.025,2308,1145,3727,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1200,-0.65,-194.6,354.6,-20.8,155,1209,0.00,2.25,0.00,0.000,6,0.000,0.047,2304,2627,3727,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1511,-0.65,-194.6,413.4,-18.9,186,1520,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1150,3727,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1574,-0.65,-194.6,422.8,-12.8,192,1582,0.00,2.28,0.00,0.000,6,0.000,0.049,2303,2629,3727,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1882,-0.65,-194.6,477.8,-17.8,223,1891,0.00,2.12,0.00,0.000,4,0.000,0.026,2303,1139,3726,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1936,-0.65,-194.6,486.1,-15.8,228,1944,0.05,2.25,0.00,0.000,6,0.236,0.046,2306,2632,3726,0,0,0,0,0,0,26.45,26.55,28.83
$GC,2244,-0.65,-194.6,542.7,-18.3,259,2247,0.00,1.70,0.00,0.000,4,0.000,0.057,2297,3765,3724,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2304,-0.65,-194.6,554.6,-19.5,265,2308,0.00,1.70,0.00,0.000,6,0.000,0.024,2297,2494,3723,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2627,-0.65,-194.6,609.2,-14.4,294,2632,0.00,1.95,0.00,0.000,4,0.000,0.056,2288,3765,3722,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2708,-0.65,-194.6,620.4,-14.1,298,2712,0.05,1.73,0.00,0.000,6,0.151,0.023,2308,2491,3720,0,0,0,0,0,0,26.50,26.73,28.83
$GC,3026,-0.65,-194.6,661.2,-13.8,314,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2488,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3327,-0.65,-194.6,702.5,-14.0,329,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2488,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3625,-0.65,-194.6,741.7,-13.0,344,3629,0.00,1.98,0.00,0.000,4,0.000,0.058,2304,3770,3714,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3684,-0.65,-194.6,749.0,-13.0,347,3688,0.00,1.73,0.00,0.000,6,0.000,0.024,2303,2490,3713,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4003,-0.65,-194.6,786.1,-11.6,363,4008,0.00,1.98,0.00,0.000,4,0.000,0.057,2293,3775,3711,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4041,-0.65,-194.6,791.0,-11.5,365,4045,0.03,1.73,0.00,0.000,6,0.275,0.024,2306,2495,3710,0,0,0,0,0,0,26.58,26.74,28.83
$GC,4363,-0.65,-194.6,829.6,-12.5,381,4368,0.00,1.98,0.00,0.000,4,0.000,0.059,2304,3767,3706,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4405,-0.65,-194.6,834.7,-12.8,383,4409,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2502,3706,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4723,-0.65,-194.6,875.4,-12.3,399,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2499,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-0.65,-194.6,912.2,-11.9,414,5028,0.00,1.98,0.00,0.000,4,0.000,0.060,2300,3761,3701,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5073,-0.65,-194.6,917.5,-12.1,416,5076,0.00,1.73,0.00,0.000,6,0.000,0.026,2300,2512,3701,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5385,-0.65,-194.6,956.1,-11.9,432,5391,0.00,1.95,0.00,0.000,4,0.000,0.059,2293,3774,3699,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5409,-0.65,-194.6,958.5,-12.0,433,5413,0.05,1.73,0.00,0.000,6,0.217,0.025,2307,2506,3699,0,0,0,0,0,0,26.55,26.74,28.83
$STATE,5684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5684,begin apogee
$GC,5689,-0.17,0.0,990.3,-11.3,447,5867,0.43,0.10,166.20,1.715,6,0.119,0.078,2456,2538,2928,0,0,0,0,0,0,26.40,24.59,23.68
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5868,begin climb
$GC,5870,0.65,194.6,999.8,0.0,456,6068,0.73,2.15,182.73,1.690,4,0.054,0.056,2734,3765,2134,0,0,0,0,0,0,24.89,24.10,23.16
$GC,6174,0.65,194.6,961.4,23.4,471,6178,0.12,1.83,0.00,0.000,6,0.212,0.025,2716,2554,2129,0,0,0,0,0,0,25.03,25.31,28.83
$GC,6486,0.65,194.6,901.3,19.1,487,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2550,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6787,0.65,194.6,846.9,18.1,502,6792,0.00,2.03,0.00,0.000,4,0.000,0.033,2726,1155,2123,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6833,0.65,194.6,840.4,16.8,504,6838,0.05,2.28,0.00,0.000,6,0.236,0.048,2715,2615,2121,0,0,0,0,0,0,26.03,26.13,28.83
$GC,7141,0.65,194.6,783.9,18.3,519,7146,0.00,2.17,0.00,0.000,4,0.000,0.032,2725,1149,2120,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7169,0.65,194.6,780.2,18.4,520,7174,0.05,2.28,0.00,0.000,6,0.242,0.049,2715,2618,2120,0,0,0,0,0,0,26.15,26.25,28.83
$GC,7476,0.65,194.6,722.3,18.2,535,7482,0.00,2.15,0.00,0.000,4,0.000,0.031,2726,1149,2119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7544,0.65,194.6,712.4,17.1,538,7549,0.05,2.28,0.00,0.000,6,0.236,0.048,2715,2625,2118,0,0,0,0,0,0,26.23,26.32,28.83
$GC,7851,0.65,194.6,660.4,15.5,553,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2626,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,0.65,194.6,613.4,15.9,568,8156,0.00,2.17,0.00,0.000,4,0.000,0.031,2725,1153,2116,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8192,0.65,194.6,607.6,15.4,570,8198,0.03,2.22,0.00,0.000,6,0.194,0.047,2716,2621,2116,0,0,0,0,0,0,26.29,26.41,28.83
$GC,8501,0.65,194.6,559.7,17.0,598,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2621,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8804,0.65,194.6,511.3,16.4,628,8807,0.00,1.73,0.00,0.000,4,0.000,0.054,2716,3766,2116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8887,0.65,194.6,494.6,20.5,636,8894,0.00,1.75,0.00,0.000,6,0.000,0.024,2725,2552,2116,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9196,0.65,194.6,441.2,16.2,667,9205,0.00,1.98,0.00,0.000,4,0.000,0.034,2735,1164,2116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9259,0.65,194.6,431.5,14.8,673,9269,0.05,2.20,0.00,0.000,6,0.168,0.044,2717,2624,2115,0,0,0,0,0,0,26.32,26.49,28.83
$GC,9567,0.65,194.6,383.5,15.3,704,9576,0.00,2.17,0.00,0.000,4,0.000,0.034,2727,1152,2115,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9729,0.65,194.6,359.7,14.0,720,9739,0.08,2.22,0.00,0.000,6,0.196,0.044,2710,2627,2115,0,0,0,0,0,0,26.39,26.51,28.83
$GC,10039,0.65,194.6,319.2,11.0,751,10048,0.00,2.12,0.00,0.000,4,0.000,0.033,2720,1160,2115,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10112,0.67,215.3,311.6,10.2,758,10134,0.00,2.20,16.67,1.229,6,0.000,0.044,2721,2620,2049,0,0,0,0,0,0,28.83,26.53,25.29
$GC,10441,0.67,215.3,265.9,14.4,791,10450,0.00,2.15,0.00,0.000,4,0.000,0.035,2732,1161,2047,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10563,0.67,215.3,250.8,11.4,803,10572,0.00,2.20,0.00,0.000,6,0.000,0.047,2732,2619,2046,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10873,0.67,215.3,208.8,14.1,834,10876,0.00,1.73,0.00,0.000,4,0.000,0.051,2732,3769,2047,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10914,0.67,215.3,202.0,16.8,838,10919,0.05,1.75,0.00,0.000,6,0.194,0.025,2724,2562,2048,0,0,0,0,0,0,26.25,26.51,28.83
$GC,11260,0.69,225.2,159.5,10.6,898,11276,0.00,2.12,10.18,1.065,4,0.000,0.037,2734,1158,2009,0,0,0,0,0,0,28.83,26.31,25.42
$GC,11400,0.79,312.1,148.2,7.7,921,11473,0.12,2.22,63.08,1.119,6,0.099,0.044,2804,2624,1654,0,0,0,0,0,0,26.32,26.33,24.51
$GC,11816,0.79,312.1,55.8,22.6,991,11823,0.15,2.20,0.00,0.000,4,0.170,0.034,2770,1163,1648,0,0,0,0,0,0,25.94,26.10,28.83
$GC,11905,0.81,329.0,43.0,10.4,1006,11920,0.00,2.25,6.35,0.233,6,0.000,0.045,2769,2617,1584,0,0,0,0,0,0,28.83,26.15,25.82
$GC,12261,0.81,329.0,5.5,11.8,1068,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2617,1582,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12276,end climb,SURFACE_DEPTH_REACHED
$STATE,12276,begin surface coast
$FINISH,0.6,1.022664
$STATE,12319,end surface coast,CONTROL_FINISHED_OK
$STATE,12319,begin surface
$SM_CCo,12333,17.65,0.135,0,0,1398,375.06
$SM_GC,2.24,6.45,0.00,17.65,0.037,0.000,0.135,182,2618,1398,-7.14,0.23,375.06,0,0,0,0,0,0,26.40,28.83,26.13
$IRIDIUM_FIX,2129.53,12239.65,230312,070719
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.34
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.2,14.490
$10V_AH,10.4,9.158
$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,16.900,101.200,445.200,17.650,0.000,52.123,66.949,264.877,0.000,0.000,16.845,2730.298,6677.523,498.216,2750.374,281.224,0.000,1616.798,0.000,2247.032,0.000,0.541,0.000
$DEVICE_MAMPS,275.400,78.030,1715.130,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,732.987,1726.291,537.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324400
$DATA_FILE_SIZE,83918,1077
$CAP_FILE_SIZE,130683,0
$CFSIZE,260165632,217698304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,316.9,1
$GPS,230312,104301,2139.973,12242.030,37,1.6,37,-2.8