version: 66.10
glider: 176
mission: 5
dive: 122
start: 4 3 112 10 28 52
data:
$ID,176
$MISSION,5
$DIVE,122
$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,440
$T_MISSION,500
$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,150
$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,-7581.8442
$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,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,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
$GPS1,030412,101724,2001.332,12318.852,23,1.0,41,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.6
$GPS2,030412,102826,2001.294,12319.083,12,1.3,12,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1930.000,12325.000
$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,179.0,58870,-13.1,-7.500
$D_GRID,5252
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.51,-146.0,0.0,0.0,0,61,0.00,0.00,-40.50,0.000,2,0.000,0.000,186,2656,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.2,-6.8,7,101,8.60,1.77,-22.90,0.000,4,0.236,0.068,2337,3779,3527,0,0,0,0,0,0,25.53,26.01,26.44
$GC,184,-0.51,-146.0,40.8,-34.4,23,191,0.05,1.73,0.00,0.000,6,0.239,0.024,2349,2533,3527,0,0,0,0,0,0,26.03,26.23,28.83
$GC,494,-0.51,-146.0,133.6,-25.2,84,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2528,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.51,-146.0,211.7,-22.2,140,807,0.00,1.90,0.00,0.000,4,0.000,0.054,2340,3762,3528,0,0,0,0,0,0,28.83,26.28,28.83
$GC,835,-0.51,-146.0,219.0,-23.4,143,838,0.00,1.70,0.00,0.000,6,0.000,0.024,2340,2541,3529,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1146,-0.51,-146.0,284.9,-20.4,174,1155,0.00,1.95,0.00,0.000,4,0.000,0.026,2340,1144,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1210,-0.51,-146.0,295.6,-16.0,180,1218,0.05,2.28,0.00,0.000,6,0.151,0.047,2352,2629,3528,0,0,0,0,0,0,26.20,26.37,28.83
$GC,1518,-0.51,-146.0,345.6,-16.6,211,1522,0.00,2.08,0.00,0.000,4,0.000,0.024,2352,1149,3528,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1644,-0.51,-146.0,361.9,-11.5,223,1650,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2638,3528,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1953,-0.51,-146.0,409.5,-14.7,254,1961,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1145,3526,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2044,-0.51,-146.0,420.3,-10.1,263,2053,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2632,3526,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2354,-0.51,-146.0,458.9,-13.1,294,2363,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1137,3524,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2386,-0.51,-146.0,462.5,-11.7,297,2396,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2628,3524,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2697,-0.51,-146.0,498.8,-11.4,328,2706,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1144,3522,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2741,-0.51,-146.0,503.6,-11.3,332,2748,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2632,3522,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3050,-0.51,-146.0,540.0,-11.5,363,3058,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1146,3520,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3112,-0.51,-146.0,546.5,-10.1,369,3122,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2626,3520,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3421,-0.51,-146.0,580.3,-10.4,400,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2626,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.51,-146.0,611.0,-10.1,425,3727,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1140,3515,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3781,-0.51,-146.0,616.5,-9.6,428,3787,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3515,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4101,-0.51,-146.0,646.7,-9.2,444,4106,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1151,3511,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4143,-0.51,-146.0,650.3,-9.3,446,4147,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2623,3512,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4462,-0.51,-146.0,679.8,-9.6,462,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2623,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.51,-146.0,709.6,-10.0,477,4767,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1144,3506,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4814,-0.51,-146.0,713.5,-9.9,479,4821,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3506,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5122,-0.51,-146.0,745.6,-10.1,495,5127,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1150,3504,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5174,-0.51,-146.0,749.6,-10.1,497,5182,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2627,3503,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5481,-0.51,-146.0,780.5,-9.4,513,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-0.51,-146.0,806.1,-8.2,528,5787,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1151,3499,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5809,-0.51,-146.0,807.8,-8.2,529,5813,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2632,3499,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6116,-0.51,-146.0,834.9,-9.2,544,6122,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1153,3497,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6158,-0.51,-146.0,838.3,-9.0,546,6162,0.00,2.30,0.00,0.000,6,0.000,0.049,2344,2631,3497,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6476,-0.51,-146.0,866.1,-8.3,562,6482,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1147,3495,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6504,-0.51,-146.0,867.6,-8.1,563,6509,0.00,2.28,0.00,0.000,6,0.000,0.049,2344,2626,3495,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6813,-0.51,-146.0,892.8,-8.1,578,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7111,-0.51,-146.0,917.1,-7.9,593,7116,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1154,3491,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7180,-0.51,-146.0,922.0,-8.2,596,7184,0.00,2.28,0.00,0.000,6,0.000,0.050,2344,2629,3491,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7486,-0.51,-146.0,947.9,-8.5,611,7492,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1143,3489,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7535,-0.51,-146.0,951.3,-8.4,613,7539,0.00,2.30,0.00,0.000,6,0.000,0.050,2344,2633,3489,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7842,-0.51,-146.0,978.3,-8.8,628,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2632,3488,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7979,begin apogee
$GC,7985,-0.17,0.0,990.7,-8.8,635,8113,0.32,0.12,121.60,1.740,6,0.112,0.096,2459,2538,2928,0,0,0,0,0,0,26.10,24.61,23.57
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin climb
$GC,8116,0.51,146.0,995.5,0.0,641,8259,0.60,0.00,138.05,1.697,6,0.050,0.000,2698,2539,2332,0,0,0,0,0,0,24.87,28.83,22.88
$GC,8557,0.51,146.0,946.2,15.2,664,8559,0.12,0.00,0.00,0.000,6,0.199,0.000,2670,2539,2324,0,0,0,0,0,0,25.51,28.83,28.83
$GC,8857,0.51,146.0,908.4,12.3,679,8862,0.00,2.22,0.00,0.000,4,0.000,0.032,2681,1058,2321,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8957,0.51,146.0,897.3,11.0,684,8963,0.05,2.25,0.00,0.000,6,0.224,0.047,2670,2515,2319,0,0,0,0,0,0,25.91,25.99,28.83
$GC,9277,0.51,146.0,859.5,11.8,700,9282,0.00,1.92,0.00,0.000,4,0.000,0.057,2670,3767,2318,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9301,0.51,146.0,857.0,12.1,701,9305,0.00,1.92,0.00,0.000,6,0.000,0.028,2679,2449,2318,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9612,0.51,146.0,815.2,13.5,717,9616,0.00,2.05,0.00,0.000,4,0.000,0.033,2687,1047,2316,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9646,0.51,146.0,812.4,13.3,718,9655,0.10,2.28,0.00,0.000,6,0.194,0.046,2665,2533,2315,0,0,0,0,0,0,25.94,26.16,28.83
$GC,9953,0.51,146.0,772.3,12.5,734,9957,0.00,1.90,0.00,0.000,4,0.000,0.056,2665,3773,2315,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10063,0.51,146.0,758.4,14.8,739,10070,0.00,1.90,0.00,0.000,6,0.000,0.026,2675,2449,2314,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10372,0.51,146.0,718.5,11.8,755,10377,0.00,2.03,0.00,0.000,4,0.000,0.032,2685,1052,2314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10478,0.51,146.0,707.5,10.7,760,10483,0.08,2.25,0.00,0.000,6,0.202,0.047,2670,2527,2314,0,0,0,0,0,0,26.08,26.22,28.83
$GC,10785,0.51,146.0,672.8,11.1,775,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2527,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11085,0.51,146.0,639.7,10.9,790,11090,0.00,2.17,0.00,0.000,4,0.000,0.031,2680,1055,2313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11128,0.51,146.0,635.4,10.7,792,11133,0.05,2.22,0.00,0.000,6,0.220,0.046,2669,2517,2313,0,0,0,0,0,0,26.15,26.24,28.83
$GC,11440,0.51,146.0,602.5,10.5,808,11444,0.00,1.92,0.00,0.000,4,0.000,0.055,2669,3766,2312,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11517,0.51,146.0,593.4,12.1,814,11526,0.00,1.88,0.00,0.000,6,0.000,0.023,2678,2440,2312,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11826,0.51,146.0,563.2,8.4,845,11835,0.00,2.03,0.00,0.000,4,0.000,0.053,2678,3764,2312,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11848,0.51,146.0,561.0,9.8,847,11857,0.10,1.85,0.00,0.000,6,0.215,0.023,2666,2439,2312,0,0,0,0,0,0,26.07,26.47,28.83
$GC,12157,0.51,146.0,530.4,10.2,878,12161,0.00,2.03,0.00,0.000,4,0.000,0.033,2677,1058,2311,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12306,0.51,146.0,517.8,8.3,892,12315,0.00,2.22,0.00,0.000,6,0.000,0.044,2676,2530,2311,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12617,0.51,146.0,488.6,9.8,923,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2530,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12920,0.51,146.0,460.5,8.2,953,12928,0.00,1.90,0.00,0.000,4,0.000,0.054,2676,3777,2311,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,18036,end climb,SURFACE_DEPTH_REACHED
$STATE,18036,begin surface coast
$FINISH,1.1,1.022401
$STATE,18071,end surface coast,CONTROL_FINISHED_OK
$STATE,18071,begin surface
$SM_CCo,18086,5.50,0.148,0,0,1397,375.06
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$IRIDIUM_FIX,1955.00,12319.13,030412,050539
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.9,27.648
$10V_AH,10.2,16.145
$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
$DEVICE_SECS,18.400,158.825,387.125,5.500,0.000,94.444,50.733,243.761,0.000,0.000,15.263,4244.403,10091.144,564.329,3451.843,373.894,0.000,2127.954,0.000,2862.756,0.000,0.541,0.000
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$SENSOR_SECS,1142.132,2140.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329464
$DATA_FILE_SIZE,123897,1678
$CAP_FILE_SIZE,193133,0
$CFSIZE,260165632,211955712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167, 96.9,1
$GPS,030412,153136,1958.867,12321.051,39,1.8,39,-2.4