version: 66.10
glider: 176
mission: 5
dive: 262
start: 5 5 112 20 18 14
data:
$ID,176
$MISSION,5
$DIVE,262
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,225
$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,-7777.3208
$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,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2450
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,050512,200631,1833.398,12222.810,39,1.2,39,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.0
$GPS2,050512,201744,1833.831,12222.511,13,1.8,13,-2.1
$SPEED_LIMITS,0.130,0.278
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,204.6,11712,-10.0,-7.500
$D_GRID,612
$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,-0.52,-219.0,0.0,0.0,0,76,0.00,0.00,-57.17,0.000,2,0.000,0.000,190,2568,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.52,-219.0,3.2,-6.7,10,127,8.65,1.67,-30.77,0.000,4,0.233,0.046,2348,1402,3824,0,0,0,0,0,0,25.39,26.34,26.67
$GC,247,-0.52,-219.0,49.7,-22.2,35,254,0.00,1.70,0.00,0.000,6,0.000,0.047,2340,2536,3824,0,0,0,0,0,0,28.83,26.27,28.83
$GC,573,-0.52,-219.0,146.7,-22.7,96,580,0.00,1.60,0.00,0.000,4,0.000,0.052,2332,3589,3824,0,0,0,0,0,0,28.83,26.32,28.83
$GC,622,-0.52,-219.0,157.3,-19.0,105,629,0.10,1.55,0.00,0.000,6,0.167,0.022,2360,2406,3824,0,0,0,0,0,0,26.30,26.60,28.83
$GC,938,-0.52,-219.0,206.5,-14.7,163,940,0.08,0.00,0.00,0.000,6,0.130,0.000,2296,2402,3824,0,0,0,0,0,0,26.66,28.83,28.83
$GC,1238,-0.52,-219.0,265.3,-18.5,193,1242,0.17,1.35,0.00,0.000,4,0.150,0.022,2355,1390,3824,0,0,0,0,0,0,26.27,26.57,28.83
$GC,1320,-0.52,-219.0,275.7,-9.8,201,1323,0.00,1.70,0.00,0.000,6,0.000,0.045,2349,2536,3824,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1632,-0.52,-219.0,313.0,-11.2,232,1636,0.00,1.55,0.00,0.000,4,0.000,0.053,2348,3585,3822,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1734,-0.52,-219.0,322.3,-8.6,242,1737,0.00,1.55,0.00,0.000,6,0.000,0.022,2348,2387,3821,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2044,-0.52,-219.0,348.9,-7.9,273,2048,0.00,1.85,0.00,0.000,4,0.000,0.052,2348,3593,3818,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2166,-0.52,-219.0,357.8,-6.5,285,2169,0.00,1.58,0.00,0.000,6,0.000,0.022,2348,2375,3818,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2477,-0.52,-219.0,385.2,-9.5,316,2481,0.00,1.90,-0.08,0.000,4,0.000,0.067,2348,3587,3839,0,0,0,0,0,0,28.83,26.28,25.65
$GC,2582,-0.52,-219.0,395.1,-9.4,326,2589,0.00,1.60,0.00,0.000,6,0.000,0.022,2348,2400,3838,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2891,-0.52,-219.0,421.2,-7.5,357,2894,0.00,1.83,0.00,0.000,4,0.000,0.053,2348,3588,3835,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2944,-0.52,-219.0,424.6,-6.7,362,2951,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2383,3834,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3252,-0.52,-219.0,444.6,-6.1,393,3255,0.00,1.88,0.00,0.000,4,0.000,0.054,2348,3578,3832,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3354,-0.52,-219.0,449.6,-4.3,403,3358,0.00,1.60,0.00,0.000,6,0.000,0.023,2348,2401,3830,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3666,-0.52,-219.0,465.7,-5.9,434,3669,0.00,1.83,0.00,0.000,4,0.000,0.055,2348,3581,3827,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3749,-0.52,-219.0,470.5,-5.9,442,3756,0.00,1.62,0.00,0.000,6,0.000,0.024,2347,2391,3826,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4057,-0.52,-219.0,492.1,-8.0,473,4060,0.00,1.85,0.00,0.000,4,0.000,0.055,2347,3585,3824,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4168,-0.52,-219.0,500.8,-7.9,484,4172,0.00,1.62,0.00,0.000,6,0.000,0.024,2348,2406,3822,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4479,-0.52,-219.0,527.1,-8.6,515,4483,0.00,1.83,0.00,0.000,4,0.000,0.055,2347,3580,3821,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4553,-0.52,-219.0,533.1,-8.1,522,4560,0.00,1.62,0.00,0.000,6,0.000,0.023,2347,2382,3820,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4861,-0.52,-219.0,555.5,-6.3,553,4864,0.00,1.85,0.00,0.000,4,0.000,0.054,2348,3581,3818,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4944,-0.52,-219.0,560.2,-5.3,561,4951,0.00,1.62,0.00,0.000,6,0.000,0.024,2347,2392,3817,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5253,-0.52,-219.0,577.1,-6.0,592,5256,0.00,1.85,0.00,0.000,4,0.000,0.055,2348,3581,3815,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5325,-0.52,-219.0,581.8,-6.3,599,5328,0.00,1.60,0.00,0.000,6,0.000,0.024,2348,2400,3815,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5646,-0.52,-219.0,603.1,-6.4,629,5649,0.00,1.85,0.00,0.000,4,0.000,0.056,2347,3581,3813,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5730,-0.52,-219.0,608.2,-6.3,633,5733,0.00,1.60,0.00,0.000,6,0.000,0.024,2348,2406,3813,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,5785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5785,begin apogee
$GC,5791,-0.17,0.0,612.1,-6.4,636,5980,0.32,0.08,179.85,1.440,6,0.099,0.099,2468,2382,2928,0,0,0,0,0,0,26.17,24.66,23.51
$STATE,5981,end apogee,CONTROL_FINISHED_OK
$STATE,5981,begin climb
$GC,5984,0.52,219.0,620.9,0.0,645,6190,0.57,1.92,193.00,1.405,4,0.046,0.050,2708,3518,2035,0,0,0,0,0,0,25.01,24.18,22.98
$GC,6264,0.52,219.0,594.2,20.0,660,6268,0.17,1.65,0.00,0.000,6,0.168,0.022,2670,2387,2030,0,0,0,0,0,0,25.15,25.51,28.83
$GC,6575,0.52,219.0,548.9,14.5,691,6580,0.05,1.77,0.00,0.000,4,0.171,0.049,2713,3520,2025,0,0,0,0,0,0,26.32,26.09,28.83
$GC,6676,0.52,219.0,529.5,22.0,700,6683,0.17,1.62,0.00,0.000,6,0.171,0.021,2673,2368,2025,0,0,0,0,0,0,25.92,26.34,28.83
$GC,6982,0.52,219.0,491.9,11.2,731,6986,0.00,1.80,0.00,0.000,4,0.000,0.051,2673,3533,2023,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7098,0.52,219.0,476.4,13.0,742,7104,0.00,1.62,0.00,0.000,6,0.000,0.022,2680,2385,2023,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7404,0.52,219.0,439.4,12.8,773,7407,0.00,1.75,0.00,0.000,4,0.000,0.050,2680,3530,2022,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7447,0.52,219.0,433.6,14.1,777,7451,0.00,1.62,0.00,0.000,6,0.000,0.021,2687,2372,2022,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7759,0.52,219.0,395.0,11.8,808,7768,0.05,1.75,0.00,0.000,4,0.242,0.046,2675,3524,2021,0,0,0,0,0,0,26.53,26.28,28.83
$GC,7811,0.52,219.0,388.2,13.2,813,7815,0.00,1.60,0.00,0.000,6,0.000,0.022,2683,2381,2021,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8123,0.52,219.0,351.7,10.4,844,8126,0.00,1.48,0.00,0.000,4,0.000,0.031,2691,1353,2020,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8153,0.52,219.0,348.7,9.7,847,8158,0.08,1.65,0.00,0.000,6,0.180,0.044,2673,2470,2020,0,0,0,0,0,0,26.20,26.32,28.83
$GC,8465,0.52,219.0,319.1,11.4,878,8468,0.00,1.55,0.00,0.000,4,0.000,0.050,2672,3523,2020,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8618,0.52,219.0,299.6,13.3,893,8622,0.00,1.60,0.00,0.000,6,0.000,0.022,2680,2389,2019,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8930,0.52,219.0,266.8,11.2,924,8933,0.00,1.50,0.00,0.000,4,0.000,0.032,2680,1348,2019,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8984,0.52,219.0,261.2,10.7,929,8991,0.00,1.67,0.00,0.000,6,0.000,0.044,2680,2472,2018,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9291,0.52,219.0,231.2,9.0,960,9294,0.00,1.55,0.00,0.000,4,0.000,0.048,2680,3524,2018,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9503,0.52,219.0,209.0,10.2,981,9507,0.00,1.60,0.00,0.000,6,0.000,0.023,2684,2386,2019,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9811,0.52,219.0,185.9,8.2,1029,9817,0.00,1.73,0.00,0.000,4,0.000,0.047,2684,3530,2018,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9870,0.52,219.0,181.2,7.8,1040,9878,0.08,1.62,0.00,0.000,6,0.194,0.023,2671,2364,2018,0,0,0,0,0,0,26.30,26.55,28.83
$GC,10183,0.63,309.1,165.2,5.4,1101,10263,0.12,1.55,74.72,1.131,4,0.090,0.033,2750,1359,1667,0,0,0,0,0,0,26.61,25.47,24.28
$GC,10304,0.63,309.1,152.8,11.6,1121,10311,0.15,1.73,0.00,0.000,6,0.132,0.044,2704,2477,1664,0,0,0,0,0,0,25.61,25.75,28.83
$GC,10617,0.64,316.0,130.4,7.3,1182,10626,0.08,1.65,2.58,0.632,4,0.127,0.048,2755,3535,1639,0,0,0,0,0,0,26.39,26.17,24.44
$GC,10698,0.64,316.0,119.0,16.3,1197,10706,0.17,1.62,0.00,0.000,6,0.148,0.024,2709,2382,1640,0,0,0,0,0,0,26.01,26.36,28.83
$GC,11012,0.76,414.2,95.1,5.2,1258,11061,0.12,1.50,40.42,0.343,4,0.093,0.032,2803,1357,1237,0,0,0,0,0,0,26.51,26.20,25.41
$GC,11112,0.85,492.7,88.7,5.7,1275,11148,0.10,1.67,31.40,0.330,6,0.138,0.041,2773,2481,918,0,0,0,0,0,0,26.07,26.19,25.34
$GC,11453,1.13,718.4,75.3,2.2,1338,11499,0.28,1.70,40.67,0.290,4,0.055,0.031,2937,1349,498,0,0,0,0,0,0,26.44,26.19,25.42
$GC,11534,1.13,718.4,59.9,26.9,1348,11541,0.22,1.67,0.00,0.000,6,0.147,0.043,2871,2473,494,0,0,0,0,0,0,25.84,26.16,28.83
$STATE,11812,end climb,SURFACE_DEPTH_REACHED
$STATE,11813,begin surface coast
$FINISH,0.6,1.007871
$STATE,11836,end surface coast,CONTROL_FINISHED_OK
$STATE,11836,begin surface
$SM_CCo,11912,0.00,0.000,0,0,493,597.55
$SM_GC,1.42,6.65,0.08,0.00,0.034,0.108,0.000,195,2573,493,-7.16,-0.48,597.55,0,0,0,0,0,0,26.37,26.58,28.83
$IRIDIUM_FIX,1825.94,12223.22,050512,202023
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.0,53.443
$10V_AH,10.1,34.240
$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,18.400,93.700,562.650,0.000,0.000,53.789,50.942,327.664,1.000,0.000,15.845,3500.906,5089.066,556.682,3071.112,346.866,0.000,1882.736,0.000,2401.294,0.000,6.457,0.000
$DEVICE_MAMPS,241.740,107.865,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.237,1784.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,103535,1407
$CAP_FILE_SIZE,153717,0
$CFSIZE,260165632,196755456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.516,329.2,1
$GPS,050512,233747,1835.314,12220.097,11,3.3,30,-2.1