version: 66.10
glider: 176
mission: 5
dive: 264
start: 5 6 112 1 55 12
data:
$ID,176
$MISSION,5
$DIVE,264
$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,-7779.8364
$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
$GPS1,060512,014854,1837.701,12218.231,25,0.9,43,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.7
$GPS2,060512,015444,1838.021,12218.025,12,1.8,12,-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,150.6,12593,-10.0,-7.500
$D_GRID,347
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.52,-219.0,0.0,0.0,0,66,0.00,0.00,-46.47,0.000,2,0.000,0.000,185,2537,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.52,-219.0,3.3,-6.7,8,119,8.62,1.62,-32.05,0.000,4,0.236,0.044,2348,1396,3824,0,0,0,0,0,0,25.44,26.39,26.71
$GC,174,-0.52,-219.0,33.3,-26.9,23,182,0.00,1.70,0.00,0.000,6,0.000,0.050,2340,2536,3823,0,0,0,0,0,0,28.83,26.29,28.83
$GC,487,-0.52,-219.0,128.4,-24.8,84,493,0.00,1.58,0.00,0.000,4,0.000,0.051,2332,3578,3824,0,0,0,0,0,0,28.83,26.36,28.83
$GC,556,-0.52,-219.0,146.8,-23.9,97,563,0.10,1.55,0.00,0.000,6,0.164,0.022,2360,2409,3824,0,0,0,0,0,0,26.34,26.63,28.83
$GC,867,-0.52,-219.0,186.8,-10.9,158,874,0.08,1.77,0.00,0.000,4,0.128,0.048,2287,3585,3824,0,0,0,0,0,0,26.68,26.39,28.83
$GC,917,-0.52,-219.0,194.8,-17.4,167,925,0.22,1.58,0.00,0.000,6,0.136,0.022,2359,2383,3824,0,0,0,0,0,0,26.20,26.66,28.83
$GC,1227,-0.52,-219.0,228.6,-10.3,201,1231,0.08,1.83,0.00,0.000,4,0.129,0.047,2277,3589,3824,0,0,0,0,0,0,26.69,26.39,28.83
$GC,1305,-0.52,-219.0,242.7,-20.9,208,1309,0.25,1.58,0.00,0.000,6,0.128,0.022,2359,2399,3823,0,0,0,0,0,0,26.22,26.66,28.83
$GC,1617,-0.52,-219.0,277.5,-9.9,239,1621,0.08,1.80,0.00,0.000,4,0.127,0.049,2278,3595,3822,0,0,0,0,0,0,26.68,26.37,28.83
$GC,1664,-0.52,-219.0,284.8,-15.7,243,1675,0.25,1.60,0.00,0.000,6,0.129,0.022,2361,2389,3821,0,0,0,0,0,0,26.20,26.65,28.83
$GC,1974,-0.52,-219.0,315.1,-8.7,274,1978,0.08,1.83,0.00,0.000,4,0.123,0.050,2282,3585,3818,0,0,0,0,0,0,26.68,26.36,28.83
$GC,2129,-0.52,-219.0,337.7,-15.4,289,2137,0.20,1.60,0.00,0.000,6,0.114,0.022,2358,2395,3817,0,0,0,0,0,0,26.20,26.65,28.83
$STATE,2236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2236,begin apogee
$GC,2241,-0.17,0.0,347.3,-6.5,300,2422,0.30,0.10,169.98,1.206,6,0.100,0.080,2470,2355,2928,0,0,0,0,0,0,26.32,25.24,24.22
$STATE,2423,end apogee,CONTROL_FINISHED_OK
$STATE,2423,begin climb
$GC,2425,0.52,219.0,355.0,0.0,318,2613,0.57,1.45,179.73,1.190,4,0.050,0.029,2716,1355,2035,0,0,0,0,0,0,25.50,25.22,24.14
$GC,2741,0.52,219.0,325.5,14.3,350,2752,0.15,1.70,0.00,0.000,6,0.150,0.043,2674,2481,2029,0,0,0,0,0,0,25.89,26.06,28.83
$GC,3051,0.52,219.0,289.9,10.9,381,3055,0.00,1.55,0.00,0.000,4,0.000,0.049,2673,3536,2025,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3122,0.52,219.0,281.9,11.5,388,3125,0.00,1.60,0.00,0.000,6,0.000,0.023,2681,2377,2024,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3433,0.52,219.0,250.4,9.9,419,3436,0.00,1.77,0.00,0.000,4,0.000,0.049,2680,3517,2022,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3454,0.52,219.0,248.0,10.7,421,3457,0.00,1.58,0.00,0.000,6,0.000,0.023,2686,2383,2022,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3765,0.52,219.0,212.3,11.0,452,3769,0.00,1.48,0.00,0.000,4,0.000,0.032,2693,1357,2021,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3909,0.52,219.0,200.7,7.9,466,3913,0.08,1.67,0.00,0.000,6,0.172,0.044,2673,2480,2019,0,0,0,0,0,0,26.32,26.43,28.83
$GC,4217,0.67,343.0,183.8,4.6,526,4326,0.15,1.75,100.30,1.127,4,0.080,0.033,2771,1354,1529,0,0,0,0,0,0,26.61,25.48,24.41
$GC,4542,0.67,343.0,136.6,14.3,586,4549,0.17,1.67,0.00,0.000,6,0.135,0.043,2717,2474,1521,0,0,0,0,0,0,26.02,26.21,28.83
$GC,4853,0.79,437.9,113.1,5.3,647,4898,0.12,1.67,39.00,0.959,4,0.089,0.050,2812,3531,1141,0,0,0,0,0,0,26.53,25.84,24.85
$GC,5032,0.79,437.9,77.4,19.0,677,5040,0.20,1.62,0.00,0.000,6,0.139,0.027,2757,2399,1139,0,0,0,0,0,0,26.01,26.28,28.83
$GC,5360,0.87,508.9,56.3,5.8,738,5394,0.12,1.55,27.50,0.253,4,0.101,0.031,2813,1341,852,0,0,0,0,0,0,26.48,26.35,25.65
$GC,5640,0.87,508.9,29.4,10.2,788,5648,0.10,1.67,0.00,0.000,6,0.105,0.040,2757,2487,848,0,0,0,0,0,0,26.39,26.44,28.83
$STATE,5887,end climb,SURFACE_DEPTH_REACHED
$STATE,5887,begin surface coast
$FINISH,0.7,1.010842
$STATE,5924,end surface coast,CONTROL_FINISHED_OK
$STATE,5924,begin surface
$SM_CCo,6000,0.00,0.000,0,0,848,510.47
$SM_GC,1.71,6.30,0.00,0.00,0.032,0.000,0.000,193,2488,848,-7.15,-0.62,510.47,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,1828.22,12218.16,050512,232350
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,53.798
$10V_AH,10.2,34.372
$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,18.225,43.000,516.500,0.000,0.000,27.863,41.879,159.085,0.000,0.000,16.752,1984.730,1914.228,500.791,1737.875,201.836,0.000,1286.758,0.000,1361.745,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,94.095,1205.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.124,937.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323672
$DATA_FILE_SIZE,63867,840
$CAP_FILE_SIZE,87602,0
$CFSIZE,260165632,196714496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.895,335.6,1
$GPS,060512,033607,1839.513,12217.173,9,1.3,26,-2.1