version: 66.10
glider: 176
mission: 5
dive: 265
start: 5 6 112 3 42 53
data:
$ID,176
$MISSION,5
$DIVE,265
$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,-7781.0903
$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
$GPS1,060512,033607,1839.513,12217.173,9,1.3,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.9
$GPS2,060512,034225,1839.840,12216.951,15,1.3,32,-2.1
$SPEED_LIMITS,0.130,0.278
$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,97.6,277074,-10.0,-7.500
$D_GRID,655
$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,15,begin dive
$GC,17,-0.52,-219.0,0.0,0.0,0,70,0.00,0.00,-50.35,0.000,2,0.000,0.000,191,2493,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.52,-219.0,3.2,-7.1,9,117,8.52,0.00,-32.88,0.000,6,0.234,0.000,2347,2494,3823,0,0,0,0,0,0,25.53,28.83,26.75
$GC,436,-0.52,-219.0,119.9,-26.1,76,443,0.00,1.65,0.00,0.000,4,0.000,0.051,2339,3595,3824,0,0,0,0,0,0,28.83,26.39,28.83
$GC,516,-0.52,-219.0,138.7,-20.4,91,524,0.05,1.58,0.00,0.000,6,0.223,0.022,2353,2410,3824,0,0,0,0,0,0,26.45,26.65,28.83
$GC,829,-0.52,-219.0,193.1,-13.8,152,835,0.00,1.77,0.00,0.000,4,0.000,0.050,2348,3587,3824,0,0,0,0,0,0,28.83,26.41,28.83
$GC,925,-0.52,-219.0,204.8,-11.9,166,932,0.00,1.60,0.00,0.000,6,0.000,0.021,2348,2414,3824,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1233,-0.52,-219.0,241.4,-11.0,197,1236,0.00,1.80,0.00,0.000,4,0.000,0.052,2347,3595,3824,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1334,-0.52,-219.0,251.5,-9.6,207,1337,0.00,1.58,0.00,0.000,6,0.000,0.021,2347,2406,3823,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1644,-0.52,-219.0,284.9,-9.4,238,1648,0.00,1.80,0.00,0.000,4,0.000,0.051,2343,3586,3821,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1675,-0.52,-219.0,287.9,-9.8,241,1679,0.00,1.55,0.00,0.000,6,0.000,0.022,2344,2400,3821,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1987,-0.52,-219.0,319.5,-9.8,272,1990,0.00,1.83,0.00,0.000,4,0.000,0.052,2337,3578,3818,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2141,-0.52,-219.0,334.6,-9.9,287,2150,0.03,1.60,0.00,0.000,6,0.147,0.022,2353,2403,3817,0,0,0,0,0,0,26.50,26.67,28.83
$GC,2448,-0.52,-219.0,358.5,-8.0,318,2452,0.00,1.83,0.00,0.000,4,0.000,0.053,2348,3580,3814,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2601,-0.52,-219.0,370.7,-7.8,333,2605,0.00,1.58,-0.08,0.000,6,0.000,0.023,2348,2407,3832,0,0,0,0,0,0,28.83,26.66,25.46
$GC,2913,-0.52,-219.0,397.9,-9.2,364,2917,0.00,1.80,0.00,0.000,4,0.000,0.054,2349,3587,3830,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3028,-0.52,-219.0,407.8,-8.6,375,3036,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2380,3829,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3335,-0.52,-219.0,434.0,-8.8,406,3338,0.00,1.85,0.00,0.000,4,0.000,0.054,2348,3582,3826,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3459,-0.52,-219.0,444.6,-8.4,418,3466,0.00,1.60,0.00,0.000,6,0.000,0.023,2348,2395,3825,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3768,-0.52,-219.0,464.1,-5.8,449,3771,0.00,1.83,0.00,0.000,4,0.000,0.055,2348,3589,3822,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3850,-0.52,-219.0,469.1,-5.9,457,3854,0.00,1.62,0.00,0.000,6,0.000,0.024,2347,2396,3822,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4164,-0.52,-219.0,482.1,-4.0,488,4167,0.00,1.83,0.00,0.000,4,0.000,0.055,2347,3584,3819,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4290,-0.52,-219.0,489.0,-6.2,500,4296,0.00,1.62,0.00,0.000,6,0.000,0.024,2347,2370,3818,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4596,-0.52,-219.0,512.6,-8.5,531,4600,0.00,1.85,0.00,0.000,4,0.000,0.055,2347,3581,3816,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4673,-0.52,-219.0,519.3,-8.8,538,4677,0.00,1.62,0.00,0.000,6,0.000,0.024,2348,2406,3816,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4984,-0.52,-219.0,547.7,-8.0,569,4988,0.00,1.83,0.00,0.000,4,0.000,0.055,2347,3580,3814,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5069,-0.52,-219.0,553.9,-7.3,577,5073,0.00,1.60,0.00,0.000,6,0.000,0.024,2348,2399,3813,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5381,-0.52,-219.0,573.4,-5.3,608,5384,0.00,1.85,0.00,0.000,4,0.000,0.056,2347,3585,3811,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5464,-0.52,-219.0,578.0,-5.7,616,5468,0.00,1.58,0.00,0.000,6,0.000,0.024,2347,2406,3810,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5775,-0.52,-219.0,596.9,-6.4,647,5778,0.00,1.83,0.00,0.000,4,0.000,0.055,2347,3581,3808,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5841,-0.52,-219.0,600.9,-6.1,653,5845,0.00,1.60,0.00,0.000,6,0.000,0.024,2347,2401,3808,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6158,-0.52,-219.0,621.7,-7.0,669,6161,0.00,1.83,0.00,0.000,4,0.000,0.056,2347,3584,3806,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6239,-0.52,-219.0,627.4,-7.1,673,6243,0.00,1.62,0.00,0.000,6,0.000,0.024,2347,2396,3806,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6562,-0.52,-219.0,652.6,-9.4,689,6565,0.00,1.85,0.00,0.000,4,0.000,0.057,2347,3579,3804,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,6601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6601,begin apogee
$GC,6607,-0.17,0.0,656.8,-9.8,691,6794,0.32,0.22,178.88,1.478,6,0.092,0.070,2471,2479,2928,0,0,0,0,0,0,26.22,24.84,23.61
$STATE,6795,end apogee,CONTROL_FINISHED_OK
$STATE,6795,begin climb
$GC,6797,0.52,219.0,672.6,0.0,700,7001,0.57,1.83,192.38,1.444,4,0.048,0.029,2713,1355,2035,0,0,0,0,0,0,25.07,24.39,23.13
$GC,7138,0.52,219.0,649.9,12.2,717,7145,0.15,1.73,0.00,0.000,6,0.162,0.045,2673,2475,2027,0,0,0,0,0,0,25.60,25.81,28.83
$GC,7446,0.52,219.0,609.3,12.8,733,7449,0.00,1.60,0.00,0.000,4,0.000,0.051,2672,3516,2025,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7500,0.52,219.0,603.5,14.0,735,7507,0.00,1.62,0.00,0.000,6,0.000,0.024,2680,2396,2024,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7809,0.52,219.0,562.1,11.5,765,7812,0.00,1.75,0.00,0.000,4,0.000,0.050,2680,3532,2022,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7872,0.52,219.0,554.4,12.5,771,7880,0.00,1.65,0.00,0.000,6,0.000,0.023,2686,2387,2023,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8182,0.52,219.0,515.3,15.5,802,8186,0.00,1.75,0.00,0.000,4,0.000,0.050,2686,3532,2022,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8293,0.52,219.0,496.6,16.2,813,8297,0.10,1.62,0.00,0.000,6,0.191,0.024,2668,2390,2022,0,0,0,0,0,0,26.17,26.49,28.83
$GC,8605,0.52,219.0,459.3,11.1,844,8615,0.08,1.75,0.00,0.000,4,0.134,0.047,2721,3522,2021,0,0,0,0,0,0,26.58,26.30,28.83
$GC,8679,0.52,219.0,447.3,18.7,851,8688,0.15,1.62,0.00,0.000,6,0.146,0.021,2678,2389,2020,0,0,0,0,0,0,26.03,26.54,28.83
$GC,8987,0.52,219.0,405.2,13.5,882,8991,0.00,1.77,0.00,0.000,4,0.000,0.048,2678,3528,2020,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9018,0.52,219.0,400.6,14.6,885,9022,0.00,1.62,0.00,0.000,6,0.000,0.022,2686,2387,2020,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9330,0.52,219.0,363.7,9.8,916,9334,0.00,1.73,0.00,0.000,4,0.000,0.047,2686,3528,2019,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9383,0.52,219.0,357.4,12.5,921,9387,0.10,1.62,0.00,0.000,6,0.184,0.024,2667,2382,2019,0,0,0,0,0,0,26.20,26.53,28.83
$GC,9695,0.52,219.0,331.2,8.2,952,9696,0.08,0.00,0.00,0.000,6,0.135,0.000,2722,2377,2019,0,0,0,0,0,0,26.60,28.83,28.83
$GC,9994,0.52,219.0,289.4,16.8,982,9998,0.15,1.77,0.00,0.000,4,0.156,0.046,2673,3531,2018,0,0,0,0,0,0,26.21,26.27,28.83
$GC,10171,0.52,219.0,268.2,11.3,999,10178,0.00,1.62,0.00,0.000,6,0.000,0.024,2680,2384,2019,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10477,0.52,219.0,239.3,7.8,1030,10481,0.00,1.75,0.00,0.000,4,0.000,0.049,2680,3523,2018,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10611,0.52,219.0,226.8,10.2,1043,10614,0.00,1.60,0.00,0.000,6,0.000,0.024,2683,2390,2019,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10916,0.52,219.0,199.5,8.5,1074,10923,0.00,1.75,0.00,0.000,4,0.000,0.048,2683,3531,2019,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11153,0.75,404.2,186.5,3.2,1120,11317,0.20,1.62,152.80,1.147,6,0.073,0.023,2792,2364,1280,0,0,0,0,0,0,26.40,26.55,24.03
$GC,11623,0.75,404.2,107.4,9.4,1207,11631,0.15,1.77,0.00,0.000,4,0.148,0.047,2742,3527,1275,0,0,0,0,0,0,26.03,26.10,28.83
$GC,11744,0.75,404.2,96.8,8.9,1227,11751,0.00,1.60,0.00,0.000,6,0.000,0.022,2747,2383,1274,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12054,0.85,485.8,78.3,5.6,1288,12092,0.12,1.52,32.22,0.301,4,0.112,0.030,2801,1345,946,0,0,0,0,0,0,26.40,26.25,25.44
$GC,12242,0.85,485.8,61.2,9.8,1320,12249,0.08,1.67,0.00,0.000,6,0.122,0.041,2751,2476,942,0,0,0,0,0,0,26.22,26.28,28.83
$GC,12556,0.85,485.8,31.2,9.2,1381,12563,0.12,1.55,0.00,0.000,4,0.109,0.045,2808,3526,942,0,0,0,0,0,0,26.47,26.30,28.83
$GC,12806,0.85,485.8,6.5,9.9,1427,12815,0.10,1.58,0.00,0.000,6,0.112,0.022,2758,2353,943,0,0,0,0,0,0,26.41,26.57,28.83
$STATE,12835,end climb,SURFACE_DEPTH_REACHED
$STATE,12835,begin surface coast
$FINISH,0.7,1.020762
$STATE,12883,end surface coast,CONTROL_FINISHED_OK
$STATE,12883,begin surface
$SM_CCo,12959,0.00,0.000,0,0,943,487.17
$SM_GC,1.46,6.32,0.28,0.00,0.031,0.052,0.000,175,2571,943,-7.16,-0.42,487.17,0,0,0,0,0,0,26.52,26.57,28.83
$IRIDIUM_FIX,1828.22,12218.16,060512,010137
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.90
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.7,49.3
$24V_AH,23.1,54.015
$10V_AH,10.1,34.478
$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,17.400,98.700,556.275,0.000,0.000,31.525,38.206,174.119,1.250,0.000,34.834,3585.963,5856.840,581.094,2971.451,336.390,0.000,1931.003,0.000,2503.526,0.000,11.013,0.000
$DEVICE_MAMPS,234.090,69.615,1477.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.233,1847.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,107032,1441
$CAP_FILE_SIZE,156950,0
$CFSIZE,260165632,196538368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,333.5,1
$GPS,060512,072001,1840.386,12218.491,39,1.3,39,-2.1