version: 66.10
glider: 176
mission: 5
dive: 278
start: 5 8 112 16 33 4
data:
$ID,176
$MISSION,5
$DIVE,278
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,330
$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,250
$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,-7881.7168
$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,40
$C_ROLL_DIVE,2600
$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,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
$GPS1,080512,162850,1903.057,12225.116,11,1.5,11,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.8
$GPS2,080512,163237,1903.120,12225.084,9,1.5,14,-2.2
$SPEED_LIMITS,0.191,0.336
$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,96.5,239978,-14.4,-11.000
$D_GRID,2078
$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,-0.66,-243.3,0.0,0.0,0,83,0.00,0.00,-63.88,0.000,2,0.000,0.000,208,2648,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.66,-243.3,3.4,-7.9,11,133,8.38,1.67,-31.15,0.000,4,0.234,0.063,2295,3776,3924,0,0,0,0,0,0,25.38,26.29,26.79
$GC,247,-0.66,-243.3,70.5,-35.8,35,254,0.03,1.73,0.00,0.000,6,0.277,0.022,2305,2501,3924,0,0,0,0,0,0,26.39,26.56,28.83
$GC,574,-0.66,-243.3,188.3,-29.9,96,580,0.00,1.90,0.00,0.000,4,0.000,0.026,2305,1137,3924,0,0,0,0,0,0,28.83,26.53,28.83
$GC,604,-0.66,-243.3,196.6,-25.7,101,612,0.00,2.22,0.00,0.000,6,0.000,0.045,2304,2620,3924,0,0,0,0,0,0,28.83,26.39,28.83
$GC,930,-0.66,-243.3,277.5,-24.3,133,933,0.00,1.70,0.00,0.000,4,0.000,0.050,2296,3768,3924,0,0,0,0,0,0,28.83,26.38,28.83
$GC,991,-0.66,-243.3,289.8,-18.5,139,994,0.00,1.67,0.00,0.000,6,0.000,0.022,2296,2516,3924,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1302,-0.66,-243.3,350.6,-17.0,170,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2510,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-0.66,-243.3,401.8,-17.4,200,1608,0.00,1.90,0.00,0.000,4,0.000,0.054,2287,3766,3920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1638,-0.66,-243.3,407.7,-18.0,203,1645,0.05,1.73,0.00,0.000,6,0.139,0.022,2308,2492,3919,0,0,0,0,0,0,26.39,26.65,28.83
$GC,1945,-0.66,-243.3,451.7,-14.0,234,1955,0.00,1.95,0.00,0.000,4,0.000,0.054,2305,3765,3916,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1979,-0.66,-243.3,456.2,-14.0,237,1988,0.00,1.73,0.00,0.000,6,0.000,0.021,2304,2484,3915,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2287,-0.66,-243.3,494.1,-12.6,268,2296,0.00,2.00,-0.08,0.000,4,0.000,0.068,2304,3769,3942,0,0,0,0,0,0,28.83,26.29,25.69
$GC,2331,-0.66,-243.3,499.2,-12.2,272,2338,0.00,1.75,0.00,0.000,6,0.000,0.023,2303,2470,3941,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2639,-0.66,-243.3,537.1,-13.7,303,2647,0.00,2.00,0.00,0.000,4,0.000,0.054,2295,3769,3937,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2691,-0.66,-243.3,544.4,-14.0,308,2694,0.00,1.70,0.00,0.000,6,0.000,0.023,2295,2492,3936,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3002,-0.66,-243.3,592.1,-13.2,339,3012,0.05,1.88,0.00,0.000,4,0.231,0.024,2309,1137,3932,0,0,0,0,0,0,26.60,26.52,28.83
$GC,3037,-0.66,-243.3,596.1,-12.5,342,3044,0.00,2.28,0.00,0.000,6,0.000,0.047,2306,2613,3932,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3354,-0.66,-243.3,634.3,-13.6,360,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2614,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.66,-243.3,660.1,-11.5,375,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2613,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3955,-0.66,-243.3,684.4,-11.0,390,3959,0.00,1.75,0.00,0.000,4,0.000,0.058,2304,3764,3921,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4019,-0.66,-243.3,693.2,-13.7,393,4023,0.00,1.70,0.00,0.000,6,0.000,0.024,2304,2467,3920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4337,-0.66,-243.3,729.8,-12.0,409,4343,0.00,2.03,0.00,0.000,4,0.000,0.057,2296,3768,3916,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4424,-0.66,-243.3,739.1,-11.5,413,4428,0.00,1.73,0.00,0.000,6,0.000,0.024,2296,2461,3915,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4738,-0.66,-243.3,774.6,-11.1,429,4743,0.00,2.03,0.00,0.000,4,0.000,0.057,2288,3754,3912,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4825,-0.66,-243.3,783.2,-10.8,433,4829,0.08,1.73,0.00,0.000,6,0.168,0.024,2310,2481,3911,0,0,0,0,0,0,26.38,26.62,28.83
$GC,5137,-0.66,-243.3,814.2,-9.8,449,5142,0.00,2.05,0.00,0.000,4,0.000,0.057,2304,3769,3909,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5171,-0.66,-243.3,816.2,-9.7,450,5177,0.00,1.75,0.00,0.000,6,0.000,0.024,2304,2463,3908,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5478,-0.66,-243.3,845.6,-8.6,466,5483,0.00,2.00,0.00,0.000,4,0.000,0.058,2304,3759,3906,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5538,-0.66,-243.3,850.3,-8.0,469,5542,0.00,1.75,0.00,0.000,6,0.000,0.026,2303,2498,3906,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5860,-0.66,-243.3,882.4,-11.1,485,5864,0.00,1.98,0.00,0.000,4,0.000,0.058,2304,3771,3904,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5915,-0.66,-243.3,887.4,-11.5,487,5921,0.00,1.75,0.00,0.000,6,0.000,0.024,2303,2466,3904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6223,-0.66,-243.3,924.0,-11.8,503,6227,0.00,2.03,0.00,0.000,4,0.000,0.058,2301,3770,3901,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6267,-0.66,-243.3,928.8,-11.6,505,6270,0.00,1.75,0.00,0.000,6,0.000,0.024,2301,2473,3900,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6584,-0.66,-243.3,961.4,-11.3,521,6588,0.00,2.03,0.00,0.000,4,0.000,0.058,2300,3769,3899,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6646,-0.66,-243.3,968.4,-11.5,524,6650,0.00,1.75,0.00,0.000,6,0.000,0.025,2300,2509,3898,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,6866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6866,begin apogee
$GC,6872,-0.17,0.0,990.6,-9.5,535,7090,0.45,0.08,211.50,1.704,6,0.102,0.096,2463,2437,2929,0,0,0,0,0,0,26.00,23.89,22.56
$STATE,7091,end apogee,CONTROL_FINISHED_OK
$STATE,7091,begin climb
$GC,7093,0.66,243.3,1002.0,0.0,546,7329,0.75,0.00,230.85,1.656,6,0.053,0.000,2739,2437,1935,0,0,0,0,0,0,24.19,28.83,22.43
$GC,7628,0.66,243.3,915.6,21.7,573,7634,0.10,2.10,0.00,0.000,4,0.208,0.054,2717,3766,1927,0,0,0,0,0,0,25.94,25.98,28.83
$GC,7697,0.66,243.3,902.4,21.9,576,7701,0.00,1.95,0.00,0.000,6,0.000,0.028,2726,2448,1926,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8011,0.66,243.3,836.4,20.9,592,8014,0.00,2.05,0.00,0.000,4,0.000,0.056,2726,3766,1925,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8055,0.66,243.3,826.0,23.1,594,8059,0.08,1.95,0.00,0.000,6,0.238,0.026,2721,2436,1924,0,0,0,0,0,0,26.09,26.36,28.83
$GC,8373,0.66,243.3,763.3,18.2,610,8377,0.00,2.05,0.00,0.000,4,0.000,0.055,2721,3763,1923,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8416,0.66,243.3,754.9,18.9,612,8421,0.00,1.90,0.00,0.000,6,0.000,0.026,2730,2451,1923,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8735,0.66,243.3,693.1,18.3,628,8740,0.00,2.05,0.00,0.000,4,0.000,0.054,2729,3768,1922,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8803,0.66,243.3,680.9,19.8,631,8807,0.10,1.90,0.00,0.000,6,0.220,0.024,2718,2443,1922,0,0,0,0,0,0,26.08,26.46,28.83
$GC,9115,0.66,243.3,621.2,17.6,647,9120,0.00,2.03,0.00,0.000,4,0.000,0.053,2717,3764,1920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9155,0.66,243.3,612.6,19.4,649,9158,0.00,1.90,0.00,0.000,6,0.000,0.025,2727,2449,1921,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9463,0.66,243.3,552.9,18.7,676,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2444,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9775,0.66,243.3,494.2,19.0,707,9784,0.00,2.00,0.00,0.000,4,0.000,0.053,2727,3757,1919,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9867,0.66,243.3,475.4,19.5,716,9871,0.08,1.88,0.00,0.000,6,0.233,0.024,2722,2451,1920,0,0,0,0,0,0,26.17,26.47,28.83
$GC,10180,0.66,243.3,424.0,17.7,747,10189,0.00,2.00,0.00,0.000,4,0.000,0.051,2722,3766,1919,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10214,0.66,243.3,418.0,18.0,750,10221,0.00,1.92,0.00,0.000,6,0.000,0.022,2731,2439,1919,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10523,0.66,243.3,367.1,14.5,781,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2436,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10824,0.66,243.3,320.7,15.7,811,10833,0.00,2.00,0.00,0.000,4,0.000,0.050,2731,3764,1919,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10987,0.66,243.3,290.4,18.5,827,10997,0.10,1.90,0.00,0.000,6,0.205,0.024,2718,2435,1919,0,0,0,0,0,0,26.11,26.48,28.83
$GC,11296,0.66,243.3,247.9,11.5,858,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2434,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11600,0.79,347.8,216.6,7.8,888,11697,0.15,2.15,87.60,1.177,4,0.088,0.048,2803,3775,1509,0,0,0,0,0,0,26.52,25.28,24.02
$GC,11755,0.79,347.8,186.6,26.0,908,11762,0.20,1.95,0.00,0.000,6,0.165,0.024,2760,2455,1507,0,0,0,0,0,0,25.47,25.84,28.83
$GC,12067,0.79,347.8,140.9,11.3,969,12074,0.00,2.05,0.00,0.000,4,0.000,0.037,2762,1061,1503,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12132,0.95,482.4,135.1,6.9,981,12199,0.17,2.22,57.72,1.050,6,0.070,0.044,2855,2525,960,0,0,0,0,0,0,26.23,26.19,24.35
$GC,12505,0.95,482.4,57.8,20.5,1052,12512,0.12,0.00,0.00,0.000,6,0.170,0.000,2816,2524,955,0,0,0,0,0,0,26.06,28.83,28.83
$GC,12817,1.00,522.9,20.4,9.8,1113,12838,0.10,2.25,15.40,0.177,4,0.106,0.035,2885,1055,792,0,0,0,0,0,0,26.51,26.29,25.68
$GC,12897,1.00,522.9,10.9,11.2,1124,12904,0.20,2.20,0.00,0.000,6,0.120,0.038,2820,2531,789,0,0,0,0,0,0,26.10,26.30,28.83
$STATE,12974,end climb,SURFACE_DEPTH_REACHED
$STATE,12974,begin surface coast
$FINISH,0.7,1.020787
$STATE,13021,end surface coast,CONTROL_FINISHED_OK
$STATE,13021,begin surface
$SM_CCo,13097,0.00,0.000,0,0,788,525.19
$SM_GC,1.53,6.47,0.12,0.00,0.031,0.094,0.000,199,2654,788,-7.15,-0.45,525.19,0,0,0,0,0,0,26.36,26.48,28.83
$IRIDIUM_FIX,1900.10,12222.32,080512,161611
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.4,57.393
$10V_AH,10.1,35.967
$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,17.650,104.250,603.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,17.525,2862.433,7180.656,629.715,2254.320,239.621,0.000,1816.537,0.000,2037.385,0.000,0.541,0.000
$DEVICE_MAMPS,276.930,126.225,1704.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.957,1553.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,86968,1148
$CAP_FILE_SIZE,143214,0
$CFSIZE,260165632,195280896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,319.2,1
$GPS,080512,201231,1903.973,12226.325,41,1.7,41,-2.2