version: 66.10
glider: 176
mission: 5
dive: 363
start: 5 26 112 16 56 12
data:
$ID,176
$MISSION,5
$DIVE,363
$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,420
$T_MISSION,480
$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,175
$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,163
$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,-7998.022
$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
$GPS1,260512,164737,1941.349,12405.197,49,0.9,49,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-78.2
$GPS2,260512,165544,1941.332,12405.099,13,1.4,13,-2.4
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,DOGLEG
$TGT_LATLONG,1930.000,12425.000
$TGT_RADIUS,10000.000
$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,105.8,40589,-12.5,-7.857
$D_GRID,5382
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,53,0.00,0.00,-34.67,0.000,2,0.000,0.000,186,2631,2305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.52,-170.3,3.1,-5.4,6,104,8.82,2.20,-28.80,0.000,4,0.233,0.042,2344,1148,3626,0,0,0,0,0,0,25.10,26.23,26.66
$GC,126,-0.52,-170.3,18.3,-26.8,15,135,0.08,2.25,0.00,0.000,6,0.199,0.045,2351,2625,3627,0,0,0,0,0,0,25.95,26.10,28.83
$GC,455,-0.52,-170.3,97.0,-20.8,76,461,0.00,2.12,0.00,0.000,4,0.000,0.025,2351,1140,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,514,-0.52,-170.3,107.1,-14.1,87,522,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2629,3627,0,0,0,0,0,0,28.83,26.22,28.83
$GC,842,-0.52,-170.3,165.8,-17.0,148,848,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1146,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,927,-0.52,-170.3,176.7,-10.6,164,935,0.05,2.20,0.00,0.000,6,0.213,0.042,2353,2626,3628,0,0,0,0,0,0,26.18,26.28,28.83
$GC,1239,-0.52,-170.3,224.1,-15.7,210,1248,0.00,2.08,0.00,0.000,4,0.000,0.026,2353,1154,3628,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1283,-0.52,-170.3,230.1,-14.4,214,1290,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2617,3628,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1590,-0.52,-170.3,275.1,-14.8,245,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2618,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1893,-0.52,-170.3,314.4,-12.2,275,1902,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1146,3626,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1934,-0.52,-170.3,319.1,-10.8,279,1944,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2625,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2244,-0.52,-170.3,354.5,-11.7,310,2253,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1148,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2279,-0.52,-170.3,358.2,-11.4,313,2287,0.00,2.25,0.00,0.000,6,0.000,0.043,2347,2619,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2588,-0.52,-170.3,392.2,-11.2,344,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2620,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.52,-170.3,428.6,-12.2,374,2897,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1148,3622,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2924,-0.52,-170.3,432.5,-12.3,377,2930,0.00,2.22,0.00,0.000,6,0.000,0.043,2347,2621,3622,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3231,-0.52,-170.3,465.6,-9.3,408,3240,0.00,2.08,0.00,0.000,4,0.000,0.025,2347,1151,3620,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3262,-0.52,-170.3,468.3,-8.7,411,3273,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2622,3619,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3573,-0.52,-170.3,491.8,-7.3,442,3577,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1137,3618,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3627,-0.52,-170.3,495.3,-6.5,447,3637,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2619,3618,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3935,-0.52,-170.3,518.9,-8.4,478,3938,0.00,1.75,0.00,0.000,4,0.000,0.054,2345,3767,3616,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3968,-0.52,-170.3,521.5,-8.5,481,3975,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2446,3615,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4276,-0.52,-170.3,549.1,-8.9,512,4280,0.00,2.05,0.00,0.000,4,0.000,0.054,2344,3769,3613,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4310,-0.52,-170.3,552.0,-8.7,515,4318,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2464,3612,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4618,-0.52,-170.3,576.9,-7.6,546,4626,0.00,1.90,0.00,0.000,4,0.000,0.028,2344,1140,3611,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4641,-0.52,-170.3,578.4,-7.6,548,4648,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3611,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4960,-0.52,-170.3,603.6,-8.3,578,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.52,-170.3,629.0,-8.6,593,5267,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1140,3606,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5299,-0.52,-170.3,632.5,-8.6,595,5305,0.00,2.28,0.00,0.000,6,0.000,0.049,2344,2615,3606,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5621,-0.52,-170.3,656.6,-7.0,611,5624,0.00,1.77,0.00,0.000,4,0.000,0.055,2340,3776,3603,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5650,-0.52,-170.3,658.2,-7.0,612,5654,0.00,1.75,0.00,0.000,6,0.000,0.024,2340,2507,3602,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5964,-0.52,-170.3,682.1,-7.6,628,5970,0.00,1.98,0.00,0.000,4,0.000,0.056,2332,3772,3601,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5998,-0.52,-170.3,683.7,-7.6,629,6005,0.08,1.75,0.00,0.000,6,0.161,0.024,2357,2490,3600,0,0,0,0,0,0,26.29,26.51,28.83
$GC,6304,-0.52,-170.3,704.9,-6.4,645,6310,0.08,2.00,0.00,0.000,4,0.128,0.057,2287,3772,3598,0,0,0,0,0,0,26.59,25.97,28.83
$GC,6397,-0.52,-170.3,713.3,-10.7,649,6405,0.20,1.75,0.00,0.000,6,0.123,0.023,2354,2486,3598,0,0,0,0,0,0,26.03,26.49,28.83
$GC,6704,-0.52,-170.3,734.5,-6.2,665,6710,0.05,2.00,0.00,0.000,4,0.172,0.053,2292,3764,3596,0,0,0,0,0,0,26.60,25.98,28.83
$GC,6771,-0.52,-170.3,740.5,-9.0,668,6776,0.20,1.75,0.00,0.000,6,0.119,0.025,2359,2502,3595,0,0,0,0,0,0,26.05,26.50,28.83
$GC,7086,-0.52,-170.3,762.3,-6.7,684,7087,0.08,0.00,0.00,0.000,6,0.127,0.000,2292,2498,3594,0,0,0,0,0,0,26.58,28.83,28.83
$GC,7383,-0.52,-170.3,796.2,-11.6,699,7390,0.17,2.00,0.00,0.000,4,0.133,0.054,2346,3771,3593,0,0,0,0,0,0,26.17,25.95,28.83
$GC,7407,-0.52,-170.3,798.3,-11.4,700,7410,0.00,1.75,0.00,0.000,6,0.000,0.025,2346,2526,3592,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7724,-0.52,-170.3,822.0,-7.5,716,7730,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3769,3591,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7767,-0.52,-170.3,824.9,-7.4,718,7770,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2524,3590,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8085,-0.52,-170.3,849.3,-7.7,734,8090,0.00,1.98,0.00,0.000,4,0.000,0.059,2345,3763,3589,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8112,-0.52,-170.3,850.9,-7.7,735,8115,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2518,3588,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8424,-0.52,-170.3,876.3,-8.2,751,8429,0.00,1.98,0.00,0.000,4,0.000,0.060,2345,3766,3587,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8465,-0.52,-170.3,879.6,-8.0,753,8468,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2520,3587,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8785,-0.52,-170.3,905.5,-8.0,769,8791,0.00,2.00,0.00,0.000,4,0.000,0.060,2345,3767,3586,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8818,-0.52,-170.3,907.2,-8.1,770,8825,0.00,1.77,0.00,0.000,6,0.000,0.024,2345,2488,3585,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9127,-0.52,-170.3,932.4,-7.7,786,9132,0.00,2.00,0.00,0.000,4,0.000,0.059,2344,3766,3584,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9159,-0.52,-170.3,933.8,-7.6,787,9166,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2494,3584,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9467,-0.52,-170.3,956.4,-6.6,803,9473,0.00,1.98,0.00,0.000,4,0.000,0.059,2345,3762,3583,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9494,-0.52,-170.3,957.8,-6.7,804,9497,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2512,3583,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9806,-0.52,-170.3,977.0,-5.7,820,9812,0.00,2.00,0.00,0.000,4,0.000,0.059,2345,3762,3582,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9840,-0.52,-170.3,978.1,-5.6,821,9847,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2503,3582,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,10044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10044,begin apogee
$GC,10049,-0.17,0.0,990.1,-5.2,832,10208,0.32,0.00,146.60,1.714,6,0.097,0.000,2465,2503,2929,0,0,0,0,0,0,25.97,28.83,22.37
$STATE,10209,end apogee,CONTROL_FINISHED_OK
$STATE,10209,begin climb
$GC,10211,0.52,170.3,995.6,0.0,840,10388,0.62,2.38,166.15,1.669,4,0.048,0.030,2712,1055,2232,0,0,0,0,0,0,24.63,23.78,21.92
$GC,10410,0.52,170.3,982.6,13.0,850,10417,0.15,2.45,0.00,0.000,6,0.161,0.047,2676,2515,2228,0,0,0,0,0,0,24.23,24.44,28.83
$GC,10732,0.52,170.3,939.2,13.5,866,10737,0.00,1.95,0.00,0.000,4,0.000,0.057,2676,3767,2222,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10750,0.52,170.3,936.4,13.6,867,10754,0.00,1.92,0.00,0.000,6,0.000,0.024,2685,2437,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11069,0.52,170.3,891.2,14.3,883,11074,0.00,2.05,0.00,0.000,4,0.000,0.055,2686,3763,2220,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11100,0.52,170.3,888.2,14.3,884,11107,0.10,1.90,0.00,0.000,6,0.210,0.024,2673,2451,2220,0,0,0,0,0,0,25.98,26.36,28.83
$GC,11407,0.52,170.3,846.0,12.4,900,11409,0.03,0.00,0.00,0.000,6,0.259,0.000,2707,2448,2219,0,0,0,0,0,0,26.53,28.83,28.83
$GC,11708,0.52,170.3,801.2,15.0,915,11714,0.12,2.03,0.00,0.000,4,0.181,0.053,2670,3764,2218,0,0,0,0,0,0,26.08,26.06,28.83
$GC,11740,0.52,170.3,798.0,15.0,916,11747,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2446,2218,0,0,0,0,0,0,28.83,26.40,28.83
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$STATE,20342,end climb,SURFACE_DEPTH_REACHED
$STATE,20342,begin surface coast
$FINISH,0.7,1.008749
$STATE,20400,end surface coast,CONTROL_FINISHED_OK
$STATE,20400,begin surface
$SM_CCo,20475,0.00,0.000,0,0,1140,438.84
$SM_GC,1.44,6.38,0.12,0.00,0.029,0.085,0.000,185,2685,1140,-7.15,-0.57,438.84,0,0,0,0,0,0,26.39,26.52,28.83
$IRIDIUM_FIX,1934.38,12403.63,260512,111158
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.9,76.424
$10V_AH,9.8,46.231
$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,19.800,189.125,451.200,0.000,0.000,30.866,40.815,260.975,0.000,0.000,15.734,4794.834,11272.544,665.525,3733.423,464.597,0.000,2402.523,0.000,3142.082,0.000,0.540,0.000
$DEVICE_MAMPS,264.690,84.915,1713.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1302.038,2460.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329648
$DATA_FILE_SIZE,140541,1911
$CAP_FILE_SIZE,218930,0
$CFSIZE,260165632,186404864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,215.4,1
$GPS,260512,223837,1939.822,12407.263,41,0.8,41,-2.4