version: 66.10
glider: 176
mission: 5
dive: 365
start: 5 27 112 4 44 22
data:
$ID,176
$MISSION,5
$DIVE,365
$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,-8000.5386
$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
$GPS1,270512,043507,1937.841,12409.353,46,1.1,46,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.9
$GPS2,270512,044355,1937.769,12409.297,11,2.0,16,-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,81.4,30961,-12.5,-7.857
$D_GRID,5488
$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,-170.3,0.0,0.0,0,54,0.00,0.00,-34.80,0.000,2,0.000,0.000,183,2649,2305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.52,-170.3,3.2,-7.0,6,102,8.75,1.75,-28.83,0.000,4,0.232,0.063,2337,3776,3627,0,0,0,0,0,0,25.10,26.10,26.67
$GC,145,-0.52,-170.3,25.8,-34.2,18,153,0.05,1.73,0.00,0.000,6,0.229,0.023,2349,2525,3627,0,0,0,0,0,0,26.19,26.39,28.83
$GC,473,-0.52,-170.3,103.0,-21.3,79,480,0.00,1.92,0.00,0.000,4,0.000,0.027,2349,1142,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,570,-0.52,-170.3,117.9,-13.5,97,577,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2632,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,881,-0.52,-170.3,174.0,-17.1,158,887,0.00,2.12,0.00,0.000,4,0.000,0.028,2348,1147,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,910,-0.52,-170.3,178.7,-14.9,163,916,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2622,3628,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1219,-0.52,-170.3,221.4,-12.6,208,1228,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1139,3629,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1262,-0.52,-170.3,226.2,-11.3,212,1272,0.00,2.22,0.00,0.000,6,0.000,0.042,2346,2624,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1571,-0.52,-170.3,269.4,-14.8,243,1580,0.00,2.12,0.00,0.000,4,0.000,0.025,2346,1139,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1645,-0.52,-170.3,278.4,-11.4,250,1653,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2625,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1953,-0.52,-170.3,321.2,-14.1,281,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2626,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2256,-0.52,-170.3,358.3,-11.4,311,2265,0.00,2.08,0.00,0.000,4,0.000,0.025,2345,1146,3625,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2309,-0.52,-170.3,364.0,-9.7,316,2319,0.00,2.25,0.00,0.000,6,0.000,0.043,2344,2631,3624,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2619,-0.52,-170.3,395.3,-9.7,347,2628,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1142,3623,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2660,-0.52,-170.3,399.0,-9.1,351,2669,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2629,3623,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2970,-0.52,-170.3,428.6,-9.1,382,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-0.52,-170.3,456.8,-9.6,412,3281,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1148,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3315,-0.52,-170.3,460.7,-9.3,416,3324,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2613,3618,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3623,-0.52,-170.3,490.1,-9.3,447,3633,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1143,3616,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3656,-0.52,-170.3,493.1,-9.2,450,3665,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2624,3616,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3967,-0.52,-170.3,519.5,-7.9,481,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2625,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4267,-0.52,-170.3,542.4,-7.7,511,4276,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1142,3612,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4300,-0.52,-170.3,544.9,-7.9,514,4308,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2622,3612,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4611,-0.52,-170.3,568.9,-8.0,545,4614,0.00,1.75,0.00,0.000,4,0.000,0.055,2344,3768,3609,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4653,-0.52,-170.3,572.3,-8.1,549,4657,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2495,3608,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4966,-0.52,-170.3,598.0,-7.9,580,4975,0.00,2.03,0.00,0.000,4,0.000,0.054,2335,3767,3606,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5008,-0.52,-170.3,601.5,-8.2,584,5012,0.05,1.73,0.00,0.000,6,0.197,0.024,2356,2494,3606,0,0,0,0,0,0,26.36,26.55,28.83
$GC,5331,-0.52,-170.3,620.5,-5.2,600,5337,0.05,1.98,0.00,0.000,4,0.174,0.052,2288,3762,3603,0,0,0,0,0,0,26.62,26.04,28.83
$GC,5363,-0.52,-170.3,621.9,-5.4,601,5370,0.20,1.73,0.00,0.000,6,0.128,0.024,2353,2467,3602,0,0,0,0,0,0,26.03,26.55,28.83
$GC,5671,-0.52,-170.3,641.9,-6.3,617,5677,0.00,1.98,0.00,0.000,4,0.000,0.054,2346,3758,3601,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5713,-0.52,-170.3,644.8,-6.8,619,5716,0.00,1.73,0.00,0.000,6,0.000,0.025,2346,2499,3600,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6029,-0.52,-170.3,670.4,-8.3,635,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2466,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6331,-0.52,-170.3,695.2,-8.1,650,6334,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3763,3597,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6393,-0.52,-170.3,700.2,-8.0,653,6396,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2506,3596,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6715,-0.52,-170.3,724.6,-7.3,669,6721,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3759,3595,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6774,-0.52,-170.3,728.8,-7.1,672,6777,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2500,3594,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7096,-0.52,-170.3,749.6,-6.0,688,7102,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3773,3593,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7137,-0.52,-170.3,752.0,-6.1,690,7141,0.00,1.73,0.00,0.000,6,0.000,0.027,2344,2512,3592,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7459,-0.52,-170.3,769.2,-5.3,706,7464,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3766,3590,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7499,-0.52,-170.3,771.4,-5.4,708,7502,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2499,3590,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7821,-0.52,-170.3,789.1,-5.9,724,7826,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3759,3589,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7863,-0.52,-170.3,791.5,-6.2,726,7866,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2493,3588,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8181,-0.52,-170.3,812.2,-6.7,742,8186,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3760,3587,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8240,-0.52,-170.3,816.3,-6.9,745,8244,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2495,3586,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8564,-0.52,-170.3,839.0,-7.2,761,8569,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3764,3585,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8593,-0.52,-170.3,840.5,-7.2,762,8596,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2505,3585,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8904,-0.52,-170.3,865.1,-7.7,778,8910,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3773,3584,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8952,-0.52,-170.3,868.3,-7.8,780,8955,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2508,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9265,-0.52,-170.3,890.8,-6.5,796,9269,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3767,3583,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9309,-0.52,-170.3,893.5,-6.4,798,9313,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2499,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9628,-0.52,-170.3,913.3,-6.1,814,9631,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3763,3582,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9663,-0.52,-170.3,914.6,-6.1,815,9669,0.00,1.75,0.00,0.000,6,0.000,0.025,2343,2463,3582,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9970,-0.52,-170.3,935.4,-6.7,831,9975,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3762,3581,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10012,-0.52,-170.3,938.2,-6.7,833,10015,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2510,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10333,-0.52,-170.3,960.8,-7.0,849,10339,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3763,3580,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10376,-0.52,-170.3,963.6,-6.9,851,10379,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2516,3580,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10694,-0.52,-170.3,984.6,-6.3,867,10699,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3763,3579,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10726,-0.52,-170.3,985.9,-6.4,868,10734,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2484,3579,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,10791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10791,begin apogee
$GC,10797,-0.17,0.0,990.8,-6.1,872,10954,0.32,0.00,146.75,1.717,6,0.098,0.000,2464,2484,2929,0,0,0,0,0,0,25.94,28.83,22.28
$STATE,10955,end apogee,CONTROL_FINISHED_OK
$STATE,10955,begin climb
$GC,10957,0.52,170.3,998.2,0.0,880,11136,0.60,2.25,167.45,1.673,4,0.050,0.054,2700,3763,2232,0,0,0,0,0,0,24.52,23.65,21.84
$GC,11147,0.52,170.3,990.1,10.5,889,11151,0.15,2.08,0.00,0.000,6,0.187,0.025,2677,2452,2231,0,0,0,0,0,0,23.94,24.26,28.83
$GC,11454,0.52,170.3,948.4,12.6,904,11460,0.00,2.08,0.00,0.000,4,0.000,0.055,2676,3764,2222,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11495,0.52,170.3,942.5,13.6,906,11499,0.00,1.90,0.00,0.000,6,0.000,0.025,2685,2445,2222,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11817,0.52,170.3,899.0,13.2,922,11823,0.00,2.05,0.00,0.000,4,0.000,0.031,2695,1050,2220,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,20743,end climb,SURFACE_DEPTH_REACHED
$STATE,20743,begin surface coast
$FINISH,0.7,1.020898
$STATE,20825,end surface coast,CONTROL_FINISHED_OK
$STATE,20825,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.8,76.816
$10V_AH,9.8,46.508
$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
$DEVICE_SECS,18.425,195.375,447.500,0.000,0.000,25.148,51.778,290.827,0.000,0.000,19.348,4814.014,11640.056,635.754,3845.842,459.168,0.000,2407.107,0.000,3211.451,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,140481,1907
$CAP_FILE_SIZE,222177,0
$CFSIZE,260165632,186167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,229.6,1
$GPS,270512,103354,1937.067,12410.603,24,1.0,41,-2.4