version: 66.10
glider: 176
mission: 5
dive: 40
start: 3 20 112 20 25 35
data:
$ID,176
$MISSION,5
$DIVE,40
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,-7428.7842
$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,2500
$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,2625
$C_ROLL_CLIMB,2600
$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,0
$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,49
$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
$GPS1,200312,201907,2150.208,12248.437,25,1.4,25,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.9
$GPS2,200312,202507,2150.223,12248.330,11,1.4,28,-2.8
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,DOGLEG
$TGT_LATLONG,2130.000,12400.000
$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,131.0,129051,-15.3,-11.000
$D_GRID,4218
$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,-0.65,-219.0,0.0,0.0,0,69,0.00,0.00,-49.90,0.000,2,0.000,0.000,190,2629,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.65,-219.0,3.4,-6.0,7,108,8.23,2.10,-20.38,0.000,4,0.240,0.043,2288,1181,3822,0,0,0,0,0,0,25.85,26.20,26.48
$GC,217,-0.65,-219.0,47.9,-26.1,31,224,0.08,2.25,0.00,0.000,6,0.211,0.048,2293,2647,3824,0,0,0,0,0,0,26.12,26.24,28.83
$GC,567,-0.65,-219.0,191.1,-42.4,92,575,0.00,2.15,0.00,0.000,4,0.000,0.030,2293,1184,3825,0,0,0,0,0,0,28.83,26.44,28.83
$GC,644,-0.65,-219.0,214.7,-25.3,101,654,0.00,2.22,0.00,0.000,6,0.000,0.052,2291,2639,3825,0,0,0,0,0,0,28.83,26.42,28.83
$GC,954,-0.65,-219.0,318.0,-30.7,132,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2640,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.65,-219.0,399.4,-25.8,162,1260,0.00,1.67,0.00,0.000,4,0.000,0.053,2282,3769,3826,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1278,-0.65,-219.0,406.1,-26.7,164,1282,0.00,1.70,0.00,0.000,6,0.000,0.025,2282,2528,3825,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1589,-0.65,-219.0,485.2,-26.2,195,1594,0.05,1.90,0.00,0.000,4,0.267,0.054,2284,3776,3826,0,0,0,0,0,0,26.59,26.55,28.83
$GC,1616,-0.65,-219.0,492.2,-26.8,197,1619,0.00,1.70,0.00,0.000,6,0.000,0.025,2283,2537,3825,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1927,-0.65,-219.0,563.2,-22.3,228,1930,0.00,1.90,0.00,0.000,4,0.000,0.057,2278,3776,3825,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1982,-0.65,-219.0,575.7,-22.5,233,1987,0.08,1.67,0.00,0.000,6,0.195,0.024,2295,2537,3823,0,0,0,0,0,0,26.51,26.69,28.83
$GC,2306,-0.65,-219.0,631.5,-16.1,256,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2533,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-0.65,-219.0,678.6,-15.2,271,2608,0.00,1.88,0.00,0.000,4,0.000,0.058,2290,3769,3820,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2655,-0.65,-219.0,684.1,-15.1,273,2663,0.00,1.67,0.00,0.000,6,0.000,0.024,2290,2536,3820,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2960,-0.65,-219.0,730.9,-14.5,289,2964,0.00,1.95,0.00,0.000,4,0.000,0.029,2290,1165,3818,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2996,-0.65,-219.0,735.7,-14.0,291,3002,0.00,2.25,0.00,0.000,6,0.000,0.052,2287,2640,3817,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3317,-0.65,-219.0,782.2,-16.0,307,3320,0.00,1.67,0.00,0.000,4,0.000,0.058,2281,3766,3814,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3367,-0.65,-219.0,789.5,-16.8,309,3371,0.05,1.67,0.00,0.000,6,0.221,0.024,2296,2520,3814,0,0,0,0,0,0,26.57,26.75,28.83
$GC,3678,-0.65,-219.0,840.1,-15.8,325,3682,0.00,1.92,0.00,0.000,4,0.000,0.057,2290,3769,3812,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3715,-0.65,-219.0,846.0,-16.1,327,3718,0.00,1.70,0.00,0.000,6,0.000,0.024,2290,2527,3811,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4036,-0.65,-219.0,894.9,-14.9,343,4039,0.00,1.92,0.00,0.000,4,0.000,0.059,2286,3772,3809,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4060,-0.65,-219.0,897.3,-14.9,344,4063,0.00,1.70,0.00,0.000,6,0.000,0.025,2286,2520,3809,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4372,-0.65,-219.0,945.3,-15.0,360,4378,0.00,1.90,0.00,0.000,4,0.000,0.062,2287,3763,3806,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4432,-0.65,-219.0,954.1,-14.8,363,4435,0.00,1.67,0.00,0.000,6,0.000,0.024,2286,2531,3805,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4696,-0.17,0.0,991.7,-14.5,376,4896,0.47,0.10,188.73,1.707,6,0.124,0.082,2452,2542,2928,0,0,0,0,0,0,26.50,24.56,23.67
$STATE,4897,end apogee,CONTROL_FINISHED_OK
$STATE,4897,begin climb
$GC,4899,0.65,219.0,1004.4,0.0,386,5114,0.73,2.08,204.00,1.684,4,0.054,0.054,2727,3762,2035,0,0,0,0,0,0,24.85,24.17,23.24
$GC,5184,0.65,219.0,972.7,21.8,400,5188,0.15,1.83,0.00,0.000,6,0.207,0.025,2702,2553,2032,0,0,0,0,0,0,24.90,25.13,28.83
$GC,5497,0.65,219.0,914.7,17.7,416,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2550,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5796,0.65,219.0,863.4,16.1,431,5802,0.00,2.05,0.00,0.000,4,0.000,0.034,2709,1152,2026,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5859,0.65,219.0,854.7,14.8,434,5863,0.00,2.30,0.00,0.000,6,0.000,0.050,2709,2623,2024,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6172,0.65,219.0,806.3,15.6,450,6177,0.00,2.20,0.00,0.000,4,0.000,0.034,2720,1155,2024,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6219,0.65,219.0,800.2,15.8,452,6224,0.08,2.25,0.00,0.000,6,0.206,0.049,2704,2614,2023,0,0,0,0,0,0,26.16,26.27,28.83
$GC,6527,0.65,219.0,749.0,16.6,467,6530,0.00,1.75,0.00,0.000,4,0.000,0.056,2704,3764,2022,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6548,0.65,219.0,745.2,16.8,468,6551,0.00,1.75,0.00,0.000,6,0.000,0.024,2713,2550,2023,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6869,0.65,219.0,681.7,20.9,484,6875,0.00,2.05,0.00,0.000,4,0.000,0.036,2723,1164,2021,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6999,0.65,219.0,660.7,16.6,490,7009,0.10,2.22,0.00,0.000,6,0.191,0.049,2699,2615,2020,0,0,0,0,0,0,26.28,26.42,28.83
$GC,7311,0.65,219.0,612.9,13.3,506,7313,0.05,0.00,0.00,0.000,6,0.174,0.000,2728,2615,2020,0,0,0,0,0,0,26.57,28.83,28.83
$GC,7610,0.65,219.0,566.5,15.4,531,7620,0.10,2.12,0.00,0.000,4,0.196,0.034,2715,1161,2019,0,0,0,0,0,0,26.40,26.51,28.83
$GC,7683,0.65,219.0,556.8,12.2,538,7692,0.00,2.22,0.00,0.000,6,0.000,0.047,2715,2623,2019,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7994,0.65,219.0,506.0,16.9,569,7997,0.00,1.70,0.00,0.000,4,0.000,0.056,2715,3768,2019,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8097,0.65,219.0,486.0,20.0,579,8105,0.05,1.77,0.00,0.000,6,0.192,0.029,2708,2558,2019,0,0,0,0,0,0,26.36,26.58,28.83
$GC,8405,0.65,219.0,438.5,14.3,610,8414,0.00,2.03,0.00,0.000,4,0.000,0.034,2718,1156,2019,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8449,0.65,219.0,432.8,13.4,614,8457,0.03,2.25,0.00,0.000,6,0.186,0.046,2707,2618,2018,0,0,0,0,0,0,26.43,26.53,28.83
$GC,8756,0.65,219.0,387.3,14.9,645,8766,0.00,2.15,0.00,0.000,4,0.000,0.034,2718,1157,2019,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8788,0.65,219.0,382.8,14.1,648,8793,0.05,2.20,0.00,0.000,6,0.224,0.045,2706,2622,2018,0,0,0,0,0,0,26.46,26.55,28.83
$GC,9100,0.65,219.0,338.1,13.6,679,9109,0.00,2.15,0.00,0.000,4,0.000,0.034,2715,1146,2018,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9164,0.65,219.0,330.5,11.5,685,9172,0.00,2.22,0.00,0.000,6,0.000,0.045,2715,2622,2019,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9473,0.65,219.0,289.1,13.7,716,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2622,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9773,0.65,219.0,248.9,12.7,746,9782,0.00,2.10,0.00,0.000,4,0.000,0.033,2726,1152,2019,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9865,0.65,219.0,237.6,12.1,755,9874,0.05,2.22,0.00,0.000,6,0.157,0.044,2707,2622,2019,0,0,0,0,0,0,26.48,26.60,28.83
$GC,10175,0.65,219.5,201.2,11.0,786,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2623,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10512,0.68,242.7,164.5,10.2,844,10537,0.05,2.25,19.90,1.112,4,0.181,0.037,2758,1156,1938,0,0,0,0,0,0,26.73,26.22,25.37
$GC,10621,0.68,242.7,150.4,13.7,861,10630,0.17,2.22,0.00,0.000,6,0.151,0.046,2707,2622,1936,0,0,0,0,0,0,26.15,26.27,28.83
$GC,10973,0.77,313.1,115.3,8.6,922,11011,0.12,2.28,31.65,0.981,4,0.092,0.034,2793,1151,1650,0,0,0,0,0,0,26.47,25.84,25.09
$GC,11115,0.77,313.1,93.8,15.9,945,11123,0.20,2.28,0.00,0.000,6,0.148,0.042,2736,2628,1643,0,0,0,0,0,0,25.91,26.03,28.83
$GC,11465,0.77,313.1,47.4,11.4,1006,11475,0.05,2.22,0.00,0.000,4,0.181,0.036,2783,1156,1644,0,0,0,0,0,0,26.39,26.32,28.83
$GC,11559,0.77,313.1,35.5,13.2,1021,11568,0.15,2.22,0.00,0.000,6,0.148,0.044,2740,2625,1643,0,0,0,0,0,0,26.22,26.33,28.83
$STATE,11832,end climb,SURFACE_DEPTH_REACHED
$STATE,11832,begin surface coast
$FINISH,0.9,1.022917
$STATE,11880,end surface coast,CONTROL_FINISHED_OK
$STATE,11881,begin surface
$SM_CCo,11895,23.67,0.133,0,0,1397,375.06
$SM_GC,1.86,6.35,0.00,23.67,0.040,0.000,0.133,203,2626,1397,-7.09,0.03,375.06,0,0,0,0,0,0,26.46,28.83,26.25
$IRIDIUM_FIX,2143.45,12248.58,200312,171748
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.32
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,10.712
$10V_AH,10.3,7.383
$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,17.425,100.550,444.275,23.675,0.000,27.537,35.235,165.871,0.000,0.000,31.224,2708.836,6194.057,502.549,2591.629,275.770,0.000,1582.968,0.000,2265.127,0.000,0.541,0.000
$DEVICE_MAMPS,266.985,91.800,1706.715,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.199,1730.091,611.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324436
$DATA_FILE_SIZE,73645,1074
$CAP_FILE_SIZE,126277,0
$CFSIZE,260165632,218951680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,324.6,1
$GPS,200312,234524,2150.126,12248.854,34,1.6,38,-2.8