version: 66.10
glider: 176
mission: 5
dive: 41
start: 3 20 112 23 51 42
data:
$ID,176
$MISSION,5
$DIVE,41
$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,-7430.0435
$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
$GPS1,200312,234524,2150.126,12248.854,34,1.6,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.1
$GPS2,200312,235114,2150.145,12248.686,10,1.6,10,-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,137.7,128423,-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,-219.0,0.0,0.0,0,70,0.00,0.00,-50.28,0.000,2,0.000,0.000,194,2628,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.65,-219.0,3.5,-6.9,7,108,8.30,2.15,-20.30,0.000,4,0.244,0.045,2286,1171,3823,0,0,0,0,0,0,25.86,26.19,26.47
$GC,189,-0.65,-219.0,38.0,-27.1,26,198,0.05,2.30,0.00,0.000,6,0.181,0.050,2292,2645,3824,0,0,0,0,0,0,26.07,26.22,28.83
$GC,541,-0.65,-219.0,179.3,-41.9,87,548,0.00,2.15,0.00,0.000,4,0.000,0.033,2292,1176,3825,0,0,0,0,0,0,28.83,26.43,28.83
$GC,602,-0.65,-219.0,200.7,-26.8,97,611,0.00,2.22,0.00,0.000,6,0.000,0.050,2290,2638,3824,0,0,0,0,0,0,28.83,26.41,28.83
$GC,909,-0.65,-219.0,303.3,-31.3,128,913,0.00,1.73,0.00,0.000,4,0.000,0.057,2281,3769,3825,0,0,0,0,0,0,28.83,26.48,28.83
$GC,950,-0.65,-219.0,316.8,-33.0,132,955,0.05,1.70,0.00,0.000,6,0.243,0.028,2293,2551,3825,0,0,0,0,0,0,26.40,26.57,28.83
$GC,1262,-0.65,-219.0,399.8,-24.2,163,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2548,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-0.65,-219.0,466.1,-21.5,193,1568,0.00,1.83,0.00,0.000,4,0.000,0.056,2288,3765,3825,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1588,-0.65,-219.0,471.5,-21.8,195,1595,0.00,1.70,0.00,0.000,6,0.000,0.025,2288,2547,3825,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1896,-0.65,-219.0,540.4,-22.8,226,1904,0.00,1.85,0.00,0.000,4,0.000,0.057,2286,3772,3823,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1949,-0.65,-219.0,552.2,-23.2,231,1956,0.00,1.73,0.00,0.000,6,0.000,0.024,2287,2552,3823,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2269,-0.65,-219.0,616.5,-19.6,259,2274,0.00,1.98,0.00,0.000,4,0.000,0.032,2286,1163,3821,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2295,-0.65,-219.0,620.3,-19.6,260,2300,0.08,2.25,0.00,0.000,6,0.203,0.050,2296,2641,3821,0,0,0,0,0,0,26.49,26.60,28.83
$GC,2602,-0.65,-219.0,675.8,-18.2,275,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2642,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2902,-0.65,-219.0,728.0,-17.0,290,2908,0.00,2.12,0.00,0.000,4,0.000,0.030,2296,1174,3816,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2950,-0.65,-219.0,734.2,-16.4,292,2954,0.00,2.22,0.00,0.000,6,0.000,0.049,2291,2638,3816,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3257,-0.65,-219.0,782.4,-15.0,307,3263,0.00,2.12,0.00,0.000,4,0.000,0.031,2291,1173,3814,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3304,-0.65,-219.0,787.7,-14.4,309,3309,0.00,2.25,0.00,0.000,6,0.000,0.050,2291,2649,3813,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3612,-0.65,-219.0,831.6,-13.8,324,3617,0.00,2.15,0.00,0.000,4,0.000,0.032,2291,1174,3811,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3645,-0.65,-219.0,834.2,-13.7,325,3653,0.00,2.25,0.00,0.000,6,0.000,0.051,2290,2649,3810,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3953,-0.65,-219.0,876.8,-13.3,341,3959,0.00,2.12,0.00,0.000,4,0.000,0.032,2290,1179,3808,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4005,-0.65,-219.0,881.9,-13.3,343,4011,0.00,2.25,0.00,0.000,6,0.000,0.051,2290,2646,3807,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4312,-0.65,-219.0,923.3,-13.4,359,4318,0.00,2.15,0.00,0.000,4,0.000,0.031,2291,1167,3804,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4339,-0.65,-219.0,925.9,-13.4,360,4344,0.00,2.28,0.00,0.000,6,0.000,0.051,2290,2647,3805,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4647,-0.65,-219.0,966.9,-13.6,375,4653,0.00,2.15,0.00,0.000,4,0.000,0.031,2290,1170,3803,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4675,-0.65,-219.0,969.8,-13.7,376,4679,0.00,2.25,0.00,0.000,6,0.000,0.052,2290,2639,3802,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,4840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4840,begin apogee
$GC,4845,-0.17,0.0,992.0,-12.9,384,5045,0.45,0.10,188.27,1.708,6,0.123,0.073,2447,2619,2928,0,0,0,0,0,0,26.48,24.54,23.68
$STATE,5046,end apogee,CONTROL_FINISHED_OK
$STATE,5046,begin climb
$GC,5048,0.65,219.0,1001.8,0.0,394,5263,0.75,1.92,204.75,1.681,4,0.049,0.054,2735,3762,2035,0,0,0,0,0,0,24.88,24.17,23.24
$GC,5287,0.65,219.0,974.3,20.9,406,5293,0.17,1.88,0.00,0.000,6,0.200,0.030,2703,2566,2033,0,0,0,0,0,0,24.56,24.78,28.83
$GC,5607,0.65,219.0,910.8,19.9,422,5613,0.00,2.12,0.00,0.000,4,0.000,0.042,2714,1165,2027,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5639,0.65,219.0,907.2,19.5,423,5646,0.00,2.30,0.00,0.000,6,0.000,0.050,2714,2620,2025,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5946,0.65,219.0,841.0,20.5,439,5952,0.00,2.22,0.00,0.000,4,0.000,0.043,2723,1168,2024,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6046,0.65,219.0,823.1,17.4,444,6053,0.10,2.25,0.00,0.000,6,0.192,0.050,2700,2624,2022,0,0,0,0,0,0,26.03,26.15,28.83
$GC,6367,0.65,219.0,767.2,16.6,460,6371,0.00,2.20,0.00,0.000,4,0.000,0.044,2710,1169,2022,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6451,0.65,219.0,755.4,14.0,464,6456,0.00,2.22,0.00,0.000,6,0.000,0.049,2710,2618,2021,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6770,0.65,219.0,703.3,17.2,480,6775,0.00,2.20,0.00,0.000,4,0.000,0.044,2721,1170,2021,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6818,0.65,219.0,696.5,17.6,482,6822,0.08,2.22,0.00,0.000,6,0.206,0.047,2706,2618,2020,0,0,0,0,0,0,26.26,26.37,28.83
$GC,7125,0.65,219.0,642.3,18.0,497,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2618,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,0.65,219.0,587.7,18.3,515,7429,0.00,2.17,0.00,0.000,4,0.000,0.044,2716,1170,2019,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7466,0.65,219.0,580.7,17.1,519,7476,0.05,2.20,0.00,0.000,6,0.227,0.046,2705,2616,2018,0,0,0,0,0,0,26.36,26.46,28.83
$GC,7777,0.65,219.0,530.2,16.1,550,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2616,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8079,0.65,219.0,481.0,16.9,580,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2616,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,0.65,219.0,434.8,14.7,611,8396,0.00,2.15,0.00,0.000,4,0.000,0.041,2715,1165,2018,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8543,0.65,219.0,414.3,12.6,626,8550,0.00,2.20,0.00,0.000,6,0.000,0.044,2715,2618,2017,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8850,0.65,219.0,366.1,15.3,657,8860,0.00,2.15,0.00,0.000,4,0.000,0.040,2727,1157,2017,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8903,0.65,219.0,358.9,13.6,662,8912,0.05,2.17,0.00,0.000,6,0.161,0.044,2707,2615,2017,0,0,0,0,0,0,26.41,26.56,28.83
$GC,9213,0.67,234.8,320.8,10.5,693,9232,0.00,0.00,12.50,1.214,6,0.000,0.000,2708,2616,1970,0,0,0,0,0,0,28.83,28.83,25.39
$GC,9533,0.67,234.8,282.9,12.2,725,9543,0.00,2.15,0.00,0.000,4,0.000,0.041,2718,1170,1969,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9566,0.67,234.8,278.7,12.3,728,9575,0.00,2.20,0.00,0.000,6,0.000,0.044,2718,2623,1968,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9876,0.67,234.8,234.1,14.8,759,9884,0.00,2.15,0.00,0.000,4,0.000,0.038,2728,1166,1968,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9950,0.67,234.8,224.7,13.0,766,9958,0.05,2.22,0.00,0.000,6,0.152,0.043,2709,2621,1968,0,0,0,0,0,0,26.35,26.48,28.83
$GC,10273,0.69,246.5,185.5,10.6,808,10297,0.05,2.22,12.15,1.094,4,0.180,0.038,2761,1168,1922,0,0,0,0,0,0,26.63,26.28,25.41
$GC,10327,0.70,256.8,179.4,10.6,816,10344,0.12,2.22,10.85,1.073,6,0.135,0.043,2717,2612,1880,0,0,0,0,0,0,26.19,26.30,25.24
$GC,10684,0.70,256.8,139.2,12.0,878,10693,0.00,2.20,0.00,0.000,4,0.000,0.039,2721,1168,1878,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10834,0.78,327.4,125.0,8.6,903,10877,0.12,2.20,31.83,1.024,6,0.096,0.042,2796,2628,1592,0,0,0,0,0,0,26.36,26.36,25.01
$GC,11219,0.78,327.4,45.2,21.0,969,11227,0.15,2.17,0.00,0.000,4,0.171,0.036,2760,1166,1588,0,0,0,0,0,0,26.09,26.22,28.83
$GC,11270,0.78,327.4,37.3,12.2,977,11279,0.05,2.20,0.00,0.000,6,0.201,0.042,2746,2620,1586,0,0,0,0,0,0,26.17,26.25,28.83
$STATE,11547,end climb,SURFACE_DEPTH_REACHED
$STATE,11547,begin surface coast
$FINISH,1.2,1.022743
$STATE,11587,end surface coast,CONTROL_FINISHED_OK
$STATE,11587,begin surface
$SM_CCo,11601,18.27,0.135,0,0,1399,375.06
$SM_GC,2.33,6.40,0.00,18.27,0.039,0.000,0.135,196,2620,1399,-7.12,-0.14,375.06,0,0,0,0,0,0,26.39,28.83,26.20
$IRIDIUM_FIX,2143.45,12245.37,200312,202001
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,10.932
$10V_AH,10.4,7.486
$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,17.075,106.650,460.350,18.275,0.000,27.712,41.722,166.957,0.000,0.000,13.476,2580.614,6126.070,572.257,2418.485,264.553,0.000,1597.096,0.000,2115.375,0.000,0.542,0.000
$DEVICE_MAMPS,244.035,80.325,1708.245,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.925,1642.245,550.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324424
$DATA_FILE_SIZE,70540,1032
$CAP_FILE_SIZE,121258,0
$CFSIZE,260165632,218882048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.227,305.3,1
$GPS,210312,030631,2149.354,12248.806,37,2.0,37,-2.8