version: 66.10
glider: 176
mission: 5
dive: 43
start: 3 21 112 6 27 41
data:
$ID,176
$MISSION,5
$DIVE,43
$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,-7432.5615
$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
$GPS1,210312,062100,2149.068,12248.724,34,1.4,34,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.8
$GPS2,210312,062713,2149.154,12248.553,16,1.3,33,-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,117.4,128122,-15.3,-11.000
$D_GRID,4329
$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,-49.25,0.000,2,0.000,0.000,185,2653,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.65,-219.0,3.3,-6.0,7,107,8.38,2.25,-20.85,0.000,4,0.245,0.051,2289,1179,3824,0,0,0,0,0,0,25.83,26.16,26.45
$GC,143,-0.65,-219.0,27.3,-31.4,18,152,0.05,2.28,0.00,0.000,6,0.181,0.050,2294,2633,3825,0,0,0,0,0,0,26.01,26.16,28.83
$GC,497,-0.65,-219.0,168.4,-40.6,79,503,0.00,2.12,0.00,0.000,4,0.000,0.030,2295,1170,3826,0,0,0,0,0,0,28.83,26.40,28.83
$GC,591,-0.65,-219.0,196.6,-20.4,95,597,0.00,2.25,0.00,0.000,6,0.000,0.050,2291,2638,3826,0,0,0,0,0,0,28.83,26.38,28.83
$GC,900,-0.65,-219.0,301.0,-32.6,127,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2639,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,-0.65,-219.0,390.6,-28.0,157,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2639,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1502,-0.65,-219.0,459.0,-21.2,187,1511,0.00,2.08,0.00,0.000,4,0.000,0.029,2290,1169,3826,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1594,-0.65,-219.0,474.7,-13.6,196,1603,0.08,2.22,0.00,0.000,6,0.195,0.048,2297,2641,3826,0,0,0,0,0,0,26.45,26.55,28.83
$GC,1904,-0.65,-219.0,532.6,-19.2,227,1908,0.00,2.10,0.00,0.000,4,0.000,0.029,2298,1175,3826,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1957,-0.65,-219.0,541.3,-16.6,232,1965,0.00,2.25,0.00,0.000,6,0.000,0.049,2291,2637,3826,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2267,-0.65,-219.0,595.2,-18.5,263,2275,0.00,2.08,0.00,0.000,4,0.000,0.029,2291,1173,3824,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2292,-0.65,-219.0,599.1,-17.6,265,2300,0.00,2.22,0.00,0.000,6,0.000,0.050,2290,2638,3824,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2597,-0.65,-219.0,653.1,-17.8,281,2604,0.00,2.10,0.00,0.000,4,0.000,0.026,2290,1168,3821,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2666,-0.65,-219.0,661.7,-15.0,284,2670,0.00,2.25,0.00,0.000,6,0.000,0.050,2290,2645,3821,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2973,-0.65,-219.0,710.4,-15.9,299,2976,0.00,1.67,0.00,0.000,4,0.000,0.059,2282,3770,3818,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3002,-0.65,-219.0,713.8,-16.0,300,3006,0.05,1.67,0.00,0.000,6,0.224,0.024,2295,2527,3818,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3314,-0.65,-219.0,758.6,-13.3,316,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2523,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3613,-0.65,-219.0,795.8,-12.2,331,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2523,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3914,-0.65,-219.0,833.1,-12.5,346,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2523,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4214,-0.65,-219.0,870.2,-12.1,361,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2523,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-0.65,-219.0,905.8,-11.8,376,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2523,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.65,-219.0,941.9,-12.3,391,4820,0.00,1.95,0.00,0.000,4,0.000,0.030,2296,1161,3803,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4836,-0.65,-219.0,944.4,-12.4,392,4840,0.00,2.28,0.00,0.000,6,0.000,0.050,2291,2639,3803,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5148,-0.65,-219.0,983.6,-12.7,408,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2639,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5212,-0.17,0.0,991.2,-12.8,411,5411,0.45,0.12,188.98,1.711,6,0.122,0.097,2449,2627,2928,0,0,0,0,0,0,26.48,24.52,23.65
$STATE,5412,end apogee,CONTROL_FINISHED_OK
$STATE,5412,begin climb
$GC,5414,0.65,219.0,1001.7,0.0,421,5631,0.73,2.42,205.27,1.685,4,0.050,0.037,2740,1162,2035,0,0,0,0,0,0,24.81,24.14,23.16
$GC,5636,0.65,219.0,982.5,17.5,432,5641,0.15,2.42,0.00,0.000,6,0.187,0.047,2705,2612,2032,0,0,0,0,0,0,24.30,24.44,28.83
$GC,5949,0.65,219.0,925.0,17.5,448,5953,0.00,2.22,0.00,0.000,4,0.000,0.038,2714,1161,2028,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5993,0.65,219.0,918.1,17.0,450,5998,0.00,2.28,0.00,0.000,6,0.000,0.049,2715,2614,2026,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6306,0.65,219.0,860.2,19.4,466,6312,0.00,2.17,0.00,0.000,4,0.000,0.037,2723,1167,2025,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6366,0.65,219.0,849.8,18.2,469,6373,0.10,2.25,0.00,0.000,6,0.191,0.050,2700,2613,2023,0,0,0,0,0,0,25.98,26.11,28.83
$GC,6686,0.65,219.0,794.3,17.5,485,6691,0.00,2.17,0.00,0.000,4,0.000,0.037,2710,1159,2023,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6706,0.65,219.0,790.9,17.3,486,6711,0.00,2.25,0.00,0.000,6,0.000,0.048,2709,2615,2022,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7026,0.65,219.0,729.5,20.1,502,7032,0.00,2.15,0.00,0.000,4,0.000,0.037,2721,1163,2022,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7094,0.65,219.0,718.6,18.8,505,7099,0.08,2.25,0.00,0.000,6,0.205,0.050,2706,2621,2020,0,0,0,0,0,0,26.22,26.34,28.83
$GC,7402,0.65,219.0,663.3,16.6,520,7406,0.00,1.77,0.00,0.000,4,0.000,0.058,2706,3765,2020,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7456,0.65,219.0,655.5,17.6,522,7464,0.00,1.77,0.00,0.000,6,0.000,0.028,2714,2563,2021,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7763,0.65,219.0,600.8,16.5,538,7769,0.00,2.05,0.00,0.000,4,0.000,0.037,2725,1154,2020,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7846,0.65,219.0,588.8,13.7,545,7853,0.10,2.25,0.00,0.000,6,0.192,0.047,2701,2621,2019,0,0,0,0,0,0,26.29,26.44,28.83
$GC,8153,0.65,219.0,541.1,15.5,576,8157,0.00,2.15,0.00,0.000,4,0.000,0.036,2712,1155,2019,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8266,0.65,219.0,526.3,12.9,587,8275,0.00,2.20,0.00,0.000,6,0.000,0.047,2712,2612,2018,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8575,0.65,219.0,473.8,17.9,618,8579,0.00,1.77,0.00,0.000,4,0.000,0.057,2712,3765,2018,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8627,0.65,219.0,463.1,21.7,623,8631,0.08,1.73,0.00,0.000,6,0.235,0.026,2707,2553,2019,0,0,0,0,0,0,26.36,26.58,28.83
$GC,8939,0.65,219.0,414.8,15.0,654,8943,0.00,2.05,0.00,0.000,4,0.000,0.037,2717,1158,2018,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9089,0.65,219.0,396.6,11.3,668,9097,0.03,2.22,0.00,0.000,6,0.187,0.044,2707,2612,2017,0,0,0,0,0,0,26.43,26.53,28.83
$GC,9397,0.65,219.0,360.1,11.7,699,9401,0.00,2.15,0.00,0.000,4,0.000,0.036,2717,1159,2018,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9449,0.65,219.0,353.9,11.5,704,9458,0.05,2.20,0.00,0.000,6,0.223,0.044,2705,2623,2018,0,0,0,0,0,0,26.46,26.55,28.83
$GC,9759,0.65,219.0,312.5,12.7,735,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2623,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10060,0.66,225.8,278.0,10.8,765,10070,0.00,2.22,4.45,0.983,4,0.000,0.037,2712,1162,2007,0,0,0,0,0,0,28.83,26.53,25.48
$GC,10153,0.74,287.7,269.0,8.9,774,10216,0.10,2.20,56.25,1.222,6,0.119,0.044,2765,2618,1754,0,0,0,0,0,0,26.48,26.51,24.53
$GC,10524,0.74,287.7,200.0,17.6,811,10534,0.12,2.20,0.00,0.000,4,0.179,0.033,2738,1156,1750,0,0,0,0,0,0,25.94,26.08,28.83
$GC,10566,0.74,287.7,193.5,14.7,817,10573,0.00,2.22,0.00,0.000,6,0.000,0.043,2738,2621,1750,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10924,0.74,287.7,137.8,15.6,878,10933,0.00,2.20,0.00,0.000,4,0.000,0.037,2748,1166,1750,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10951,0.74,287.7,133.8,14.4,882,10961,0.05,2.22,0.00,0.000,6,0.143,0.042,2728,2616,1749,0,0,0,0,0,0,26.19,26.30,28.83
$GC,11315,0.74,287.7,85.8,12.0,943,11322,0.00,2.15,0.00,0.000,4,0.000,0.036,2734,1154,1750,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11390,0.82,356.7,78.7,8.7,955,11425,0.12,2.20,28.55,0.304,6,0.091,0.042,2813,2619,1472,0,0,0,0,0,0,26.44,26.43,25.91
$STATE,11724,end climb,SURFACE_DEPTH_REACHED
$STATE,11724,begin surface coast
$FINISH,0.8,1.023072
$STATE,11740,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11755,6.68,0.147,0,0,1397,375.06
$SM_GC,3.19,6.55,0.00,6.68,0.037,0.000,0.147,185,2619,1397,-7.12,-0.17,375.06,0,0,0,0,0,0,26.44,28.83,26.22
$IRIDIUM_FIX,2141.13,12247.32,210312,030320
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,9.4074
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.2,11.390
$10V_AH,10.3,7.681
$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,17.250,98.550,483.500,6.675,0.000,25.000,57.702,155.006,0.000,0.000,35.769,2539.505,6409.330,524.985,2393.266,263.398,0.000,1549.383,0.000,2063.768,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,97.155,1711.305,146.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.990,1604.611,480.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,70399,1014
$CAP_FILE_SIZE,119482,0
$CFSIZE,260165632,218746880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283,307.9,1
$GPS,210312,094453,2149.343,12248.954,29,1.1,38,-2.8