version: 66.10
glider: 176
mission: 5
dive: 44
start: 3 21 112 9 51 6
data:
$ID,176
$MISSION,5
$DIVE,44
$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,-7433.8198
$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
$GPS1,210312,094453,2149.343,12248.954,29,1.1,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.3
$GPS2,210312,095038,2149.405,12248.832,12,2.0,12,-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,128.1,127790,-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,-219.0,0.0,0.0,0,68,0.00,0.00,-48.90,0.000,2,0.000,0.000,185,2625,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.65,-219.0,3.3,-6.7,7,107,8.20,2.17,-21.58,0.000,4,0.237,0.041,2294,1158,3826,0,0,0,0,0,0,25.82,26.19,26.46
$GC,165,-0.65,-219.0,31.2,-25.7,22,174,0.00,2.30,0.00,0.000,6,0.000,0.047,2283,2636,3827,0,0,0,0,0,0,28.83,26.18,28.83
$GC,515,-0.65,-219.0,174.9,-41.4,83,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2636,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,834,-0.65,-219.0,287.1,-31.7,120,843,0.00,2.10,0.00,0.000,4,0.000,0.026,2283,1163,3828,0,0,0,0,0,0,28.83,26.51,28.83
$GC,889,-0.65,-219.0,300.4,-24.9,125,897,0.10,2.25,0.00,0.000,6,0.187,0.050,2300,2638,3828,0,0,0,0,0,0,26.33,26.45,28.83
$GC,1195,-0.65,-219.0,375.1,-24.3,156,1200,0.05,1.73,0.00,0.000,4,0.182,0.053,2253,3773,3828,0,0,0,0,0,0,26.63,26.51,28.83
$GC,1218,-0.65,-219.0,380.8,-25.1,158,1223,0.15,1.67,0.00,0.000,6,0.174,0.023,2296,2520,3828,0,0,0,0,0,0,26.35,26.62,28.83
$GC,1530,-0.65,-219.0,453.6,-23.6,189,1534,0.00,1.90,0.00,0.000,4,0.000,0.025,2296,1156,3828,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1579,-0.65,-219.0,463.2,-20.6,193,1588,0.00,2.28,0.00,0.000,6,0.000,0.048,2291,2640,3828,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1888,-0.65,-219.0,528.5,-20.8,224,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2640,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,-0.65,-219.0,582.0,-17.9,254,2197,0.00,2.08,0.00,0.000,4,0.000,0.024,2292,1165,3827,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2220,-0.65,-219.0,587.8,-17.7,257,2230,0.00,2.25,0.00,0.000,6,0.000,0.050,2290,2643,3827,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2540,-0.65,-219.0,637.9,-15.1,277,2544,0.00,2.12,0.00,0.000,4,0.000,0.026,2290,1155,3824,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2595,-0.65,-219.0,643.7,-14.9,279,2601,0.00,2.25,0.00,0.000,6,0.000,0.050,2287,2639,3824,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2902,-0.65,-219.0,692.9,-17.3,295,2907,0.00,2.12,0.00,0.000,4,0.000,0.026,2287,1154,3821,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2924,-0.65,-219.0,696.3,-17.3,296,2928,0.00,2.25,0.00,0.000,6,0.000,0.050,2286,2637,3821,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3242,-0.65,-219.0,750.7,-17.2,312,3246,0.00,1.73,0.00,0.000,4,0.000,0.059,2279,3761,3818,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3311,-0.65,-219.0,761.3,-17.2,315,3315,0.08,1.70,0.00,0.000,6,0.190,0.024,2297,2510,3817,0,0,0,0,0,0,26.53,26.72,28.83
$GC,3624,-0.65,-219.0,811.5,-15.2,331,3629,0.00,1.95,0.00,0.000,4,0.000,0.060,2288,3774,3816,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3643,-0.65,-219.0,814.7,-15.3,332,3646,0.00,1.67,0.00,0.000,6,0.000,0.024,2289,2509,3815,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3964,-0.65,-219.0,863.9,-15.2,348,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2487,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,-0.65,-219.0,907.4,-14.3,363,4269,0.00,1.95,0.00,0.000,4,0.000,0.060,2286,3763,3811,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4311,-0.65,-219.0,913.4,-14.8,365,4315,0.00,1.70,0.00,0.000,6,0.000,0.025,2286,2508,3811,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4623,-0.65,-219.0,959.6,-14.3,381,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2505,3808,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4862,begin apogee
$GC,4867,-0.17,0.0,992.3,-13.4,393,5066,0.47,0.05,190.45,1.704,6,0.124,0.053,2452,2551,2928,0,0,0,0,0,0,26.48,24.50,23.65
$STATE,5067,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5069,0.65,219.0,1001.6,0.0,403,5285,0.73,0.00,206.55,1.676,6,0.049,0.000,2734,2551,2034,0,0,0,0,0,0,24.79,28.83,23.17
$GC,5583,0.65,219.0,912.9,21.9,429,5590,0.12,2.08,0.00,0.000,4,0.201,0.034,2710,1159,2028,0,0,0,0,0,0,25.55,25.73,28.83
$GC,5644,0.65,219.0,902.4,18.5,432,5650,0.00,2.30,0.00,0.000,6,0.000,0.050,2709,2612,2025,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5963,0.65,219.0,844.1,18.2,448,5969,0.00,2.17,0.00,0.000,4,0.000,0.035,2721,1164,2025,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6011,0.65,219.0,837.1,18.1,450,6016,0.08,2.25,0.00,0.000,6,0.203,0.049,2705,2615,2023,0,0,0,0,0,0,25.99,26.10,28.83
$GC,6319,0.65,219.0,782.8,16.8,465,6323,0.00,2.15,0.00,0.000,4,0.000,0.035,2716,1156,2022,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6353,0.65,219.0,779.2,16.9,466,6361,0.03,2.28,0.00,0.000,6,0.148,0.048,2698,2613,2022,0,0,0,0,0,0,26.11,26.25,28.83
$GC,6661,0.65,219.0,728.0,15.6,482,6665,0.08,1.77,0.00,0.000,4,0.132,0.058,2729,3775,2021,0,0,0,0,0,0,26.41,26.31,28.83
$GC,6685,0.65,219.0,723.9,15.8,483,6690,0.10,1.77,0.00,0.000,6,0.178,0.028,2707,2557,2022,0,0,0,0,0,0,26.16,26.39,28.83
$GC,7003,0.65,219.0,668.5,17.2,499,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2553,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,0.65,219.0,619.6,16.4,514,7309,0.00,2.03,0.00,0.000,4,0.000,0.037,2717,1160,2020,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7403,0.65,219.0,604.7,14.3,519,7409,0.05,2.25,0.00,0.000,6,0.231,0.048,2707,2626,2019,0,0,0,0,0,0,26.34,26.44,28.83
$GC,7713,0.65,219.0,552.3,18.1,548,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2626,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8015,0.65,219.0,502.0,17.1,578,8024,0.00,2.15,0.00,0.000,4,0.000,0.037,2717,1158,2019,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8170,0.65,219.0,481.0,12.3,593,8179,0.03,2.25,0.00,0.000,6,0.187,0.048,2707,2616,2018,0,0,0,0,0,0,26.39,26.50,28.83
$GC,8477,0.65,219.0,435.8,14.1,624,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2616,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,0.65,219.0,391.7,15.5,654,8790,0.00,2.10,0.00,0.000,4,0.000,0.040,2718,1171,2018,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8944,0.65,219.0,369.2,13.3,670,8948,0.05,2.20,0.00,0.000,6,0.226,0.046,2705,2625,2017,0,0,0,0,0,0,26.45,26.55,28.83
$GC,9255,0.65,219.0,324.7,13.5,701,9259,0.00,1.70,0.00,0.000,4,0.000,0.054,2705,3766,2017,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9299,0.65,219.0,318.9,14.8,705,9307,0.00,1.73,0.00,0.000,6,0.000,0.026,2714,2545,2019,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9606,0.65,219.0,279.2,12.2,736,9610,0.00,2.00,0.00,0.000,4,0.000,0.041,2725,1165,2018,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9705,0.65,219.0,268.1,11.2,745,9714,0.10,2.20,0.00,0.000,6,0.178,0.047,2699,2620,2018,0,0,0,0,0,0,26.43,26.56,28.83
$GC,10014,0.65,219.0,232.4,11.4,776,10023,0.05,2.10,0.00,0.000,4,0.175,0.037,2748,1167,2019,0,0,0,0,0,0,26.71,26.60,28.83
$GC,10078,0.65,219.0,225.1,11.5,782,10086,0.12,2.20,0.00,0.000,6,0.140,0.047,2704,2611,2019,0,0,0,0,0,0,26.42,26.57,28.83
$GC,10395,0.70,257.2,192.1,9.7,820,10433,0.10,2.25,32.15,1.145,4,0.106,0.039,2778,1165,1879,0,0,0,0,0,0,26.69,25.91,25.10
$GC,10520,0.70,257.2,174.0,15.8,840,10529,0.17,2.28,0.00,0.000,6,0.138,0.047,2720,2621,1876,0,0,0,0,0,0,25.93,26.05,28.83
$GC,10875,0.70,257.2,124.3,12.7,901,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2622,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11224,0.72,272.8,83.4,10.5,962,11240,0.05,2.20,6.57,0.319,4,0.177,0.038,2777,1166,1815,0,0,0,0,0,0,26.51,26.37,25.98
$GC,11293,0.72,272.8,75.0,12.3,973,11301,0.17,2.20,0.00,0.000,6,0.145,0.046,2725,2617,1813,0,0,0,0,0,0,26.25,26.39,28.83
$GC,11646,0.76,306.8,38.3,9.8,1034,11669,0.10,2.17,14.25,0.216,4,0.106,0.037,2801,1153,1674,0,0,0,0,0,0,26.55,26.43,26.14
$GC,11729,0.76,306.8,27.2,13.8,1047,11737,0.22,2.22,0.00,0.000,6,0.148,0.046,2733,2624,1671,0,0,0,0,0,0,26.28,26.42,28.83
$STATE,11916,end climb,SURFACE_DEPTH_REACHED
$STATE,11916,begin surface coast
$FINISH,0.8,1.023212
$STATE,11951,end surface coast,CONTROL_FINISHED_OK
$STATE,11951,begin surface
$SM_CCo,11966,26.30,0.131,0,0,1398,375.06
$SM_GC,1.09,6.28,0.00,26.30,0.032,0.000,0.131,176,2626,1398,-7.12,0.03,375.06,0,0,0,0,0,0,26.54,28.83,26.27
$IRIDIUM_FIX,2143.45,12420.70,210312,060650
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.00
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,11.604
$10V_AH,10.3,7.789
$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,17.675,95.400,449.975,26.300,0.000,24.236,50.351,157.124,0.000,0.000,14.721,2717.281,6263.568,546.279,2542.761,262.137,0.000,1602.472,0.000,2241.411,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,83.385,1704.420,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.563,1731.307,601.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73716,1086
$CAP_FILE_SIZE,124409,0
$CFSIZE,260165632,218673152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230,317.3,1
$GPS,210312,131206,2149.135,12249.341,35,1.3,35,-2.8