version: 66.10
glider: 176
mission: 5
dive: 50
start: 3 22 112 6 25 4
data:
$ID,176
$MISSION,5
$DIVE,50
$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,0
$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,-7441.3672
$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,2510
$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,2610
$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
$GPS1,220312,061837,2147.897,12250.320,31,1.0,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.5
$GPS2,220312,062438,2147.925,12250.257,9,1.5,9,-2.8
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,DOGLEG
$TGT_LATLONG,2100.000,12250.000
$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,183.1,88758,-15.3,-11.000
$D_GRID,4320
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.65,-219.0,0.0,0.0,0,66,0.00,0.00,-48.00,0.000,2,0.000,0.000,189,2636,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.65,-219.0,3.5,-7.3,7,106,8.30,2.15,-21.02,0.000,4,0.239,0.044,2302,1158,3825,0,0,0,0,0,0,25.80,26.17,26.46
$GC,265,-0.65,-219.0,69.3,-24.4,38,274,0.03,2.28,0.00,0.000,6,0.204,0.047,2300,2625,3825,0,0,0,0,0,0,26.13,26.25,28.83
$GC,618,-0.65,-219.0,202.0,-36.0,99,627,0.00,2.08,0.00,0.000,4,0.000,0.027,2300,1158,3826,0,0,0,0,0,0,28.83,26.46,28.83
$GC,669,-0.65,-219.0,216.7,-25.8,104,679,0.05,2.22,0.00,0.000,6,0.246,0.047,2303,2628,3826,0,0,0,0,0,0,26.30,26.41,28.83
$GC,979,-0.65,-219.0,303.6,-29.0,135,988,0.00,2.10,0.00,0.000,4,0.000,0.026,2303,1148,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1010,-0.65,-219.0,312.0,-27.6,138,1019,0.00,2.22,0.00,0.000,6,0.000,0.049,2303,2626,3826,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1322,-0.65,-219.0,394.0,-24.3,169,1330,0.00,2.05,0.00,0.000,4,0.000,0.025,2303,1152,3826,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1353,-0.65,-219.0,402.0,-25.1,172,1362,0.05,2.25,0.00,0.000,6,0.236,0.048,2304,2634,3826,0,0,0,0,0,0,26.44,26.53,28.83
$GC,1663,-0.65,-219.0,466.0,-20.6,203,1671,0.00,2.12,0.00,0.000,4,0.000,0.025,2305,1137,3826,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1686,-0.65,-219.0,469.8,-18.7,205,1693,0.00,2.28,0.00,0.000,6,0.000,0.048,2304,2623,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1995,-0.65,-219.0,527.2,-20.1,236,2004,0.00,2.08,0.00,0.000,4,0.000,0.025,2304,1152,3826,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2097,-0.65,-219.0,543.9,-14.0,246,2106,0.00,2.22,0.00,0.000,6,0.000,0.048,2304,2634,3825,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2406,-0.65,-219.0,597.6,-16.1,277,2415,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1145,3824,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2455,-0.65,-219.0,603.6,-14.8,280,2459,0.00,2.25,0.00,0.000,6,0.000,0.048,2304,2625,3823,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2762,-0.65,-219.0,646.0,-13.0,295,2768,0.00,2.08,0.00,0.000,4,0.000,0.026,2304,1154,3821,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2796,-0.65,-219.0,648.5,-13.1,296,2803,0.00,2.22,0.00,0.000,6,0.000,0.048,2302,2626,3821,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3104,-0.65,-219.0,691.5,-14.2,312,3107,0.00,1.70,0.00,0.000,4,0.000,0.059,2294,3766,3818,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3125,-0.65,-219.0,694.8,-14.4,313,3128,0.00,1.67,0.00,0.000,6,0.000,0.024,2294,2502,3818,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3446,-0.65,-219.0,741.3,-14.2,329,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2487,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.65,-219.0,782.7,-14.0,344,3751,0.00,1.95,0.00,0.000,4,0.000,0.059,2288,3770,3813,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3768,-0.65,-219.0,785.6,-14.0,345,3772,0.05,1.73,0.00,0.000,6,0.143,0.023,2319,2504,3812,0,0,0,0,0,0,26.50,26.76,28.83
$GC,4088,-0.65,-219.0,821.2,-10.9,361,4094,0.10,1.90,0.00,0.000,4,0.112,0.057,2260,3755,3811,0,0,0,0,0,0,26.70,26.56,28.83
$GC,4116,-0.65,-219.0,823.7,-11.2,362,4120,0.15,1.67,0.00,0.000,6,0.148,0.024,2305,2490,3810,0,0,0,0,0,0,26.46,26.73,28.83
$GC,4422,-0.65,-219.0,861.3,-11.5,377,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2487,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,-0.65,-219.0,896.6,-12.1,392,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2487,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.65,-219.0,933.1,-12.3,407,5028,0.00,1.98,0.00,0.000,4,0.000,0.060,2304,3764,3803,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5082,-0.65,-219.0,939.6,-11.2,410,5085,0.00,1.67,0.00,0.000,6,0.000,0.025,2304,2514,3803,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5403,-0.65,-219.0,970.5,-8.9,426,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2501,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5620,begin apogee
$GC,5626,-0.17,0.0,990.4,-9.2,437,5825,0.45,0.05,188.43,1.711,6,0.115,0.054,2463,2554,2929,0,0,0,0,0,0,26.46,24.48,23.65
$STATE,5826,end apogee,CONTROL_FINISHED_OK
$STATE,5826,begin climb
$GC,5828,0.65,219.0,997.0,0.0,447,6043,0.75,0.00,207.70,1.683,6,0.050,0.000,2748,2553,2034,0,0,0,0,0,0,24.82,28.83,23.11
$GC,6342,0.65,219.0,905.2,22.4,473,6349,0.12,2.10,0.00,0.000,4,0.208,0.032,2725,1149,2026,0,0,0,0,0,0,25.52,25.72,28.83
$GC,6422,0.65,219.0,891.3,17.2,477,6428,0.00,2.30,0.00,0.000,6,0.000,0.049,2725,2623,2024,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6743,0.65,219.0,824.8,21.9,493,6749,0.00,2.15,0.00,0.000,4,0.000,0.031,2736,1161,2023,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6817,0.65,219.0,812.8,20.5,496,6824,0.10,2.28,0.00,0.000,6,0.194,0.050,2713,2624,2021,0,0,0,0,0,0,25.97,26.11,28.83
$GC,7122,0.65,219.0,750.5,19.7,512,7128,0.00,2.20,0.00,0.000,4,0.000,0.034,2724,1152,2021,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7171,0.65,219.0,743.1,19.1,514,7175,0.00,2.28,0.00,0.000,6,0.000,0.049,2724,2626,2020,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7477,0.65,219.0,681.2,19.3,529,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2626,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7777,0.65,219.0,624.2,20.5,544,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2626,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8078,0.65,219.0,567.0,18.6,567,8087,0.00,2.17,0.00,0.000,4,0.000,0.034,2735,1159,2019,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8151,0.65,219.0,554.7,16.8,574,8159,0.05,2.28,0.00,0.000,6,0.168,0.048,2717,2623,2018,0,0,0,0,0,0,26.27,26.45,28.83
$GC,8459,0.65,219.0,503.6,15.5,605,8463,0.00,2.15,0.00,0.000,4,0.000,0.035,2727,1159,2018,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8510,0.65,219.0,496.9,12.6,610,8520,0.05,2.22,0.00,0.000,6,0.230,0.047,2716,2618,2017,0,0,0,0,0,0,26.36,26.45,28.83
$GC,8820,0.65,219.0,452.5,15.3,641,8824,0.00,2.15,0.00,0.000,4,0.000,0.036,2725,1153,2017,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8881,0.65,219.0,443.8,14.4,647,8890,0.00,2.22,0.00,0.000,6,0.000,0.044,2725,2626,2017,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9192,0.65,219.0,390.5,14.5,678,9196,0.00,1.67,0.00,0.000,4,0.000,0.053,2725,3766,2017,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9223,0.65,219.0,385.9,14.3,681,9227,0.10,1.73,0.00,0.000,6,0.210,0.024,2711,2547,2017,0,0,0,0,0,0,26.33,26.60,28.83
$GC,9534,0.65,219.0,349.1,11.9,712,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2543,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9837,0.65,219.0,311.5,13.5,742,9845,0.00,2.00,0.00,0.000,4,0.000,0.035,2721,1155,2017,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9901,0.65,219.0,303.6,12.0,748,9908,0.00,2.20,0.00,0.000,6,0.000,0.044,2721,2617,2017,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10208,0.65,219.0,262.2,13.1,779,10211,0.00,1.73,0.00,0.000,4,0.000,0.051,2721,3775,2018,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10250,0.65,219.0,256.4,14.4,783,10254,0.08,1.73,0.00,0.000,6,0.220,0.026,2714,2543,2019,0,0,0,0,0,0,26.42,26.63,28.83
$GC,10561,0.65,219.0,216.9,13.8,814,10565,0.00,2.03,0.00,0.000,4,0.000,0.036,2724,1151,2019,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10671,0.65,219.0,204.5,11.4,824,10678,0.00,2.20,0.00,0.000,6,0.000,0.043,2725,2621,2020,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11014,0.69,249.4,163.1,10.0,882,11050,0.00,2.22,25.48,1.116,4,0.000,0.035,2734,1160,1911,0,0,0,0,0,0,28.83,26.08,25.26
$GC,11113,0.86,385.5,155.7,6.4,898,11228,0.12,2.25,105.28,1.117,6,0.056,0.043,2816,2617,1355,0,0,0,0,0,0,26.16,26.15,24.27
$GC,11569,0.86,385.5,41.7,27.2,975,11577,0.12,2.17,0.00,0.000,4,0.181,0.031,2789,1163,1350,0,0,0,0,0,0,25.91,26.06,28.83
$GC,11646,0.86,385.5,26.9,13.5,988,11654,0.00,2.25,0.00,0.000,6,0.000,0.042,2789,2623,1347,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,11808,end climb,SURFACE_DEPTH_REACHED
$STATE,11808,begin surface coast
$FINISH,0.6,1.020173
$STATE,11840,end surface coast,CONTROL_FINISHED_OK
$STATE,11840,begin surface
$SM_CCo,11916,0.00,0.000,0,0,1346,388.06
$SM_GC,1.79,6.50,0.00,0.00,0.034,0.000,0.000,185,2627,1346,-7.14,0.45,388.06,0,0,0,0,0,0,26.29,28.83,28.83
$IRIDIUM_FIX,2141.13,12252.48,220312,020214
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.1,12.991
$10V_AH,10.3,8.402
$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,17.175,99.900,526.875,0.000,0.000,24.104,31.723,193.319,0.000,0.000,12.175,2404.307,6673.864,582.706,2343.856,260.289,0.000,1611.674,0.000,2027.902,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,78.030,1711.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.229,1630.543,470.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,70470,1021
$CAP_FILE_SIZE,119377,0
$CFSIZE,260165632,218238976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,094436,2146.788,12248.414,11,1.0,27,-2.8