version: 66.10
glider: 176
mission: 5
dive: 51
start: 3 22 112 9 50 58
data:
$ID,176
$MISSION,5
$DIVE,51
$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,-7442.6245
$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
$GPS1,220312,094436,2146.788,12248.414,11,1.0,27,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.3
$GPS2,220312,095032,2146.828,12248.365,12,2.0,12,-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,180.9,86771,-15.3,-11.000
$D_GRID,4688
$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,-219.0,0.0,0.0,0,59,0.00,0.00,-40.55,0.000,2,0.000,0.000,184,2628,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.65,-219.0,3.0,-5.2,6,110,8.27,2.17,-30.45,0.000,4,0.237,0.043,2304,1154,3824,0,0,0,0,0,0,25.76,26.15,26.42
$GC,199,-0.65,-219.0,42.9,-26.3,28,208,0.00,2.30,0.00,0.000,6,0.000,0.049,2292,2629,3825,0,0,0,0,0,0,28.83,26.17,28.83
$GC,551,-0.65,-219.0,182.4,-36.2,89,559,0.05,2.12,0.00,0.000,4,0.272,0.025,2301,1154,3825,0,0,0,0,0,0,26.38,26.41,28.83
$GC,591,-0.65,-219.0,196.3,-33.1,95,598,0.05,2.22,0.00,0.000,6,0.244,0.048,2304,2626,3825,0,0,0,0,0,0,26.25,26.36,28.83
$GC,905,-0.65,-219.0,287.3,-28.3,127,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2626,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1207,-0.65,-219.0,366.7,-23.7,157,1210,0.00,1.70,0.00,0.000,4,0.000,0.055,2296,3773,3826,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1228,-0.65,-219.0,372.1,-24.3,159,1231,0.00,1.67,0.00,0.000,6,0.000,0.023,2296,2504,3827,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1541,-0.65,-219.0,448.6,-23.4,190,1550,0.00,1.88,0.00,0.000,4,0.000,0.027,2296,1149,3826,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1582,-0.65,-219.0,456.7,-18.7,194,1592,0.05,2.25,0.00,0.000,6,0.238,0.048,2305,2632,3826,0,0,0,0,0,0,26.44,26.53,28.83
$GC,1892,-0.65,-219.0,507.7,-17.9,225,1896,0.00,2.10,0.00,0.000,4,0.000,0.025,2306,1149,3826,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1967,-0.65,-219.0,518.3,-13.6,232,1973,0.00,2.25,0.00,0.000,6,0.000,0.049,2304,2632,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2273,-0.65,-219.0,577.5,-19.5,263,2277,0.00,1.67,0.00,0.000,4,0.000,0.056,2295,3765,3823,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2304,-0.65,-219.0,583.6,-19.4,266,2307,0.00,1.67,0.00,0.000,6,0.000,0.023,2295,2499,3823,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2617,-0.65,-219.0,637.8,-16.2,286,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2482,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-0.65,-219.0,684.0,-15.6,301,2920,0.00,1.98,0.00,0.000,4,0.000,0.058,2287,3772,3819,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2975,-0.65,-219.0,693.3,-15.5,304,2979,0.08,1.70,0.00,0.000,6,0.183,0.024,2307,2491,3818,0,0,0,0,0,0,26.53,26.72,28.83
$GC,3297,-0.65,-219.0,732.9,-11.9,320,3303,0.00,1.95,0.00,0.000,4,0.000,0.058,2304,3765,3816,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3324,-0.65,-219.0,735.3,-12.0,321,3328,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2472,3816,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3637,-0.65,-219.0,774.2,-13.0,337,3642,0.00,2.00,0.00,0.000,4,0.000,0.057,2300,3771,3813,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3716,-0.65,-219.0,784.3,-12.7,341,3720,0.00,1.67,0.00,0.000,6,0.000,0.024,2300,2515,3812,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4039,-0.65,-219.0,831.2,-14.7,357,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2499,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4338,-0.65,-219.0,873.4,-13.6,372,4343,0.00,1.95,0.00,0.000,4,0.000,0.060,2291,3765,3809,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4390,-0.65,-219.0,879.0,-13.9,374,4397,0.03,1.73,0.00,0.000,6,0.171,0.024,2304,2512,3807,0,0,0,0,0,0,26.57,26.74,28.83
$GC,4697,-0.65,-219.0,918.7,-12.6,390,4703,0.00,1.92,0.00,0.000,4,0.000,0.028,2304,1141,3805,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4726,-0.65,-219.0,921.0,-12.3,391,4729,0.00,2.25,0.00,0.000,6,0.000,0.050,2304,2624,3805,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5037,-0.65,-219.0,962.9,-13.3,407,5043,0.00,2.10,0.00,0.000,4,0.000,0.027,2304,1150,3803,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5065,-0.65,-219.0,965.5,-13.1,408,5069,0.00,2.25,0.00,0.000,6,0.000,0.051,2304,2627,3803,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,5250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5250,begin apogee
$GC,5256,-0.17,0.0,990.2,-12.8,417,5454,0.45,0.15,189.12,1.712,6,0.116,0.088,2462,2640,2928,0,0,0,0,0,0,26.46,24.53,23.64
$STATE,5455,end apogee,CONTROL_FINISHED_OK
$STATE,5455,begin climb
$GC,5458,0.65,219.0,1003.0,0.0,427,5674,0.70,2.42,205.45,1.688,4,0.046,0.033,2755,1159,2034,0,0,0,0,0,0,24.82,24.09,23.11
$GC,5790,0.65,219.0,962.3,19.8,443,5797,0.17,2.35,0.00,0.000,6,0.185,0.049,2712,2612,2027,0,0,0,0,0,0,25.05,25.22,28.83
$GC,6098,0.65,219.0,899.2,20.2,459,6104,0.00,2.15,0.00,0.000,4,0.000,0.032,2722,1165,2026,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6197,0.65,219.0,882.1,16.4,464,6203,0.00,2.25,0.00,0.000,6,0.000,0.049,2722,2616,2023,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6517,0.65,219.0,819.8,19.4,480,6522,0.00,2.17,0.00,0.000,4,0.000,0.032,2733,1157,2023,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6559,0.65,219.0,812.9,18.2,482,6564,0.10,2.28,0.00,0.000,6,0.196,0.047,2710,2612,2022,0,0,0,0,0,0,26.03,26.18,28.83
$GC,6878,0.65,219.0,756.1,17.3,498,6881,0.00,1.75,0.00,0.000,4,0.000,0.057,2710,3763,2021,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6952,0.65,219.0,744.2,19.0,501,6958,0.00,1.77,0.00,0.000,6,0.000,0.025,2719,2541,2022,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7259,0.65,219.0,682.5,18.3,517,7265,0.00,2.05,0.00,0.000,4,0.000,0.035,2730,1152,2020,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7312,0.65,219.0,676.3,16.7,519,7320,0.08,2.25,0.00,0.000,6,0.205,0.047,2714,2621,2019,0,0,0,0,0,0,26.24,26.36,28.83
$GC,7619,0.65,219.0,623.8,16.5,535,7622,0.00,1.77,0.00,0.000,4,0.000,0.057,2714,3768,2019,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7723,0.65,219.0,604.4,19.4,540,7726,0.00,1.75,0.00,0.000,6,0.000,0.026,2722,2548,2019,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8030,0.65,219.0,549.5,16.9,569,8034,0.00,2.03,0.00,0.000,4,0.000,0.034,2733,1155,2019,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8168,0.65,219.0,529.7,13.7,582,8177,0.05,2.20,0.00,0.000,6,0.168,0.046,2716,2619,2017,0,0,0,0,0,0,26.31,26.46,28.83
$GC,8476,0.65,219.0,480.3,16.0,613,8480,0.00,2.15,0.00,0.000,4,0.000,0.034,2727,1156,2017,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8659,0.65,219.0,455.4,13.7,631,8668,0.05,2.20,0.00,0.000,6,0.227,0.046,2714,2620,2017,0,0,0,0,0,0,26.39,26.48,28.83
$GC,8969,0.65,219.0,405.4,15.8,662,8978,0.00,2.15,0.00,0.000,4,0.000,0.036,2725,1162,2017,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9104,0.65,219.0,386.7,13.5,675,9111,0.00,2.20,0.00,0.000,6,0.000,0.046,2725,2626,2016,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9410,0.65,219.0,340.9,11.9,706,9419,0.00,2.15,0.00,0.000,4,0.000,0.034,2735,1157,2017,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9481,0.65,219.0,332.6,11.9,713,9491,0.10,2.20,0.00,0.000,6,0.181,0.044,2710,2622,2017,0,0,0,0,0,0,26.38,26.53,28.83
$GC,9791,0.65,219.0,292.4,12.9,744,9795,0.00,1.73,0.00,0.000,4,0.000,0.053,2709,3764,2017,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9832,0.65,219.0,286.4,14.9,748,9836,0.00,1.70,0.00,0.000,6,0.000,0.026,2719,2546,2018,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10143,0.65,219.0,244.9,13.0,779,10147,0.00,2.00,0.00,0.000,4,0.000,0.037,2730,1158,2018,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10172,0.65,219.0,241.9,11.9,781,10180,0.08,2.20,0.00,0.000,6,0.192,0.044,2712,2624,2018,0,0,0,0,0,0,26.44,26.56,28.83
$GC,10480,0.65,219.0,205.0,11.5,812,10484,0.00,2.12,0.00,0.000,4,0.000,0.034,2721,1159,2019,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10566,0.67,236.7,196.3,10.4,823,10587,0.00,2.20,14.15,1.122,6,0.000,0.043,2721,2624,1963,0,0,0,0,0,0,28.83,26.57,25.43
$GC,10933,0.74,288.4,153.7,9.2,886,10989,0.10,2.25,46.70,1.128,4,0.116,0.034,2788,1162,1752,0,0,0,0,0,0,26.48,25.51,24.72
$GC,11069,0.74,288.4,134.4,15.0,908,11078,0.12,2.28,0.00,0.000,6,0.137,0.043,2746,2615,1748,0,0,0,0,0,0,25.70,25.82,28.83
$GC,11424,0.74,288.4,84.6,13.5,969,11431,0.00,2.17,0.00,0.000,4,0.000,0.034,2756,1155,1748,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11508,0.74,288.4,74.5,11.8,983,11515,0.08,2.20,0.00,0.000,6,0.177,0.042,2737,2619,1747,0,0,0,0,0,0,26.15,26.24,28.83
$GC,11859,0.74,288.4,30.9,13.5,1044,11867,0.00,2.17,0.00,0.000,4,0.000,0.034,2737,1162,1748,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11907,0.81,349.7,26.5,8.9,1051,11941,0.12,2.17,24.85,0.187,6,0.091,0.041,2815,2626,1499,0,0,0,0,0,0,26.41,26.39,26.08
$STATE,12040,end climb,SURFACE_DEPTH_REACHED
$STATE,12041,begin surface coast
$FINISH,0.7,1.020025
$STATE,12065,end surface coast,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$SM_CCo,12080,9.25,0.141,0,0,1396,375.06
$SM_GC,2.54,6.57,0.00,9.25,0.038,0.000,0.141,200,2628,1396,-7.15,0.48,375.06,0,0,0,0,0,0,26.35,28.83,26.18
$IRIDIUM_FIX,2138.81,12244.11,220312,060624
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.1,13.214
$10V_AH,10.3,8.510
$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,17.300,114.925,480.275,9.250,0.000,25.872,23.536,190.364,0.000,0.000,15.468,2570.884,6433.318,519.615,2617.763,296.902,0.000,1663.536,0.000,2321.857,0.000,0.541,0.000
$DEVICE_MAMPS,272.340,98.685,1712.070,140.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.913,1715.526,573.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,73531,1077
$CAP_FILE_SIZE,130767,0
$CFSIZE,260165632,218161152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,131337,2145.935,12247.397,37,1.0,37,-2.8