version: 66.10
glider: 176
mission: 5
dive: 53
start: 3 22 112 16 53 28
data:
$ID,176
$MISSION,5
$DIVE,53
$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,-7445.1362
$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
$GPS1,220312,164637,2144.447,12245.812,26,1.5,26,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.2
$GPS2,220312,165302,2144.501,12245.693,12,1.5,12,-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,177.6,82752,-15.3,-11.000
$D_GRID,4443
$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,-47.80,0.000,2,0.000,0.000,176,2621,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.65,-219.0,3.4,-6.6,7,106,8.40,2.12,-21.27,0.000,4,0.240,0.037,2303,1141,3823,0,0,0,0,0,0,25.76,26.17,26.44
$GC,205,-0.65,-219.0,47.9,-25.6,27,212,0.05,2.25,0.00,0.000,6,0.239,0.047,2303,2625,3825,0,0,0,0,0,0,26.09,26.19,28.83
$GC,556,-0.65,-219.0,173.8,-32.1,88,564,0.00,2.15,0.00,0.000,4,0.000,0.028,2303,1151,3825,0,0,0,0,0,0,28.83,26.43,28.83
$GC,604,-0.65,-219.0,187.1,-22.5,96,613,0.03,2.28,0.00,0.000,6,0.197,0.048,2301,2626,3825,0,0,0,0,0,0,26.27,26.38,28.83
$GC,919,-0.65,-219.0,270.4,-27.3,131,923,0.00,2.10,0.00,0.000,4,0.000,0.027,2301,1157,3825,0,0,0,0,0,0,28.83,26.52,28.83
$GC,980,-0.65,-219.0,283.5,-19.2,137,990,0.05,2.20,0.00,0.000,6,0.243,0.047,2304,2625,3825,0,0,0,0,0,0,26.36,26.46,28.83
$GC,1290,-0.65,-219.0,358.2,-22.7,168,1299,0.00,2.08,0.00,0.000,4,0.000,0.025,2304,1150,3826,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1361,-0.65,-219.0,372.1,-17.0,175,1370,0.00,2.22,0.00,0.000,6,0.000,0.049,2304,2630,3826,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1673,-0.65,-219.0,439.1,-21.6,206,1682,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1146,3825,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1744,-0.65,-219.0,452.0,-15.4,213,1753,0.00,2.25,0.00,0.000,6,0.000,0.048,2304,2629,3825,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2054,-0.65,-219.0,507.0,-16.1,244,2057,0.00,1.73,0.00,0.000,4,0.000,0.058,2304,3773,3824,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2115,-0.65,-219.0,516.1,-14.6,250,2118,0.00,1.67,0.00,0.000,6,0.000,0.023,2304,2528,3823,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2427,-0.65,-219.0,567.7,-17.1,281,2435,0.00,1.95,0.00,0.000,4,0.000,0.025,2304,1136,3822,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2478,-0.65,-219.0,575.3,-14.2,286,2487,0.00,2.25,0.00,0.000,6,0.000,0.047,2304,2626,3821,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2799,-0.65,-219.0,626.7,-16.1,310,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2626,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3098,-0.65,-219.0,669.4,-13.8,325,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2626,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3398,-0.65,-219.0,711.7,-13.8,340,3403,0.00,2.12,0.00,0.000,4,0.000,0.026,2304,1144,3815,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3451,-0.65,-219.0,716.7,-13.3,342,3458,0.00,2.25,0.00,0.000,6,0.000,0.049,2304,2625,3816,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3758,-0.65,-219.0,758.5,-13.0,358,3763,0.00,2.12,0.00,0.000,4,0.000,0.026,2304,1140,3813,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3819,-0.65,-219.0,765.3,-11.8,361,3824,0.00,2.25,0.00,0.000,6,0.000,0.049,2304,2628,3812,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4138,-0.65,-219.0,802.7,-11.5,377,4144,0.00,2.12,0.00,0.000,4,0.000,0.027,2304,1147,3810,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4182,-0.65,-219.0,807.1,-11.3,379,4186,0.00,2.25,0.00,0.000,6,0.000,0.050,2304,2625,3809,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4493,-0.65,-219.0,844.1,-12.2,395,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2625,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4795,-0.65,-219.0,883.9,-13.2,410,4801,0.00,2.08,0.00,0.000,4,0.000,0.026,2304,1149,3804,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4833,-0.65,-219.0,888.9,-13.0,412,4839,0.00,2.25,0.00,0.000,6,0.000,0.050,2303,2628,3804,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5155,-0.65,-219.0,927.1,-11.6,428,5160,0.00,2.08,0.00,0.000,4,0.000,0.027,2304,1156,3801,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5182,-0.65,-219.0,929.5,-11.5,429,5186,0.00,2.22,0.00,0.000,6,0.000,0.050,2304,2625,3801,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5494,-0.65,-219.0,963.0,-10.3,445,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2625,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5796,-0.65,-219.0,990.0,-8.3,460,5801,0.00,2.08,0.00,0.000,4,0.000,0.027,2304,1156,3798,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,5812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5812,begin apogee
$GC,5819,-0.17,0.0,991.8,-8.4,461,6016,0.45,0.00,188.20,1.716,6,0.110,0.000,2461,2613,2928,0,0,0,0,0,0,26.46,28.83,23.63
$STATE,6017,end apogee,CONTROL_FINISHED_OK
$STATE,6017,begin climb
$GC,6019,0.65,219.0,996.5,0.0,471,6236,0.73,2.40,206.27,1.685,4,0.049,0.034,2752,1159,2035,0,0,0,0,0,0,24.77,24.06,23.10
$GC,6267,0.65,219.0,964.3,23.0,483,6272,0.15,2.40,0.00,0.000,6,0.182,0.049,2717,2620,2030,0,0,0,0,0,0,24.51,24.66,28.83
$GC,6574,0.65,219.0,896.3,21.2,498,6578,0.00,1.80,0.00,0.000,4,0.000,0.058,2717,3763,2027,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6608,0.65,219.0,891.4,21.4,499,6615,0.03,1.80,0.00,0.000,6,0.234,0.028,2718,2560,2027,0,0,0,0,0,0,25.70,25.86,28.83
$GC,6916,0.65,219.0,822.4,21.7,515,6922,0.00,2.08,0.00,0.000,4,0.000,0.034,2729,1160,2025,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6975,0.65,219.0,811.1,19.6,518,6981,0.08,2.25,0.00,0.000,6,0.205,0.049,2713,2618,2023,0,0,0,0,0,0,25.98,26.09,28.83
$GC,7295,0.65,219.0,748.0,18.9,534,7301,0.00,2.17,0.00,0.000,4,0.000,0.033,2724,1159,2023,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7349,0.65,219.0,740.8,18.4,536,7355,0.00,2.25,0.00,0.000,6,0.000,0.047,2724,2622,2022,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7655,0.65,219.0,677.0,19.5,552,7661,0.00,2.17,0.00,0.000,4,0.000,0.034,2735,1162,2022,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7744,0.65,219.0,662.7,17.8,556,7748,0.10,2.22,0.00,0.000,6,0.192,0.048,2711,2619,2020,0,0,0,0,0,0,26.17,26.32,28.83
$GC,8050,0.65,219.0,609.8,14.8,571,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2619,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,0.65,219.0,561.9,16.2,597,8359,0.00,2.15,0.00,0.000,4,0.000,0.032,2722,1156,2019,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8402,0.65,219.0,554.1,15.0,602,8411,0.00,2.22,0.00,0.000,6,0.000,0.047,2721,2626,2019,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8711,0.65,219.0,494.9,17.7,633,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2626,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9013,0.65,219.0,449.2,14.8,663,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2626,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,0.65,219.0,399.5,17.1,693,9321,0.00,2.15,0.00,0.000,4,0.000,0.034,2733,1158,2018,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9367,0.65,219.0,390.9,16.6,698,9374,0.10,2.22,0.00,0.000,6,0.183,0.045,2708,2627,2018,0,0,0,0,0,0,26.34,26.49,28.83
$GC,9676,0.65,219.0,345.0,12.2,729,9685,0.05,2.15,0.00,0.000,4,0.179,0.032,2758,1158,2018,0,0,0,0,0,0,26.64,26.54,28.83
$GC,9780,0.65,219.0,333.0,12.3,739,9788,0.17,2.20,0.00,0.000,6,0.163,0.044,2709,2617,2018,0,0,0,0,0,0,26.32,26.51,28.83
$GC,10088,0.65,219.0,297.1,12.8,770,10097,0.05,2.15,0.00,0.000,4,0.176,0.031,2762,1157,2018,0,0,0,0,0,0,26.66,26.55,28.83
$GC,10140,0.65,219.0,289.4,15.1,775,10149,0.17,2.20,0.00,0.000,6,0.161,0.043,2712,2622,2019,0,0,0,0,0,0,26.34,26.53,28.83
$GC,10450,0.65,219.0,244.8,11.9,806,10454,0.00,2.12,0.00,0.000,4,0.000,0.033,2722,1158,2020,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10564,0.72,277.4,234.3,9.0,817,10623,0.10,2.20,49.85,1.197,6,0.117,0.043,2777,2621,1797,0,0,0,0,0,0,26.52,26.55,24.70
$GC,10945,0.72,277.4,158.9,19.8,870,10954,0.12,2.20,0.00,0.000,4,0.174,0.031,2750,1162,1793,0,0,0,0,0,0,25.97,26.12,28.83
$GC,10971,0.72,277.4,154.1,17.9,874,10981,0.03,2.25,0.00,0.000,6,0.173,0.043,2740,2615,1791,0,0,0,0,0,0,26.05,26.12,28.83
$GC,11326,0.72,277.4,106.5,14.2,935,11333,0.00,2.15,0.00,0.000,4,0.000,0.034,2748,1151,1792,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11357,0.72,277.4,102.0,12.9,940,11366,0.03,2.25,0.00,0.000,6,0.160,0.042,2738,2619,1792,0,0,0,0,0,0,26.22,26.32,28.83
$GC,11713,0.72,277.4,54.5,11.7,1001,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2619,1792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12062,0.81,347.9,19.4,8.6,1062,12098,0.12,1.73,28.48,0.168,4,0.096,0.048,2817,3777,1506,0,0,0,0,0,0,26.55,26.38,26.17
$STATE,12160,end climb,SURFACE_DEPTH_REACHED
$STATE,12161,begin surface coast
$FINISH,0.9,1.022662
$STATE,12183,end surface coast,CONTROL_FINISHED_OK
$STATE,12183,begin surface
$SM_CCo,12200,9.88,0.140,0,0,1397,375.06
$SM_GC,2.77,6.50,1.77,9.88,0.032,0.022,0.140,176,2506,1397,-7.15,0.23,375.06,0,0,0,0,0,0,26.48,26.55,26.23
$IRIDIUM_FIX,2138.81,12249.27,220312,131318
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,13.653
$10V_AH,10.2,8.725
$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,17.500,111.125,472.800,9.875,0.000,24.964,41.713,200.423,0.000,0.000,15.360,2571.984,6620.435,535.026,2581.852,277.329,0.000,1646.353,0.000,2241.069,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,58.140,1715.895,139.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.636,1735.740,563.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73596,1082
$CAP_FILE_SIZE,127417,0
$CFSIZE,260165632,218013696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,201807,2143.223,12244.115,36,0.9,36,-2.8