version: 66.10
glider: 176
mission: 5
dive: 54
start: 3 22 112 20 24 28
data:
$ID,176
$MISSION,5
$DIVE,54
$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,-7446.395
$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
$GPS1,220312,201807,2143.223,12244.115,36,0.9,36,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.0
$GPS2,220312,202402,2143.286,12244.042,12,1.5,12,-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,175.5,80824,-15.3,-11.000
$D_GRID,4438
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-219.0,0.0,0.0,0,59,0.00,0.00,-39.75,0.000,2,0.000,0.000,176,2502,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.65,-219.0,3.0,-5.3,6,111,8.25,1.98,-30.83,0.000,4,0.236,0.042,2299,1151,3824,0,0,0,0,0,0,25.80,26.20,26.47
$GC,199,-0.65,-219.0,39.6,-25.8,28,209,0.05,2.28,0.00,0.000,6,0.171,0.048,2305,2619,3824,0,0,0,0,0,0,26.03,26.21,28.83
$GC,553,-0.65,-219.0,171.9,-35.0,89,560,0.00,2.08,0.00,0.000,4,0.000,0.027,2305,1156,3825,0,0,0,0,0,0,28.83,26.44,28.83
$GC,590,-0.65,-219.0,184.4,-31.6,95,597,0.00,2.25,0.00,0.000,6,0.000,0.049,2304,2625,3825,0,0,0,0,0,0,28.83,26.37,28.83
$GC,905,-0.65,-219.0,269.6,-25.5,131,914,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1156,3826,0,0,0,0,0,0,28.83,26.52,28.83
$GC,959,-0.65,-219.0,280.4,-20.6,136,966,0.00,2.22,0.00,0.000,6,0.000,0.047,2293,2626,3826,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1267,-0.65,-219.0,353.1,-24.1,167,1276,0.00,2.10,0.00,0.000,4,0.000,0.026,2293,1153,3826,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1310,-0.65,-219.0,362.3,-21.9,171,1318,0.03,2.28,0.00,0.000,6,0.201,0.048,2302,2627,3826,0,0,0,0,0,0,26.39,26.51,28.83
$GC,1618,-0.65,-219.0,429.0,-21.6,202,1627,0.00,2.08,0.00,0.000,4,0.000,0.025,2302,1149,3826,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1640,-0.65,-219.0,433.6,-21.8,204,1649,0.05,2.22,0.00,0.000,6,0.237,0.047,2304,2628,3826,0,0,0,0,0,0,26.44,26.55,28.83
$GC,1949,-0.65,-219.0,489.8,-16.5,235,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2627,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.65,-219.0,536.8,-15.1,265,2261,0.00,2.05,0.00,0.000,4,0.000,0.026,2305,1155,3824,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2278,-0.65,-219.0,540.4,-15.1,267,2284,0.00,2.22,0.00,0.000,6,0.000,0.048,2305,2627,3824,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2583,-0.65,-219.0,585.2,-14.7,298,2592,0.00,2.10,0.00,0.000,4,0.000,0.025,2304,1151,3822,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2617,-0.65,-219.0,589.7,-14.5,301,2624,0.00,2.25,0.00,0.000,6,0.000,0.048,2304,2634,3822,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2934,-0.65,-219.0,638.3,-15.7,321,2940,0.00,2.10,0.00,0.000,4,0.000,0.025,2304,1145,3820,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2968,-0.65,-219.0,641.4,-15.9,322,2974,0.00,2.25,0.00,0.000,6,0.000,0.048,2304,2629,3820,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3275,-0.65,-219.0,690.3,-14.4,338,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2630,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-0.65,-219.0,729.8,-12.2,353,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2630,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,-0.65,-219.0,771.4,-14.7,368,3880,0.00,2.12,0.00,0.000,4,0.000,0.027,2304,1147,3813,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3929,-0.65,-219.0,776.8,-14.2,370,3935,0.00,2.25,0.00,0.000,6,0.000,0.049,2304,2627,3812,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4235,-0.65,-219.0,828.4,-16.8,386,4241,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1149,3810,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4289,-0.65,-219.0,834.4,-15.8,388,4295,0.00,2.25,0.00,0.000,6,0.000,0.050,2304,2626,3810,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4594,-0.65,-219.0,879.6,-12.8,404,4598,0.00,1.75,0.00,0.000,4,0.000,0.061,2300,3774,3807,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4618,-0.65,-219.0,882.1,-12.5,405,4622,0.00,1.73,0.00,0.000,6,0.000,0.024,2300,2469,3807,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4938,-0.65,-219.0,915.7,-10.5,421,4943,0.00,2.00,0.00,0.000,4,0.000,0.059,2292,3770,3804,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4976,-0.65,-219.0,920.0,-10.8,423,4980,0.05,1.67,0.00,0.000,6,0.220,0.025,2307,2507,3804,0,0,0,0,0,0,26.56,26.76,28.83
$GC,5299,-0.65,-219.0,949.9,-9.5,439,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2494,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-0.65,-219.0,980.2,-10.5,454,5603,0.00,1.95,0.00,0.000,4,0.000,0.059,2304,3762,3800,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5680,-0.65,-219.0,989.1,-11.3,458,5684,0.00,1.70,0.00,0.000,6,0.000,0.025,2305,2491,3800,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5695,begin apogee
$GC,5701,-0.17,0.0,991.5,-11.2,459,5899,0.45,0.08,188.35,1.714,6,0.114,0.097,2462,2546,2928,0,0,0,0,0,0,26.44,24.50,23.63
$STATE,5900,end apogee,CONTROL_FINISHED_OK
$STATE,5901,begin climb
$GC,5903,0.65,219.0,1005.2,0.0,469,6119,0.70,2.15,206.05,1.694,4,0.049,0.056,2739,3767,2035,0,0,0,0,0,0,24.82,24.01,23.08
$GC,6182,0.65,219.0,976.6,21.1,483,6188,0.15,1.85,0.00,0.000,6,0.200,0.026,2714,2557,2032,0,0,0,0,0,0,24.76,25.01,28.83
$GC,6501,0.65,219.0,916.1,19.3,499,6507,0.00,2.10,0.00,0.000,4,0.000,0.034,2724,1156,2027,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6564,0.65,219.0,905.0,18.4,502,6568,0.00,2.28,0.00,0.000,6,0.000,0.047,2724,2615,2025,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6877,0.65,219.0,841.6,20.3,518,6880,0.00,1.77,0.00,0.000,4,0.000,0.057,2724,3765,2025,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6927,0.65,219.0,832.6,20.9,520,6931,0.10,1.75,0.00,0.000,6,0.218,0.027,2712,2541,2025,0,0,0,0,0,0,25.97,26.22,28.83
$GC,7233,0.65,219.0,778.1,17.8,535,7239,0.00,2.03,0.00,0.000,4,0.000,0.032,2722,1154,2023,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7392,0.65,219.0,752.9,14.9,543,7398,0.00,2.22,0.00,0.000,6,0.000,0.047,2721,2614,2021,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7715,0.65,219.0,691.8,19.3,559,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2614,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8013,0.65,219.0,634.8,18.3,574,8018,0.00,2.15,0.00,0.000,4,0.000,0.033,2733,1158,2020,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8061,0.65,219.0,628.0,17.5,576,8065,0.10,2.22,0.00,0.000,6,0.192,0.047,2709,2624,2020,0,0,0,0,0,0,26.24,26.39,28.83
$GC,8369,0.65,219.0,576.3,16.7,598,8378,0.05,2.12,0.00,0.000,4,0.178,0.031,2750,1163,2020,0,0,0,0,0,0,26.55,26.46,28.83
$GC,8413,0.65,219.0,568.5,17.6,602,8421,0.10,2.25,0.00,0.000,6,0.156,0.047,2717,2610,2019,0,0,0,0,0,0,26.25,26.43,28.83
$GC,8721,0.65,219.0,510.3,19.2,633,8730,0.00,2.15,0.00,0.000,4,0.000,0.034,2727,1160,2019,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8812,0.65,219.0,494.7,15.9,642,8822,0.05,2.22,0.00,0.000,6,0.228,0.048,2714,2623,2018,0,0,0,0,0,0,26.36,26.45,28.83
$GC,9122,0.65,219.0,444.4,15.8,673,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2623,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9425,0.65,219.0,395.2,15.6,703,9433,0.00,2.15,0.00,0.000,4,0.000,0.036,2725,1166,2018,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9488,0.65,219.0,386.1,13.6,709,9496,0.00,2.17,0.00,0.000,6,0.000,0.044,2725,2614,2018,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9796,0.65,219.0,335.8,16.0,740,9804,0.00,2.15,0.00,0.000,4,0.000,0.034,2734,1152,2018,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9877,0.65,219.0,324.3,13.8,748,9887,0.10,2.20,0.00,0.000,6,0.177,0.044,2708,2626,2018,0,0,0,0,0,0,26.36,26.52,28.83
$GC,10188,0.65,219.0,285.3,12.1,779,10197,0.05,2.12,0.00,0.000,4,0.179,0.032,2758,1159,2018,0,0,0,0,0,0,26.67,26.55,28.83
$GC,10243,0.65,219.0,278.9,12.3,784,10251,0.15,2.20,0.00,0.000,6,0.165,0.042,2715,2628,2019,0,0,0,0,0,0,26.34,26.53,28.83
$GC,10550,0.65,219.0,241.7,11.8,815,10559,0.00,2.17,0.00,0.000,4,0.000,0.034,2725,1151,2019,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10624,0.67,235.9,234.3,10.4,822,10644,0.00,2.22,13.60,1.153,6,0.000,0.045,2725,2630,1966,0,0,0,0,0,0,28.83,26.55,25.41
$GC,10952,0.67,235.9,192.6,12.4,860,10961,0.00,2.20,0.00,0.000,4,0.000,0.037,2734,1168,1965,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11067,0.69,250.8,180.9,10.5,879,11088,0.00,2.20,14.95,1.112,6,0.000,0.044,2734,2623,1904,0,0,0,0,0,0,28.83,26.41,25.25
$GC,11431,0.69,250.8,133.2,12.9,942,11440,0.00,2.20,0.00,0.000,4,0.000,0.035,2734,1164,1904,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11511,0.75,299.9,124.9,9.3,955,11541,0.08,2.22,22.33,1.017,6,0.138,0.044,2786,2632,1703,0,0,0,0,0,0,26.29,26.34,25.14
$GC,11888,0.75,299.9,53.8,16.1,1019,11895,0.12,0.00,0.00,0.000,6,0.169,0.000,2748,2633,1700,0,0,0,0,0,0,26.13,28.83,28.83
$GC,12238,0.84,374.3,13.1,8.5,1080,12275,0.12,2.25,29.48,0.151,4,0.090,0.037,2836,1164,1396,0,0,0,0,0,0,26.46,26.32,26.12
$STATE,12302,end climb,SURFACE_DEPTH_REACHED
$STATE,12302,begin surface coast
$FINISH,0.8,1.010705
$STATE,12329,end surface coast,CONTROL_FINISHED_OK
$STATE,12329,begin surface
$SM_CCo,12406,0.00,0.000,0,0,1390,377.52
$SM_GC,1.61,6.53,2.25,0.00,0.028,0.036,0.000,176,2641,1390,-7.15,-0.25,377.52,0,0,0,0,0,0,26.39,26.34,28.83
$IRIDIUM_FIX,2136.49,12246.07,220312,161613
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.67
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,13.871
$10V_AH,10.3,8.833
$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,17.275,114.350,474.750,0.000,0.000,31.253,45.052,163.828,0.000,0.000,14.659,2592.715,6751.731,540.347,2595.062,269.556,0.000,1672.027,0.000,2282.192,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,97.155,1714.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.732,1735.533,560.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324488
$DATA_FILE_SIZE,73596,1094
$CAP_FILE_SIZE,130217,0
$CFSIZE,260165632,217939968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,235216,2142.220,12243.106,13,3.7,32,-2.8