version: 66.10
glider: 176
mission: 5
dive: 55
start: 3 22 112 23 59 25
data:
$ID,176
$MISSION,5
$DIVE,55
$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,200
$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,-7455.0317
$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,4
$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
$GPS1,220312,235216,2142.220,12243.106,13,3.7,32,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.7
$GPS2,220312,235858,2142.326,12242.998,15,2.5,34,-2.8
$SPEED_LIMITS,0.191,0.305
$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,174.0,79318,-16.3,-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,16,-0.65,-194.6,0.0,0.0,0,60,0.00,0.00,-41.72,0.000,2,0.000,0.000,176,2644,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.65,-194.6,3.2,-6.2,6,106,8.35,2.15,-26.25,0.000,4,0.239,0.043,2302,1156,3724,0,0,0,0,0,0,25.80,26.19,26.47
$GC,150,-0.65,-194.6,28.5,-36.6,19,158,0.08,2.30,0.00,0.000,6,0.205,0.054,2308,2632,3725,0,0,0,0,0,0,26.06,26.16,28.83
$GC,509,-0.65,-194.6,154.5,-32.8,80,519,0.00,2.15,0.00,0.000,4,0.000,0.028,2308,1162,3726,0,0,0,0,0,0,28.83,26.42,28.83
$GC,579,-0.65,-194.6,171.5,-19.1,91,586,0.00,2.22,0.00,0.000,6,0.000,0.050,2304,2630,3726,0,0,0,0,0,0,28.83,26.38,28.83
$GC,906,-0.65,-194.6,265.7,-28.4,131,915,0.00,2.12,0.00,0.000,4,0.000,0.028,2304,1149,3726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,977,-0.65,-194.6,282.3,-19.9,138,986,0.00,2.22,0.00,0.000,6,0.000,0.049,2304,2628,3727,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1290,-0.65,-194.6,357.1,-21.5,169,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2629,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.65,-194.6,418.1,-18.5,200,1602,0.00,1.70,0.00,0.000,4,0.000,0.054,2295,3766,3727,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1652,-0.65,-194.6,428.7,-20.9,205,1655,0.00,1.70,0.00,0.000,6,0.000,0.024,2295,2503,3726,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1962,-0.65,-194.6,491.0,-18.3,236,1966,0.00,1.90,0.00,0.000,4,0.000,0.028,2294,1144,3726,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2010,-0.65,-194.6,498.3,-15.8,240,2020,0.05,2.22,0.00,0.000,6,0.158,0.050,2311,2623,3726,0,0,0,0,0,0,26.42,26.57,28.83
$GC,2318,-0.65,-194.6,545.4,-15.0,271,2328,0.05,2.10,0.00,0.000,4,0.178,0.024,2272,1153,3723,0,0,0,0,0,0,26.71,26.65,28.83
$GC,2333,-0.65,-194.6,546.5,-14.9,272,2342,0.12,2.25,0.00,0.000,6,0.135,0.045,2307,2627,3723,0,0,0,0,0,0,26.44,26.59,28.83
$GC,2642,-0.65,-194.6,597.3,-15.9,303,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2628,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.65,-194.6,644.5,-15.7,319,2946,0.00,2.12,0.00,0.000,4,0.000,0.027,2307,1147,3720,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2982,-0.65,-194.6,650.3,-15.3,321,2987,0.00,2.20,0.00,0.000,6,0.000,0.049,2305,2625,3720,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3301,-0.65,-194.6,699.8,-15.6,337,3307,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1156,3717,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3340,-0.65,-194.6,705.3,-14.6,339,3344,0.00,2.22,0.00,0.000,6,0.000,0.050,2304,2625,3717,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3662,-0.65,-194.6,751.5,-14.3,355,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2625,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3962,-0.65,-194.6,791.2,-12.8,370,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2625,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4262,-0.65,-194.6,831.8,-14.2,385,4268,0.00,2.12,0.00,0.000,4,0.000,0.027,2304,1147,3708,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4295,-0.65,-194.6,834.6,-14.1,386,4303,0.00,2.25,0.00,0.000,6,0.000,0.050,2303,2624,3708,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4602,-0.65,-194.6,880.3,-14.5,402,4605,0.00,1.73,0.00,0.000,4,0.000,0.060,2294,3776,3706,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4642,-0.65,-194.6,886.3,-14.3,404,4646,0.03,1.70,0.00,0.000,6,0.275,0.024,2306,2506,3705,0,0,0,0,0,0,26.59,26.75,28.83
$GC,4965,-0.65,-194.6,924.0,-10.6,420,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2489,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5264,-0.65,-194.6,953.4,-9.2,435,5268,0.00,2.00,0.00,0.000,4,0.000,0.060,2304,3766,3700,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5309,-0.65,-194.6,957.5,-9.5,437,5313,0.00,1.67,0.00,0.000,6,0.000,0.024,2304,2509,3700,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5627,-0.65,-194.6,986.3,-9.3,453,5633,0.00,1.95,0.00,0.000,4,0.000,0.060,2301,3778,3699,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,5664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5664,begin apogee
$GC,5672,-0.17,0.0,990.3,-9.4,455,5848,0.45,0.17,166.02,1.718,6,0.113,0.055,2459,2617,2931,0,0,0,0,0,0,26.43,24.60,23.69
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5851,0.65,194.6,995.5,0.0,464,6040,0.75,0.00,185.23,1.688,6,0.049,0.000,2746,2616,2134,0,0,0,0,0,0,24.86,28.83,23.15
$GC,6327,0.65,194.6,917.8,20.7,488,6334,0.12,2.22,0.00,0.000,4,0.206,0.030,2722,1151,2125,0,0,0,0,0,0,25.51,25.70,28.83
$GC,6380,0.65,194.6,910.1,19.8,490,6387,0.00,2.30,0.00,0.000,6,0.000,0.047,2722,2613,2123,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6688,0.65,194.6,847.5,20.0,506,6694,0.00,2.15,0.00,0.000,4,0.000,0.033,2733,1166,2122,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6760,0.65,194.6,836.0,19.6,509,6769,0.10,2.25,0.00,0.000,6,0.195,0.047,2711,2614,2121,0,0,0,0,0,0,25.94,26.09,28.83
$GC,7067,0.65,194.6,777.5,18.7,525,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2614,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,0.65,194.6,723.4,17.6,540,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2614,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7668,0.65,194.6,665.2,19.8,555,7673,0.00,2.17,0.00,0.000,4,0.000,0.033,2722,1150,2118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7790,0.65,194.6,645.2,16.4,561,7794,0.00,2.22,0.00,0.000,6,0.000,0.047,2722,2615,2116,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8102,0.65,194.6,592.2,14.1,579,8111,0.00,2.17,0.00,0.000,4,0.000,0.034,2733,1151,2116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8166,0.65,194.6,584.3,12.1,585,8175,0.10,2.25,0.00,0.000,6,0.195,0.047,2709,2625,2116,0,0,0,0,0,0,26.25,26.41,28.83
$GC,8473,0.65,194.6,542.6,13.7,616,8477,0.00,1.75,0.00,0.000,4,0.000,0.055,2709,3770,2116,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8587,0.65,194.6,524.8,16.6,627,8594,0.00,1.77,0.00,0.000,6,0.000,0.023,2718,2535,2116,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8895,0.65,194.6,476.1,15.5,658,8904,0.00,2.03,0.00,0.000,4,0.000,0.035,2729,1156,2116,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8946,0.65,194.6,468.4,14.3,663,8956,0.08,2.22,0.00,0.000,6,0.205,0.047,2713,2616,2115,0,0,0,0,0,0,26.34,26.47,28.83
$GC,9258,0.65,194.6,421.3,14.8,694,9267,0.00,2.12,0.00,0.000,4,0.000,0.035,2724,1165,2115,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9312,0.65,194.6,414.1,13.2,699,9320,0.00,2.22,0.00,0.000,6,0.000,0.044,2724,2616,2115,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9620,0.65,194.6,372.1,13.3,730,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2617,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9920,0.65,194.6,330.3,13.6,760,9929,0.00,2.12,0.00,0.000,4,0.000,0.034,2734,1164,2115,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10024,0.65,194.6,318.1,11.3,770,10032,0.10,2.20,0.00,0.000,6,0.180,0.044,2709,2624,2115,0,0,0,0,0,0,26.37,26.53,28.83
$GC,10332,0.69,232.1,284.7,9.6,801,10373,0.10,2.25,31.05,1.231,4,0.109,0.034,2778,1163,1980,0,0,0,0,0,0,26.65,25.86,25.02
$GC,10438,0.69,232.1,269.8,15.7,811,10447,0.15,2.28,0.00,0.000,6,0.142,0.043,2728,2621,1977,0,0,0,0,0,0,25.84,25.98,28.83
$GC,10746,0.69,232.1,221.8,15.1,842,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2622,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11067,0.69,232.1,179.6,12.8,885,11074,0.00,2.15,0.00,0.000,4,0.000,0.034,2734,1159,1976,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11106,0.71,245.3,174.9,10.5,891,11127,0.00,2.20,12.35,1.087,6,0.000,0.041,2734,2620,1928,0,0,0,0,0,0,28.83,26.36,25.25
$GC,11470,0.71,245.3,125.2,13.6,954,11479,0.00,2.20,0.00,0.000,4,0.000,0.034,2735,1159,1927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11572,0.76,287.9,114.6,9.4,971,11602,0.10,2.20,19.08,0.968,6,0.113,0.042,2799,2620,1753,0,0,0,0,0,0,26.32,26.34,25.24
$GC,11943,0.76,287.9,47.3,18.1,1035,11951,0.15,2.15,0.00,0.000,4,0.172,0.030,2763,1156,1750,0,0,0,0,0,0,26.13,26.29,28.83
$GC,12005,0.76,287.9,38.6,11.8,1045,12014,0.05,2.20,0.00,0.000,6,0.206,0.041,2748,2627,1749,0,0,0,0,0,0,26.21,26.30,28.83
$STATE,12308,end climb,SURFACE_DEPTH_REACHED
$STATE,12308,begin surface coast
$FINISH,0.8,1.022720
$STATE,12357,end surface coast,CONTROL_FINISHED_OK
$STATE,12357,begin surface
$SM_CCo,12371,33.70,0.131,0,0,1396,375.06
$SM_GC,1.42,6.30,0.00,33.70,0.031,0.000,0.131,179,2628,1396,-7.15,0.51,375.06,0,0,0,0,0,0,26.48,28.83,26.19
$IRIDIUM_FIX,2136.49,12252.48,220312,202052
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,14.073
$10V_AH,10.2,8.941
$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,17.225,100.900,413.725,33.700,0.000,40.763,52.348,162.892,0.000,0.000,45.209,2779.729,6597.893,572.525,2577.439,271.030,0.000,1611.085,0.000,2218.693,0.000,0.540,0.000
$DEVICE_MAMPS,274.635,59.670,1718.190,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.436,1755.895,569.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,83931,1106
$CAP_FILE_SIZE,125710,0
$CFSIZE,260165632,217858048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,299.9,1
$GPS,230312,032724,2140.983,12241.975,25,1.0,42,-2.8