version: 66.10
glider: 176
mission: 5
dive: 56
start: 3 23 112 3 34 19
data:
$ID,176
$MISSION,5
$DIVE,56
$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,-7456.2856
$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
$GPS1,230312,032724,2140.983,12241.975,25,1.0,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.8
$GPS2,230312,033350,2141.085,12241.881,13,1.0,13,-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,142.6,77373,-16.3,-11.000
$D_GRID,4509
$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,-194.6,0.0,0.0,0,68,0.00,0.00,-48.88,0.000,2,0.000,0.000,178,2629,2732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.65,-194.6,3.3,-5.4,7,109,8.30,1.77,-19.15,0.000,4,0.236,0.067,2294,3770,3726,0,0,0,0,0,0,25.77,26.10,26.44
$GC,152,-0.65,-194.6,36.3,-48.6,17,159,0.00,1.73,0.00,0.000,6,0.000,0.023,2295,2519,3726,0,0,0,0,0,0,28.83,26.25,28.83
$GC,502,-0.65,-194.6,171.9,-36.2,78,511,0.00,1.95,0.00,0.000,4,0.000,0.024,2297,1133,3727,0,0,0,0,0,0,28.83,26.44,28.83
$GC,592,-0.65,-194.6,194.4,-21.2,93,601,0.08,2.28,0.00,0.000,6,0.210,0.048,2308,2625,3727,0,0,0,0,0,0,26.25,26.37,28.83
$GC,910,-0.65,-194.6,287.3,-27.5,126,914,0.00,1.73,0.00,0.000,4,0.000,0.056,2300,3770,3728,0,0,0,0,0,0,28.83,26.44,28.83
$GC,941,-0.65,-194.6,297.0,-29.7,129,944,0.00,1.70,0.00,0.000,6,0.000,0.022,2300,2509,3728,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1251,-0.65,-194.6,379.7,-23.3,160,1255,0.00,1.92,0.00,0.000,4,0.000,0.056,2290,3765,3728,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1288,-0.65,-194.6,388.7,-24.7,163,1292,0.08,1.70,0.00,0.000,6,0.202,0.024,2307,2489,3728,0,0,0,0,0,0,26.43,26.66,28.83
$GC,1600,-0.65,-194.6,445.2,-14.8,194,1604,0.00,1.98,0.00,0.000,4,0.000,0.054,2304,3759,3728,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1631,-0.65,-194.6,450.1,-14.5,197,1635,0.00,1.70,0.00,0.000,6,0.000,0.024,2304,2496,3727,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1942,-0.65,-194.6,497.8,-16.3,228,1946,0.00,1.88,0.00,0.000,4,0.000,0.027,2304,1142,3727,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1962,-0.65,-194.6,500.5,-16.3,229,1970,0.00,2.25,0.00,0.000,6,0.000,0.048,2304,2629,3726,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2268,-0.65,-194.6,552.4,-17.1,260,2272,0.00,1.70,0.00,0.000,4,0.000,0.056,2296,3765,3725,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2313,-0.65,-194.6,559.9,-19.0,264,2320,0.00,1.70,0.00,0.000,6,0.000,0.024,2296,2479,3724,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2632,-0.65,-194.6,612.7,-14.9,292,2637,0.00,1.88,0.00,0.000,4,0.000,0.028,2296,1149,3722,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2690,-0.65,-194.6,620.3,-13.0,295,2696,0.08,2.25,0.00,0.000,6,0.200,0.051,2308,2625,3722,0,0,0,0,0,0,26.46,26.57,28.83
$GC,3010,-0.65,-194.6,658.9,-12.2,311,3014,0.00,1.73,0.00,0.000,4,0.000,0.058,2300,3767,3719,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3044,-0.65,-194.6,661.7,-12.4,312,3051,0.00,1.73,0.00,0.000,6,0.000,0.024,2301,2519,3719,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3352,-0.65,-194.6,704.6,-13.7,328,3357,0.00,1.92,0.00,0.000,4,0.000,0.059,2291,3770,3717,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3371,-0.65,-194.6,707.4,-13.8,329,3375,0.08,1.70,0.00,0.000,6,0.189,0.024,2310,2505,3716,0,0,0,0,0,0,26.51,26.72,28.83
$GC,3693,-0.65,-194.6,750.1,-13.3,345,3698,0.00,1.92,0.00,0.000,4,0.000,0.028,2310,1145,3713,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3716,-0.65,-194.6,752.9,-13.4,346,3720,0.00,2.25,0.00,0.000,6,0.000,0.049,2306,2630,3713,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4033,-0.65,-194.6,796.8,-13.6,362,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2630,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4333,-0.65,-194.6,835.6,-12.8,377,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2630,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.65,-194.6,873.0,-12.1,392,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2630,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4933,-0.65,-194.6,908.3,-11.6,407,4938,0.00,2.15,0.00,0.000,4,0.000,0.028,2306,1147,3703,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4961,-0.65,-194.6,910.4,-11.4,408,4965,0.00,2.28,0.00,0.000,6,0.000,0.050,2304,2628,3703,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5269,-0.65,-194.6,944.4,-10.6,423,5273,0.00,2.12,0.00,0.000,4,0.000,0.028,2304,1156,3701,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5312,-0.65,-194.6,948.6,-10.5,425,5317,0.00,2.22,0.00,0.000,6,0.000,0.051,2304,2622,3701,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5630,-0.65,-194.6,984.1,-11.3,441,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2622,3699,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5688,begin apogee
$GC,5693,-0.17,0.0,991.0,-11.6,444,5871,0.45,0.00,167.38,1.718,6,0.122,0.000,2460,2622,2928,0,0,0,0,0,0,26.41,28.83,23.68
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5874,0.65,194.6,1000.6,0.0,453,6073,0.73,2.45,183.23,1.694,4,0.053,0.033,2750,1161,2133,0,0,0,0,0,0,24.85,24.13,23.13
$GC,6103,0.65,194.6,978.6,19.6,464,6108,0.15,2.42,0.00,0.000,6,0.184,0.049,2714,2621,2129,0,0,0,0,0,0,24.60,24.75,28.83
$GC,6412,0.65,194.6,918.3,18.8,479,6417,0.00,2.17,0.00,0.000,4,0.000,0.031,2724,1155,2124,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6451,0.65,194.6,911.2,18.1,481,6457,0.03,2.30,0.00,0.000,6,0.193,0.047,2716,2617,2123,0,0,0,0,0,0,25.74,25.81,28.83
$GC,6770,0.65,194.6,850.9,19.8,497,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2617,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,0.65,194.6,793.6,18.3,512,7077,0.00,2.17,0.00,0.000,4,0.000,0.031,2726,1151,2121,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7093,0.65,194.6,789.8,18.1,513,7098,0.05,2.28,0.00,0.000,6,0.233,0.047,2715,2615,2120,0,0,0,0,0,0,26.12,26.22,28.83
$GC,7405,0.65,194.6,730.0,18.6,529,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2616,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,0.65,194.6,675.7,18.4,544,7710,0.00,2.15,0.00,0.000,4,0.000,0.033,2726,1159,2119,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7856,0.65,194.6,655.7,13.1,551,7861,0.05,2.25,0.00,0.000,6,0.233,0.047,2715,2625,2117,0,0,0,0,0,0,26.27,26.37,28.83
$GC,8163,0.65,194.6,608.9,15.0,566,8169,0.00,2.15,0.00,0.000,4,0.000,0.033,2726,1158,2117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8242,0.65,194.6,598.9,12.5,570,8253,0.05,2.25,0.00,0.000,6,0.231,0.048,2715,2618,2116,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8552,0.65,194.6,552.7,15.6,601,8556,0.00,1.75,0.00,0.000,4,0.000,0.055,2714,3757,2116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8596,0.65,194.6,545.4,17.9,605,8603,0.00,1.75,0.00,0.000,6,0.000,0.024,2723,2546,2116,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8903,0.65,194.6,490.4,17.5,636,8907,0.00,1.88,0.00,0.000,4,0.000,0.054,2723,3767,2115,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8952,0.65,194.6,481.9,18.4,640,8960,0.05,1.75,0.00,0.000,6,0.198,0.023,2717,2545,2116,0,0,0,0,0,0,26.30,26.57,28.83
$GC,9260,0.65,194.6,436.1,14.8,671,9269,0.00,2.03,0.00,0.000,4,0.000,0.034,2727,1158,2115,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9373,0.65,194.6,420.8,13.0,682,9382,0.03,2.25,0.00,0.000,6,0.193,0.047,2717,2616,2115,0,0,0,0,0,0,26.37,26.49,28.83
$GC,9681,0.65,194.6,379.4,13.4,713,9690,0.00,2.12,0.00,0.000,4,0.000,0.035,2726,1159,2115,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9743,0.65,194.6,372.0,11.9,719,9752,0.05,2.20,0.00,0.000,6,0.224,0.044,2714,2619,2115,0,0,0,0,0,0,26.41,26.51,28.83
$GC,10052,0.65,194.6,334.8,12.4,750,10056,0.00,1.73,0.00,0.000,4,0.000,0.051,2714,3773,2115,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10075,0.65,194.6,332.0,12.5,752,10083,0.00,1.77,0.00,0.000,6,0.000,0.026,2723,2539,2115,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10384,0.65,194.6,288.2,14.2,783,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2537,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10686,0.65,194.6,246.9,12.8,813,10694,0.00,1.88,0.00,0.000,4,0.000,0.051,2723,3776,2117,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10748,0.65,194.6,238.0,13.8,819,10757,0.10,1.75,0.00,0.000,6,0.206,0.025,2709,2525,2118,0,0,0,0,0,0,26.36,26.65,28.83
$GC,11057,0.71,246.7,205.0,9.0,850,11109,0.12,2.05,43.53,1.170,4,0.099,0.032,2787,1162,1921,0,0,0,0,0,0,26.65,25.67,24.87
$GC,11177,0.71,246.7,187.4,16.7,866,11187,0.17,2.28,0.00,0.000,6,0.142,0.044,2730,2617,1918,0,0,0,0,0,0,25.72,25.86,28.83
$GC,11545,0.71,246.7,134.8,14.0,927,11552,0.00,2.17,0.00,0.000,4,0.000,0.035,2734,1163,1917,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11600,0.71,246.7,127.5,11.7,933,11606,0.00,2.22,0.00,0.000,6,0.000,0.044,2735,2625,1916,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11959,0.71,246.7,81.6,11.8,994,11968,0.00,2.20,0.00,0.000,4,0.000,0.035,2735,1161,1916,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12030,0.76,289.0,74.9,9.4,1005,12052,0.10,2.20,17.65,0.296,6,0.111,0.043,2799,2622,1749,0,0,0,0,0,0,26.36,26.39,25.89
$GC,12401,0.76,289.0,14.0,12.6,1068,12410,0.15,0.00,0.00,0.000,6,0.164,0.000,2752,2622,1744,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,12509,end climb,SURFACE_DEPTH_REACHED
$STATE,12509,begin surface coast
$FINISH,0.6,1.022536
$STATE,12556,end surface coast,CONTROL_FINISHED_OK
$STATE,12556,begin surface
$SM_CCo,12571,33.15,0.131,0,0,1396,375.06
$SM_GC,1.59,6.32,0.00,33.15,0.034,0.000,0.131,207,2623,1396,-7.12,0.37,375.06,0,0,0,0,0,0,26.44,28.83,26.20
$IRIDIUM_FIX,2134.17,12239.65,220312,232320
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.1,14.273
$10V_AH,10.3,9.049
$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,17.200,108.700,411.775,33.150,0.000,30.986,42.525,189.685,0.000,0.000,15.759,2781.461,6810.635,518.308,2591.868,278.836,0.000,1605.915,0.000,2216.326,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,66.555,1718.190,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.370,1765.196,537.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,83987,1094
$CAP_FILE_SIZE,131079,0
$CFSIZE,260165632,217772032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242,291.7,1
$GPS,230312,070536,2140.129,12241.571,35,1.1,40,-2.8