version: 66.10
glider: 176
mission: 5
dive: 58
start: 3 23 112 10 52 20
data:
$ID,176
$MISSION,5
$DIVE,58
$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,-7458.8022
$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
$GPS1,230312,104301,2139.973,12242.030,37,1.6,37,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.1
$GPS2,230312,105150,2140.073,12241.985,13,1.7,13,-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,149.9,75498,-16.3,-11.000
$D_GRID,4568
$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,-194.6,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,179,2622,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.65,-194.6,3.1,-6.1,6,104,8.38,0.00,-27.38,0.000,6,0.239,0.000,2300,2622,3724,0,0,0,0,0,0,25.72,28.83,26.41
$GC,454,-0.65,-194.6,157.2,-38.0,72,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2622,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-0.65,-194.6,265.9,-29.8,113,795,0.00,2.08,0.00,0.000,4,0.000,0.025,2300,1143,3725,0,0,0,0,0,0,28.83,26.48,28.83
$GC,830,-0.65,-194.6,276.3,-24.5,117,838,0.03,2.28,0.00,0.000,6,0.201,0.047,2301,2620,3725,0,0,0,0,0,0,26.30,26.42,28.83
$GC,1137,-0.65,-194.6,346.8,-21.2,148,1147,0.00,2.10,0.00,0.000,4,0.000,0.026,2302,1148,3725,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1183,-0.65,-194.6,353.8,-16.8,152,1191,0.08,2.22,0.00,0.000,6,0.204,0.045,2310,2627,3726,0,0,0,0,0,0,26.36,26.49,28.83
$GC,1489,-0.65,-194.6,411.7,-20.0,183,1499,0.05,2.12,0.00,0.000,4,0.180,0.024,2271,1139,3725,0,0,0,0,0,0,26.65,26.59,28.83
$GC,1633,-0.65,-194.6,436.9,-16.1,197,1643,0.15,2.25,0.00,0.000,6,0.171,0.045,2306,2633,3725,0,0,0,0,0,0,26.36,26.53,28.83
$GC,1943,-0.65,-194.6,492.7,-17.0,228,1952,0.00,2.12,0.00,0.000,4,0.000,0.026,2306,1148,3723,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1977,-0.65,-194.6,498.3,-17.5,231,1984,0.00,2.28,0.00,0.000,6,0.000,0.047,2305,2632,3723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2286,-0.65,-194.6,552.3,-18.0,262,2290,0.00,1.70,0.00,0.000,4,0.000,0.057,2297,3777,3722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2341,-0.65,-194.6,561.9,-18.9,267,2348,0.00,1.73,0.00,0.000,6,0.000,0.023,2297,2496,3721,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2658,-0.65,-194.6,612.4,-14.3,295,2662,0.00,1.92,0.00,0.000,4,0.000,0.026,2297,1146,3719,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2683,-0.65,-194.6,615.6,-14.2,296,2688,0.05,2.25,0.00,0.000,6,0.239,0.048,2307,2628,3719,0,0,0,0,0,0,26.46,26.56,28.83
$GC,2995,-0.65,-194.6,656.9,-13.8,312,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2629,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.65,-194.6,700.0,-14.9,327,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2629,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,-0.65,-194.6,744.4,-14.2,342,3599,0.00,1.70,0.00,0.000,4,0.000,0.060,2304,3763,3712,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3629,-0.65,-194.6,747.4,-14.0,343,3637,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2494,3711,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3937,-0.65,-194.6,789.9,-13.0,359,3942,0.00,1.92,0.00,0.000,4,0.000,0.056,2294,3765,3709,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3997,-0.65,-194.6,798.0,-13.4,362,4000,0.00,1.73,0.00,0.000,6,0.000,0.023,2294,2494,3708,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4318,-0.65,-194.6,841.1,-13.3,378,4323,0.00,1.98,0.00,0.000,4,0.000,0.059,2288,3763,3705,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4345,-0.65,-194.6,843.8,-13.4,379,4350,0.08,1.73,0.00,0.000,6,0.186,0.024,2307,2502,3705,0,0,0,0,0,0,26.52,26.74,28.83
$GC,4658,-0.65,-194.6,881.9,-11.8,395,4663,0.00,1.92,0.00,0.000,4,0.000,0.028,2308,1151,3703,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4685,-0.65,-194.6,884.4,-11.8,396,4690,0.00,2.25,0.00,0.000,6,0.000,0.050,2305,2625,3703,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4993,-0.65,-194.6,926.2,-13.7,411,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2625,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.65,-194.6,967.2,-13.5,426,5299,0.00,2.10,0.00,0.000,4,0.000,0.027,2304,1162,3699,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5327,-0.65,-194.6,969.9,-13.5,427,5334,0.00,2.25,0.00,0.000,6,0.000,0.050,2304,2633,3699,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,5471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5471,begin apogee
$GC,5477,-0.17,0.0,990.6,-13.3,435,5655,0.45,0.10,166.48,1.714,6,0.119,0.107,2461,2626,2928,0,0,0,0,0,0,26.40,24.56,23.68
$STATE,5656,end apogee,CONTROL_FINISHED_OK
$STATE,5656,begin climb
$GC,5658,0.65,194.6,1001.1,0.0,444,5856,0.73,2.42,183.77,1.689,4,0.054,0.031,2748,1159,2132,0,0,0,0,0,0,24.87,24.15,23.16
$GC,5881,0.65,194.6,981.0,18.4,455,5886,0.15,2.40,0.00,0.000,6,0.186,0.048,2713,2611,2129,0,0,0,0,0,0,24.56,24.71,28.83
$GC,6200,0.65,194.6,916.4,20.0,471,6205,0.00,2.17,0.00,0.000,4,0.000,0.031,2723,1156,2125,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6241,0.65,194.6,908.8,19.5,473,6245,0.00,2.30,0.00,0.000,6,0.000,0.047,2723,2608,2123,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6559,0.65,194.6,843.6,21.0,489,6564,0.00,2.17,0.00,0.000,4,0.000,0.031,2734,1153,2123,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6652,0.65,194.6,828.8,18.6,493,6661,0.10,2.28,0.00,0.000,6,0.195,0.047,2711,2624,2120,0,0,0,0,0,0,25.98,26.14,28.83
$GC,6959,0.65,194.6,770.4,17.4,509,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2624,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7260,0.65,194.6,717.4,18.1,524,7265,0.00,2.17,0.00,0.000,4,0.000,0.031,2722,1158,2119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7313,0.65,194.6,710.4,18.1,526,7319,0.00,2.25,0.00,0.000,6,0.000,0.048,2722,2619,2118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7620,0.65,194.6,654.2,17.0,542,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2619,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7920,0.65,194.6,606.2,16.0,557,7926,0.00,2.15,0.00,0.000,4,0.000,0.032,2734,1148,2118,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7972,0.65,194.6,600.2,15.9,559,7980,0.10,2.25,0.00,0.000,6,0.190,0.047,2710,2616,2117,0,0,0,0,0,0,26.25,26.41,28.83
$GC,8279,0.65,194.6,555.3,15.3,590,8288,0.00,2.12,0.00,0.000,4,0.000,0.031,2721,1149,2116,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8322,0.65,194.6,548.7,15.9,594,8331,0.00,2.22,0.00,0.000,6,0.000,0.046,2721,2611,2115,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8631,0.65,194.6,492.4,18.9,625,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2611,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,0.65,194.6,442.1,14.0,655,8943,0.00,2.12,0.00,0.000,4,0.000,0.034,2732,1158,2115,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9067,0.66,201.5,426.9,10.7,668,9071,0.08,2.20,0.00,0.000,6,0.205,0.044,2716,2618,2115,0,0,0,0,0,0,26.35,26.49,28.83
$GC,9379,0.66,201.5,388.5,12.0,699,9387,0.00,2.12,0.00,0.000,4,0.000,0.032,2726,1157,2115,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9452,0.66,201.5,379.7,12.3,706,9460,0.03,2.25,0.00,0.000,6,0.186,0.044,2717,2625,2115,0,0,0,0,0,0,26.40,26.51,28.83
$GC,9762,0.67,211.9,342.3,10.6,737,9781,0.00,2.25,13.27,1.237,4,0.000,0.034,2727,1155,2064,0,0,0,0,0,0,28.83,26.27,25.33
$GC,9814,0.69,227.8,336.7,10.4,742,9836,0.00,2.22,15.90,1.237,6,0.000,0.044,2727,2625,1998,0,0,0,0,0,0,28.83,26.26,25.03
$GC,10143,0.69,227.8,293.6,13.7,775,10152,0.00,2.20,0.00,0.000,4,0.000,0.033,2736,1155,1995,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10299,0.69,227.8,274.0,13.1,790,10307,0.00,2.25,0.00,0.000,6,0.000,0.044,2736,2611,1994,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10606,0.69,227.8,227.6,14.3,821,10610,0.00,1.75,0.00,0.000,4,0.000,0.051,2736,3773,1994,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10630,0.69,227.8,224.6,14.5,823,10638,0.05,1.77,0.00,0.000,6,0.187,0.025,2729,2546,1995,0,0,0,0,0,0,26.20,26.44,28.83
$GC,10955,0.69,227.8,180.7,12.8,867,10962,0.00,2.03,0.00,0.000,4,0.000,0.034,2737,1158,1995,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11089,0.74,266.4,165.6,9.5,890,11132,0.00,2.22,34.67,1.134,6,0.000,0.043,2737,2618,1842,0,0,0,0,0,0,28.83,26.45,24.95
$GC,11472,0.74,266.4,117.3,12.2,956,11481,0.00,2.20,0.00,0.000,4,0.000,0.034,2748,1163,1838,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11645,0.77,291.7,99.4,10.0,986,11660,0.00,2.22,10.70,0.356,6,0.000,0.042,2748,2616,1737,0,0,0,0,0,0,28.83,26.27,25.75
$GC,12002,0.77,291.7,57.7,11.7,1048,12011,0.00,2.17,0.00,0.000,4,0.000,0.034,2747,1163,1735,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12095,0.79,313.6,48.2,10.2,1063,12111,0.08,2.20,9.18,0.246,6,0.136,0.041,2802,2627,1647,0,0,0,0,0,0,26.33,26.39,26.00
$STATE,12385,end climb,SURFACE_DEPTH_REACHED
$STATE,12385,begin surface coast
$FINISH,0.6,1.022634
$STATE,12412,end surface coast,CONTROL_FINISHED_OK
$STATE,12412,begin surface
$SM_CCo,12426,23.65,0.132,0,0,1397,375.06
$SM_GC,1.42,6.40,0.00,23.65,0.027,0.000,0.132,184,2627,1397,-7.15,0.48,375.06,0,0,0,0,0,0,26.48,28.83,26.20
$IRIDIUM_FIX,2134.17,12242.86,230312,101045
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.2,14.699
$10V_AH,10.3,9.270
$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,16.950,105.650,433.975,23.650,0.000,56.992,58.628,223.805,0.000,0.000,15.755,2807.537,6619.211,544.302,2704.312,294.950,0.000,1644.065,0.000,2296.963,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,107.100,1713.600,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.545,1775.817,589.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324340
$DATA_FILE_SIZE,87405,1117
$CAP_FILE_SIZE,130745,0
$CFSIZE,260165632,217616384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,311.7,1
$GPS,230312,142106,2139.093,12241.971,39,1.0,44,-2.8