version: 66.10
glider: 176
mission: 5
dive: 59
start: 3 23 112 14 28 1
data:
$ID,176
$MISSION,5
$DIVE,59
$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,-7460.0576
$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
$GPS1,230312,142106,2139.093,12241.971,39,1.0,44,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.4
$GPS2,230312,142732,2139.122,12241.943,13,1.9,13,-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,151.8,73781,-16.3,-11.000
$D_GRID,4547
$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,-48.80,0.000,2,0.000,0.000,184,2632,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.65,-194.6,3.5,-7.7,7,101,8.32,0.00,-18.85,0.000,6,0.238,0.000,2300,2632,3726,0,0,0,0,0,0,25.75,28.83,26.44
$GC,446,-0.65,-194.6,161.2,-38.7,69,453,0.00,2.12,0.00,0.000,4,0.000,0.027,2300,1146,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,545,-0.65,-194.6,188.7,-19.9,83,553,0.08,2.25,0.00,0.000,6,0.207,0.050,2308,2630,3728,0,0,0,0,0,0,26.23,26.35,28.83
$GC,864,-0.65,-194.6,281.5,-28.2,118,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2630,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1166,-0.65,-194.6,358.3,-22.5,148,1174,0.00,2.10,0.00,0.000,4,0.000,0.027,2308,1152,3728,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1207,-0.65,-194.6,367.6,-21.5,152,1215,0.00,2.22,0.00,0.000,6,0.000,0.051,2304,2628,3728,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1518,-0.65,-194.6,430.9,-19.9,183,1527,0.00,2.10,0.00,0.000,4,0.000,0.028,2304,1155,3728,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1550,-0.65,-194.6,437.5,-20.5,186,1559,0.00,2.22,0.00,0.000,6,0.000,0.048,2303,2627,3728,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1859,-0.65,-194.6,496.9,-18.9,217,1863,0.00,2.10,0.00,0.000,4,0.000,0.027,2304,1156,3727,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1883,-0.65,-194.6,500.9,-18.5,219,1891,0.05,2.22,0.00,0.000,6,0.233,0.047,2305,2631,3727,0,0,0,0,0,0,26.46,26.55,28.83
$GC,2191,-0.65,-194.6,555.5,-17.0,250,2194,0.00,1.73,0.00,0.000,4,0.000,0.057,2298,3763,3726,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2225,-0.65,-194.6,560.8,-16.7,253,2232,0.00,1.73,0.00,0.000,6,0.000,0.024,2297,2499,3725,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2544,-0.65,-194.6,605.8,-14.0,283,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2498,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-0.65,-194.6,645.6,-13.6,298,2848,0.00,1.95,0.00,0.000,4,0.000,0.057,2290,3772,3720,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2870,-0.65,-194.6,648.4,-13.5,299,2874,0.08,1.73,0.00,0.000,6,0.188,0.024,2309,2489,3720,0,0,0,0,0,0,26.51,26.74,28.83
$GC,3182,-0.65,-194.6,688.9,-12.9,315,3188,0.00,1.98,0.00,0.000,4,0.000,0.057,2303,3776,3718,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3236,-0.65,-194.6,694.2,-13.2,317,3244,0.00,1.70,0.00,0.000,6,0.000,0.024,2303,2492,3718,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3542,-0.65,-194.6,737.2,-14.0,333,3546,0.00,1.90,0.00,0.000,4,0.000,0.027,2303,1155,3715,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3586,-0.65,-194.6,742.1,-13.9,335,3591,0.05,2.22,0.00,0.000,6,0.228,0.050,2306,2628,3714,0,0,0,0,0,0,26.48,26.58,28.83
$GC,3898,-0.65,-194.6,786.4,-14.1,351,3902,0.00,1.70,0.00,0.000,4,0.000,0.057,2299,3767,3712,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3932,-0.65,-194.6,789.5,-14.0,352,3939,0.00,1.73,0.00,0.000,6,0.000,0.024,2299,2526,3712,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4240,-0.65,-194.6,833.2,-13.2,368,4245,0.00,1.95,0.00,0.000,4,0.000,0.029,2299,1158,3709,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4281,-0.65,-194.6,838.1,-12.8,370,4286,0.03,2.28,0.00,0.000,6,0.197,0.049,2303,2627,3709,0,0,0,0,0,0,26.44,26.57,28.83
$GC,4601,-0.65,-194.6,875.4,-10.9,386,4606,0.00,2.10,0.00,0.000,4,0.000,0.028,2304,1158,3706,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4647,-0.65,-194.6,879.5,-10.6,388,4651,0.00,2.25,0.00,0.000,6,0.000,0.050,2304,2634,3706,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4959,-0.65,-194.6,914.4,-11.5,404,4965,0.00,2.15,0.00,0.000,4,0.000,0.028,2304,1148,3703,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5004,-0.65,-194.6,918.5,-11.0,406,5008,0.00,2.28,0.00,0.000,6,0.000,0.050,2304,2633,3703,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5316,-0.65,-194.6,953.6,-11.4,422,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2633,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,-0.65,-194.6,988.1,-11.3,437,5621,0.00,2.15,0.00,0.000,4,0.000,0.028,2304,1148,3699,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5642,-0.17,0.0,990.3,-11.2,438,5817,0.45,0.00,168.35,1.717,6,0.112,0.000,2463,2620,2928,0,0,0,0,0,0,26.41,28.83,23.66
$STATE,5818,end apogee,CONTROL_FINISHED_OK
$STATE,5818,begin climb
$GC,5820,0.65,194.6,997.5,0.0,447,6018,0.70,1.95,185.50,1.688,4,0.050,0.057,2737,3763,2134,0,0,0,0,0,0,24.79,24.04,23.11
$GC,6088,0.65,194.6,962.2,24.2,460,6093,0.15,1.80,0.00,0.000,6,0.205,0.025,2713,2560,2130,0,0,0,0,0,0,24.82,25.08,28.83
$GC,6401,0.65,194.6,898.8,19.2,476,6407,0.00,2.10,0.00,0.000,4,0.000,0.034,2723,1158,2124,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6501,0.65,194.6,881.9,16.3,481,6507,0.00,2.28,0.00,0.000,6,0.000,0.049,2723,2615,2122,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6821,0.65,194.6,822.3,18.7,497,6825,0.00,2.15,0.00,0.000,4,0.000,0.032,2734,1157,2121,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6915,0.65,194.6,808.3,17.0,501,6924,0.10,2.28,0.00,0.000,6,0.198,0.049,2711,2626,2120,0,0,0,0,0,0,26.00,26.17,28.83
$GC,7225,0.65,194.6,751.1,18.0,517,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2627,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7523,0.65,194.6,700.2,16.5,532,7528,0.00,2.17,0.00,0.000,4,0.000,0.033,2722,1159,2119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7603,0.65,194.6,687.8,15.5,536,7608,0.00,2.25,0.00,0.000,6,0.000,0.049,2722,2618,2117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7923,0.65,194.6,629.9,19.0,552,7927,0.00,1.75,0.00,0.000,4,0.000,0.056,2722,3766,2117,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7944,0.65,194.6,625.7,19.1,553,7948,0.10,1.73,0.00,0.000,6,0.225,0.025,2710,2548,2118,0,0,0,0,0,0,26.18,26.47,28.83
$GC,8252,0.65,194.6,578.5,14.4,575,8260,0.00,1.98,0.00,0.000,4,0.000,0.034,2719,1157,2116,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8296,0.65,194.6,572.8,13.6,579,8303,0.00,2.25,0.00,0.000,6,0.000,0.047,2719,2625,2115,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8603,0.65,194.6,525.9,16.3,610,8612,0.00,2.15,0.00,0.000,4,0.000,0.035,2730,1158,2115,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8678,0.65,194.6,515.1,14.2,617,8687,0.08,2.22,0.00,0.000,6,0.203,0.047,2715,2616,2115,0,0,0,0,0,0,26.30,26.44,28.83
$GC,8987,0.65,194.6,467.3,14.4,648,8991,0.00,1.75,0.00,0.000,4,0.000,0.054,2715,3777,2115,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9132,0.65,194.6,445.0,15.6,662,9139,0.00,1.75,0.00,0.000,6,0.000,0.025,2724,2542,2115,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9438,0.65,194.6,403.8,15.5,693,9442,0.00,2.03,0.00,0.000,4,0.000,0.036,2734,1160,2115,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9537,0.65,194.6,390.4,13.5,702,9545,0.10,2.20,0.00,0.000,6,0.184,0.044,2709,2619,2115,0,0,0,0,0,0,26.32,26.50,28.83
$GC,9845,0.65,194.6,349.0,13.2,733,9849,0.00,1.73,0.00,0.000,4,0.000,0.053,2709,3760,2115,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9938,0.65,194.6,335.5,14.9,742,9946,0.00,1.75,0.00,0.000,6,0.000,0.025,2718,2543,2116,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10248,0.65,194.6,296.9,13.3,773,10258,0.00,2.00,0.00,0.000,4,0.000,0.035,2729,1155,2115,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10290,0.65,194.6,291.6,12.1,777,10301,0.08,2.20,0.00,0.000,6,0.194,0.043,2712,2621,2115,0,0,0,0,0,0,26.40,26.53,28.83
$GC,10600,0.65,194.6,251.6,12.9,808,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2621,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10904,0.67,215.1,217.4,10.2,838,10931,0.08,2.22,16.62,1.138,4,0.134,0.033,2771,1155,2051,0,0,0,0,0,0,26.67,26.25,25.37
$GC,11037,0.67,215.1,200.5,13.0,851,11045,0.15,2.25,0.00,0.000,6,0.138,0.042,2720,2620,2048,0,0,0,0,0,0,26.11,26.27,28.83
$GC,11385,0.67,215.1,156.4,13.9,912,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2620,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11734,0.80,316.2,117.1,7.1,973,11785,0.12,2.28,44.42,0.998,4,0.092,0.034,2811,1162,1636,0,0,0,0,0,0,26.54,25.68,24.96
$GC,11908,0.80,316.2,93.3,15.1,1001,11916,0.20,2.25,0.00,0.000,6,0.155,0.042,2755,2628,1630,0,0,0,0,0,0,25.81,25.96,28.83
$GC,12260,0.80,316.2,44.0,13.9,1062,12269,0.05,2.22,0.00,0.000,4,0.171,0.034,2816,1159,1629,0,0,0,0,0,0,26.35,26.25,28.83
$GC,12308,0.80,316.2,37.1,15.6,1069,12316,0.20,2.22,0.00,0.000,6,0.151,0.042,2758,2631,1629,0,0,0,0,0,0,26.08,26.27,28.83
$STATE,12619,end climb,SURFACE_DEPTH_REACHED
$STATE,12619,begin surface coast
$FINISH,0.6,1.022321
$STATE,12660,end surface coast,CONTROL_FINISHED_OK
$STATE,12660,begin surface
$SM_CCo,12675,22.12,0.132,0,0,1398,375.06
$SM_GC,1.12,6.35,0.05,22.12,0.034,0.138,0.132,214,2540,1398,-7.12,0.59,375.06,0,0,0,0,0,0,26.36,26.54,26.17
$IRIDIUM_FIX,2131.85,12244.81,230312,101020
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.1,14.901
$10V_AH,10.3,9.383
$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,17.500,111.100,414.900,22.125,0.000,24.909,45.209,192.274,0.000,0.000,15.815,2867.370,6665.692,499.976,2754.228,285.099,0.000,1646.474,0.000,2363.992,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,138.465,1716.660,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.079,1839.003,589.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324412
$DATA_FILE_SIZE,87331,1128
$CAP_FILE_SIZE,134171,0
$CFSIZE,260165632,217534464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,298.3,1
$GPS,230312,180054,2138.023,12241.761,26,1.3,43,-2.8