version: 66.10
glider: 176
mission: 5
dive: 64
start: 3 24 112 10 4 17
data:
$ID,176
$MISSION,5
$DIVE,64
$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,360
$T_MISSION,400
$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,-7466.3477
$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,2500
$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
$GPS1,240312,095704,2134.257,12242.459,11,3.2,30,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.1
$GPS2,240312,100350,2134.368,12242.252,12,1.5,12,-2.8
$SPEED_LIMITS,0.159,0.286
$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,139.9,65045,-13.6,-9.167
$D_GRID,3702
$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,-0.58,-194.6,0.0,0.0,0,68,0.00,0.00,-49.83,0.000,2,0.000,0.000,189,2685,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.58,-194.6,3.1,-3.8,7,107,8.45,2.25,-20.15,0.000,4,0.240,0.042,2327,1159,3724,0,0,0,0,0,0,25.70,26.12,26.42
$GC,273,-0.58,-194.6,51.3,-20.5,41,280,0.00,2.25,0.00,0.000,6,0.000,0.046,2316,2632,3725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,623,-0.58,-194.6,168.0,-33.8,102,632,0.00,2.15,0.00,0.000,4,0.000,0.028,2316,1159,3725,0,0,0,0,0,0,28.83,26.42,28.83
$GC,650,-0.58,-194.6,175.9,-29.4,106,659,0.08,2.25,0.00,0.000,6,0.155,0.045,2330,2630,3725,0,0,0,0,0,0,26.20,26.37,28.83
$GC,970,-0.58,-194.6,251.4,-20.6,145,979,0.00,2.12,0.00,0.000,4,0.000,0.027,2330,1149,3725,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1006,-0.58,-194.6,257.8,-20.4,148,1012,0.00,2.22,0.00,0.000,6,0.000,0.046,2321,2627,3726,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1312,-0.58,-194.6,316.6,-18.5,179,1320,0.00,2.10,0.00,0.000,4,0.000,0.026,2321,1155,3726,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1383,-0.58,-194.6,326.2,-11.4,186,1392,0.00,2.25,0.00,0.000,6,0.000,0.048,2318,2632,3726,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1694,-0.58,-194.6,379.8,-16.8,217,1704,0.00,2.10,0.00,0.000,4,0.000,0.028,2318,1156,3726,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1729,-0.58,-194.6,384.8,-15.2,220,1736,0.00,2.22,0.00,0.000,6,0.000,0.047,2317,2629,3726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2037,-0.58,-194.6,432.5,-15.7,251,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2629,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.58,-194.6,478.5,-15.4,281,2348,0.00,2.10,0.00,0.000,4,0.000,0.027,2317,1158,3724,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2464,-0.58,-194.6,493.1,-10.4,293,2472,0.00,2.22,0.00,0.000,6,0.000,0.047,2317,2627,3723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2772,-0.58,-194.6,534.6,-13.4,324,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2627,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.58,-194.6,571.0,-11.7,354,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2627,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-0.58,-194.6,607.4,-11.2,383,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2627,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.58,-194.6,639.7,-10.5,398,3697,0.00,2.10,0.00,0.000,4,0.000,0.028,2316,1152,3717,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3745,-0.58,-194.6,643.7,-10.5,400,3753,0.10,2.22,0.00,0.000,6,0.163,0.047,2337,2628,3716,0,0,0,0,0,0,26.46,26.57,28.83
$GC,4051,-0.58,-194.6,674.8,-10.6,416,4058,0.08,2.10,0.00,0.000,4,0.132,0.026,2285,1158,3714,0,0,0,0,0,0,26.72,26.64,28.83
$GC,4094,-0.58,-194.6,679.9,-11.8,418,4099,0.17,2.25,0.00,0.000,6,0.142,0.048,2331,2634,3714,0,0,0,0,0,0,26.41,26.56,28.83
$GC,4409,-0.58,-194.6,719.1,-13.2,434,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2634,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4706,-0.58,-194.6,759.3,-13.5,449,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2634,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5007,-0.58,-194.6,797.8,-12.1,464,5011,0.00,2.12,0.00,0.000,4,0.000,0.028,2331,1160,3708,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5028,-0.58,-194.6,800.6,-12.2,465,5034,0.00,2.25,0.00,0.000,6,0.000,0.048,2330,2631,3707,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5348,-0.58,-194.6,835.7,-10.5,481,5354,0.00,2.12,0.00,0.000,4,0.000,0.028,2330,1162,3705,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5377,-0.58,-194.6,837.8,-10.5,482,5381,0.00,2.25,0.00,0.000,6,0.000,0.048,2330,2634,3705,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5684,-0.58,-194.6,868.7,-9.4,497,5689,0.00,2.15,0.00,0.000,4,0.000,0.028,2330,1149,3703,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5726,-0.58,-194.6,872.3,-9.3,499,5730,0.00,2.28,0.00,0.000,6,0.000,0.049,2329,2631,3703,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6039,-0.58,-194.6,899.7,-9.0,515,6045,0.00,2.12,0.00,0.000,4,0.000,0.028,2330,1155,3701,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6067,-0.58,-194.6,901.4,-8.9,516,6071,0.00,2.25,0.00,0.000,6,0.000,0.049,2330,2628,3701,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6374,-0.58,-194.6,929.3,-9.3,531,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2628,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,-0.58,-194.6,958.5,-9.6,546,6679,0.00,2.12,0.00,0.000,4,0.000,0.028,2330,1151,3697,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6736,-0.58,-194.6,963.9,-9.2,549,6740,0.00,2.25,0.00,0.000,6,0.000,0.050,2330,2624,3697,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,6992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6992,begin apogee
$GC,6998,-0.17,0.0,991.3,-11.3,562,7207,0.38,0.12,203.55,1.706,6,0.111,0.096,2464,2534,2928,0,0,0,0,0,0,26.39,24.41,23.52
$STATE,7208,end apogee,CONTROL_FINISHED_OK
$STATE,7208,begin climb
$GC,7211,0.58,194.6,1005.5,0.0,572,7443,0.68,0.00,225.55,1.687,6,0.050,0.000,2721,2535,2134,0,0,0,0,0,0,24.64,28.83,22.96
$GC,7732,0.58,194.6,937.0,20.0,598,7738,0.12,2.22,0.00,0.000,4,0.200,0.031,2698,1054,2126,0,0,0,0,0,0,25.44,25.68,28.83
$GC,7793,0.58,194.6,926.6,18.4,601,7798,0.00,2.33,0.00,0.000,6,0.000,0.048,2697,2520,2123,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8106,0.58,194.6,868.3,18.7,617,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2521,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8406,0.58,194.6,813.4,19.0,632,8412,0.00,2.20,0.00,0.000,4,0.000,0.032,2709,1048,2122,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8459,0.58,194.6,806.4,18.2,634,8466,0.08,2.28,0.00,0.000,6,0.202,0.047,2693,2516,2121,0,0,0,0,0,0,26.06,26.18,28.83
$GC,8766,0.58,194.6,753.6,17.0,650,8772,0.00,1.90,0.00,0.000,4,0.000,0.057,2693,3763,2120,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8836,0.58,194.6,742.2,18.6,653,8840,0.00,1.90,0.00,0.000,6,0.000,0.027,2702,2447,2121,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9141,0.58,194.6,690.6,15.3,668,9147,0.00,2.05,0.00,0.000,4,0.000,0.056,2703,3765,2119,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9161,0.58,194.6,687.3,15.4,669,9165,0.10,1.90,0.00,0.000,6,0.224,0.026,2691,2447,2120,0,0,0,0,0,0,26.13,26.41,28.83
$GC,9478,0.58,194.6,647.0,12.4,685,9484,0.00,2.05,0.00,0.000,4,0.000,0.054,2691,3767,2118,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9505,0.58,194.6,644.0,13.2,686,9509,0.00,1.90,0.00,0.000,6,0.000,0.024,2700,2448,2119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9819,0.58,194.6,597.8,13.8,702,9828,0.00,2.00,0.00,0.000,4,0.000,0.034,2711,1058,2117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9901,0.58,194.6,586.6,13.5,710,9910,0.10,2.22,0.00,0.000,6,0.190,0.047,2688,2517,2116,0,0,0,0,0,0,26.22,26.40,28.83
$GC,10211,0.58,194.6,543.9,13.9,741,10215,0.00,1.90,0.00,0.000,4,0.000,0.054,2687,3783,2116,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10294,0.58,194.6,531.3,15.6,749,10303,0.00,1.95,0.00,0.000,6,0.000,0.024,2697,2445,2117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10603,0.58,194.6,492.5,10.9,780,10613,0.00,2.00,0.00,0.000,4,0.000,0.052,2697,3763,2116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10749,0.58,194.6,473.1,13.4,794,10757,0.08,1.88,0.00,0.000,6,0.231,0.025,2692,2448,2117,0,0,0,0,0,0,26.31,26.54,28.83
$GC,11057,0.58,194.6,443.8,9.5,825,11067,0.00,2.00,0.00,0.000,4,0.000,0.037,2702,1054,2116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11150,0.64,243.6,436.3,7.6,834,11203,0.08,2.22,46.58,1.350,6,0.136,0.043,2744,2519,1935,0,0,0,0,0,0,26.42,26.48,24.54
$GC,11511,0.64,243.6,373.2,17.3,870,11521,0.12,1.92,0.00,0.000,4,0.176,0.050,2706,3767,1931,0,0,0,0,0,0,25.88,25.99,28.83
$GC,11535,0.64,243.6,369.0,18.3,872,11543,0.00,1.95,0.00,0.000,6,0.000,0.025,2716,2442,1930,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11843,0.64,243.6,324.5,12.8,903,11852,0.00,2.03,0.00,0.000,4,0.000,0.035,2727,1059,1929,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11875,0.64,243.6,321.0,11.6,906,11884,0.08,2.22,0.00,0.000,6,0.190,0.044,2709,2518,1928,0,0,0,0,0,0,26.10,26.22,28.83
$GC,12184,0.64,243.6,283.8,12.9,937,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2519,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12487,0.64,243.6,242.5,14.9,967,12495,0.00,1.90,0.00,0.000,4,0.000,0.052,2709,3773,1928,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12550,0.64,243.6,231.7,17.3,973,12559,0.00,1.90,0.00,0.000,6,0.000,0.025,2718,2439,1929,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12866,0.64,243.6,191.5,9.8,1011,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2438,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13213,0.83,395.8,172.4,4.3,1072,13390,0.15,2.20,164.45,1.116,4,0.092,0.051,2801,3764,1315,0,0,0,0,0,0,26.54,24.89,24.18
$GC,13420,0.83,395.8,136.0,26.3,1102,13430,0.10,2.00,0.00,0.000,6,0.153,0.027,2772,2459,1315,0,0,0,0,0,0,25.20,25.34,28.83
$GC,13775,0.83,395.8,65.4,17.7,1163,13782,0.00,2.03,0.00,0.000,4,0.000,0.051,2772,3767,1313,0,0,0,0,0,0,28.83,26.00,28.83
$GC,13897,0.83,395.8,42.8,13.4,1184,13906,0.00,1.92,0.00,0.000,6,0.000,0.028,2776,2459,1313,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,14112,end climb,SURFACE_DEPTH_REACHED
$STATE,14112,begin surface coast
$FINISH,0.7,1.023290
$STATE,14135,end surface coast,CONTROL_FINISHED_OK
$STATE,14135,begin surface
$SM_CCo,14211,0.00,0.000,0,0,1311,396.90
$SM_GC,1.55,6.40,0.28,0.00,0.030,0.047,0.000,194,2705,1311,-7.13,-0.31,396.90,0,0,0,0,0,0,26.30,26.36,28.83
$IRIDIUM_FIX,2127.21,12238.40,240312,060620
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.0,16.069
$10V_AH,10.2,9.988
$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,17.325,114.450,640.125,0.000,0.000,31.541,44.146,202.787,0.000,0.000,15.262,3033.461,7769.354,670.722,2827.496,299.216,0.000,1918.724,0.000,2460.605,0.000,0.540,0.000
$DEVICE_MAMPS,240.210,96.390,1705.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.819,1934.010,563.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324484
$DATA_FILE_SIZE,93888,1226
$CAP_FILE_SIZE,140236,0
$CFSIZE,260165632,217104384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,323.5,1
$GPS,240312,140207,2133.657,12243.479,30,1.1,30,-2.8