version: 66.10
glider: 176
mission: 5
dive: 74
start: 3 26 112 3 50 17
data:
$ID,176
$MISSION,5
$DIVE,74
$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,-7478.9238
$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
$GPS1,260312,034254,2123.303,12245.220,30,2.0,47,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.3
$GPS2,260312,034950,2123.367,12245.149,11,1.8,11,-2.7
$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,148.3,44081,-13.6,-9.167
$D_GRID,3110
$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,-194.6,0.0,0.0,0,59,0.00,0.00,-40.70,0.000,2,0.000,0.000,178,2667,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.58,-194.6,3.2,-5.9,6,105,8.50,2.25,-29.05,0.000,4,0.238,0.042,2323,1158,3726,0,0,0,0,0,0,25.65,26.13,26.44
$GC,242,-0.58,-194.6,45.3,-22.1,35,249,0.08,2.28,0.00,0.000,6,0.200,0.050,2329,2631,3726,0,0,0,0,0,0,26.05,26.17,28.83
$GC,601,-0.58,-194.6,148.3,-28.2,96,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2632,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.58,-194.6,236.9,-26.9,143,944,0.00,2.12,0.00,0.000,4,0.000,0.028,2329,1151,3727,0,0,0,0,0,0,28.83,26.50,28.83
$GC,997,-0.58,-194.6,249.9,-18.9,149,1006,0.00,2.25,0.00,0.000,6,0.000,0.048,2318,2632,3727,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1306,-0.58,-194.6,319.8,-21.8,180,1316,0.00,2.10,0.00,0.000,4,0.000,0.028,2318,1151,3728,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1371,-0.58,-194.6,330.9,-15.9,186,1379,0.05,2.28,0.00,0.000,6,0.147,0.048,2328,2629,3727,0,0,0,0,0,0,26.32,26.48,28.83
$GC,1680,-0.58,-194.6,386.0,-17.7,217,1684,0.00,2.10,0.00,0.000,4,0.000,0.027,2329,1151,3727,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1701,-0.58,-194.6,389.7,-17.1,219,1710,0.00,2.25,0.00,0.000,6,0.000,0.048,2321,2633,3727,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2013,-0.58,-194.6,444.2,-17.4,250,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2633,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-0.58,-194.6,492.4,-15.4,280,2322,0.00,2.08,0.00,0.000,4,0.000,0.028,2320,1156,3725,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2384,-0.58,-194.6,502.2,-12.2,287,2393,0.00,2.22,0.00,0.000,6,0.000,0.049,2318,2625,3724,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2696,-0.58,-194.6,544.4,-14.3,318,2700,0.00,1.70,0.00,0.000,4,0.000,0.059,2318,3765,3722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2749,-0.58,-194.6,551.6,-14.1,323,2757,0.00,1.73,0.00,0.000,6,0.000,0.023,2317,2527,3722,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3057,-0.58,-194.6,595.4,-14.9,354,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2524,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-0.58,-194.6,641.0,-14.8,371,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2524,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3657,-0.58,-194.6,685.1,-13.7,386,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2524,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,-0.58,-194.6,724.1,-12.6,401,3963,0.00,1.95,0.00,0.000,4,0.000,0.026,2318,1147,3713,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3990,-0.58,-194.6,726.6,-12.5,402,3997,0.00,2.25,0.00,0.000,6,0.000,0.049,2316,2625,3713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4298,-0.58,-194.6,761.3,-10.3,418,4301,0.00,2.10,0.00,0.000,4,0.000,0.026,2317,1151,3711,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4332,-0.58,-194.6,763.6,-10.5,419,4339,0.00,2.30,0.00,0.000,6,0.000,0.050,2317,2629,3711,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4639,-0.58,-194.6,797.8,-11.0,435,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2629,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4939,-0.58,-194.6,832.6,-11.8,450,4943,0.00,2.12,0.00,0.000,4,0.000,0.028,2316,1148,3705,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4989,-0.58,-194.6,837.2,-11.6,452,4993,0.00,2.28,0.00,0.000,6,0.000,0.050,2316,2626,3705,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5296,-0.58,-194.6,873.8,-11.8,467,5302,0.00,2.10,0.00,0.000,4,0.000,0.027,2317,1149,3703,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5324,-0.58,-194.6,876.2,-11.7,468,5328,0.00,2.28,0.00,0.000,6,0.000,0.050,2317,2633,3703,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5631,-0.58,-194.6,911.6,-11.2,483,5636,0.00,2.15,0.00,0.000,4,0.000,0.027,2317,1147,3700,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5679,-0.58,-194.6,915.9,-11.1,485,5683,0.00,2.28,0.00,0.000,6,0.000,0.050,2317,2629,3700,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5986,-0.58,-194.6,950.7,-11.4,500,5992,0.00,2.15,0.00,0.000,4,0.000,0.028,2316,1148,3698,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6034,-0.58,-194.6,955.2,-11.2,502,6038,0.00,2.28,0.00,0.000,6,0.000,0.050,2316,2625,3698,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6341,-0.58,-194.6,988.8,-10.3,517,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2625,3696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6359,begin apogee
$GC,6365,-0.17,0.0,990.7,-10.1,518,6543,0.40,0.12,166.62,1.718,6,0.116,0.098,2457,2532,2928,0,0,0,0,0,0,26.28,24.53,23.62
$STATE,6544,end apogee,CONTROL_FINISHED_OK
$STATE,6544,begin climb
$GC,6546,0.58,194.6,998.3,0.0,527,6745,0.65,2.42,185.00,1.681,4,0.050,0.035,2724,1065,2133,0,0,0,0,0,0,24.84,24.02,23.01
$GC,6770,0.58,194.6,976.4,17.6,538,6775,0.15,2.42,0.00,0.000,6,0.177,0.048,2689,2519,2129,0,0,0,0,0,0,24.45,24.60,28.83
$GC,7084,0.58,194.6,921.3,17.3,554,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2519,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7384,0.58,194.6,871.1,16.0,569,7388,0.00,2.17,0.00,0.000,4,0.000,0.033,2700,1055,2123,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7428,0.58,194.6,865.0,15.6,571,7432,0.00,2.30,0.00,0.000,6,0.000,0.047,2699,2526,2121,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7741,0.58,194.6,811.8,17.0,587,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2526,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8040,0.58,194.6,757.5,18.8,602,8046,0.00,2.17,0.00,0.000,4,0.000,0.032,2711,1052,2120,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8068,0.58,194.6,753.7,18.8,603,8073,0.10,2.28,0.00,0.000,6,0.192,0.047,2687,2522,2118,0,0,0,0,0,0,26.07,26.25,28.83
$GC,8376,0.58,194.6,702.1,16.3,618,8381,0.00,1.90,0.00,0.000,4,0.000,0.057,2688,3763,2118,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8443,0.58,194.6,691.2,17.8,621,8447,0.00,1.90,0.00,0.000,6,0.000,0.027,2697,2456,2119,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8756,0.58,194.6,638.6,15.4,637,8761,0.00,2.03,0.00,0.000,4,0.000,0.032,2707,1058,2117,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8857,0.58,194.6,625.9,12.4,642,8862,0.05,2.22,0.00,0.000,6,0.164,0.047,2690,2515,2115,0,0,0,0,0,0,26.18,26.34,28.83
$GC,9168,0.58,194.6,583.2,13.4,663,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2514,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9476,0.58,194.6,548.8,10.3,694,9485,0.00,2.12,0.00,0.000,4,0.000,0.032,2700,1049,2116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9510,0.58,194.6,545.5,10.1,697,9517,0.00,2.28,0.00,0.000,6,0.000,0.046,2701,2516,2115,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9819,0.58,194.6,505.3,13.1,728,9828,0.00,1.92,0.00,0.000,4,0.000,0.057,2701,3774,2115,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10035,0.58,194.6,469.8,16.9,749,10042,0.10,1.90,0.00,0.000,6,0.208,0.024,2688,2441,2115,0,0,0,0,0,0,26.23,26.55,28.83
$GC,10342,0.58,194.6,427.5,12.5,780,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2439,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,0.58,194.6,392.3,10.8,810,10654,0.00,2.00,0.00,0.000,4,0.000,0.053,2688,3763,2115,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10718,0.58,194.6,382.6,13.5,817,10726,0.00,1.90,0.00,0.000,6,0.000,0.024,2696,2445,2115,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11028,0.58,194.6,351.2,9.3,848,11037,0.00,2.00,0.00,0.000,4,0.000,0.034,2706,1051,2115,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11162,0.58,197.4,338.9,9.1,861,11171,0.08,2.20,0.00,0.000,6,0.192,0.042,2689,2525,2115,0,0,0,0,0,0,26.34,26.48,28.83
$GC,11470,0.58,197.4,304.2,11.0,892,11473,0.00,1.88,0.00,0.000,4,0.000,0.053,2689,3775,2115,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11498,0.58,197.4,301.2,11.2,894,11505,0.00,1.92,0.00,0.000,6,0.000,0.025,2697,2433,2117,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11808,0.68,279.3,277.4,6.6,925,11887,0.12,0.00,72.55,1.227,6,0.098,0.000,2767,2432,1789,0,0,0,0,0,0,26.61,28.83,24.36
$GC,12186,0.68,279.3,208.1,19.9,963,12191,0.15,2.08,0.00,0.000,4,0.164,0.050,2721,3767,1784,0,0,0,0,0,0,25.82,25.94,28.83
$GC,12277,0.68,279.3,191.8,17.0,975,12283,0.00,1.90,0.00,0.000,6,0.000,0.025,2730,2441,1785,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12634,0.68,279.3,139.6,12.6,1036,12644,0.00,2.08,0.00,0.000,4,0.000,0.035,2734,1052,1783,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12694,0.68,279.3,133.2,10.5,1045,12701,0.00,2.22,0.00,0.000,6,0.000,0.042,2735,2518,1781,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13055,0.68,279.3,86.5,12.2,1106,13064,0.00,2.20,0.00,0.000,4,0.000,0.035,2734,1053,1782,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13130,0.68,279.3,79.2,9.5,1118,13139,0.03,2.22,0.00,0.000,6,0.155,0.041,2722,2517,1782,0,0,0,0,0,0,26.27,26.37,28.83
$GC,13498,0.70,293.5,50.3,8.7,1179,13515,0.08,1.90,5.82,0.247,4,0.138,0.050,2772,3763,1729,0,0,0,0,0,0,26.55,26.39,25.97
$GC,13545,0.70,293.5,43.9,15.8,1186,13554,0.15,1.90,0.00,0.000,6,0.134,0.026,2728,2446,1729,0,0,0,0,0,0,26.22,26.50,28.83
$GC,13912,0.77,346.5,8.5,7.5,1247,13943,0.12,2.05,20.73,0.139,4,0.096,0.031,2819,1047,1510,0,0,0,0,0,0,26.57,26.46,26.17
$STATE,13948,end climb,SURFACE_DEPTH_REACHED
$STATE,13948,begin surface coast
$FINISH,0.9,1.023187
$STATE,13984,end surface coast,CONTROL_FINISHED_OK
$STATE,13984,begin surface
$SM_CCo,14002,10.12,0.138,0,0,1399,375.06
$SM_GC,2.25,6.53,2.42,10.12,0.035,0.040,0.138,177,2634,1399,-7.15,-0.54,375.06,0,0,0,0,0,0,26.50,26.45,26.17
$IRIDIUM_FIX,2113.32,12246.20,250312,232359
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,9.44647
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.0,18.133
$10V_AH,10.3,11.258
$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,17.325,114.850,450.725,10.125,0.000,23.197,49.160,216.483,0.000,0.000,13.834,3159.548,7452.251,558.450,2932.845,307.693,0.000,1774.611,0.000,2565.003,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,97.920,1718.190,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.442,2000.599,672.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324432
$DATA_FILE_SIZE,97350,1257
$CAP_FILE_SIZE,141837,0
$CFSIZE,260165632,216227840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,284.3,1
$GPS,260312,074501,2121.927,12245.259,40,1.2,40,-2.7