version: 66.10
glider: 176
mission: 5
dive: 123
start: 4 3 112 15 39 55
data:
$ID,176
$MISSION,5
$DIVE,123
$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,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$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,-7583.1997
$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
$GPS1,030412,153136,1958.867,12321.051,39,1.8,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.2
$GPS2,030412,153928,1958.835,12321.202,16,3.7,35,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1930.000,12325.000
$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,219.3,53813,-13.1,-7.500
$D_GRID,5252
$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,17,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.20,0.000,2,0.000,0.000,189,2643,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.2,-5.7,7,99,8.73,2.22,-22.52,0.000,4,0.241,0.041,2346,1150,3526,0,0,0,0,0,0,25.54,26.13,26.46
$GC,272,-0.51,-146.0,54.7,-18.7,41,280,0.08,2.28,0.00,0.000,6,0.204,0.046,2351,2635,3527,0,0,0,0,0,0,26.01,26.15,28.83
$GC,603,-0.51,-146.0,145.6,-26.3,102,610,0.00,2.12,0.00,0.000,4,0.000,0.024,2352,1134,3527,0,0,0,0,0,0,28.83,26.41,28.83
$GC,628,-0.51,-146.0,152.2,-24.1,106,635,0.00,2.28,0.00,0.000,6,0.000,0.047,2341,2632,3528,0,0,0,0,0,0,28.83,26.28,28.83
$GC,938,-0.51,-146.0,223.9,-21.2,156,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2633,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1241,-0.51,-146.0,287.0,-19.9,186,1250,0.00,2.10,0.00,0.000,4,0.000,0.028,2341,1159,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1267,-0.51,-146.0,291.7,-19.7,188,1274,0.10,2.22,0.00,0.000,6,0.177,0.047,2359,2630,3528,0,0,0,0,0,0,26.22,26.39,28.83
$GC,1572,-0.51,-146.0,340.4,-15.1,219,1582,0.08,2.12,0.00,0.000,4,0.134,0.026,2304,1153,3528,0,0,0,0,0,0,26.65,26.51,28.83
$GC,1624,-0.51,-146.0,349.0,-17.2,224,1634,0.20,2.25,0.00,0.000,6,0.147,0.048,2352,2634,3528,0,0,0,0,0,0,26.15,26.41,28.83
$GC,1934,-0.51,-146.0,394.8,-15.0,255,1943,0.00,2.12,0.00,0.000,4,0.000,0.027,2354,1152,3526,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2048,-0.51,-146.0,407.9,-11.0,266,2056,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2625,3526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2356,-0.51,-146.0,449.8,-12.9,297,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2626,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.51,-146.0,488.9,-12.9,327,2668,0.00,2.08,0.00,0.000,4,0.000,0.027,2347,1151,3523,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2691,-0.51,-146.0,493.0,-12.4,330,2700,0.00,2.22,0.00,0.000,6,0.000,0.048,2345,2627,3523,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3000,-0.51,-146.0,528.9,-10.4,361,3010,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1137,3521,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3036,-0.51,-146.0,532.1,-10.2,364,3043,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2634,3521,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3342,-0.51,-146.0,563.8,-10.9,395,3351,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1144,3519,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3435,-0.51,-146.0,573.0,-9.3,404,3444,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2635,3518,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3755,-0.51,-146.0,606.5,-10.4,433,3761,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1151,3515,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3777,-0.51,-146.0,608.5,-10.2,434,3781,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2625,3515,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4095,-0.51,-146.0,638.4,-9.4,450,4101,0.00,2.08,0.00,0.000,4,0.000,0.024,2344,1152,3512,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4175,-0.51,-146.0,645.7,-9.1,454,4181,0.00,2.28,0.00,0.000,6,0.000,0.048,2343,2633,3512,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4496,-0.51,-146.0,677.7,-10.2,470,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2633,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-0.51,-146.0,705.4,-8.8,485,4800,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1141,3507,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4857,-0.51,-146.0,710.5,-8.6,488,4861,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2626,3507,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5170,-0.51,-146.0,736.7,-8.3,504,5175,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1151,3504,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5229,-0.51,-146.0,741.5,-8.3,507,5233,0.00,2.25,0.00,0.000,6,0.000,0.050,2343,2625,3503,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5551,-0.51,-146.0,770.6,-9.4,523,5555,0.00,1.77,0.00,0.000,4,0.000,0.060,2343,3764,3501,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5575,-0.51,-146.0,772.6,-9.4,524,5579,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2528,3501,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5892,-0.51,-146.0,801.2,-8.8,540,5898,0.00,1.98,0.00,0.000,4,0.000,0.027,2343,1142,3498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5920,-0.51,-146.0,803.0,-8.8,541,5924,0.00,2.28,0.00,0.000,6,0.000,0.048,2343,2626,3499,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6228,-0.51,-146.0,830.0,-8.6,556,6234,0.00,2.10,0.00,0.000,4,0.000,0.026,2343,1150,3497,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6270,-0.51,-146.0,833.2,-8.3,558,6274,0.00,2.30,0.00,0.000,6,0.000,0.049,2343,2629,3497,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6589,-0.51,-146.0,859.6,-8.3,574,6594,0.00,2.10,0.00,0.000,4,0.000,0.027,2343,1148,3494,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6641,-0.51,-146.0,863.0,-8.4,576,6648,0.00,2.28,0.00,0.000,6,0.000,0.049,2343,2625,3494,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6948,-0.51,-146.0,890.7,-9.0,592,6953,0.00,2.10,0.00,0.000,4,0.000,0.026,2343,1155,3493,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6982,-0.51,-146.0,892.6,-9.1,593,6990,0.00,2.28,0.00,0.000,6,0.000,0.049,2343,2633,3492,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7288,-0.51,-146.0,919.3,-8.0,609,7294,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1149,3490,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7362,-0.51,-146.0,923.8,-7.6,612,7369,0.00,2.28,0.00,0.000,6,0.000,0.049,2343,2628,3490,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7669,-0.51,-146.0,948.3,-7.7,628,7673,0.00,1.77,0.00,0.000,4,0.000,0.060,2343,3762,3488,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7703,-0.51,-146.0,950.1,-7.8,629,7711,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2528,3488,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8010,-0.51,-146.0,973.6,-7.3,645,8016,0.00,1.98,0.00,0.000,4,0.000,0.028,2343,1152,3487,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8033,-0.51,-146.0,975.2,-7.4,646,8038,0.00,2.28,0.00,0.000,6,0.000,0.050,2343,2626,3487,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8248,-0.17,0.0,990.8,-7.1,657,8377,0.32,0.12,121.95,1.737,6,0.111,0.097,2459,2536,2929,0,0,0,0,0,0,26.09,24.60,23.54
$STATE,8378,end apogee,CONTROL_FINISHED_OK
$STATE,8378,begin climb
$GC,8380,0.51,146.0,993.8,0.0,663,8528,0.60,2.42,139.40,1.698,4,0.055,0.033,2704,1056,2332,0,0,0,0,0,0,24.84,23.99,22.87
$GC,8549,0.51,146.0,985.1,10.3,672,8554,0.15,2.45,0.00,0.000,6,0.184,0.047,2670,2523,2328,0,0,0,0,0,0,24.28,24.46,28.83
$GC,8856,0.51,146.0,945.4,12.4,687,8861,0.00,1.92,0.00,0.000,4,0.000,0.056,2670,3763,2322,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8883,0.51,146.0,942.9,12.3,688,8887,0.00,1.95,0.00,0.000,6,0.000,0.025,2680,2443,2322,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9190,0.51,146.0,905.6,11.5,703,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2439,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9492,0.51,146.0,867.8,13.0,718,9497,0.00,2.00,0.00,0.000,4,0.000,0.034,2690,1058,2318,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9598,0.51,146.0,856.3,11.2,723,9603,0.10,2.28,0.00,0.000,6,0.196,0.046,2667,2524,2317,0,0,0,0,0,0,25.87,26.11,28.83
$GC,9906,0.51,146.0,817.7,12.6,738,9912,0.00,2.17,0.00,0.000,4,0.000,0.032,2678,1054,2316,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9968,0.51,146.0,810.8,11.9,741,9972,0.00,2.28,0.00,0.000,6,0.000,0.047,2678,2517,2315,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10285,0.51,146.0,772.2,11.8,757,10289,0.00,1.92,0.00,0.000,4,0.000,0.056,2678,3765,2315,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10325,0.51,146.0,767.5,12.4,759,10329,0.10,1.90,0.00,0.000,6,0.223,0.026,2666,2452,2315,0,0,0,0,0,0,25.96,26.35,28.83
$GC,10637,0.51,146.0,733.6,10.8,775,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2448,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10938,0.51,146.0,699.4,11.1,790,10942,0.00,2.05,0.00,0.000,4,0.000,0.031,2676,1045,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10972,0.51,146.0,697.0,11.1,791,10979,0.00,2.28,0.00,0.000,6,0.000,0.046,2676,2522,2313,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11279,0.51,146.0,660.2,11.2,807,11285,0.00,2.17,0.00,0.000,4,0.000,0.033,2687,1061,2313,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11334,0.51,146.0,655.9,10.8,809,11343,0.10,2.22,0.00,0.000,6,0.190,0.045,2663,2518,2312,0,0,0,0,0,0,26.01,26.23,28.83
$GC,11639,0.51,146.0,625.5,10.1,825,11646,0.03,2.17,0.00,0.000,4,0.257,0.031,2707,1056,2312,0,0,0,0,0,0,26.58,26.32,28.83
$GC,11667,0.51,146.0,623.5,10.1,826,11672,0.15,2.25,0.00,0.000,6,0.177,0.044,2669,2521,2311,0,0,0,0,0,0,25.89,26.24,28.83
$GC,11976,0.51,146.0,589.8,11.0,845,11980,0.00,1.92,0.00,0.000,4,0.000,0.056,2669,3758,2311,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12037,0.51,146.0,581.9,12.8,851,12041,0.00,1.88,0.00,0.000,6,0.000,0.023,2678,2442,2311,0,0,0,0,0,0,28.83,26.47,28.83
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$STATE,18357,end climb,SURFACE_DEPTH_REACHED
$STATE,18357,begin surface coast
$FINISH,1.9,1.022409
$STATE,18390,end surface coast,CONTROL_FINISHED_OK
$STATE,18390,begin surface
$SM_CCo,18465,0.00,0.000,0,0,1319,394.93
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$IRIDIUM_FIX,1955.00,12315.95,030412,101011
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.17
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.9,27.828
$10V_AH,10.2,16.269
$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,19.100,176.850,413.950,0.000,0.000,26.980,45.135,235.066,0.000,0.000,38.903,4236.294,10305.386,601.534,3376.919,389.262,0.000,2152.288,0.000,2821.110,0.000,0.541,0.000
$DEVICE_MAMPS,273.105,97.155,1737.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.112,2188.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,123695,1673
$CAP_FILE_SIZE,196379,0
$CFSIZE,260165632,211845120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,105.2,1
$GPS,030412,204836,1956.760,12320.819,27,1.0,27,-2.4