version: 66.10
glider: 176
mission: 5
dive: 359
start: 5 25 112 19 13 47
data:
$ID,176
$MISSION,5
$DIVE,359
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,380
$T_MISSION,420
$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,175
$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,163
$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,-7992.9878
$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,2514
$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,2600
$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,48
$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
$GPS1,250512,190507,1946.431,12358.808,25,1.9,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.7
$GPS2,250512,191320,1946.303,12358.771,15,1.8,15,-2.4
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,DOGLEG
$TGT_LATLONG,1930.000,12425.000
$TGT_RADIUS,10000.000
$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,107.7,54849,-14.0,-8.684
$D_GRID,5392
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,64,0.00,0.00,-45.88,0.000,2,0.000,0.000,199,2634,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.56,-170.3,3.3,-6.5,8,110,8.82,2.17,-24.38,0.000,4,0.236,0.041,2334,1145,3626,0,0,0,0,0,0,25.13,26.23,26.67
$GC,203,-0.56,-170.3,38.4,-26.4,30,209,0.00,2.25,0.00,0.000,6,0.000,0.049,2334,2614,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,514,-0.56,-170.3,109.9,-23.7,91,521,0.00,2.10,0.00,0.000,4,0.000,0.026,2334,1149,3627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,555,-0.56,-170.3,117.9,-17.7,98,561,0.00,2.22,0.00,0.000,6,0.000,0.045,2332,2624,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,863,-0.56,-170.3,178.8,-18.3,159,870,0.00,2.12,0.00,0.000,4,0.000,0.026,2333,1141,3628,0,0,0,0,0,0,28.83,26.42,28.83
$GC,908,-0.56,-170.3,185.3,-12.5,167,915,0.08,2.22,0.00,0.000,6,0.181,0.043,2343,2621,3628,0,0,0,0,0,0,26.15,26.29,28.83
$GC,1218,-0.56,-170.3,236.1,-17.3,207,1227,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1137,3628,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1273,-0.56,-170.3,243.5,-13.9,212,1280,0.00,2.22,0.00,0.000,6,0.000,0.041,2335,2624,3628,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1579,-0.56,-170.3,293.9,-15.2,243,1588,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1142,3627,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1615,-0.56,-170.3,298.3,-14.4,246,1622,0.00,2.25,0.00,0.000,6,0.000,0.045,2335,2629,3628,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1920,-0.56,-170.3,346.2,-17.1,277,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2630,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-0.56,-170.3,390.6,-13.4,307,2226,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1155,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2284,-0.56,-170.3,397.7,-10.1,313,2295,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2631,3625,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2595,-0.56,-170.3,431.6,-11.2,344,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2631,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2896,-0.56,-170.3,463.9,-10.8,374,2905,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1149,3622,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2950,-0.56,-170.3,469.0,-9.3,379,2957,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2626,3622,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3258,-0.56,-170.3,501.7,-11.5,410,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2626,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3559,-0.56,-170.3,537.0,-11.3,440,3563,0.00,2.15,0.00,0.000,4,0.000,0.027,2333,1138,3617,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3611,-0.56,-170.3,542.5,-10.0,445,3623,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2628,3617,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3922,-0.56,-170.3,575.6,-10.6,476,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2628,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.56,-170.3,609.3,-10.9,503,4237,0.00,2.10,0.00,0.000,4,0.000,0.026,2332,1147,3612,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4271,-0.56,-170.3,613.5,-10.6,505,4276,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2620,3612,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4592,-0.56,-170.3,644.7,-8.9,521,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2621,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-0.56,-170.3,668.7,-7.8,536,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2621,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-0.56,-170.3,694.3,-8.7,551,5196,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1137,3605,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5240,-0.56,-170.3,697.7,-8.7,553,5244,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2626,3605,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5546,-0.56,-170.3,725.4,-8.6,568,5550,0.00,1.73,0.00,0.000,4,0.000,0.057,2330,3763,3602,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5588,-0.56,-170.3,728.9,-8.6,570,5591,0.00,1.73,0.00,0.000,6,0.000,0.024,2330,2500,3602,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5911,-0.56,-170.3,754.1,-7.6,586,5916,0.00,2.00,0.00,0.000,4,0.000,0.054,2322,3756,3600,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5942,-0.56,-170.3,755.6,-7.6,587,5949,0.08,1.73,0.00,0.000,6,0.168,0.024,2345,2469,3599,0,0,0,0,0,0,26.31,26.55,28.83
$GC,6250,-0.56,-170.3,776.8,-6.8,603,6256,0.08,2.00,0.00,0.000,4,0.128,0.053,2278,3760,3597,0,0,0,0,0,0,26.58,25.99,28.83
$GC,6310,-0.56,-170.3,783.5,-10.2,606,6316,0.20,1.73,0.00,0.000,6,0.126,0.024,2344,2470,3596,0,0,0,0,0,0,26.03,26.54,28.83
$GC,6631,-0.56,-170.3,809.6,-8.3,622,6637,0.05,2.00,0.00,0.000,4,0.174,0.054,2285,3769,3595,0,0,0,0,0,0,26.60,25.98,28.83
$GC,6730,-0.56,-170.3,822.2,-13.0,627,6735,0.17,1.75,0.00,0.000,6,0.127,0.024,2342,2472,3594,0,0,0,0,0,0,26.07,26.52,28.83
$GC,7049,-0.56,-170.3,849.4,-8.1,643,7054,0.00,2.03,0.00,0.000,4,0.000,0.057,2342,3759,3593,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7102,-0.56,-170.3,852.7,-8.1,645,7111,0.00,1.73,0.00,0.000,6,0.000,0.025,2342,2488,3592,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7408,-0.56,-170.3,877.8,-8.0,661,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2488,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.56,-170.3,900.4,-7.5,676,7714,0.00,2.00,0.00,0.000,4,0.000,0.057,2342,3768,3590,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7761,-0.56,-170.3,903.5,-7.7,678,7768,0.00,1.75,0.00,0.000,6,0.000,0.025,2342,2468,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8068,-0.56,-170.3,928.3,-7.8,694,8074,0.00,2.03,0.00,0.000,4,0.000,0.057,2342,3769,3588,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8109,-0.56,-170.3,931.3,-7.9,696,8113,0.03,1.75,0.00,0.000,6,0.255,0.026,2303,2509,3587,0,0,0,0,0,0,26.34,26.49,28.83
$GC,8431,-0.56,-170.3,968.3,-11.5,712,8433,0.15,0.00,0.00,0.000,6,0.143,0.000,2342,2487,3586,0,0,0,0,0,0,26.24,28.83,28.83
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8735,-0.17,0.0,991.2,-7.2,727,8892,0.35,0.00,145.82,1.712,6,0.097,0.000,2471,2487,2929,0,0,0,0,0,0,25.98,28.83,22.54
$STATE,8893,end apogee,CONTROL_FINISHED_OK
$STATE,8893,begin climb
$GC,8895,0.56,170.3,999.2,0.0,735,9074,0.62,2.38,164.35,1.666,4,0.049,0.031,2727,1059,2232,0,0,0,0,0,0,24.71,23.87,22.04
$GC,9096,0.56,170.3,987.4,13.1,745,9103,0.15,2.42,0.00,0.000,6,0.171,0.047,2691,2522,2228,0,0,0,0,0,0,24.37,24.60,28.83
$GC,9418,0.56,170.3,942.0,14.3,761,9423,0.00,1.92,0.00,0.000,4,0.000,0.055,2691,3767,2224,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9439,0.56,170.3,938.9,14.6,762,9443,0.03,1.92,0.00,0.000,6,0.230,0.024,2692,2451,2223,0,0,0,0,0,0,26.08,26.27,28.83
$GC,9757,0.56,170.3,894.1,13.6,778,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2446,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10058,0.56,170.3,853.6,13.5,793,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2446,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10357,0.56,170.3,813.9,12.7,808,10362,0.00,2.05,0.00,0.000,4,0.000,0.054,2692,3764,2218,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10399,0.56,170.3,808.0,13.5,810,10404,0.03,1.92,0.00,0.000,6,0.225,0.024,2693,2445,2219,0,0,0,0,0,0,26.20,26.41,28.83
$GC,10719,0.56,170.3,767.0,12.6,826,10724,0.00,2.03,0.00,0.000,4,0.000,0.030,2703,1048,2218,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10750,0.56,170.3,764.5,12.7,827,10758,0.08,2.28,0.00,0.000,6,0.188,0.046,2686,2525,2217,0,0,0,0,0,0,26.03,26.15,28.83
$GC,11059,0.56,170.3,727.6,11.3,843,11064,0.00,2.15,0.00,0.000,4,0.000,0.030,2697,1050,2217,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11125,0.56,170.3,721.4,10.6,846,11129,0.00,2.28,0.00,0.000,6,0.000,0.045,2697,2527,2215,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11438,0.56,170.3,680.6,13.6,862,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2527,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11739,0.56,170.3,639.3,14.2,877,11744,0.00,2.15,0.00,0.000,4,0.000,0.031,2707,1060,2215,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11812,0.56,170.3,631.3,13.6,880,11819,0.10,2.25,0.00,0.000,6,0.174,0.044,2683,2526,2214,0,0,0,0,0,0,25.91,26.12,28.83
$GC,12118,0.56,170.3,591.9,11.2,899,12128,0.05,1.90,0.00,0.000,4,0.169,0.053,2725,3770,2214,0,0,0,0,0,0,26.58,26.01,28.83
$GC,12140,0.56,170.3,589.0,12.5,901,12150,0.17,1.90,0.00,0.000,6,0.179,0.021,2688,2433,2214,0,0,0,0,0,0,25.79,26.42,28.83
$GC,12450,0.56,170.3,555.4,10.7,932,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2433,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12754,0.56,170.3,523.7,10.8,962,12763,0.00,2.03,0.00,0.000,4,0.000,0.052,2688,3763,2214,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12785,0.56,170.3,519.3,11.9,965,12795,0.00,1.90,0.00,0.000,6,0.000,0.022,2698,2416,2214,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13095,0.56,170.3,482.7,12.3,996,13104,0.00,2.08,0.00,0.000,4,0.000,0.051,2698,3767,2214,0,0,0,0,0,0,28.83,25.97,28.83
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$GC,15236,0.62,218.5,264.4,9.0,1208,15240,0.05,1.92,0.00,0.000,6,0.239,0.023,2707,2414,2038,0,0,0,0,0,0,26.23,26.44,28.83
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$STATE,18040,end climb,SURFACE_DEPTH_REACHED
$STATE,18040,begin surface coast
$FINISH,0.7,0.998405
$STATE,18086,end surface coast,CONTROL_FINISHED_OK
$STATE,18086,begin surface
$SM_CCo,18162,0.00,0.000,0,0,1264,408.42
$SM_GC,1.92,6.40,0.12,0.00,0.031,0.075,0.000,182,2704,1264,-7.16,-0.62,408.42,0,0,0,0,0,0,26.39,26.59,28.83
$IRIDIUM_FIX,1938.95,12353.47,250512,131335
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.0,75.638
$10V_AH,9.9,45.706
$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,19.625,160.450,461.650,0.000,0.000,33.113,20.272,285.681,0.000,0.000,18.868,4217.784,10042.646,610.336,3335.190,417.247,0.000,2174.741,0.000,2780.918,0.000,0.541,0.000
$DEVICE_MAMPS,254.745,74.970,1712.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1146.397,2151.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329728
$DATA_FILE_SIZE,127367,1685
$CAP_FILE_SIZE,192446,0
$CFSIZE,260165632,186884096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,186.0,1
$GPS,260512,001737,1943.631,12401.205,38,1.0,38,-2.4