version: 66.10
glider: 176
mission: 5
dive: 45
start: 3 21 112 13 18 36
data:
$ID,176
$MISSION,5
$DIVE,45
$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,225
$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,-7435.0791
$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,2500
$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,2625
$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,0
$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
$GPS1,210312,131206,2149.135,12249.341,35,1.3,35,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.0
$GPS2,210312,131808,2149.214,12249.195,12,1.5,12,-2.8
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,DOGLEG
$TGT_LATLONG,2130.000,12400.000
$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,130.8,127089,-15.3,-11.000
$D_GRID,4329
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.65,-219.0,0.0,0.0,0,68,0.00,0.00,-48.78,0.000,2,0.000,0.000,177,2628,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.65,-219.0,3.3,-6.4,7,114,8.27,2.15,-22.65,0.000,4,0.239,0.047,2289,1180,3824,0,0,0,0,0,0,25.82,26.19,26.47
$GC,167,-0.65,-219.0,30.5,-24.1,22,176,0.05,2.28,0.00,0.000,6,0.170,0.053,2295,2634,3825,0,0,0,0,0,0,26.05,26.19,28.83
$GC,519,-0.65,-219.0,161.5,-35.9,83,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2635,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.65,-219.0,267.5,-29.9,124,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2635,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1145,-0.65,-219.0,355.5,-29.3,154,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2635,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1455,-0.65,-219.0,430.3,-23.4,185,1465,0.00,2.08,0.00,0.000,4,0.000,0.028,2295,1172,3826,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1487,-0.65,-219.0,437.7,-21.8,188,1497,0.00,2.25,0.00,0.000,6,0.000,0.051,2291,2649,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1797,-0.65,-219.0,503.0,-20.7,219,1800,0.00,1.67,0.00,0.000,4,0.000,0.057,2283,3770,3826,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1841,-0.65,-219.0,511.8,-21.7,223,1848,0.00,1.67,0.00,0.000,6,0.000,0.024,2283,2531,3826,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2148,-0.65,-219.0,569.7,-18.1,254,2150,0.03,0.00,0.00,0.000,6,0.306,0.000,2292,2528,3824,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2449,-0.65,-219.0,622.9,-18.0,278,2454,0.00,1.90,0.00,0.000,4,0.000,0.060,2286,3772,3822,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2490,-0.65,-219.0,630.0,-17.7,280,2494,0.00,1.70,0.00,0.000,6,0.000,0.023,2286,2534,3822,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2808,-0.65,-219.0,688.4,-18.6,296,2811,0.00,1.92,0.00,0.000,4,0.000,0.029,2286,1171,3820,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2832,-0.65,-219.0,691.3,-18.5,297,2837,0.08,2.22,0.00,0.000,6,0.198,0.050,2297,2650,3820,0,0,0,0,0,0,26.50,26.60,28.83
$GC,3140,-0.65,-219.0,743.3,-15.2,312,3146,0.00,2.10,0.00,0.000,4,0.000,0.028,2297,1173,3817,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3201,-0.65,-219.0,751.1,-13.4,315,3205,0.00,2.25,0.00,0.000,6,0.000,0.050,2291,2636,3816,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3519,-0.65,-219.0,797.4,-14.3,331,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2636,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.65,-219.0,838.8,-14.0,346,3825,0.00,2.10,0.00,0.000,4,0.000,0.029,2292,1174,3811,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3847,-0.65,-219.0,841.5,-13.6,347,3851,0.00,2.22,0.00,0.000,6,0.000,0.050,2291,2638,3811,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4159,-0.65,-219.0,881.8,-12.8,363,4165,0.00,2.10,0.00,0.000,4,0.000,0.027,2291,1169,3809,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4207,-0.65,-219.0,886.4,-12.2,365,4211,0.00,2.25,0.00,0.000,6,0.000,0.050,2290,2644,3809,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4515,-0.65,-219.0,920.0,-10.1,380,4518,0.00,1.70,0.00,0.000,4,0.000,0.060,2286,3763,3806,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4536,-0.65,-219.0,922.2,-10.1,381,4539,0.00,1.67,0.00,0.000,6,0.000,0.025,2286,2512,3806,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4857,-0.65,-219.0,955.6,-10.8,397,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2498,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.65,-219.0,989.6,-11.7,412,5162,0.00,1.95,0.00,0.000,4,0.000,0.060,2286,3763,3802,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,5175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5175,begin apogee
$GC,5182,-0.17,0.0,992.2,-12.0,413,5380,0.45,0.17,189.38,1.706,6,0.118,0.055,2446,2616,2927,0,0,0,0,0,0,26.48,24.57,23.65
$STATE,5381,end apogee,CONTROL_FINISHED_OK
$STATE,5381,begin climb
$GC,5383,0.65,219.0,1001.4,0.0,423,5599,0.73,2.42,205.43,1.681,4,0.048,0.036,2740,1167,2034,0,0,0,0,0,0,24.81,24.13,23.15
$GC,5665,0.65,219.0,968.3,19.2,437,5670,0.15,2.35,0.00,0.000,6,0.182,0.047,2704,2612,2029,0,0,0,0,0,0,24.84,24.99,28.83
$GC,5977,0.65,219.0,906.6,19.8,453,5983,0.00,2.17,0.00,0.000,4,0.000,0.034,2714,1159,2027,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6051,0.65,219.0,896.4,17.7,456,6057,0.00,2.28,0.00,0.000,6,0.000,0.047,2714,2615,2025,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6357,0.65,219.0,834.9,20.2,472,6361,0.00,2.17,0.00,0.000,4,0.000,0.034,2725,1151,2024,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6401,0.65,219.0,827.0,20.0,474,6406,0.05,2.25,0.00,0.000,6,0.174,0.049,2708,2612,2023,0,0,0,0,0,0,26.01,26.15,28.83
$GC,6720,0.65,219.0,765.8,19.0,490,6724,0.00,1.77,0.00,0.000,4,0.000,0.056,2708,3777,2022,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6754,0.65,219.0,761.4,19.2,491,6762,0.05,1.75,0.00,0.000,6,0.266,0.027,2707,2559,2023,0,0,0,0,0,0,26.17,26.34,28.83
$GC,7062,0.65,219.0,702.1,17.7,507,7066,0.00,2.03,0.00,0.000,4,0.000,0.035,2717,1160,2021,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7123,0.65,219.0,691.9,16.9,510,7130,0.05,2.25,0.00,0.000,6,0.230,0.048,2706,2625,2020,0,0,0,0,0,0,26.26,26.34,28.83
$GC,7443,0.65,219.0,635.3,16.2,526,7449,0.00,2.17,0.00,0.000,4,0.000,0.034,2717,1152,2020,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7531,0.65,219.0,624.0,14.1,530,7536,0.05,2.25,0.00,0.000,6,0.225,0.048,2706,2619,2019,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7839,0.65,219.0,578.3,15.6,552,7848,0.00,2.12,0.00,0.000,4,0.000,0.035,2715,1153,2019,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7870,0.65,219.0,573.5,15.1,555,7879,0.00,2.25,0.00,0.000,6,0.000,0.048,2714,2624,2019,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8182,0.65,219.0,519.0,18.5,586,8185,0.00,1.73,0.00,0.000,4,0.000,0.057,2715,3771,2018,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8244,0.65,219.0,506.7,19.9,592,8248,0.10,1.73,0.00,0.000,6,0.216,0.025,2702,2555,2019,0,0,0,0,0,0,26.30,26.55,28.83
$GC,8556,0.65,219.0,455.0,16.1,623,8564,0.00,2.03,0.00,0.000,4,0.000,0.039,2712,1160,2018,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8620,0.65,219.0,446.0,13.8,629,8628,0.00,2.22,0.00,0.000,6,0.000,0.047,2711,2627,2017,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8929,0.65,219.0,399.7,13.4,660,8938,0.00,2.15,0.00,0.000,4,0.000,0.038,2722,1165,2017,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8960,0.65,219.0,395.8,12.4,663,8970,0.10,2.22,0.00,0.000,6,0.183,0.047,2698,2627,2017,0,0,0,0,0,0,26.36,26.51,28.83
$GC,9270,0.65,219.0,357.3,11.8,694,9274,0.05,1.73,0.00,0.000,4,0.173,0.054,2738,3772,2017,0,0,0,0,0,0,26.66,26.51,28.83
$GC,9322,0.65,219.0,348.3,18.6,699,9326,0.17,1.73,0.00,0.000,6,0.176,0.027,2699,2554,2019,0,0,0,0,0,0,26.34,26.61,28.83
$GC,9627,0.65,219.0,305.4,13.5,729,9637,0.05,2.05,0.00,0.000,4,0.181,0.037,2747,1153,2018,0,0,0,0,0,0,26.67,26.57,28.83
$GC,9670,0.65,219.0,299.7,13.3,733,9681,0.15,2.22,0.00,0.000,6,0.165,0.044,2705,2627,2018,0,0,0,0,0,0,26.38,26.55,28.83
$GC,9980,0.67,230.6,262.1,10.6,764,9994,0.00,2.15,9.02,1.128,4,0.000,0.035,2716,1163,1986,0,0,0,0,0,0,28.83,26.40,25.47
$GC,10080,0.81,344.0,254.5,7.2,773,10188,0.15,2.20,100.78,1.209,6,0.089,0.044,2794,2623,1524,0,0,0,0,0,0,26.42,26.41,24.20
$GC,10508,0.81,344.0,156.2,24.8,830,10518,0.12,1.77,0.00,0.000,4,0.184,0.049,2757,3770,1521,0,0,0,0,0,0,25.87,25.98,28.83
$GC,10534,0.81,344.0,150.5,25.0,833,10542,0.03,1.77,0.00,0.000,6,0.294,0.027,2754,2540,1520,0,0,0,0,0,0,25.93,26.07,28.83
$GC,10883,0.81,344.0,85.1,18.5,894,10892,0.00,2.05,0.00,0.000,4,0.000,0.036,2763,1165,1519,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10984,0.81,344.0,70.0,12.6,911,10991,0.00,2.20,0.00,0.000,6,0.000,0.043,2763,2618,1517,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11329,0.81,344.0,11.2,13.7,972,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2620,1518,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11375,end climb,SURFACE_DEPTH_REACHED
$STATE,11375,begin surface coast
$FINISH,0.9,1.023217
$STATE,11399,end surface coast,CONTROL_FINISHED_OK
$STATE,11399,begin surface
$SM_CCo,11414,11.93,0.138,0,0,1398,375.06
$SM_GC,2.85,6.32,0.00,11.93,0.028,0.000,0.138,176,2620,1398,-7.12,-0.14,375.06,0,0,0,0,0,0,26.47,28.83,26.24
$IRIDIUM_FIX,2141.13,12247.32,210312,090933
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.39764
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.1,11.842
$10V_AH,10.2,7.887
$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,17.200,102.325,504.600,11.925,0.000,27.552,42.054,177.298,0.000,0.000,14.781,2472.177,6141.885,548.352,2369.635,248.130,0.000,1593.646,0.000,2048.953,0.000,0.540,0.000
$DEVICE_MAMPS,306.000,60.435,1705.950,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.185,1557.293,464.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324452
$DATA_FILE_SIZE,66874,984
$CAP_FILE_SIZE,120900,0
$CFSIZE,260165632,218603520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,295.9,1
$GPS,210312,163007,2148.425,12249.754,33,1.0,33,-2.8