version: 66.10
glider: 176
mission: 5
dive: 46
start: 3 21 112 16 38 31
data:
$ID,176
$MISSION,5
$DIVE,46
$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,-7436.333
$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
$GPS1,210312,163007,2148.425,12249.754,33,1.0,33,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.9
$GPS2,210312,163802,2148.571,12249.615,13,1.5,13,-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,114.5,126065,-15.3,-11.000
$D_GRID,4147
$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,-0.65,-219.0,0.0,0.0,0,67,0.00,0.00,-48.83,0.000,2,0.000,0.000,176,2625,2695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.65,-219.0,3.1,-5.6,7,109,8.32,2.17,-22.52,0.000,4,0.240,0.044,2289,1163,3825,0,0,0,0,0,0,25.79,26.16,26.44
$GC,144,-0.65,-219.0,27.3,-37.3,16,153,0.05,2.30,0.00,0.000,6,0.173,0.050,2294,2632,3825,0,0,0,0,0,0,26.00,26.15,28.83
$GC,495,-0.65,-219.0,160.3,-38.1,77,502,0.00,2.10,0.00,0.000,4,0.000,0.027,2295,1172,3826,0,0,0,0,0,0,28.83,26.39,28.83
$GC,515,-0.65,-219.0,168.2,-35.2,80,523,0.00,2.25,0.00,0.000,6,0.000,0.047,2290,2633,3825,0,0,0,0,0,0,28.83,26.34,28.83
$GC,834,-0.65,-219.0,267.2,-29.3,119,837,0.00,1.70,0.00,0.000,4,0.000,0.053,2282,3771,3826,0,0,0,0,0,0,28.83,26.43,28.83
$GC,865,-0.65,-219.0,277.3,-32.3,122,869,0.05,1.67,0.00,0.000,6,0.243,0.024,2292,2541,3827,0,0,0,0,0,0,26.37,26.54,28.83
$GC,1176,-0.65,-219.0,363.4,-27.3,153,1180,0.00,1.92,0.00,0.000,4,0.000,0.024,2292,1148,3827,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1204,-0.65,-219.0,370.6,-27.9,155,1212,0.00,2.25,0.00,0.000,6,0.000,0.051,2289,2633,3827,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1513,-0.65,-219.0,444.0,-22.1,186,1517,0.00,1.70,0.00,0.000,4,0.000,0.056,2280,3766,3827,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1556,-0.65,-219.0,453.6,-22.5,190,1560,0.08,1.67,0.00,0.000,6,0.199,0.024,2298,2508,3828,0,0,0,0,0,0,26.44,26.65,28.83
$GC,1868,-0.65,-219.0,510.9,-17.6,221,1871,0.00,1.88,0.00,0.000,4,0.000,0.026,2298,1161,3827,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1916,-0.65,-219.0,517.8,-15.1,225,1925,0.00,2.22,0.00,0.000,6,0.000,0.048,2291,2641,3826,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2224,-0.65,-219.0,569.8,-17.9,256,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2641,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-0.65,-219.0,621.9,-16.9,280,2528,0.00,2.10,0.00,0.000,4,0.000,0.026,2291,1156,3823,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2578,-0.65,-219.0,627.9,-15.7,282,2585,0.00,2.28,0.00,0.000,6,0.000,0.048,2286,2650,3822,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2887,-0.65,-219.0,677.0,-16.2,298,2892,0.00,2.10,0.00,0.000,4,0.000,0.026,2286,1166,3820,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2933,-0.65,-219.0,682.8,-15.5,300,2938,0.08,2.25,0.00,0.000,6,0.197,0.049,2296,2638,3819,0,0,0,0,0,0,26.48,26.59,28.83
$GC,3242,-0.65,-219.0,727.6,-14.8,315,3247,0.00,2.08,0.00,0.000,4,0.000,0.026,2297,1173,3817,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3303,-0.65,-219.0,735.8,-14.0,318,3308,0.00,2.25,0.00,0.000,6,0.000,0.050,2292,2647,3817,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3616,-0.65,-219.0,785.0,-15.3,334,3622,0.00,2.12,0.00,0.000,4,0.000,0.027,2291,1161,3814,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3644,-0.65,-219.0,787.9,-15.4,335,3648,0.00,2.25,0.00,0.000,6,0.000,0.049,2291,2637,3814,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3952,-0.65,-219.0,834.1,-14.7,350,3956,0.00,1.73,0.00,0.000,4,0.000,0.061,2286,3755,3811,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3981,-0.65,-219.0,837.5,-14.7,351,3985,0.00,1.67,0.00,0.000,6,0.000,0.024,2286,2501,3811,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4293,-0.65,-219.0,883.2,-14.1,367,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2497,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-0.65,-219.0,924.2,-13.3,382,4600,0.00,1.92,0.00,0.000,4,0.000,0.060,2286,3763,3806,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4633,-0.65,-219.0,929.6,-13.4,384,4637,0.00,1.70,0.00,0.000,6,0.000,0.025,2286,2517,3806,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4954,-0.65,-219.0,970.0,-12.8,400,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2514,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5112,begin apogee
$GC,5118,-0.17,0.0,990.8,-13.0,408,5318,0.47,0.10,189.32,1.707,6,0.123,0.080,2451,2545,2928,0,0,0,0,0,0,26.47,24.53,23.65
$STATE,5319,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5321,0.65,219.0,1001.4,0.0,418,5536,0.73,2.12,205.80,1.682,4,0.053,0.055,2732,3762,2035,0,0,0,0,0,0,24.82,24.07,23.13
$GC,5559,0.65,219.0,973.1,22.3,430,5565,0.15,1.88,0.00,0.000,6,0.203,0.028,2708,2551,2033,0,0,0,0,0,0,24.45,24.65,28.83
$GC,5879,0.65,219.0,902.9,21.3,446,5884,0.00,2.08,0.00,0.000,4,0.000,0.037,2718,1163,2027,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5971,0.65,219.0,888.6,17.9,450,5979,0.08,2.30,0.00,0.000,6,0.200,0.050,2703,2625,2025,0,0,0,0,0,0,25.77,25.86,28.83
$GC,6279,0.65,219.0,830.2,17.8,466,6285,0.00,2.17,0.00,0.000,4,0.000,0.034,2713,1159,2024,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6372,0.65,219.0,817.9,15.3,470,6378,0.00,2.25,0.00,0.000,6,0.000,0.049,2714,2614,2022,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6679,0.65,219.0,761.4,18.1,486,6683,0.00,1.77,0.00,0.000,4,0.000,0.057,2713,3760,2022,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6722,0.65,219.0,753.4,18.7,488,6727,0.10,1.75,0.00,0.000,6,0.222,0.028,2701,2545,2022,0,0,0,0,0,0,26.10,26.34,28.83
$GC,7042,0.65,219.0,698.9,17.6,504,7047,0.00,2.00,0.00,0.000,4,0.000,0.034,2711,1156,2021,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7149,0.65,219.0,683.2,15.5,509,7153,0.00,2.22,0.00,0.000,6,0.000,0.049,2711,2615,2019,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7455,0.65,219.0,625.7,18.6,524,7461,0.00,2.15,0.00,0.000,4,0.000,0.034,2723,1159,2020,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7484,0.65,219.0,622.1,18.6,525,7488,0.10,2.22,0.00,0.000,6,0.191,0.048,2699,2624,2019,0,0,0,0,0,0,26.26,26.41,28.83
$GC,7791,0.65,219.0,572.2,14.7,548,7793,0.05,0.00,0.00,0.000,6,0.170,0.000,2733,2625,2019,0,0,0,0,0,0,26.56,28.83,28.83
$GC,8091,0.65,219.0,515.7,17.0,578,8093,0.12,0.00,0.00,0.000,6,0.183,0.000,2701,2625,2019,0,0,0,0,0,0,26.34,28.83,28.83
$GC,8390,0.65,219.0,475.0,12.6,608,8399,0.00,2.15,0.00,0.000,4,0.000,0.034,2711,1159,2018,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8534,0.65,219.0,458.6,11.9,622,8542,0.00,2.20,0.00,0.000,6,0.000,0.046,2711,2619,2018,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8841,0.65,219.0,412.6,15.1,653,8845,0.00,1.73,0.00,0.000,4,0.000,0.054,2712,3767,2018,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8902,0.65,219.0,402.0,18.5,659,8907,0.08,1.73,0.00,0.000,6,0.229,0.027,2706,2553,2019,0,0,0,0,0,0,26.39,26.59,28.83
$GC,9214,0.65,219.0,358.8,13.6,690,9218,0.00,2.03,0.00,0.000,4,0.000,0.037,2716,1148,2018,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9239,0.65,219.0,356.0,13.1,692,9246,0.05,2.22,0.00,0.000,6,0.222,0.045,2704,2620,2018,0,0,0,0,0,0,26.45,26.53,28.83
$GC,9548,0.65,219.0,313.2,14.0,723,9557,0.00,2.12,0.00,0.000,4,0.000,0.036,2712,1161,2018,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9611,0.65,219.0,304.5,13.1,729,9621,0.00,2.17,0.00,0.000,6,0.000,0.044,2713,2613,2018,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9919,0.65,219.0,257.9,13.8,760,9928,0.00,2.12,0.00,0.000,4,0.000,0.036,2723,1152,2019,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10011,0.65,219.0,246.9,11.6,769,10022,0.10,2.22,0.00,0.000,6,0.175,0.045,2698,2628,2019,0,0,0,0,0,0,26.43,26.57,28.83
$GC,10321,0.67,236.1,214.0,10.4,800,10343,0.10,2.20,14.05,1.128,4,0.106,0.037,2761,1157,1964,0,0,0,0,0,0,26.67,26.31,25.44
$GC,10387,0.67,236.1,205.6,13.3,806,10396,0.15,2.20,0.00,0.000,6,0.138,0.044,2710,2613,1963,0,0,0,0,0,0,26.19,26.32,28.83
$GC,10730,0.79,331.7,170.6,7.8,863,10823,0.12,2.35,84.47,1.139,4,0.093,0.039,2802,1159,1574,0,0,0,0,0,0,26.49,25.11,24.34
$GC,10877,0.79,331.7,147.1,18.0,885,10886,0.20,2.30,0.00,0.000,6,0.154,0.044,2747,2621,1570,0,0,0,0,0,0,25.45,25.56,28.83
$GC,11228,0.79,331.7,95.4,15.8,946,11237,0.00,2.22,0.00,0.000,4,0.000,0.041,2750,1168,1569,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11342,0.79,331.7,81.0,12.0,965,11350,0.00,2.22,0.00,0.000,6,0.000,0.045,2751,2624,1567,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11689,0.79,331.7,26.1,13.0,1026,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2624,1568,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11889,end climb,SURFACE_DEPTH_REACHED
$STATE,11889,begin surface coast
$FINISH,1.0,1.022813
$STATE,11928,end surface coast,CONTROL_FINISHED_OK
$STATE,11928,begin surface
$SM_CCo,11943,16.55,0.134,0,0,1397,375.06
$SM_GC,2.14,6.32,0.00,16.55,0.033,0.000,0.134,187,2625,1397,-7.10,0.00,375.06,0,0,0,0,0,0,26.48,28.83,26.23
$IRIDIUM_FIX,2141.13,12247.32,210312,161646
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,12.077
$10V_AH,10.2,7.994
$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,17.500,107.700,493.650,16.550,0.000,57.973,74.434,160.290,0.000,0.000,16.183,2684.064,6320.679,525.655,2637.971,261.610,0.000,1648.176,0.000,2247.838,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,81.855,1707.480,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.007,1713.779,566.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324448
$DATA_FILE_SIZE,73610,1068
$CAP_FILE_SIZE,128086,0
$CFSIZE,260165632,218521600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288,303.8,1
$GPS,210312,195852,2148.704,12249.908,9,3.2,28,-2.8