version: 66.10
glider: 176
mission: 5
dive: 47
start: 3 21 112 20 5 3
data:
$ID,176
$MISSION,5
$DIVE,47
$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,0
$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,-7437.5913
$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,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
$GPS1,210312,195852,2148.704,12249.908,9,3.2,28,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.2
$GPS2,210312,200437,2148.769,12249.903,30,1.3,30,-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,108.9,125688,-15.3,-11.000
$D_GRID,3972
$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,15,begin dive
$GC,17,-0.65,-219.0,0.0,0.0,0,66,0.00,0.00,-46.75,0.000,2,0.000,0.000,187,2628,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.65,-219.0,3.3,-7.1,7,110,8.27,2.17,-22.62,0.000,4,0.239,0.045,2302,1158,3825,0,0,0,0,0,0,25.84,26.21,26.48
$GC,252,-0.65,-219.0,68.2,-23.9,37,259,0.05,2.28,0.00,0.000,6,0.239,0.050,2303,2633,3825,0,0,0,0,0,0,26.15,26.25,28.83
$GC,603,-0.65,-219.0,194.6,-35.2,98,611,0.00,2.15,0.00,0.000,4,0.000,0.029,2304,1159,3826,0,0,0,0,0,0,28.83,26.46,28.83
$GC,650,-0.65,-219.0,208.6,-26.9,104,659,0.00,2.25,0.00,0.000,6,0.000,0.050,2293,2634,3826,0,0,0,0,0,0,28.83,26.41,28.83
$GC,962,-0.65,-219.0,305.5,-30.1,135,963,0.03,0.00,0.00,0.000,6,0.321,0.000,2302,2636,3827,0,0,0,0,0,0,26.52,28.83,28.83
$GC,1261,-0.65,-219.0,388.6,-26.4,165,1269,0.00,2.12,0.00,0.000,4,0.000,0.027,2302,1145,3827,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1322,-0.65,-219.0,400.4,-16.7,171,1332,0.05,2.25,0.00,0.000,6,0.237,0.048,2304,2630,3827,0,0,0,0,0,0,26.44,26.53,28.83
$GC,1632,-0.65,-219.0,464.9,-20.5,202,1635,0.00,1.67,0.00,0.000,4,0.000,0.056,2297,3766,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1713,-0.65,-219.0,480.7,-18.3,210,1717,0.00,1.67,0.00,0.000,6,0.000,0.023,2297,2529,3827,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2024,-0.65,-219.0,542.2,-19.0,241,2028,0.00,1.95,0.00,0.000,4,0.000,0.028,2297,1144,3825,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2060,-0.65,-219.0,548.1,-17.1,244,2070,0.05,2.25,0.00,0.000,6,0.236,0.051,2306,2625,3825,0,0,0,0,0,0,26.49,26.58,28.83
$GC,2370,-0.65,-219.0,596.4,-16.7,275,2373,0.00,1.73,0.00,0.000,4,0.000,0.059,2297,3772,3823,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2411,-0.65,-219.0,603.0,-16.6,279,2414,0.00,1.70,0.00,0.000,6,0.000,0.024,2297,2520,3823,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2732,-0.65,-219.0,657.2,-17.2,295,2737,0.00,1.92,0.00,0.000,4,0.000,0.057,2290,3776,3821,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2754,-0.65,-219.0,660.8,-17.5,296,2758,0.08,1.73,0.00,0.000,6,0.187,0.023,2310,2507,3821,0,0,0,0,0,0,26.53,26.73,28.83
$GC,3073,-0.65,-219.0,714.2,-16.4,312,3079,0.05,1.92,0.00,0.000,4,0.179,0.059,2273,3763,3818,0,0,0,0,0,0,26.73,26.58,28.83
$GC,3092,-0.65,-219.0,717.9,-16.7,313,3096,0.12,1.70,0.00,0.000,6,0.157,0.024,2309,2491,3818,0,0,0,0,0,0,26.50,26.73,28.83
$GC,3413,-0.65,-219.0,766.2,-14.1,329,3417,0.05,1.88,0.00,0.000,4,0.179,0.024,2272,1149,3816,0,0,0,0,0,0,26.74,26.68,28.83
$GC,3438,-0.65,-219.0,768.6,-14.3,330,3443,0.15,2.22,0.00,0.000,6,0.155,0.050,2308,2625,3816,0,0,0,0,0,0,26.48,26.60,28.83
$GC,3745,-0.65,-219.0,813.2,-14.2,345,3751,0.00,2.10,0.00,0.000,4,0.000,0.026,2308,1151,3813,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3778,-0.65,-219.0,815.9,-14.0,346,3785,0.00,2.25,0.00,0.000,6,0.000,0.050,2305,2624,3812,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4087,-0.65,-219.0,858.6,-13.4,362,4090,0.00,1.73,0.00,0.000,4,0.000,0.061,2301,3773,3811,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4136,-0.65,-219.0,864.1,-13.2,364,4139,0.00,1.73,0.00,0.000,6,0.000,0.024,2301,2512,3811,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4449,-0.65,-219.0,902.6,-11.6,380,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2509,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.65,-219.0,937.6,-11.6,395,4754,0.00,1.92,0.00,0.000,4,0.000,0.060,2293,3773,3805,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4801,-0.65,-219.0,942.5,-12.0,397,4807,0.00,1.73,0.00,0.000,6,0.000,0.024,2293,2513,3804,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5108,-0.65,-219.0,984.4,-13.5,413,5114,0.00,1.90,0.00,0.000,4,0.000,0.060,2290,3762,3803,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5130,-0.65,-219.0,987.2,-13.8,414,5135,0.03,1.73,0.00,0.000,6,0.173,0.024,2303,2510,3803,0,0,0,0,0,0,26.58,26.74,28.83
$STATE,5166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5166,begin apogee
$GC,5172,-0.17,0.0,992.4,-13.6,416,5371,0.45,0.08,189.43,1.708,6,0.116,0.099,2461,2548,2928,0,0,0,0,0,0,26.48,24.53,23.66
$STATE,5372,end apogee,CONTROL_FINISHED_OK
$STATE,5372,begin climb
$GC,5374,0.65,219.0,1005.8,0.0,426,5589,0.73,2.12,205.57,1.685,4,0.051,0.055,2740,3763,2035,0,0,0,0,0,0,24.82,24.09,23.16
$GC,5683,0.65,219.0,965.8,25.7,441,5692,0.15,1.83,0.00,0.000,6,0.202,0.027,2714,2556,2030,0,0,0,0,0,0,24.98,25.22,28.83
$GC,5992,0.65,219.0,899.3,19.9,457,5998,0.00,2.10,0.00,0.000,4,0.000,0.036,2725,1163,2027,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6015,0.65,219.0,895.4,19.8,458,6019,0.00,2.28,0.00,0.000,6,0.000,0.049,2725,2613,2025,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6327,0.65,219.0,830.8,20.5,474,6332,0.00,2.17,0.00,0.000,4,0.000,0.036,2735,1166,2024,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6347,0.65,219.0,826.6,20.7,475,6353,0.10,2.22,0.00,0.000,6,0.194,0.048,2711,2614,2023,0,0,0,0,0,0,25.99,26.13,28.83
$GC,6667,0.65,219.0,769.7,17.8,491,6671,0.00,2.15,0.00,0.000,4,0.000,0.034,2722,1155,2022,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6721,0.65,219.0,763.0,17.3,493,6729,0.00,2.25,0.00,0.000,6,0.000,0.047,2722,2614,2021,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7029,0.65,219.0,707.5,17.1,509,7035,0.00,2.17,0.00,0.000,4,0.000,0.034,2733,1150,2021,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7131,0.65,219.0,691.3,15.9,514,7136,0.05,2.28,0.00,0.000,6,0.173,0.049,2717,2609,2019,0,0,0,0,0,0,26.22,26.36,28.83
$GC,7450,0.65,219.0,632.0,18.3,530,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2609,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,0.65,219.0,578.1,17.7,551,7758,0.00,2.15,0.00,0.000,4,0.000,0.035,2727,1157,2019,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7810,0.65,219.0,569.0,13.7,557,7820,0.05,2.22,0.00,0.000,6,0.232,0.046,2716,2616,2018,0,0,0,0,0,0,26.36,26.44,28.83
$GC,8121,0.65,219.0,522.5,14.5,588,8130,0.00,2.15,0.00,0.000,4,0.000,0.036,2726,1162,2018,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8184,0.65,219.0,514.6,12.1,594,8192,0.03,2.22,0.00,0.000,6,0.189,0.046,2717,2610,2018,0,0,0,0,0,0,26.38,26.48,28.83
$GC,8492,0.65,219.0,470.2,14.6,625,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2610,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8795,0.65,219.0,426.1,14.5,655,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2611,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,0.65,219.0,381.6,12.4,686,9107,0.00,1.73,0.00,0.000,4,0.000,0.052,2717,3766,2018,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9134,0.65,219.0,377.0,14.0,689,9138,0.00,1.75,0.00,0.000,6,0.000,0.026,2726,2538,2019,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9447,0.65,219.0,332.0,13.5,720,9455,0.00,1.95,0.00,0.000,4,0.000,0.037,2735,1165,2018,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9510,0.65,219.0,324.4,11.5,726,9519,0.05,2.17,0.00,0.000,6,0.160,0.044,2716,2624,2018,0,0,0,0,0,0,26.41,26.56,28.83
$GC,9817,0.65,219.0,282.0,14.6,757,9826,0.00,2.15,0.00,0.000,4,0.000,0.035,2726,1162,2019,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9881,0.65,219.0,273.3,14.2,763,9889,0.05,2.20,0.00,0.000,6,0.219,0.045,2713,2619,2019,0,0,0,0,0,0,26.48,26.58,28.83
$GC,10189,0.65,219.0,229.3,13.1,794,10192,0.00,2.15,0.00,0.000,4,0.000,0.037,2721,1159,2019,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10232,0.65,219.0,224.4,11.5,798,10240,0.00,2.22,0.00,0.000,6,0.000,0.044,2721,2612,2019,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10556,0.68,243.2,187.2,10.2,839,10585,0.00,2.20,19.85,1.129,4,0.000,0.037,2723,1167,1938,0,0,0,0,0,0,28.83,26.20,25.35
$GC,10701,0.78,321.9,173.6,8.3,863,10782,0.12,2.20,69.97,1.140,6,0.096,0.042,2794,2620,1616,0,0,0,0,0,0,26.27,26.27,24.39
$GC,11125,0.78,321.9,83.2,23.0,935,11132,0.12,2.20,0.00,0.000,4,0.176,0.032,2767,1152,1612,0,0,0,0,0,0,25.96,26.10,28.83
$GC,11188,0.78,321.9,72.2,13.9,945,11196,0.05,2.25,0.00,0.000,6,0.207,0.043,2754,2627,1610,0,0,0,0,0,0,26.06,26.13,28.83
$GC,11539,0.82,355.4,23.2,9.9,1006,11563,0.10,2.22,13.32,0.181,4,0.106,0.035,2824,1158,1476,0,0,0,0,0,0,26.39,26.29,26.06
$GC,11589,0.82,355.4,17.0,13.3,1013,11596,0.20,2.20,0.00,0.000,6,0.148,0.041,2766,2620,1474,0,0,0,0,0,0,26.15,26.29,28.83
$STATE,11686,end climb,SURFACE_DEPTH_REACHED
$STATE,11687,begin surface coast
$FINISH,0.7,1.009633
$STATE,11724,end surface coast,CONTROL_FINISHED_OK
$STATE,11724,begin surface
$SM_CCo,11738,7.28,0.145,0,0,1397,375.06
$SM_GC,2.75,6.45,0.00,7.28,0.039,0.000,0.145,202,2623,1397,-7.13,0.37,375.06,0,0,0,0,0,0,26.36,28.83,26.18
$IRIDIUM_FIX,2141.13,12250.53,210312,161646
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.2,12.306
$10V_AH,10.2,8.096
$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,17.625,110.825,498.150,7.275,0.000,25.180,22.097,164.410,0.000,0.000,32.536,2460.563,6381.068,539.030,2438.919,261.805,0.000,1628.363,0.000,2135.609,0.000,0.541,0.000
$DEVICE_MAMPS,321.300,99.450,1708.245,145.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.940,1639.017,509.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324424
$DATA_FILE_SIZE,70498,1036
$CAP_FILE_SIZE,125844,0
$CFSIZE,260165632,218451968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210312,232152,2149.229,12250.779,11,5.8,30,-2.8