version: 66.10
glider: 176
mission: 5
dive: 48
start: 3 21 112 23 28 30
data:
$ID,176
$MISSION,5
$DIVE,48
$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,-7438.8501
$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
$GPS1,210312,232152,2149.229,12250.779,11,5.8,30,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.8
$GPS2,210312,232804,2149.253,12250.749,16,5.7,35,-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,109.4,124542,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.65,-219.0,0.0,0.0,0,67,0.00,0.00,-47.30,0.000,2,0.000,0.000,191,2626,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.65,-219.0,3.3,-6.0,7,112,8.30,2.15,-22.15,0.000,4,0.240,0.043,2302,1161,3826,0,0,0,0,0,0,25.84,26.21,26.46
$GC,175,-0.65,-219.0,43.6,-39.7,24,185,0.03,2.28,0.00,0.000,6,0.213,0.051,2300,2615,3826,0,0,0,0,0,0,26.07,26.19,28.83
$GC,529,-0.65,-219.0,179.2,-36.8,85,535,0.00,2.10,0.00,0.000,4,0.000,0.027,2300,1154,3827,0,0,0,0,0,0,28.83,26.42,28.83
$GC,569,-0.65,-219.0,190.9,-29.3,91,576,0.05,2.25,0.00,0.000,6,0.249,0.047,2302,2633,3827,0,0,0,0,0,0,26.27,26.37,28.83
$GC,886,-0.65,-219.0,286.4,-28.6,125,895,0.00,2.12,0.00,0.000,4,0.000,0.026,2302,1144,3828,0,0,0,0,0,0,28.83,26.52,28.83
$GC,899,-0.65,-219.0,288.8,-28.4,126,908,0.03,2.25,0.00,0.000,6,0.218,0.043,2299,2623,3828,0,0,0,0,0,0,26.34,26.47,28.83
$GC,1207,-0.65,-219.0,374.7,-26.6,157,1216,0.00,2.10,0.00,0.000,4,0.000,0.026,2300,1149,3828,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1232,-0.65,-219.0,380.4,-26.9,159,1239,0.05,2.22,0.00,0.000,6,0.255,0.047,2302,2626,3828,0,0,0,0,0,0,26.40,26.51,28.83
$GC,1539,-0.65,-219.0,454.4,-22.7,190,1543,0.00,1.73,0.00,0.000,4,0.000,0.055,2294,3778,3827,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1571,-0.65,-219.0,461.9,-23.7,193,1574,0.00,1.70,0.00,0.000,6,0.000,0.023,2295,2514,3827,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1881,-0.65,-219.0,522.2,-18.4,224,1885,0.00,1.90,0.00,0.000,4,0.000,0.027,2294,1150,3827,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1911,-0.65,-219.0,526.9,-18.2,226,1918,0.08,2.25,0.00,0.000,6,0.201,0.048,2308,2633,3828,0,0,0,0,0,0,26.45,26.56,28.83
$GC,2217,-0.65,-219.0,579.2,-16.7,257,2221,0.00,1.70,0.00,0.000,4,0.000,0.057,2300,3766,3826,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2240,-0.65,-219.0,582.7,-16.6,259,2248,0.00,1.73,0.00,0.000,6,0.000,0.023,2300,2499,3825,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2559,-0.65,-219.0,629.9,-13.9,281,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2498,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,-0.65,-219.0,668.6,-13.1,296,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2498,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.65,-219.0,711.0,-14.8,311,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2498,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.65,-219.0,754.7,-14.3,326,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2498,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.65,-219.0,794.5,-13.0,341,3762,0.00,1.95,0.00,0.000,4,0.000,0.059,2293,3769,3814,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3787,-0.65,-219.0,796.6,-13.1,342,3794,0.00,1.73,0.00,0.000,6,0.000,0.024,2293,2498,3814,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4096,-0.65,-219.0,843.2,-15.3,358,4102,0.03,1.90,0.00,0.000,4,0.301,0.025,2305,1147,3811,0,0,0,0,0,0,26.68,26.68,28.83
$GC,4122,-0.65,-219.0,846.2,-15.2,359,4126,0.00,2.25,0.00,0.000,6,0.000,0.050,2304,2625,3811,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4435,-0.65,-219.0,889.4,-13.4,375,4439,0.00,1.73,0.00,0.000,4,0.000,0.060,2300,3763,3809,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4485,-0.65,-219.0,895.0,-13.5,377,4489,0.00,1.70,0.00,0.000,6,0.000,0.024,2300,2508,3809,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4796,-0.65,-219.0,935.0,-12.8,393,4800,0.00,1.95,0.00,0.000,4,0.000,0.060,2300,3763,3806,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4847,-0.65,-219.0,939.7,-12.8,395,4854,0.00,1.70,0.00,0.000,6,0.000,0.024,2300,2490,3805,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5152,-0.65,-219.0,978.1,-12.1,411,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2489,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5272,begin apogee
$GC,5277,-0.17,0.0,992.2,-11.6,417,5476,0.47,0.08,190.12,1.708,6,0.119,0.097,2466,2540,2928,0,0,0,0,0,0,26.46,24.51,23.65
$STATE,5477,end apogee,CONTROL_FINISHED_OK
$STATE,5477,begin climb
$GC,5479,0.65,219.0,1003.0,0.0,427,5694,0.70,2.30,206.32,1.679,4,0.046,0.034,2757,1156,2035,0,0,0,0,0,0,24.79,24.13,23.15
$GC,5787,0.65,219.0,965.2,20.6,442,5797,0.17,2.38,0.00,0.000,6,0.180,0.048,2713,2621,2028,0,0,0,0,0,0,24.96,25.13,28.83
$GC,6097,0.65,219.0,902.2,20.1,458,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2622,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,0.65,219.0,846.5,18.4,473,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2622,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6696,0.65,219.0,792.0,18.8,488,6702,0.00,2.17,0.00,0.000,4,0.000,0.031,2724,1152,2024,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6831,0.65,219.0,774.4,13.8,494,6838,0.00,2.25,0.00,0.000,6,0.000,0.048,2724,2614,2022,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7138,0.65,219.0,715.8,18.5,510,7143,0.00,2.12,0.00,0.000,4,0.000,0.033,2735,1157,2022,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7245,0.65,219.0,699.6,15.6,515,7250,0.10,2.25,0.00,0.000,6,0.191,0.047,2711,2622,2021,0,0,0,0,0,0,26.21,26.36,28.83
$GC,7553,0.65,219.0,646.3,17.9,530,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2622,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,0.65,219.0,591.0,19.6,547,7860,0.00,2.15,0.00,0.000,4,0.000,0.033,2722,1160,2020,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7873,0.65,219.0,587.3,19.2,549,7882,0.00,2.22,0.00,0.000,6,0.000,0.047,2722,2618,2019,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8184,0.65,219.0,530.3,16.5,580,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2618,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,0.65,219.0,482.2,14.8,610,8493,0.00,2.12,0.00,0.000,4,0.000,0.034,2733,1165,2019,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8676,0.65,219.0,453.0,15.7,629,8686,0.10,2.20,0.00,0.000,6,0.187,0.046,2709,2622,2018,0,0,0,0,0,0,26.35,26.51,28.83
$GC,8986,0.65,219.0,404.2,17.0,660,8995,0.05,2.15,0.00,0.000,4,0.178,0.033,2760,1162,2018,0,0,0,0,0,0,26.64,26.55,28.83
$GC,9008,0.65,219.0,400.5,17.0,662,9018,0.17,2.22,0.00,0.000,6,0.170,0.047,2712,2626,2018,0,0,0,0,0,0,26.32,26.51,28.83
$GC,9318,0.65,219.0,355.3,13.8,693,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2626,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9621,0.65,219.0,315.3,12.3,723,9631,0.00,2.12,0.00,0.000,4,0.000,0.036,2721,1165,2018,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9696,0.65,219.8,306.6,11.0,730,9703,0.00,2.20,0.00,0.000,6,0.000,0.044,2721,2625,2018,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10005,0.65,219.8,264.4,13.4,761,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2626,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10314,0.65,219.8,225.4,11.0,792,10323,0.00,2.10,0.00,0.000,4,0.000,0.034,2732,1164,2020,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10419,0.75,298.3,216.5,8.3,802,10496,0.10,2.20,67.95,1.176,6,0.114,0.046,2789,2626,1711,0,0,0,0,0,0,26.56,26.58,24.49
$GC,10834,0.75,298.3,135.2,20.5,867,10841,0.15,2.17,0.00,0.000,4,0.166,0.034,2755,1158,1707,0,0,0,0,0,0,25.96,26.10,28.83
$GC,10876,0.75,298.3,127.2,14.1,874,10885,0.00,2.25,0.00,0.000,6,0.000,0.042,2755,2615,1705,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11229,0.75,298.3,70.3,17.5,935,11235,0.00,2.17,0.00,0.000,4,0.000,0.034,2762,1151,1706,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11328,0.77,315.7,57.8,10.4,952,11343,0.00,2.22,7.05,0.262,6,0.000,0.041,2762,2611,1638,0,0,0,0,0,0,28.83,26.35,25.98
$GC,11689,0.77,315.7,12.7,11.6,1014,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2611,1637,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11758,end climb,SURFACE_DEPTH_REACHED
$STATE,11759,begin surface coast
$FINISH,0.7,1.022840
$STATE,11794,end surface coast,CONTROL_FINISHED_OK
$STATE,11794,begin surface
$SM_CCo,11808,23.00,0.132,0,0,1397,375.06
$SM_GC,1.30,6.40,0.00,23.00,0.036,0.000,0.132,196,2612,1397,-7.15,0.06,375.06,0,0,0,0,0,0,26.46,28.83,26.25
$IRIDIUM_FIX,2138.81,12249.27,210312,202028
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.95
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,12.530
$10V_AH,10.3,8.197
$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,16.975,87.650,471.450,23.000,0.000,30.509,41.264,160.623,0.000,0.000,40.781,2436.687,6532.150,540.114,2432.988,253.885,0.000,1579.665,0.000,2104.306,0.000,0.541,0.000
$DEVICE_MAMPS,301.410,97.155,1708.245,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.797,1634.599,505.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70297,1032
$CAP_FILE_SIZE,118256,0
$CFSIZE,260165632,218390528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,024637,2149.363,12252.047,23,1.8,23,-2.8