version: 66.10
glider: 176
mission: 5
dive: 49
start: 3 22 112 2 53 10
data:
$ID,176
$MISSION,5
$DIVE,49
$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,-7440.1128
$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
$GPS1,220312,024637,2149.363,12252.047,23,1.8,23,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.5
$GPS2,220312,025244,2149.414,12252.023,12,1.8,12,-2.8
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,DOGLEG
$TGT_LATLONG,2100.000,12250.000
$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,185.0,91582,-15.3,-11.000
$D_GRID,3832
$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,-0.65,-219.0,0.0,0.0,0,66,0.00,0.00,-47.95,0.000,2,0.000,0.000,191,2616,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.65,-219.0,3.4,-6.3,7,110,8.30,2.15,-21.62,0.000,4,0.240,0.043,2299,1161,3825,0,0,0,0,0,0,25.82,26.18,26.46
$GC,230,-0.65,-219.0,56.0,-21.5,34,239,0.03,2.28,0.00,0.000,6,0.203,0.050,2301,2621,3825,0,0,0,0,0,0,26.10,26.22,28.83
$GC,581,-0.65,-219.0,185.2,-36.1,95,588,0.00,2.10,0.00,0.000,4,0.000,0.028,2301,1151,3826,0,0,0,0,0,0,28.83,26.44,28.83
$GC,630,-0.65,-219.0,200.5,-26.3,103,639,0.03,2.22,0.00,0.000,6,0.208,0.049,2301,2628,3826,0,0,0,0,0,0,26.27,26.40,28.83
$GC,938,-0.65,-219.0,288.9,-28.9,134,947,0.00,2.08,0.00,0.000,4,0.000,0.027,2301,1156,3827,0,0,0,0,0,0,28.83,26.53,28.83
$GC,969,-0.65,-219.0,297.1,-27.3,137,979,0.05,2.20,0.00,0.000,6,0.249,0.047,2303,2626,3826,0,0,0,0,0,0,26.36,26.47,28.83
$GC,1279,-0.65,-219.0,375.4,-23.7,168,1283,0.00,2.10,0.00,0.000,4,0.000,0.026,2304,1145,3826,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1323,-0.65,-219.0,385.2,-24.2,172,1330,0.00,2.28,0.00,0.000,6,0.000,0.049,2303,2622,3827,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1631,-0.65,-219.0,452.1,-22.5,203,1639,0.00,2.08,0.00,0.000,4,0.000,0.025,2303,1141,3826,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1662,-0.65,-219.0,458.1,-20.1,206,1670,0.00,2.25,0.00,0.000,6,0.000,0.049,2303,2632,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1972,-0.65,-219.0,515.2,-18.3,237,1980,0.00,2.10,0.00,0.000,4,0.000,0.026,2303,1151,3826,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2063,-0.65,-219.0,529.1,-13.0,246,2072,0.00,2.22,0.00,0.000,6,0.000,0.047,2292,2627,3826,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2373,-0.65,-219.0,583.9,-18.1,277,2377,0.05,1.75,0.00,0.000,4,0.256,0.057,2296,3770,3824,0,0,0,0,0,0,26.64,26.58,28.83
$GC,2388,-0.65,-219.0,585.9,-17.8,278,2395,0.00,1.70,0.00,0.000,6,0.000,0.024,2296,2451,3823,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2695,-0.65,-219.0,634.3,-15.4,298,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2449,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-0.65,-219.0,681.0,-15.5,313,3002,0.00,1.98,0.00,0.000,4,0.000,0.057,2288,3765,3819,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3024,-0.65,-219.0,684.3,-15.8,314,3028,0.08,1.67,0.00,0.000,6,0.184,0.023,2308,2487,3819,0,0,0,0,0,0,26.54,26.74,28.83
$GC,3336,-0.65,-219.0,725.0,-12.1,330,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2475,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3636,-0.65,-219.0,761.0,-12.0,345,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2474,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-0.65,-219.0,795.7,-11.0,360,3943,0.00,1.98,0.00,0.000,4,0.000,0.059,2304,3779,3812,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3988,-0.65,-219.0,800.2,-11.0,362,3995,0.00,1.75,0.00,0.000,6,0.000,0.024,2304,2495,3811,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4298,-0.65,-219.0,836.9,-11.9,378,4303,0.00,1.95,0.00,0.000,4,0.000,0.058,2300,3765,3809,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4348,-0.65,-219.0,841.8,-12.0,380,4355,0.00,1.73,0.00,0.000,6,0.000,0.023,2300,2490,3809,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4657,-0.65,-219.0,883.9,-13.3,396,4662,0.00,1.98,0.00,0.000,4,0.000,0.059,2292,3784,3806,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4699,-0.65,-219.0,889.3,-13.4,398,4703,0.05,1.70,0.00,0.000,6,0.216,0.024,2306,2512,3806,0,0,0,0,0,0,26.57,26.74,28.83
$GC,5017,-0.65,-219.0,926.8,-11.2,414,5022,0.00,1.95,0.00,0.000,4,0.000,0.061,2304,3763,3804,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5058,-0.65,-219.0,931.2,-11.2,416,5062,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2506,3804,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5378,-0.65,-219.0,965.4,-10.7,432,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2503,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5614,begin apogee
$GC,5619,-0.17,0.0,990.9,-10.3,444,5818,0.45,0.05,188.73,1.710,6,0.117,0.051,2461,2546,2929,0,0,0,0,0,0,26.46,24.47,23.65
$STATE,5819,end apogee,CONTROL_FINISHED_OK
$STATE,5819,begin climb
$GC,5821,0.65,219.0,998.2,0.0,454,6039,0.73,2.25,206.00,1.681,4,0.052,0.034,2750,1166,2035,0,0,0,0,0,0,24.82,24.09,23.13
$GC,6081,0.65,219.0,965.0,21.8,467,6088,0.15,2.40,0.00,0.000,6,0.183,0.049,2714,2616,2029,0,0,0,0,0,0,24.66,24.81,28.83
$GC,6401,0.65,219.0,895.9,20.8,483,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2617,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,0.65,219.0,834.8,20.6,498,6707,0.00,2.15,0.00,0.000,4,0.000,0.032,2725,1158,2025,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6725,0.65,219.0,830.8,20.6,499,6729,0.00,2.25,0.00,0.000,6,0.000,0.048,2724,2618,2024,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7037,0.65,219.0,769.8,19.7,515,7043,0.00,2.15,0.00,0.000,4,0.000,0.032,2735,1162,2023,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7090,0.65,219.0,762.2,19.9,517,7098,0.10,2.25,0.00,0.000,6,0.194,0.047,2711,2620,2022,0,0,0,0,0,0,26.09,26.23,28.83
$GC,7397,0.65,219.0,702.5,18.6,533,7403,0.00,2.15,0.00,0.000,4,0.000,0.032,2722,1159,2022,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7521,0.65,219.0,683.2,15.3,539,7525,0.00,2.25,0.00,0.000,6,0.000,0.047,2722,2623,2021,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7832,0.65,219.0,623.7,18.8,555,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2624,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8132,0.65,219.0,570.3,18.7,578,8136,0.00,2.17,0.00,0.000,4,0.000,0.034,2734,1150,2020,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8227,0.65,219.0,554.9,16.5,587,8234,0.10,2.25,0.00,0.000,6,0.190,0.048,2710,2619,2019,0,0,0,0,0,0,26.28,26.43,28.83
$GC,8533,0.65,219.0,505.6,15.6,618,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2620,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,0.65,219.0,460.0,14.8,648,8846,0.05,2.12,0.00,0.000,4,0.181,0.031,2756,1165,2019,0,0,0,0,0,0,26.60,26.52,28.83
$GC,8982,0.65,219.0,438.1,13.6,662,8990,0.12,2.22,0.00,0.000,6,0.155,0.045,2715,2615,2018,0,0,0,0,0,0,26.30,26.49,28.83
$GC,9290,0.65,219.0,390.8,14.8,693,9298,0.00,2.15,0.00,0.000,4,0.000,0.034,2726,1157,2018,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9341,0.65,219.0,384.2,12.5,698,9351,0.05,2.22,0.00,0.000,6,0.222,0.044,2713,2628,2018,0,0,0,0,0,0,26.42,26.51,28.83
$GC,9652,0.65,219.0,346.5,11.3,729,9661,0.00,2.15,0.00,0.000,4,0.000,0.035,2723,1156,2018,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9704,0.69,247.8,341.1,10.0,734,9734,0.00,2.20,24.08,1.267,6,0.000,0.044,2723,2628,1917,0,0,0,0,0,0,28.83,26.53,25.10
$GC,10033,0.69,247.8,292.4,16.1,767,10037,0.00,2.17,0.00,0.000,4,0.000,0.034,2734,1162,1915,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10127,0.69,247.8,279.8,12.8,776,10134,0.00,2.25,0.00,0.000,6,0.000,0.044,2734,2619,1912,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10436,0.69,247.8,234.9,13.7,807,10445,0.00,2.12,0.00,0.000,4,0.000,0.032,2744,1162,1913,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10521,0.69,247.8,224.1,12.2,815,10528,0.10,2.20,0.00,0.000,6,0.176,0.044,2718,2618,1913,0,0,0,0,0,0,26.25,26.39,28.83
$GC,10842,0.69,247.8,182.0,12.6,858,10851,0.08,2.17,0.00,0.000,4,0.130,0.031,2777,1159,1914,0,0,0,0,0,0,26.55,26.48,28.83
$GC,10945,0.69,247.8,169.4,12.5,875,10952,0.17,2.17,0.00,0.000,6,0.153,0.042,2726,2622,1914,0,0,0,0,0,0,26.31,26.47,28.83
$GC,11296,0.69,247.8,130.9,11.1,936,11305,0.00,2.17,0.00,0.000,4,0.000,0.034,2734,1159,1915,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11390,0.75,299.7,121.8,9.2,951,11419,0.08,2.17,23.40,0.997,6,0.140,0.042,2784,2626,1705,0,0,0,0,0,0,26.47,26.53,25.34
$GC,11766,0.75,299.7,54.5,18.2,1015,11773,0.12,2.17,0.00,0.000,4,0.174,0.032,2754,1155,1703,0,0,0,0,0,0,26.20,26.34,28.83
$GC,11875,0.77,316.6,41.1,10.4,1033,11890,0.00,2.22,6.80,0.233,6,0.000,0.042,2754,2630,1635,0,0,0,0,0,0,28.83,26.36,26.05
$STATE,12187,end climb,SURFACE_DEPTH_REACHED
$STATE,12187,begin surface coast
$FINISH,0.7,1.016284
$STATE,12227,end surface coast,CONTROL_FINISHED_OK
$STATE,12227,begin surface
$SM_CCo,12241,22.75,0.133,0,0,1398,375.06
$SM_GC,1.82,6.38,0.00,22.75,0.037,0.000,0.133,190,2631,1398,-7.13,0.59,375.06,0,0,0,0,0,0,26.49,28.83,26.24
$IRIDIUM_FIX,2143.45,12252.48,210312,232332
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,12.748
$10V_AH,10.3,8.304
$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,17.250,105.325,449.000,22.750,0.000,27.284,41.895,183.612,0.000,0.000,15.111,2597.030,6638.388,555.235,2550.002,282.738,0.000,1634.044,0.000,2247.138,0.000,0.541,0.000
$DEVICE_MAMPS,256.275,83.385,1709.775,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.279,1740.722,582.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,73843,1094
$CAP_FILE_SIZE,126536,0
$CFSIZE,260165632,218304512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,061837,2147.897,12250.320,31,1.0,31,-2.8