version: 66.10
glider: 176
mission: 5
dive: 52
start: 3 22 112 13 20 28
data:
$ID,176
$MISSION,5
$DIVE,52
$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,-7443.8818
$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
$GPS1,220312,131337,2145.935,12247.397,37,1.0,37,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.0
$GPS2,220312,132002,2145.950,12247.273,15,1.1,15,-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,179.6,85230,-15.3,-11.000
$D_GRID,4841
$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,14,begin dive
$GC,16,-0.65,-219.0,0.0,0.0,0,59,0.00,0.00,-40.42,0.000,2,0.000,0.000,190,2631,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.65,-219.0,3.1,-5.3,6,111,8.38,2.17,-29.08,0.000,4,0.243,0.041,2299,1149,3825,0,0,0,0,0,0,25.78,26.17,26.44
$GC,163,-0.65,-219.0,36.4,-40.5,22,172,0.05,2.30,0.00,0.000,6,0.172,0.050,2305,2621,3826,0,0,0,0,0,0,26.01,26.15,28.83
$GC,516,-0.65,-219.0,170.5,-36.8,83,522,0.00,2.10,0.00,0.000,4,0.000,0.025,2305,1150,3826,0,0,0,0,0,0,28.83,26.42,28.83
$GC,553,-0.65,-219.0,182.0,-28.0,89,560,0.00,2.28,0.00,0.000,6,0.000,0.050,2304,2633,3826,0,0,0,0,0,0,28.83,26.36,28.83
$GC,869,-0.65,-219.0,274.2,-29.7,125,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2633,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.65,-219.0,352.7,-24.5,155,1179,0.00,2.10,0.00,0.000,4,0.000,0.025,2304,1148,3827,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1222,-0.65,-219.0,363.1,-19.4,160,1231,0.00,2.25,0.00,0.000,6,0.000,0.047,2292,2626,3827,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1531,-0.65,-219.0,431.9,-22.7,191,1541,0.03,2.10,0.00,0.000,4,0.315,0.023,2303,1143,3826,0,0,0,0,0,0,26.60,26.62,28.83
$GC,1617,-0.65,-219.0,446.5,-15.8,199,1624,0.05,2.25,0.00,0.000,6,0.224,0.047,2306,2632,3826,0,0,0,0,0,0,26.46,26.55,28.83
$GC,1923,-0.65,-219.0,506.1,-18.9,230,1927,0.00,1.73,0.00,0.000,4,0.000,0.057,2298,3765,3826,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1944,-0.65,-219.0,510.2,-19.5,232,1948,0.00,1.67,0.00,0.000,6,0.000,0.024,2298,2498,3826,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2255,-0.65,-219.0,568.1,-17.7,263,2258,0.00,1.95,0.00,0.000,4,0.000,0.056,2288,3777,3824,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2273,-0.65,-219.0,571.1,-17.5,264,2281,0.05,1.73,0.00,0.000,6,0.151,0.024,2308,2498,3824,0,0,0,0,0,0,26.50,26.73,28.83
$GC,2592,-0.65,-219.0,618.0,-14.3,290,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2497,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.65,-219.0,663.7,-15.2,305,2895,0.00,1.95,0.00,0.000,4,0.000,0.057,2304,3772,3820,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2970,-0.65,-219.0,674.5,-14.2,309,2973,0.00,1.67,0.00,0.000,6,0.000,0.024,2304,2494,3819,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3287,-0.65,-219.0,718.0,-13.4,325,3291,0.00,1.92,0.00,0.000,4,0.000,0.056,2294,3765,3817,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3316,-0.65,-219.0,720.4,-13.6,326,3323,0.03,1.73,0.00,0.000,6,0.104,0.024,2320,2494,3817,0,0,0,0,0,0,26.51,26.76,28.83
$GC,3624,-0.65,-219.0,757.9,-11.2,342,3628,0.10,1.92,0.00,0.000,4,0.111,0.054,2260,3763,3814,0,0,0,0,0,0,26.70,26.56,28.83
$GC,3648,-0.65,-219.0,761.1,-11.8,343,3653,0.12,1.73,0.00,0.000,6,0.132,0.024,2306,2508,3814,0,0,0,0,0,0,26.46,26.76,28.83
$GC,3966,-0.65,-219.0,801.9,-12.1,359,3969,0.00,1.95,0.00,0.000,4,0.000,0.059,2304,3773,3812,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4022,-0.65,-219.0,808.5,-11.9,362,4026,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2503,3812,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4343,-0.65,-219.0,845.0,-11.4,378,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2500,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4644,-0.65,-219.0,878.4,-10.7,393,4648,0.00,1.98,0.00,0.000,4,0.000,0.059,2300,3766,3806,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4674,-0.65,-219.0,880.8,-10.7,394,4677,0.00,1.67,0.00,0.000,6,0.000,0.025,2300,2513,3806,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4986,-0.65,-219.0,915.9,-11.1,410,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2497,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.65,-219.0,949.7,-11.1,425,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2497,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.65,-219.0,983.3,-10.8,440,5591,0.00,1.95,0.00,0.000,4,0.000,0.058,2292,3764,3800,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5658,-0.65,-219.0,989.8,-11.1,443,5665,0.00,1.73,0.00,0.000,6,0.000,0.024,2293,2505,3800,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5684,begin apogee
$GC,5690,-0.17,0.0,994.1,-10.8,445,5888,0.47,0.08,188.85,1.717,6,0.119,0.097,2458,2546,2928,0,0,0,0,0,0,26.44,24.50,23.63
$STATE,5889,end apogee,CONTROL_FINISHED_OK
$STATE,5889,begin climb
$GC,5892,0.65,219.0,1002.4,0.0,455,6107,0.73,2.15,205.88,1.689,4,0.051,0.055,2737,3768,2035,0,0,0,0,0,0,24.79,24.01,23.08
$GC,6153,0.65,219.0,967.4,24.3,468,6158,0.15,1.88,0.00,0.000,6,0.205,0.025,2712,2551,2032,0,0,0,0,0,0,24.63,24.87,28.83
$GC,6466,0.65,219.0,898.5,19.8,484,6471,0.00,2.08,0.00,0.000,4,0.000,0.034,2722,1163,2027,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6538,0.65,219.0,887.6,18.7,487,6546,0.00,2.30,0.00,0.000,6,0.000,0.050,2722,2621,2025,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6847,0.65,219.0,823.1,19.4,503,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2621,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,0.65,219.0,764.1,21.0,518,7151,0.00,2.20,0.00,0.000,4,0.000,0.031,2734,1147,2023,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7208,0.65,219.0,752.5,19.9,521,7213,0.10,2.25,0.00,0.000,6,0.194,0.048,2710,2616,2021,0,0,0,0,0,0,26.09,26.24,28.83
$GC,7521,0.65,219.0,688.6,20.0,537,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2616,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7822,0.65,219.0,629.1,18.7,552,7828,0.00,2.12,0.00,0.000,4,0.000,0.031,2721,1162,2021,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7924,0.65,219.0,613.1,15.1,557,7928,0.00,2.22,0.00,0.000,6,0.000,0.048,2721,2624,2020,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8237,0.65,219.0,556.3,20.1,584,8240,0.00,1.73,0.00,0.000,4,0.000,0.056,2721,3764,2020,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8289,0.65,219.0,546.3,19.1,589,8293,0.08,1.70,0.00,0.000,6,0.236,0.024,2716,2548,2020,0,0,0,0,0,0,26.28,26.51,28.83
$GC,8600,0.65,219.0,493.0,17.0,620,8604,0.00,2.05,0.00,0.000,4,0.000,0.036,2726,1151,2019,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8717,0.65,219.0,474.6,15.0,631,8726,0.05,2.22,0.00,0.000,6,0.229,0.046,2714,2618,2019,0,0,0,0,0,0,26.36,26.46,28.83
$GC,9027,0.65,219.0,426.5,14.8,662,9030,0.00,1.73,0.00,0.000,4,0.000,0.053,2714,3766,2018,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9081,0.65,219.0,418.1,17.3,667,9088,0.00,1.73,0.00,0.000,6,0.000,0.025,2723,2543,2019,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9387,0.65,219.0,371.3,16.1,698,9391,0.00,2.00,0.00,0.000,4,0.000,0.035,2733,1157,2019,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9567,0.65,219.0,347.5,13.6,715,9575,0.05,2.22,0.00,0.000,6,0.160,0.044,2715,2612,2018,0,0,0,0,0,0,26.36,26.51,28.83
$GC,9875,0.65,219.0,305.8,13.5,746,9878,0.00,1.75,0.00,0.000,4,0.000,0.053,2715,3777,2018,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9956,0.65,219.0,293.0,15.5,754,9959,0.00,1.75,0.00,0.000,6,0.000,0.026,2724,2543,2019,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10267,0.65,219.0,251.2,12.9,785,10270,0.00,2.03,0.00,0.000,4,0.000,0.034,2734,1150,2020,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10364,0.66,226.8,240.4,10.7,794,10375,0.08,2.20,5.45,1.024,6,0.188,0.043,2716,2619,2003,0,0,0,0,0,0,26.44,26.55,25.48
$GC,10674,0.67,237.0,205.6,10.7,825,10694,0.05,2.20,11.20,1.104,4,0.179,0.034,2767,1163,1961,0,0,0,0,0,0,26.62,26.29,25.41
$GC,10728,0.67,237.0,198.4,14.0,831,10736,0.17,2.20,0.00,0.000,6,0.155,0.043,2717,2625,1960,0,0,0,0,0,0,26.16,26.29,28.83
$GC,11079,0.68,238.9,155.8,10.9,892,11088,0.05,1.75,0.00,0.000,4,0.178,0.051,2760,3767,1960,0,0,0,0,0,0,26.51,26.38,28.83
$GC,11114,0.68,238.9,151.1,14.6,897,11121,0.17,1.75,0.00,0.000,6,0.169,0.026,2720,2534,1961,0,0,0,0,0,0,26.25,26.48,28.83
$GC,11462,0.75,300.1,116.7,8.9,958,11500,0.12,2.05,28.35,0.987,4,0.096,0.033,2802,1160,1702,0,0,0,0,0,0,26.54,25.97,25.22
$GC,11541,0.75,300.1,105.4,15.3,970,11550,0.17,2.28,0.00,0.000,6,0.138,0.041,2744,2624,1699,0,0,0,0,0,0,25.91,26.04,28.83
$GC,11896,0.75,300.1,57.8,13.4,1031,11903,0.00,2.17,0.00,0.000,4,0.000,0.034,2749,1160,1698,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11984,0.78,321.4,47.4,10.3,1046,12000,0.03,2.22,8.50,0.237,6,0.118,0.042,2793,2614,1615,0,0,0,0,0,0,26.24,26.33,25.98
$STATE,12246,end climb,SURFACE_DEPTH_REACHED
$STATE,12246,begin surface coast
$FINISH,0.6,1.022681
$STATE,12275,end surface coast,CONTROL_FINISHED_OK
$STATE,12275,begin surface
$SM_CCo,12289,20.48,0.133,0,0,1396,375.06
$SM_GC,1.77,6.50,0.00,20.48,0.037,0.000,0.133,176,2617,1396,-7.15,0.20,375.06,0,0,0,0,0,0,26.46,28.83,26.19
$IRIDIUM_FIX,2138.81,12244.11,220312,060624
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.30
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.1,13.432
$10V_AH,10.2,8.619
$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,17.775,103.725,448.225,20.475,0.000,27.081,25.944,210.705,0.000,0.000,17.965,2622.844,6644.963,499.850,2634.594,283.852,0.000,1611.914,0.000,2304.479,0.000,0.541,0.000
$DEVICE_MAMPS,315.180,97.155,1717.425,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.794,1743.001,585.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,73648,1096
$CAP_FILE_SIZE,131520,0
$CFSIZE,260165632,218083328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220312,164637,2144.447,12245.812,26,1.5,26,-2.8