version: 66.10
glider: 176
mission: 5
dive: 128
start: 4 4 112 18 9 16
data:
$ID,176
$MISSION,5
$DIVE,128
$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,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$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,-7589.7783
$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,2500
$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,4
$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
$GPS1,040412,180137,1949.089,12323.865,40,1.6,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.9
$GPS2,040412,180849,1949.192,12324.074,8,1.6,13,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1930.000,12325.000
$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,217.2,35580,-13.1,-7.500
$D_GRID,5133
$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,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.10,0.000,2,0.000,0.000,177,2660,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.1,-6.8,7,105,8.68,2.22,-23.48,0.000,4,0.237,0.043,2345,1156,3526,0,0,0,0,0,0,25.54,26.13,26.47
$GC,268,-0.51,-146.0,53.4,-18.7,43,275,0.08,2.25,0.00,0.000,6,0.198,0.046,2350,2631,3528,0,0,0,0,0,0,26.01,26.15,28.83
$GC,579,-0.51,-146.0,132.5,-23.8,104,586,0.00,2.12,0.00,0.000,4,0.000,0.028,2351,1160,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,624,-0.51,-146.0,142.2,-20.4,112,631,0.00,2.22,0.00,0.000,6,0.000,0.047,2347,2626,3528,0,0,0,0,0,0,28.83,26.27,28.83
$GC,933,-0.51,-146.0,214.5,-23.1,167,942,0.00,2.10,0.00,0.000,4,0.000,0.028,2347,1151,3528,0,0,0,0,0,0,28.83,26.45,28.83
$GC,988,-0.51,-146.0,224.5,-19.2,172,995,0.08,2.22,0.00,0.000,6,0.192,0.045,2354,2631,3529,0,0,0,0,0,0,26.23,26.37,28.83
$GC,1294,-0.51,-146.0,283.0,-18.1,203,1303,0.00,2.12,0.00,0.000,4,0.000,0.028,2354,1151,3529,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1328,-0.51,-146.0,288.3,-17.3,206,1335,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2632,3529,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1637,-0.51,-146.0,343.0,-16.9,237,1646,0.00,2.08,0.00,0.000,4,0.000,0.027,2348,1158,3528,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1712,-0.51,-146.0,353.2,-12.4,244,1718,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2635,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2019,-0.51,-146.0,394.8,-12.8,275,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2636,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-0.51,-146.0,431.9,-11.7,305,2331,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1157,3526,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2455,-0.51,-146.0,446.0,-10.1,318,2459,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2636,3525,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2766,-0.51,-146.0,483.9,-12.7,349,2775,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1145,3523,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2829,-0.51,-146.0,491.2,-11.2,355,2838,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2633,3522,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3140,-0.51,-146.0,527.4,-11.0,386,3149,0.00,2.08,0.00,0.000,4,0.000,0.025,2344,1149,3520,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3171,-0.51,-146.0,531.0,-11.1,389,3181,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2634,3520,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3481,-0.51,-146.0,565.4,-10.8,420,3485,0.00,1.70,0.00,0.000,4,0.000,0.055,2337,3766,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3512,-0.51,-146.0,568.7,-10.6,423,3516,0.05,1.70,0.00,0.000,6,0.212,0.024,2354,2509,3516,0,0,0,0,0,0,26.46,26.66,28.83
$GC,3824,-0.51,-146.0,597.4,-8.9,454,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2502,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.51,-146.0,625.7,-8.9,471,4138,0.00,1.90,0.00,0.000,4,0.000,0.026,2354,1145,3511,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4168,-0.51,-146.0,627.8,-9.0,472,4175,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2621,3512,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4476,-0.51,-146.0,657.9,-9.7,488,4482,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1140,3510,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4503,-0.51,-146.0,659.8,-9.6,489,4507,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2631,3510,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4811,-0.51,-146.0,690.4,-9.9,504,4816,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1155,3506,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4851,-0.51,-146.0,694.2,-9.8,506,4857,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2634,3506,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5171,-0.51,-146.0,726.6,-10.2,522,5177,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1149,3503,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5213,-0.51,-146.0,730.6,-9.9,524,5217,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2632,3503,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5526,-0.51,-146.0,760.7,-9.3,540,5531,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1153,3501,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5573,-0.51,-146.0,764.5,-9.3,542,5577,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3501,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5881,-0.51,-146.0,791.5,-8.4,557,5886,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1154,3498,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5929,-0.51,-146.0,794.7,-8.3,559,5933,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2633,3498,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6236,-0.51,-146.0,819.0,-7.8,574,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2633,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6535,-0.51,-146.0,842.2,-8.1,589,6541,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1150,3495,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6599,-0.51,-146.0,846.8,-7.7,592,6603,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2628,3494,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6911,-0.51,-146.0,872.6,-8.4,608,6917,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1146,3492,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6939,-0.51,-146.0,874.3,-8.4,609,6943,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2625,3492,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7246,-0.51,-146.0,900.5,-8.2,624,7252,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1144,3491,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7314,-0.51,-146.0,905.2,-8.0,627,7318,0.00,2.28,0.00,0.000,6,0.000,0.049,2345,2626,3490,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7622,-0.51,-146.0,931.4,-8.2,642,7628,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1159,3488,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7645,-0.51,-146.0,933.1,-8.3,643,7649,0.00,2.28,0.00,0.000,6,0.000,0.049,2345,2634,3488,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7956,-0.51,-146.0,958.9,-8.2,659,7962,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1150,3487,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7990,-0.51,-146.0,960.6,-8.3,660,7997,0.00,2.28,0.00,0.000,6,0.000,0.049,2345,2628,3487,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8296,-0.51,-146.0,987.1,-8.7,676,8302,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1150,3486,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,8335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8335,begin apogee
$GC,8342,-0.17,0.0,990.4,-8.6,678,8468,0.32,0.00,121.20,1.743,6,0.110,0.000,2460,2519,2929,0,0,0,0,0,0,26.08,28.83,23.54
$STATE,8471,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8473,0.51,146.0,995.4,0.0,684,8622,0.60,2.17,138.52,1.704,4,0.048,0.058,2703,3763,2333,0,0,0,0,0,0,24.87,23.93,22.85
$GC,8669,0.51,146.0,983.4,13.8,694,8673,0.20,2.03,0.00,0.000,6,0.204,0.026,2667,2458,2329,0,0,0,0,0,0,24.46,24.80,28.83
$GC,8974,0.51,146.0,940.8,12.9,709,8980,0.00,2.10,0.00,0.000,4,0.000,0.032,2675,1055,2323,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9023,0.51,146.0,936.0,12.5,711,9027,0.00,2.30,0.00,0.000,6,0.000,0.047,2676,2516,2321,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9330,0.51,146.0,893.3,13.7,726,9336,0.00,2.20,0.00,0.000,4,0.000,0.033,2686,1051,2319,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9378,0.51,146.0,888.0,13.6,728,9383,0.08,2.30,0.00,0.000,6,0.205,0.047,2671,2525,2318,0,0,0,0,0,0,25.86,26.01,28.83
$GC,9685,0.51,146.0,846.4,13.1,743,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2526,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,0.51,146.0,806.4,13.6,758,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2526,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10285,0.51,146.0,766.0,13.6,773,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2525,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10585,0.51,146.0,725.8,13.0,788,10589,0.00,2.17,0.00,0.000,4,0.000,0.031,2681,1055,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10675,0.51,146.0,716.3,11.5,792,10680,0.05,2.25,0.00,0.000,6,0.225,0.046,2670,2517,2314,0,0,0,0,0,0,26.10,26.20,28.83
$GC,10982,0.51,146.0,680.2,11.4,807,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11282,0.51,146.0,647.2,11.1,822,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11582,0.51,146.0,614.7,10.8,837,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11882,0.51,146.0,584.8,9.7,859,11891,0.00,2.17,0.00,0.000,4,0.000,0.032,2681,1052,2312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11916,0.51,146.0,581.7,9.6,862,11924,0.03,2.28,0.00,0.000,6,0.182,0.046,2671,2515,2311,0,0,0,0,0,0,26.10,26.22,28.83
$GC,12224,0.51,146.0,550.8,10.5,893,12233,0.00,1.92,0.00,0.000,4,0.000,0.055,2671,3770,2312,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12258,0.51,146.0,547.4,10.4,896,12266,0.03,1.92,0.00,0.000,6,0.224,0.022,2672,2442,2312,0,0,0,0,0,0,26.27,26.48,28.83
$GC,12566,0.51,146.0,517.9,9.6,927,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2442,2311,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18634,end climb,SURFACE_DEPTH_REACHED
$STATE,18634,begin surface coast
$FINISH,0.7,1.022542
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
$SM_CCo,18706,39.30,0.128,0,0,1397,375.06
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.31
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.9,28.704
$10V_AH,10.2,16.896
$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,18.275,169.325,355.525,39.300,0.000,29.416,18.290,238.575,0.000,0.000,16.385,4442.017,10316.672,570.358,3433.621,387.231,0.000,2174.907,0.000,2943.416,0.000,0.542,0.000
$DEVICE_MAMPS,250.920,58.140,1742.670,127.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.491,2227.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,130793,1759
$CAP_FILE_SIZE,197739,0
$CFSIZE,260165632,211300352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080, 54.1,1
$GPS,040412,232255,1947.637,12323.544,41,1.1,41,-2.4