version: 66.10
glider: 176
mission: 5
dive: 361
start: 5 26 112 5 56 52
data:
$ID,176
$MISSION,5
$DIVE,361
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,380
$T_MISSION,420
$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,175
$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,163
$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,-7995.5044
$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,2514
$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,2600
$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,48
$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
$GPS1,260512,054625,1942.502,12402.477,56,1.7,56,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.1
$GPS2,260512,055625,1942.424,12402.269,11,1.6,11,-2.4
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,DOGLEG
$TGT_LATLONG,1930.000,12425.000
$TGT_RADIUS,10000.000
$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,81.9,45872,-14.0,-8.684
$D_GRID,5409
$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,17,-0.56,-170.3,0.0,0.0,0,58,0.00,0.00,-39.55,0.000,2,0.000,0.000,195,2655,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.56,-170.3,3.2,-6.0,7,103,8.82,1.73,-24.65,0.000,4,0.236,0.068,2322,3766,3626,0,0,0,0,0,0,25.10,26.06,26.66
$GC,151,-0.56,-170.3,29.6,-35.2,17,160,0.08,1.73,0.00,0.000,6,0.200,0.023,2340,2499,3627,0,0,0,0,0,0,26.14,26.41,28.83
$GC,479,-0.56,-170.3,106.4,-21.0,78,485,0.00,1.92,0.00,0.000,4,0.000,0.026,2341,1131,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,554,-0.56,-170.3,118.4,-13.1,92,560,0.00,2.25,0.00,0.000,6,0.000,0.043,2335,2625,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,865,-0.56,-170.3,179.6,-20.0,153,872,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1145,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,909,-0.56,-170.3,187.9,-15.1,161,917,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2619,3629,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1219,-0.56,-170.3,241.2,-17.6,199,1229,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1137,3628,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1252,-0.56,-170.3,246.4,-17.1,202,1261,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2626,3628,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1562,-0.56,-170.3,294.9,-16.7,233,1571,0.00,2.10,0.00,0.000,4,0.000,0.026,2332,1153,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1624,-0.56,-170.3,303.4,-11.6,239,1633,0.00,2.22,0.00,0.000,6,0.000,0.047,2331,2618,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1936,-0.56,-170.3,347.5,-14.4,270,1945,0.00,2.10,0.00,0.000,4,0.000,0.025,2331,1140,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1968,-0.56,-170.3,352.0,-14.1,273,1978,0.00,2.22,0.00,0.000,6,0.000,0.044,2331,2625,3625,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2277,-0.56,-170.3,392.1,-12.9,304,2286,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1147,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2340,-0.56,-170.3,398.9,-10.1,310,2349,0.00,2.20,0.00,0.000,6,0.000,0.044,2330,2612,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2649,-0.56,-170.3,434.0,-11.2,341,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2612,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.56,-170.3,468.4,-11.6,371,2960,0.00,2.08,0.00,0.000,4,0.000,0.025,2330,1142,3620,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2994,-0.56,-170.3,473.1,-10.9,375,3002,0.00,2.28,0.00,0.000,6,0.000,0.044,2330,2620,3620,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3302,-0.56,-170.3,507.2,-11.5,406,3311,0.00,2.12,0.00,0.000,4,0.000,0.025,2329,1144,3618,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3364,-0.56,-170.3,513.6,-9.9,412,3373,0.00,2.25,0.00,0.000,6,0.000,0.044,2330,2626,3617,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3675,-0.56,-170.3,545.9,-10.1,443,3684,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1145,3615,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3710,-0.56,-170.3,549.2,-10.3,446,3718,0.00,2.28,0.00,0.000,6,0.000,0.044,2330,2624,3615,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4018,-0.56,-170.3,578.7,-8.7,477,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2624,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.56,-170.3,603.5,-7.8,506,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2624,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.56,-170.3,627.7,-8.4,521,4634,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1141,3607,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4657,-0.56,-170.3,629.4,-8.6,522,4662,0.00,2.28,0.00,0.000,6,0.000,0.045,2329,2626,3607,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4963,-0.56,-170.3,657.7,-9.3,537,4966,0.00,1.73,0.00,0.000,4,0.000,0.057,2330,3766,3604,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5007,-0.56,-170.3,661.5,-9.3,539,5011,0.00,1.75,0.00,0.000,6,0.000,0.024,2329,2482,3603,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5326,-0.56,-170.3,688.8,-8.2,555,5332,0.00,1.98,0.00,0.000,4,0.000,0.055,2323,3765,3601,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5373,-0.56,-170.3,692.3,-8.4,557,5377,0.08,1.75,0.00,0.000,6,0.168,0.024,2346,2485,3601,0,0,0,0,0,0,26.29,26.53,28.83
$GC,5680,-0.56,-170.3,714.8,-6.9,572,5686,0.08,2.00,0.00,0.000,4,0.128,0.054,2279,3762,3599,0,0,0,0,0,0,26.59,25.97,28.83
$GC,5740,-0.56,-170.3,720.9,-9.5,575,5746,0.20,1.73,0.00,0.000,6,0.125,0.024,2344,2482,3598,0,0,0,0,0,0,26.03,26.52,28.83
$GC,6060,-0.56,-170.3,741.9,-6.3,591,6066,0.05,2.03,0.00,0.000,4,0.176,0.054,2280,3772,3596,0,0,0,0,0,0,26.60,25.96,28.83
$GC,6129,-0.56,-170.3,747.9,-9.2,594,6133,0.20,1.75,0.00,0.000,6,0.125,0.025,2346,2491,3595,0,0,0,0,0,0,26.02,26.51,28.83
$GC,6436,-0.56,-170.3,770.9,-7.3,609,6442,0.08,1.98,0.00,0.000,4,0.129,0.053,2279,3755,3594,0,0,0,0,0,0,26.58,25.96,28.83
$GC,6496,-0.56,-170.3,777.6,-10.3,612,6502,0.20,1.75,0.00,0.000,6,0.127,0.024,2344,2470,3593,0,0,0,0,0,0,26.01,26.53,28.83
$GC,6818,-0.56,-170.3,801.5,-6.8,628,6822,0.05,2.00,0.00,0.000,4,0.174,0.054,2281,3762,3592,0,0,0,0,0,0,26.60,25.94,28.83
$GC,6861,-0.56,-170.3,805.6,-8.0,630,6867,0.20,1.75,0.00,0.000,6,0.124,0.024,2346,2480,3591,0,0,0,0,0,0,26.01,26.52,28.83
$GC,7182,-0.56,-170.3,822.8,-4.4,646,7188,0.08,1.98,0.00,0.000,4,0.129,0.055,2288,3755,3590,0,0,0,0,0,0,26.58,25.89,28.83
$GC,7234,-0.56,-170.3,825.9,-5.8,648,7241,0.17,1.73,0.00,0.000,6,0.128,0.024,2343,2489,3590,0,0,0,0,0,0,26.03,26.50,28.83
$GC,7542,-0.56,-170.3,843.7,-5.8,664,7548,0.05,1.98,0.00,0.000,4,0.175,0.055,2287,3753,3588,0,0,0,0,0,0,26.59,25.89,28.83
$GC,7603,-0.56,-170.3,849.3,-8.6,667,7609,0.17,1.73,0.00,0.000,6,0.127,0.024,2345,2468,3587,0,0,0,0,0,0,26.04,26.51,28.83
$GC,7923,-0.56,-170.3,870.1,-6.2,683,7929,0.05,2.03,0.00,0.000,4,0.176,0.054,2287,3762,3587,0,0,0,0,0,0,26.59,25.87,28.83
$GC,7991,-0.56,-170.3,875.9,-8.8,686,7995,0.17,1.73,0.00,0.000,6,0.126,0.025,2344,2485,3586,0,0,0,0,0,0,26.03,26.49,28.83
$GC,8298,-0.56,-170.3,896.3,-6.1,701,8304,0.05,1.98,0.00,0.000,4,0.176,0.054,2288,3752,3585,0,0,0,0,0,0,26.59,25.84,28.83
$GC,8337,-0.56,-170.3,899.8,-7.1,703,8343,0.17,1.70,0.00,0.000,6,0.125,0.025,2345,2500,3585,0,0,0,0,0,0,26.03,26.49,28.83
$GC,8657,-0.56,-170.3,918.4,-5.5,719,8663,0.08,2.00,0.00,0.000,4,0.129,0.055,2287,3765,3583,0,0,0,0,0,0,26.57,25.83,28.83
$GC,8706,-0.56,-170.3,921.9,-6.8,721,8710,0.10,1.77,0.00,0.000,6,0.114,0.025,2344,2505,3583,0,0,0,0,0,0,26.00,26.48,28.83
$GC,9018,-0.56,-170.3,942.2,-6.4,737,9024,0.05,1.98,0.00,0.000,4,0.174,0.055,2288,3766,3582,0,0,0,0,0,0,26.58,25.81,28.83
$GC,9042,-0.56,-170.3,943.7,-6.7,738,9046,0.17,1.73,0.00,0.000,6,0.128,0.025,2345,2487,3581,0,0,0,0,0,0,26.00,26.48,28.83
$GC,9355,-0.56,-170.3,965.1,-6.6,754,9361,0.05,2.03,0.00,0.000,4,0.177,0.056,2290,3763,3581,0,0,0,0,0,0,26.58,25.77,28.83
$GC,9382,-0.56,-170.3,966.7,-6.8,755,9386,0.17,1.73,0.00,0.000,6,0.127,0.026,2348,2506,3581,0,0,0,0,0,0,25.99,26.46,28.83
$GC,9691,-0.56,-170.3,986.9,-6.0,770,9695,0.08,1.98,0.00,0.000,4,0.129,0.056,2291,3765,3581,0,0,0,0,0,0,26.56,25.77,28.83
$GC,9715,-0.56,-170.3,988.6,-6.2,771,9720,0.12,1.77,0.00,0.000,6,0.110,0.025,2341,2510,3580,0,0,0,0,0,0,26.01,26.46,28.83
$STATE,9731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9731,begin apogee
$GC,9737,-0.17,0.0,990.5,-7.0,772,9888,0.35,0.00,145.88,1.717,6,0.099,0.000,2470,2507,2928,0,0,0,0,0,0,25.94,28.83,22.34
$STATE,9889,end apogee,CONTROL_FINISHED_OK
$STATE,9890,begin climb
$GC,9891,0.56,170.3,996.6,0.0,779,10071,0.62,2.22,166.27,1.672,4,0.047,0.057,2715,3767,2233,0,0,0,0,0,0,24.47,23.66,21.89
$GC,10167,0.56,170.3,973.8,17.8,792,10174,0.15,1.98,0.00,0.000,6,0.199,0.027,2690,2459,2227,0,0,0,0,0,0,25.10,25.51,28.83
$GC,10475,0.56,170.3,929.8,13.4,808,10479,0.00,2.08,0.00,0.000,4,0.000,0.032,2700,1043,2222,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10509,0.56,170.3,927.0,13.3,809,10518,0.05,2.30,0.00,0.000,6,0.226,0.048,2689,2526,2219,0,0,0,0,0,0,26.00,26.08,28.83
$GC,10816,0.56,170.3,886.7,12.6,825,10822,0.00,1.92,0.00,0.000,4,0.000,0.055,2688,3776,2219,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10850,0.56,170.3,883.9,12.8,826,10857,0.00,1.95,0.00,0.000,6,0.000,0.025,2699,2439,2219,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11157,0.56,170.3,843.4,12.1,842,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2436,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11456,0.56,170.3,806.8,12.5,857,11460,0.00,2.08,0.00,0.000,4,0.000,0.056,2698,3770,2218,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11486,0.56,170.3,803.9,12.8,858,11491,0.10,1.90,0.00,0.000,6,0.210,0.024,2685,2445,2217,0,0,0,0,0,0,25.99,26.38,28.83
$GC,11792,0.56,170.3,766.0,11.8,873,11798,0.00,2.08,0.00,0.000,4,0.000,0.054,2684,3774,2217,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,19198,end climb,SURFACE_DEPTH_REACHED
$STATE,19198,begin surface coast
$FINISH,0.7,1.019604
$STATE,19236,end surface coast,CONTROL_FINISHED_OK
$STATE,19236,begin surface
$SM_CCo,19311,0.00,0.000,0,0,1369,382.42
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$IRIDIUM_FIX,1936.66,12342.04,260512,050538
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,21.9,76.032
$10V_AH,9.8,45.963
$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
$DEVICE_SECS,21.450,191.000,432.725,0.000,0.000,48.828,59.542,280.921,0.000,0.000,13.835,4347.000,10930.688,612.748,3539.115,449.653,0.000,2266.520,0.000,2936.436,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329728
$DATA_FILE_SIZE,127140,1709
$CAP_FILE_SIZE,211235,0
$CFSIZE,260165632,186646528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,234.7,1
$GPS,260512,111937,1942.147,12403.746,25,1.8,25,-2.4