version: 66.10
glider: 176
mission: 5
dive: 370
start: 5 28 112 10 51 53
data:
$ID,176
$MISSION,5
$DIVE,370
$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,420
$T_MISSION,480
$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,-8006.8296
$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
$GPS1,280512,104300,1932.665,12418.577,38,1.0,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.4
$GPS2,280512,105125,1932.621,12418.451,15,1.1,32,-2.4
$SPEED_LIMITS,0.136,0.255
$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,91.7,12420,-12.5,-7.857
$D_GRID,5626
$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,-0.52,-170.3,0.0,0.0,0,58,0.00,0.00,-40.15,0.000,2,0.000,0.000,202,2635,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.52,-170.3,3.3,-6.0,7,107,8.77,2.22,-24.98,0.000,4,0.235,0.042,2346,1141,3627,0,0,0,0,0,0,25.04,26.22,26.67
$GC,131,-0.52,-170.3,16.5,-29.5,15,138,0.05,2.28,0.00,0.000,6,0.242,0.048,2348,2624,3628,0,0,0,0,0,0,25.95,26.06,28.83
$GC,442,-0.52,-170.3,94.1,-20.5,76,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2625,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.52,-170.3,153.4,-19.1,137,760,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1137,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,792,-0.52,-170.3,159.9,-14.0,144,799,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2621,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1104,-0.52,-170.3,215.7,-18.2,197,1113,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1137,3629,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1156,-0.52,-170.3,224.0,-15.6,202,1165,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2618,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1466,-0.52,-170.3,273.7,-14.6,233,1475,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1136,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1490,-0.52,-170.3,276.9,-14.6,235,1498,0.03,2.28,0.00,0.000,6,0.083,0.044,2361,2618,3628,0,0,0,0,0,0,26.04,26.22,28.83
$GC,1798,-0.52,-170.3,309.7,-9.3,266,1803,0.10,2.12,0.00,0.000,4,0.104,0.024,2284,1145,3627,0,0,0,0,0,0,26.60,26.41,28.83
$GC,1842,-0.52,-170.3,314.5,-11.5,270,1850,0.17,2.28,0.00,0.000,6,0.119,0.046,2350,2617,3627,0,0,0,0,0,0,25.87,26.20,28.83
$GC,2150,-0.52,-170.3,342.3,-8.8,301,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2617,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-0.52,-170.3,371.1,-9.8,331,2456,0.00,1.73,0.00,0.000,4,0.000,0.054,2344,3771,3625,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2485,-0.52,-170.3,374.5,-10.1,334,2489,0.00,1.70,0.00,0.000,6,0.000,0.022,2344,2496,3624,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2796,-0.52,-170.3,406.9,-10.9,365,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2473,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.52,-170.3,439.1,-10.6,395,3108,0.00,1.95,0.00,0.000,4,0.000,0.054,2333,3766,3621,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3181,-0.52,-170.3,448.2,-10.6,403,3185,0.08,1.73,0.00,0.000,6,0.166,0.022,2357,2487,3621,0,0,0,0,0,0,26.34,26.58,28.83
$GC,3493,-0.52,-170.3,475.4,-8.1,434,3502,0.08,2.00,0.00,0.000,4,0.126,0.053,2279,3764,3619,0,0,0,0,0,0,26.61,26.08,28.83
$GC,3557,-0.52,-170.3,483.7,-14.9,440,3565,0.20,1.75,0.00,0.000,6,0.112,0.022,2353,2481,3617,0,0,0,0,0,0,26.01,26.54,28.83
$GC,3865,-0.52,-170.3,510.8,-8.1,471,3868,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3770,3617,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3906,-0.52,-170.3,514.3,-8.6,475,3909,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2513,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4218,-0.52,-170.3,539.7,-7.9,506,4222,0.00,1.98,0.00,0.000,4,0.000,0.057,2348,3765,3614,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4280,-0.52,-170.3,544.4,-7.4,512,4284,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2516,3613,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4593,-0.52,-170.3,565.1,-5.7,543,4601,0.00,1.95,0.00,0.000,4,0.000,0.057,2348,3764,3611,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4665,-0.52,-170.3,569.4,-5.5,550,4668,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2508,3610,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4979,-0.52,-170.3,589.0,-7.3,581,4988,0.00,1.98,0.00,0.000,4,0.000,0.057,2348,3778,3609,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5013,-0.52,-170.3,591.7,-7.6,584,5020,0.00,1.77,0.00,0.000,6,0.000,0.022,2348,2487,3608,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5321,-0.52,-170.3,619.5,-9.5,605,5325,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3763,3606,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5371,-0.52,-170.3,623.3,-9.4,607,5374,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2513,3605,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5682,-0.52,-170.3,652.9,-8.8,623,5688,0.00,1.98,0.00,0.000,4,0.000,0.058,2348,3769,3603,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5722,-0.52,-170.3,656.4,-8.7,625,5725,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2506,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6044,-0.52,-170.3,681.6,-7.4,641,6050,0.00,1.98,0.00,0.000,4,0.000,0.058,2348,3751,3601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6096,-0.52,-170.3,684.5,-7.4,643,6103,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2489,3600,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6403,-0.52,-170.3,706.7,-6.8,659,6409,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3763,3599,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6457,-0.52,-170.3,709.7,-7.0,661,6465,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2498,3598,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6763,-0.52,-170.3,731.9,-7.0,677,6769,0.00,2.00,0.00,0.000,4,0.000,0.059,2347,3770,3597,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6807,-0.52,-170.3,735.0,-7.1,679,6811,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2512,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7129,-0.52,-170.3,758.0,-7.0,695,7134,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3769,3595,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7171,-0.52,-170.3,760.8,-6.8,697,7174,0.00,1.77,0.00,0.000,6,0.000,0.023,2348,2484,3595,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7490,-0.52,-170.3,782.5,-6.6,713,7495,0.00,2.00,0.00,0.000,4,0.000,0.059,2348,3759,3593,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7528,-0.52,-170.3,785.1,-6.6,715,7532,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2507,3593,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7851,-0.52,-170.3,806.2,-6.5,731,7856,0.00,1.98,0.00,0.000,4,0.000,0.059,2348,3756,3592,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7902,-0.52,-170.3,808.8,-6.5,733,7910,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2490,3591,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8210,-0.52,-170.3,829.4,-6.6,749,8215,0.00,2.00,0.00,0.000,4,0.000,0.059,2348,3768,3590,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8238,-0.52,-170.3,830.7,-6.7,750,8242,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2514,3589,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8550,-0.52,-170.3,852.1,-6.8,766,8556,0.00,2.03,0.00,0.000,4,0.000,0.059,2348,3771,3588,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8598,-0.52,-170.3,854.8,-6.5,768,8601,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2521,3588,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8911,-0.52,-170.3,875.6,-6.4,784,8916,0.00,1.98,0.00,0.000,4,0.000,0.060,2347,3771,3587,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8942,-0.52,-170.3,876.7,-6.3,785,8950,0.00,1.75,0.00,0.000,6,0.000,0.023,2347,2507,3587,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9250,-0.52,-170.3,897.2,-6.5,801,9256,0.00,1.98,0.00,0.000,4,0.000,0.060,2348,3761,3586,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9284,-0.52,-170.3,898.5,-6.6,802,9290,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2503,3585,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9593,-0.52,-170.3,919.0,-6.4,818,9599,0.00,1.98,0.00,0.000,4,0.000,0.060,2348,3773,3585,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9621,-0.52,-170.3,920.4,-6.4,819,9625,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2519,3584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9933,-0.52,-170.3,939.7,-5.7,835,9937,0.00,1.98,0.00,0.000,4,0.000,0.060,2348,3761,3584,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9968,-0.52,-170.3,941.0,-5.6,836,9975,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2503,3583,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10276,-0.52,-170.3,958.8,-5.5,852,10282,0.00,1.98,0.00,0.000,4,0.000,0.060,2347,3769,3582,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10308,-0.52,-170.3,959.8,-5.4,853,10316,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2493,3582,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10615,-0.52,-170.3,978.4,-6.1,869,10621,0.00,2.00,0.00,0.000,4,0.000,0.060,2348,3765,3582,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10644,-0.52,-170.3,979.6,-6.0,870,10648,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2514,3582,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10818,-0.17,0.0,990.7,-6.1,879,10977,0.32,0.00,147.10,1.717,6,0.099,0.000,2467,2490,2928,0,0,0,0,0,0,25.93,28.83,22.25
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10978,begin climb
$GC,10980,0.52,170.3,998.3,0.0,887,11158,0.62,2.25,167.77,1.672,4,0.050,0.054,2704,3768,2233,0,0,0,0,0,0,24.53,23.63,21.80
$GC,11201,0.52,170.3,984.1,14.3,898,11207,0.15,2.05,0.00,0.000,6,0.194,0.024,2679,2441,2229,0,0,0,0,0,0,24.43,24.80,28.83
$GC,11522,0.52,170.3,943.7,12.2,914,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2437,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11821,0.52,170.3,909.1,11.4,929,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2437,2221,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20817,end climb,SURFACE_DEPTH_REACHED
$STATE,20817,begin surface coast
$FINISH,0.7,1.002063
$STATE,20910,end surface coast,CONTROL_FINISHED_OK
$STATE,20910,begin surface
$SM_CCo,20985,0.00,0.000,0,0,1245,413.33
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$IRIDIUM_FIX,1925.22,12417.56,280512,040418
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.43
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.8,77.823
$10V_AH,9.9,47.208
$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
$DEVICE_SECS,19.050,181.450,463.475,0.000,0.000,25.644,39.826,260.261,0.000,0.000,35.160,4821.016,11712.174,653.674,3796.657,470.265,0.000,2391.379,0.000,3187.780,0.000,0.541,0.000
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$SENSOR_SECS,1306.249,2490.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,140430,1914
$CAP_FILE_SIZE,220556,0
$CFSIZE,260165632,185581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,242.0,1
$GPS,280512,164237,1932.138,12420.400,30,0.9,30,-2.4