version: 66.10
glider: 176
mission: 5
dive: 130
start: 4 5 112 4 45 10
data:
$ID,176
$MISSION,5
$DIVE,130
$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,-7592.2979
$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
$GPS1,050412,043707,1944.914,12324.685,31,0.9,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.1
$GPS2,050412,044444,1944.827,12324.909,14,0.9,14,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,37.0,110839,-13.1,-7.500
$D_GRID,5132
$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,14,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,61,0.00,0.00,-42.50,0.000,2,0.000,0.000,177,2539,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.51,-146.0,3.2,-6.6,7,101,8.65,1.95,-21.33,0.000,4,0.236,0.063,2336,3779,3527,0,0,0,0,0,0,25.53,26.04,26.46
$GC,218,-0.51,-146.0,53.1,-30.0,30,226,0.08,1.75,0.00,0.000,6,0.198,0.026,2353,2548,3526,0,0,0,0,0,0,26.03,26.25,28.83
$GC,529,-0.51,-146.0,141.9,-21.7,91,536,0.00,1.98,0.00,0.000,4,0.000,0.028,2354,1157,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,684,-0.51,-146.0,168.2,-15.7,121,692,0.00,2.22,0.00,0.000,6,0.000,0.047,2347,2626,3526,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1000,-0.51,-146.0,234.0,-21.0,167,1008,0.00,2.10,0.00,0.000,4,0.000,0.028,2347,1150,3527,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1063,-0.51,-146.0,244.9,-16.8,173,1072,0.03,2.28,0.00,0.000,6,0.185,0.044,2347,2636,3527,0,0,0,0,0,0,26.25,26.39,28.83
$GC,1371,-0.51,-146.0,299.2,-16.9,204,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2636,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1674,-0.51,-146.0,348.5,-15.7,234,1683,0.00,2.08,0.00,0.000,4,0.000,0.027,2347,1160,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1776,-0.51,-146.0,362.0,-11.7,244,1785,0.00,2.20,0.00,0.000,6,0.000,0.045,2348,2632,3526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2085,-0.51,-146.0,402.5,-12.6,275,2094,0.00,2.12,0.00,0.000,4,0.000,0.028,2347,1151,3525,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2180,-0.51,-146.0,413.0,-10.7,284,2187,0.00,2.22,0.00,0.000,6,0.000,0.047,2344,2628,3526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2487,-0.51,-146.0,453.8,-14.0,315,2496,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1150,3523,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2508,-0.51,-146.0,456.6,-13.9,317,2513,0.08,2.22,0.00,0.000,6,0.184,0.047,2355,2629,3523,0,0,0,0,0,0,26.32,26.44,28.83
$GC,2820,-0.51,-146.0,490.6,-10.1,348,2829,0.05,2.10,0.00,0.000,4,0.175,0.025,2304,1153,3521,0,0,0,0,0,0,26.71,26.55,28.83
$GC,2854,-0.51,-146.0,494.2,-10.8,351,2862,0.12,2.25,0.00,0.000,6,0.122,0.047,2356,2621,3521,0,0,0,0,0,0,26.18,26.44,28.83
$GC,3162,-0.51,-146.0,525.9,-10.7,382,3167,0.05,2.12,0.00,0.000,4,0.177,0.024,2304,1144,3519,0,0,0,0,0,0,26.71,26.55,28.83
$GC,3264,-0.51,-146.0,539.9,-13.9,392,3274,0.20,2.25,0.00,0.000,6,0.141,0.046,2354,2635,3518,0,0,0,0,0,0,26.17,26.44,28.83
$GC,3574,-0.51,-146.0,575.2,-11.0,423,3583,0.00,2.12,0.00,0.000,4,0.000,0.027,2354,1145,3516,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3626,-0.51,-146.0,580.1,-9.5,428,3635,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3516,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3938,-0.51,-146.0,609.7,-9.4,454,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4236,-0.51,-146.0,638.5,-9.7,469,4241,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1154,3511,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4275,-0.51,-146.0,642.3,-9.4,471,4281,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2633,3511,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4596,-0.51,-146.0,671.6,-8.8,487,4602,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1149,3508,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4657,-0.51,-146.0,676.4,-8.4,490,4661,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2632,3507,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4979,-0.51,-146.0,703.4,-8.4,506,4983,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1144,3505,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5033,-0.51,-146.0,706.8,-8.2,508,5040,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2629,3505,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5341,-0.51,-146.0,732.3,-7.8,524,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-0.51,-146.0,756.2,-8.3,539,5647,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1141,3501,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5673,-0.51,-146.0,757.8,-8.4,540,5680,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2626,3500,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5980,-0.51,-146.0,784.6,-8.6,556,5986,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1152,3498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6029,-0.51,-146.0,787.9,-8.5,558,6033,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2633,3498,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6335,-0.51,-146.0,813.6,-8.2,573,6341,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1146,3496,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6395,-0.51,-146.0,818.5,-8.1,576,6399,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2628,3496,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6717,-0.51,-146.0,843.6,-7.7,592,6721,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1152,3493,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6752,-0.51,-146.0,845.4,-7.7,593,6760,0.00,2.30,0.00,0.000,6,0.000,0.049,2348,2630,3493,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7060,-0.51,-146.0,868.9,-7.0,609,7065,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1148,3492,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7099,-0.51,-146.0,871.8,-7.1,611,7105,0.00,2.28,0.00,0.000,6,0.000,0.049,2348,2626,3492,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7419,-0.51,-146.0,895.2,-7.6,627,7424,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1145,3490,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7459,-0.51,-146.0,898.3,-7.7,629,7466,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2634,3490,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7779,-0.51,-146.0,921.9,-7.5,645,7785,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1150,3488,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7807,-0.51,-146.0,923.3,-7.3,646,7811,0.00,2.28,0.00,0.000,6,0.000,0.049,2348,2625,3488,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8115,-0.51,-146.0,946.3,-7.4,661,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2625,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,-0.51,-146.0,968.8,-7.5,676,8420,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1145,3485,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8476,-0.51,-146.0,973.4,-7.8,679,8480,0.00,2.30,0.00,0.000,6,0.000,0.049,2347,2628,3485,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,8692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8692,begin apogee
$GC,8698,-0.17,0.0,990.1,-7.8,690,8827,0.32,0.12,120.97,1.739,6,0.111,0.103,2462,2533,2929,0,0,0,0,0,0,26.08,24.57,23.52
$STATE,8828,end apogee,CONTROL_FINISHED_OK
$STATE,8828,begin climb
$GC,8830,0.51,146.0,994.4,0.0,696,8979,0.60,2.47,138.10,1.702,4,0.051,0.034,2710,1060,2332,0,0,0,0,0,0,24.86,23.99,22.83
$GC,9017,0.51,146.0,984.1,12.5,706,9024,0.17,2.38,0.00,0.000,6,0.181,0.047,2669,2514,2327,0,0,0,0,0,0,24.42,24.63,28.83
$GC,9338,0.51,146.0,942.8,12.8,722,9342,0.00,1.98,0.00,0.000,4,0.000,0.057,2669,3773,2322,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9367,0.51,146.0,939.8,12.9,723,9370,0.00,1.95,0.00,0.000,6,0.000,0.026,2678,2456,2322,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9679,0.51,146.0,896.4,13.3,739,9685,0.00,2.05,0.00,0.000,4,0.000,0.054,2678,3767,2319,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9708,0.51,146.0,893.6,13.3,740,9712,0.10,1.92,0.00,0.000,6,0.225,0.025,2668,2451,2319,0,0,0,0,0,0,25.76,26.13,28.83
$GC,10014,0.51,146.0,854.3,12.2,755,10020,0.00,2.05,0.00,0.000,4,0.000,0.033,2674,1051,2318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10067,0.51,146.0,849.5,12.4,757,10075,0.00,2.28,0.00,0.000,6,0.000,0.047,2674,2516,2317,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10375,0.51,146.0,808.5,12.4,773,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2517,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10674,0.51,146.0,772.4,12.0,788,10680,0.00,2.17,0.00,0.000,4,0.000,0.032,2685,1046,2316,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10748,0.51,146.0,765.5,11.5,791,10755,0.08,2.28,0.00,0.000,6,0.202,0.047,2670,2519,2315,0,0,0,0,0,0,26.02,26.16,28.83
$GC,11054,0.51,146.0,729.5,11.1,807,11058,0.00,1.90,0.00,0.000,4,0.000,0.056,2670,3764,2315,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11098,0.51,146.0,725.1,11.6,809,11102,0.00,1.90,0.00,0.000,6,0.000,0.025,2679,2449,2315,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11411,0.51,146.0,689.1,10.5,825,11416,0.00,2.03,0.00,0.000,4,0.000,0.054,2679,3766,2314,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11458,0.51,146.0,684.1,11.5,827,11462,0.10,1.90,0.00,0.000,6,0.220,0.024,2668,2446,2313,0,0,0,0,0,0,25.99,26.40,28.83
$GC,11770,0.51,146.0,651.9,10.0,843,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2442,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12071,0.51,146.0,619.4,10.9,858,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2442,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12370,0.51,146.0,585.6,10.9,879,12379,0.00,2.05,0.00,0.000,4,0.000,0.033,2678,1052,2312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12395,0.51,146.0,583.3,10.6,881,12403,0.00,2.25,0.00,0.000,6,0.000,0.045,2678,2522,2311,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,19129,end climb,SURFACE_DEPTH_REACHED
$STATE,19129,begin surface coast
$FINISH,1.2,1.022435
$STATE,19171,end surface coast,CONTROL_FINISHED_OK
$STATE,19171,begin surface
$SM_CCo,19186,20.98,0.132,0,0,1397,375.06
$SM_GC,2.38,6.28,0.15,20.98,0.034,0.084,0.132,193,2663,1397,-7.14,-0.45,375.06,0,0,0,0,0,0,26.46,26.51,26.01
$IRIDIUM_FIX,1941.24,12323.62,040412,232352
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.62
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,22.8,29.051
$10V_AH,10.2,17.147
$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,19.075,186.825,371.350,20.975,0.000,39.161,22.009,252.207,0.250,0.000,17.172,4498.719,10642.087,583.814,3503.023,410.104,0.000,2237.692,0.000,3003.342,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,102.510,1738.845,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1212.959,2264.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,133918,1782
$CAP_FILE_SIZE,205072,0
$CFSIZE,260165632,211079168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030, 95.9,1
$GPS,050412,100630,1946.756,12326.537,39,1.7,39,-2.4