version: 66.10
glider: 176
mission: 5
dive: 133
start: 4 5 112 21 4 39
data:
$ID,176
$MISSION,5
$DIVE,133
$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,-7596.0654
$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
$GPS1,050412,205625,1949.175,12333.237,36,1.8,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.0
$GPS2,050412,210414,1949.135,12333.344,13,1.4,13,-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,39.3,94161,-13.1,-7.500
$D_GRID,5208
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-46.42,0.000,2,0.000,0.000,182,2655,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.4,-7.2,8,104,8.68,0.00,-19.73,0.000,6,0.236,0.000,2344,2655,3526,0,0,0,0,0,0,25.49,28.83,26.43
$GC,409,-0.51,-146.0,105.7,-27.9,71,416,0.00,2.20,0.00,0.000,4,0.000,0.031,2344,1153,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,575,-0.51,-146.0,140.7,-18.8,100,582,0.08,2.25,0.00,0.000,6,0.198,0.045,2350,2635,3527,0,0,0,0,0,0,26.09,26.24,28.83
$GC,886,-0.51,-146.0,212.2,-23.0,156,895,0.00,2.12,0.00,0.000,4,0.000,0.028,2350,1151,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1000,-0.51,-146.0,230.5,-13.8,167,1007,0.00,2.25,0.00,0.000,6,0.000,0.045,2341,2634,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1309,-0.51,-146.0,285.3,-17.8,198,1318,0.00,2.12,0.00,0.000,4,0.000,0.028,2340,1153,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1421,-0.51,-146.0,302.8,-13.7,209,1431,0.08,2.22,0.00,0.000,6,0.192,0.045,2353,2629,3527,0,0,0,0,0,0,26.24,26.36,28.83
$GC,1730,-0.51,-146.0,350.5,-14.9,240,1734,0.00,2.10,0.00,0.000,4,0.000,0.028,2353,1158,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1803,-0.51,-146.0,359.5,-11.2,247,1812,0.00,2.20,0.00,0.000,6,0.000,0.046,2348,2621,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2112,-0.51,-146.0,401.7,-13.4,278,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2622,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2415,-0.51,-146.0,441.8,-12.6,308,2423,0.00,2.05,0.00,0.000,4,0.000,0.024,2348,1151,3525,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2466,-0.51,-146.0,448.2,-11.7,313,2476,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2634,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2776,-0.51,-146.0,484.4,-11.7,344,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2634,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3078,-0.51,-146.0,518.7,-11.6,374,3086,0.00,2.08,0.00,0.000,4,0.000,0.025,2348,1157,3521,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3139,-0.51,-146.0,525.3,-9.8,380,3148,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2628,3521,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3450,-0.51,-146.0,557.5,-10.6,411,3459,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1152,3519,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3523,-0.51,-146.0,564.7,-9.6,418,3531,0.00,2.22,0.00,0.000,6,0.000,0.047,2347,2625,3519,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3831,-0.51,-146.0,595.1,-10.2,449,3835,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1147,3517,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3862,-0.51,-146.0,598.1,-10.1,452,3866,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2626,3517,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4185,-0.51,-146.0,629.1,-9.5,469,4188,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1148,3514,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4219,-0.51,-146.0,631.3,-9.7,470,4226,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2620,3514,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4526,-0.51,-146.0,662.2,-10.0,486,4532,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1143,3512,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4569,-0.51,-146.0,665.9,-9.6,488,4573,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2618,3512,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4886,-0.51,-146.0,694.3,-8.6,504,4893,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1141,3509,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4954,-0.51,-146.0,699.2,-8.2,507,4958,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2627,3509,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5263,-0.51,-146.0,725.4,-8.2,522,5268,0.00,2.08,0.00,0.000,4,0.000,0.025,2345,1156,3507,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5309,-0.51,-146.0,728.7,-8.2,524,5313,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2626,3507,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5617,-0.51,-146.0,754.7,-8.2,539,5623,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1152,3504,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5641,-0.51,-146.0,756.4,-8.4,540,5645,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2632,3504,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5952,-0.51,-146.0,783.8,-9.0,556,5956,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1143,3502,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6015,-0.51,-146.0,789.2,-8.8,559,6020,0.00,2.25,0.00,0.000,6,0.000,0.048,2345,2625,3503,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6334,-0.51,-146.0,817.7,-8.8,575,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2626,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6636,-0.51,-146.0,844.0,-8.6,590,6642,0.00,2.08,0.00,0.000,4,0.000,0.025,2344,1158,3499,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6683,-0.51,-146.0,847.3,-8.6,592,6687,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2633,3499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6990,-0.51,-146.0,873.5,-8.3,607,6995,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1148,3496,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7029,-0.51,-146.0,876.7,-8.3,609,7035,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3496,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7350,-0.51,-146.0,902.5,-8.0,625,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7649,-0.51,-146.0,926.3,-7.9,640,7655,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1145,3494,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7690,-0.51,-146.0,929.4,-7.9,642,7694,0.00,2.28,0.00,0.000,6,0.000,0.049,2344,2625,3493,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8012,-0.51,-146.0,954.3,-8.0,658,8016,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1151,3492,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8042,-0.51,-146.0,956.1,-7.9,659,8046,0.00,2.25,0.00,0.000,6,0.000,0.049,2345,2625,3492,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8350,-0.51,-146.0,980.0,-7.6,674,8355,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1151,3490,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8377,-0.51,-146.0,981.5,-7.6,675,8381,0.00,2.28,0.00,0.000,6,0.000,0.049,2345,2625,3490,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,8502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8502,begin apogee
$GC,8507,-0.17,0.0,991.6,-7.5,681,8638,0.32,0.12,122.03,1.744,6,0.111,0.098,2459,2533,2929,0,0,0,0,0,0,26.04,24.56,23.49
$STATE,8639,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8641,0.51,146.0,995.4,0.0,687,8788,0.60,2.45,139.07,1.706,4,0.050,0.033,2709,1060,2332,0,0,0,0,0,0,24.85,23.94,22.78
$GC,8837,0.51,146.0,985.8,11.8,697,8845,0.17,2.40,0.00,0.000,6,0.180,0.046,2668,2515,2326,0,0,0,0,0,0,24.44,24.65,28.83
$GC,9143,0.51,146.0,944.8,12.6,713,9148,0.00,1.95,0.00,0.000,4,0.000,0.057,2667,3773,2322,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9175,0.51,146.0,942.0,12.9,714,9182,0.00,1.95,0.00,0.000,6,0.000,0.025,2677,2453,2321,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9483,0.51,146.0,897.0,14.5,730,9487,0.00,2.08,0.00,0.000,4,0.000,0.054,2677,3769,2319,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9506,0.51,146.0,893.6,14.8,731,9511,0.05,1.98,0.00,0.000,6,0.207,0.025,2672,2447,2319,0,0,0,0,0,0,25.79,26.11,28.83
$GC,9824,0.51,146.0,848.6,13.6,747,9830,0.00,2.05,0.00,0.000,4,0.000,0.054,2672,3765,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9885,0.51,146.0,839.1,15.1,750,9891,0.03,1.90,0.00,0.000,6,0.232,0.026,2673,2447,2317,0,0,0,0,0,0,26.03,26.21,28.83
$GC,10205,0.51,146.0,797.9,12.2,766,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2443,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10504,0.51,146.0,762.7,11.4,781,10505,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2442,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10805,0.51,146.0,727.3,11.4,796,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2442,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11104,0.51,146.0,693.8,11.4,811,11110,0.00,2.05,0.00,0.000,4,0.000,0.031,2683,1050,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11158,0.51,146.0,689.5,11.2,813,11166,0.08,2.28,0.00,0.000,6,0.194,0.047,2667,2524,2314,0,0,0,0,0,0,26.03,26.16,28.83
$GC,11464,0.51,146.0,656.2,10.7,829,11470,0.00,2.20,0.00,0.000,4,0.000,0.031,2677,1044,2313,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11552,0.51,146.0,648.1,10.1,833,11556,0.00,2.28,0.00,0.000,6,0.000,0.046,2677,2516,2312,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11860,0.51,146.0,610.7,11.9,848,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2516,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12159,0.51,146.0,577.2,10.7,873,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2516,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12461,0.51,146.0,545.6,10.4,903,12470,0.00,1.90,0.00,0.000,4,0.000,0.055,2677,3765,2312,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12492,0.51,146.0,541.8,11.2,906,12502,0.10,1.90,0.00,0.000,6,0.213,0.024,2664,2431,2311,0,0,0,0,0,0,26.04,26.46,28.83
$GC,12802,0.51,146.0,515.1,7.8,937,12806,0.00,2.00,0.00,0.000,4,0.000,0.031,2674,1047,2311,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,15607,0.59,212.0,252.7,11.7,1216,15616,0.00,2.05,0.00,0.000,4,0.000,0.034,2706,1055,2057,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,18351,end climb,SURFACE_DEPTH_REACHED
$STATE,18352,begin surface coast
$FINISH,1.2,1.023033
$STATE,18389,end surface coast,CONTROL_FINISHED_OK
$STATE,18389,begin surface
$SM_CCo,18407,24.50,0.132,0,0,1396,375.06
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,22.8,29.592
$10V_AH,10.1,17.525
$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,17.150,168.550,376.150,24.500,0.000,25.812,42.141,258.415,0.000,0.000,15.765,4269.140,10263.367,572.516,3361.356,405.681,0.000,2129.049,0.000,2839.246,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,97.920,1744.200,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1156.678,2186.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,127223,1696
$CAP_FILE_SIZE,190156,0
$CFSIZE,260165632,210776064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119, 85.3,1
$GPS,060412,021301,1951.190,12335.926,38,1.9,38,-2.4