version: 66.10
glider: 176
mission: 5
dive: 136
start: 4 6 112 13 0 22
data:
$ID,176
$MISSION,5
$DIVE,136
$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,-7599.8447
$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
$GPS1,060412,125201,1954.327,12340.602,41,0.9,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.7
$GPS2,060412,125956,1954.316,12340.673,10,1.6,10,-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,61.0,78337,-13.1,-7.500
$D_GRID,5156
$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,16,-0.51,-146.0,0.0,0.0,0,66,0.00,0.00,-47.62,0.000,2,0.000,0.000,181,2667,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.4,-7.8,8,101,8.62,0.00,-19.27,0.000,6,0.235,0.000,2350,2667,3527,0,0,0,0,0,0,25.46,28.83,26.44
$GC,405,-0.51,-146.0,92.1,-26.7,73,412,0.00,2.20,0.00,0.000,4,0.000,0.028,2352,1147,3527,0,0,0,0,0,0,28.83,26.27,28.83
$GC,569,-0.51,-146.0,123.6,-15.6,105,576,0.00,2.22,0.00,0.000,6,0.000,0.045,2341,2628,3528,0,0,0,0,0,0,28.83,26.22,28.83
$GC,879,-0.51,-146.0,193.4,-20.1,166,887,0.00,2.12,0.00,0.000,4,0.000,0.028,2341,1153,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,957,-0.51,-146.0,206.6,-16.4,177,966,0.10,2.22,0.00,0.000,6,0.173,0.045,2359,2627,3528,0,0,0,0,0,0,26.14,26.30,28.83
$GC,1266,-0.51,-146.0,260.3,-16.7,208,1275,0.08,2.08,0.00,0.000,4,0.132,0.026,2304,1158,3527,0,0,0,0,0,0,26.60,26.46,28.83
$GC,1320,-0.51,-146.0,269.7,-17.6,213,1328,0.20,2.22,0.00,0.000,6,0.148,0.046,2355,2628,3527,0,0,0,0,0,0,26.07,26.36,28.83
$GC,1627,-0.51,-146.0,316.8,-14.0,244,1637,0.05,2.10,0.00,0.000,4,0.177,0.026,2306,1157,3527,0,0,0,0,0,0,26.66,26.48,28.83
$GC,1730,-0.51,-146.0,333.2,-15.8,254,1740,0.17,2.25,0.00,0.000,6,0.147,0.047,2357,2632,3528,0,0,0,0,0,0,26.13,26.37,28.83
$GC,2039,-0.51,-146.0,376.0,-12.8,285,2043,0.08,2.12,0.00,0.000,4,0.132,0.024,2299,1159,3527,0,0,0,0,0,0,26.66,26.53,28.83
$GC,2112,-0.51,-146.0,386.4,-15.0,292,2121,0.15,2.22,0.00,0.000,6,0.122,0.046,2347,2619,3528,0,0,0,0,0,0,26.13,26.39,28.83
$GC,2421,-0.51,-146.0,424.4,-12.0,323,2430,0.00,2.08,0.00,0.000,4,0.000,0.024,2347,1148,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2523,-0.51,-146.0,435.1,-9.9,333,2532,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2635,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2833,-0.51,-146.0,470.0,-11.4,364,2841,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1149,3524,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2907,-0.51,-146.0,477.5,-10.2,371,2914,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2636,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3214,-0.51,-146.0,512.1,-11.1,402,3224,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1151,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3320,-0.51,-146.0,523.6,-11.2,412,3327,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2634,3522,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3627,-0.51,-146.0,560.2,-11.3,443,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-0.51,-146.0,591.4,-10.3,473,3938,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1148,3517,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4003,-0.51,-146.0,598.6,-9.4,480,4011,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2621,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4321,-0.51,-146.0,631.7,-10.4,497,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2622,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.51,-146.0,661.4,-9.5,512,4627,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1145,3514,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4681,-0.51,-146.0,666.9,-9.2,515,4687,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3514,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5002,-0.51,-146.0,696.5,-9.1,531,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,-0.51,-146.0,723.7,-9.0,546,5307,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1145,3508,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5374,-0.51,-146.0,728.9,-8.7,549,5381,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2625,3507,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5682,-0.51,-146.0,756.3,-8.4,565,5687,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1154,3505,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5729,-0.51,-146.0,759.7,-8.6,567,5733,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3506,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6036,-0.51,-146.0,786.5,-8.6,582,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6337,-0.51,-146.0,814.0,-9.6,597,6342,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1154,3502,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6390,-0.51,-146.0,817.9,-9.8,599,6397,0.00,2.28,0.00,0.000,6,0.000,0.049,2344,2632,3502,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6696,-0.51,-146.0,850.5,-10.2,615,6702,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1149,3500,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6729,-0.51,-146.0,852.6,-10.3,616,6736,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2628,3500,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7036,-0.51,-146.0,885.1,-9.9,632,7041,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1145,3498,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7089,-0.51,-146.0,889.0,-9.7,634,7097,0.00,2.30,0.00,0.000,6,0.000,0.049,2344,2633,3498,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7397,-0.51,-146.0,917.6,-8.5,650,7402,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1150,3495,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7420,-0.51,-146.0,919.3,-8.5,651,7424,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3495,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7732,-0.51,-146.0,944.1,-7.7,667,7738,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1148,3494,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7785,-0.51,-146.0,947.2,-7.8,669,7792,0.00,2.28,0.00,0.000,6,0.000,0.049,2344,2625,3494,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8092,-0.51,-146.0,969.7,-6.8,685,8098,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1145,3493,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8153,-0.51,-146.0,973.7,-6.8,688,8158,0.00,2.25,0.00,0.000,6,0.000,0.049,2344,2626,3493,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,8410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8410,begin apogee
$GC,8415,-0.17,0.0,990.8,-6.5,701,8546,0.32,0.12,122.55,1.745,6,0.111,0.096,2459,2535,2928,0,0,0,0,0,0,26.04,24.56,23.47
$STATE,8547,end apogee,CONTROL_FINISHED_OK
$STATE,8547,begin climb
$GC,8549,0.51,146.0,993.5,0.0,707,8696,0.60,2.47,139.23,1.703,4,0.049,0.031,2709,1063,2332,0,0,0,0,0,0,24.84,23.94,22.77
$GC,8746,0.51,146.0,981.1,12.7,717,8751,0.17,2.40,0.00,0.000,6,0.179,0.047,2668,2514,2326,0,0,0,0,0,0,24.44,24.67,28.83
$GC,9054,0.51,146.0,940.1,12.6,732,9058,0.00,2.22,0.00,0.000,4,0.000,0.031,2678,1051,2322,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9088,0.51,146.0,937.5,12.5,733,9095,0.00,2.30,0.00,0.000,6,0.000,0.047,2679,2515,2321,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9395,0.51,146.0,898.2,12.2,749,9399,0.00,1.92,0.00,0.000,4,0.000,0.056,2678,3765,2320,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9420,0.51,146.0,896.1,12.3,750,9424,0.10,1.92,0.00,0.000,6,0.224,0.025,2667,2445,2319,0,0,0,0,0,0,25.75,26.10,28.83
$GC,9727,0.51,146.0,860.8,10.9,765,9732,0.00,2.03,0.00,0.000,4,0.000,0.031,2675,1054,2318,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9749,0.51,146.0,858.6,10.9,766,9753,0.00,2.28,0.00,0.000,6,0.000,0.047,2675,2524,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10067,0.51,146.0,820.7,11.9,782,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2524,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,0.51,146.0,786.4,11.2,797,10370,0.00,1.92,0.00,0.000,4,0.000,0.055,2676,3777,2316,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10387,0.51,146.0,784.4,11.4,798,10391,0.10,1.92,0.00,0.000,6,0.223,0.024,2665,2438,2316,0,0,0,0,0,0,25.92,26.32,28.83
$GC,10699,0.51,146.0,751.6,10.2,814,10703,0.00,2.00,0.00,0.000,4,0.000,0.030,2674,1050,2315,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10721,0.51,146.0,749.3,10.4,815,10727,0.00,2.28,0.00,0.000,6,0.000,0.047,2674,2517,2315,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11042,0.51,146.0,711.1,12.1,831,11047,0.00,1.92,0.00,0.000,4,0.000,0.056,2674,3764,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11101,0.51,146.0,702.6,13.6,834,11105,0.08,1.90,0.00,0.000,6,0.236,0.024,2670,2448,2314,0,0,0,0,0,0,26.09,26.39,28.83
$GC,11418,0.51,146.0,665.8,11.1,850,11423,0.00,2.03,0.00,0.000,4,0.000,0.032,2680,1059,2313,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11466,0.51,146.0,661.6,10.6,852,11471,0.05,2.25,0.00,0.000,6,0.222,0.046,2669,2519,2312,0,0,0,0,0,0,26.10,26.18,28.83
$GC,11773,0.51,146.0,631.5,9.6,867,11779,0.00,1.92,0.00,0.000,4,0.000,0.054,2669,3777,2312,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11833,0.51,146.0,624.9,10.9,870,11838,0.00,1.90,0.00,0.000,6,0.000,0.023,2678,2447,2312,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12144,0.51,146.0,593.8,9.6,888,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2443,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12444,0.51,146.0,567.6,8.0,918,12454,0.00,2.00,0.00,0.000,4,0.000,0.053,2678,3757,2312,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12506,0.51,146.0,561.2,10.4,924,12511,0.10,1.88,0.00,0.000,6,0.216,0.023,2666,2451,2312,0,0,0,0,0,0,26.03,26.44,28.83
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$STATE,18564,end climb,SURFACE_DEPTH_REACHED
$STATE,18564,begin surface coast
$FINISH,1.0,1.023595
$STATE,18597,end surface coast,CONTROL_FINISHED_OK
$STATE,18598,begin surface
$SM_CCo,18615,42.00,0.129,0,0,1398,375.06
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$IRIDIUM_FIX,1945.83,12341.40,060412,070748
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.29
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.8,30.112
$10V_AH,10.2,17.904
$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,18.025,167.675,347.050,42.000,0.000,25.954,44.935,260.496,0.000,0.000,13.436,4365.161,10335.979,590.198,3415.638,394.986,0.000,2158.743,0.000,2919.990,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,96.390,1744.965,129.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1181.041,2192.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,130382,1732
$CAP_FILE_SIZE,193082,0
$CFSIZE,260165632,210448384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168, 95.5,1
$GPS,060412,181231,1955.571,12344.409,39,1.3,39,-2.4