version: 66.10
glider: 176
mission: 5
dive: 144
start: 4 8 112 8 13 15
data:
$ID,176
$MISSION,5
$DIVE,144
$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,-7609.9028
$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
$GPS1,080412,080507,2007.545,12404.481,36,0.9,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.4
$GPS2,080412,081250,2007.612,12404.623,11,1.9,11,-2.5
$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,51.3,30018,-13.1,-7.500
$D_GRID,5496
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-48.62,0.000,2,0.000,0.000,185,2639,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.51,-146.0,3.2,-5.1,8,106,8.75,1.77,-17.65,0.000,4,0.238,0.068,2338,3773,3528,0,0,0,0,0,0,25.44,25.97,26.41
$GC,113,-0.51,-146.0,13.8,-22.2,12,121,0.05,1.73,0.00,0.000,6,0.236,0.021,2348,2493,3528,0,0,0,0,0,0,25.98,26.20,28.83
$GC,425,-0.51,-146.0,105.0,-24.7,73,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2490,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.51,-146.0,177.8,-21.1,134,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2490,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1045,-0.51,-146.0,241.1,-19.7,175,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2489,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-0.51,-146.0,299.2,-18.0,205,1357,0.00,1.92,0.00,0.000,4,0.000,0.051,2339,3767,3529,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1399,-0.51,-146.0,309.6,-19.5,210,1402,0.00,1.73,0.00,0.000,6,0.000,0.023,2339,2512,3528,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1710,-0.51,-146.0,361.2,-15.3,241,1713,0.00,1.90,0.00,0.000,4,0.000,0.028,2340,1149,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1806,-0.51,-146.0,373.5,-11.7,250,1815,0.08,2.22,0.00,0.000,6,0.187,0.044,2354,2632,3529,0,0,0,0,0,0,26.22,26.34,28.83
$GC,2116,-0.51,-146.0,412.8,-12.6,281,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2632,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2417,-0.51,-146.0,451.5,-12.2,311,2427,0.00,2.10,0.00,0.000,4,0.000,0.025,2355,1151,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2522,-0.51,-146.0,462.7,-9.6,321,2530,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2631,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2831,-0.51,-146.0,498.5,-11.3,352,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-0.51,-146.0,531.4,-10.8,382,3141,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1145,3523,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3196,-0.51,-146.0,537.3,-9.0,388,3203,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2636,3523,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3503,-0.51,-146.0,568.4,-10.4,419,3513,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1145,3522,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3535,-0.51,-146.0,571.6,-10.2,422,3544,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2636,3522,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3846,-0.51,-146.0,602.0,-10.1,452,3850,0.00,1.75,0.00,0.000,4,0.000,0.056,2341,3770,3519,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3870,-0.51,-146.0,604.2,-9.9,453,3874,0.00,1.70,0.00,0.000,6,0.000,0.023,2341,2487,3519,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4187,-0.51,-146.0,639.0,-10.9,469,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2484,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4488,-0.51,-146.0,671.0,-10.5,484,4492,0.00,2.00,0.00,0.000,4,0.000,0.056,2333,3774,3515,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4531,-0.51,-146.0,675.8,-10.8,486,4535,0.08,1.73,0.00,0.000,6,0.175,0.024,2355,2509,3514,0,0,0,0,0,0,26.39,26.63,28.83
$GC,4855,-0.51,-146.0,703.0,-8.0,502,4861,0.05,1.90,0.00,0.000,4,0.177,0.024,2306,1154,3512,0,0,0,0,0,0,26.68,26.47,28.83
$GC,4896,-0.51,-146.0,707.2,-8.9,504,4900,0.10,2.28,0.00,0.000,6,0.122,0.047,2352,2623,3512,0,0,0,0,0,0,26.04,26.29,28.83
$GC,5214,-0.51,-146.0,733.1,-7.7,520,5219,0.00,2.10,0.00,0.000,4,0.000,0.026,2352,1158,3509,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5277,-0.51,-146.0,737.6,-7.4,523,5281,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2626,3509,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5589,-0.51,-146.0,762.3,-7.7,539,5594,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1149,3506,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5632,-0.51,-146.0,765.2,-7.4,541,5636,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2628,3506,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5945,-0.51,-146.0,785.7,-6.2,557,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6244,-0.51,-146.0,804.2,-6.2,572,6250,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1153,3503,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6318,-0.51,-146.0,807.9,-6.2,575,6326,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2631,3503,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6624,-0.51,-146.0,827.2,-6.3,591,6629,0.00,2.15,0.00,0.000,4,0.000,0.028,2348,1157,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6664,-0.51,-146.0,829.8,-6.3,593,6670,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2627,3501,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6984,-0.51,-146.0,852.2,-7.6,609,6990,0.00,2.15,0.00,0.000,4,0.000,0.027,2348,1150,3500,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7023,-0.51,-146.0,855.3,-7.9,611,7029,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2633,3500,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7345,-0.51,-146.0,883.7,-9.3,627,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2633,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7644,-0.51,-146.0,912.6,-9.5,642,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,-0.51,-146.0,940.2,-9.0,657,7949,0.00,2.15,0.00,0.000,4,0.000,0.028,2348,1159,3495,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7984,-0.51,-146.0,944.0,-9.1,659,7989,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2633,3495,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8304,-0.51,-146.0,971.8,-8.7,675,8309,0.00,2.15,0.00,0.000,4,0.000,0.028,2348,1158,3494,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8344,-0.51,-146.0,975.4,-8.8,677,8349,0.00,2.28,0.00,0.000,6,0.000,0.048,2348,2632,3493,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,8522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8522,begin apogee
$GC,8528,-0.17,0.0,990.8,-8.4,686,8658,0.32,0.10,122.60,1.744,6,0.110,0.069,2463,2538,2928,0,0,0,0,0,0,26.01,24.51,23.42
$STATE,8659,end apogee,CONTROL_FINISHED_OK
$STATE,8659,begin climb
$GC,8661,0.51,146.0,995.9,0.0,692,8810,0.60,2.47,139.12,1.704,4,0.051,0.032,2708,1065,2332,0,0,0,0,0,0,24.77,23.88,22.70
$GC,8830,0.51,146.0,989.4,9.8,701,8835,0.17,2.45,0.00,0.000,6,0.180,0.046,2667,2523,2328,0,0,0,0,0,0,24.18,24.37,28.83
$GC,9148,0.51,146.0,947.2,13.4,717,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2523,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9449,0.51,146.0,906.6,13.4,732,9455,0.00,1.92,0.00,0.000,4,0.000,0.056,2667,3781,2321,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9521,0.51,146.0,897.5,14.7,735,9529,0.00,1.95,0.00,0.000,6,0.000,0.025,2676,2440,2319,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9829,0.51,146.0,853.6,13.5,751,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2439,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10128,0.51,146.0,814.7,12.3,766,10133,0.00,2.08,0.00,0.000,4,0.000,0.055,2677,3763,2317,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10150,0.51,146.0,812.1,12.5,767,10155,0.05,1.95,0.00,0.000,6,0.203,0.025,2671,2449,2316,0,0,0,0,0,0,25.93,26.26,28.83
$GC,10469,0.51,146.0,775.1,11.1,783,10474,0.00,2.05,0.00,0.000,4,0.000,0.031,2681,1055,2316,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10496,0.51,146.0,772.9,11.2,784,10501,0.05,2.28,0.00,0.000,6,0.226,0.047,2670,2521,2315,0,0,0,0,0,0,26.01,26.10,28.83
$GC,10803,0.51,146.0,735.9,12.3,799,10809,0.00,2.20,0.00,0.000,4,0.000,0.031,2681,1054,2315,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10836,0.51,146.0,733.7,12.2,800,10844,0.05,2.25,0.00,0.000,6,0.233,0.046,2670,2517,2314,0,0,0,0,0,0,26.04,26.13,28.83
$GC,11143,0.51,146.0,696.3,12.2,816,11149,0.00,2.15,0.00,0.000,4,0.000,0.031,2680,1058,2314,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11258,0.51,146.0,684.4,11.7,821,11265,0.05,2.25,0.00,0.000,6,0.224,0.046,2670,2517,2313,0,0,0,0,0,0,26.06,26.14,28.83
$GC,11563,0.51,146.0,644.0,12.9,837,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2518,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,0.51,146.0,608.0,11.1,852,11869,0.00,2.17,0.00,0.000,4,0.000,0.031,2680,1057,2312,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11884,0.51,146.0,605.9,11.0,853,11890,0.05,2.22,0.00,0.000,6,0.222,0.046,2668,2517,2312,0,0,0,0,0,0,26.06,26.15,28.83
$GC,12193,0.51,146.0,576.6,9.1,881,12197,0.00,1.92,0.00,0.000,4,0.000,0.054,2668,3757,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12237,0.51,146.0,572.3,10.4,885,12244,0.00,1.90,0.00,0.000,6,0.000,0.023,2678,2433,2312,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12545,0.51,146.0,543.0,10.5,916,12553,0.00,2.08,0.00,0.000,4,0.000,0.052,2678,3769,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12678,0.51,146.0,525.0,14.6,929,12682,0.10,1.92,0.00,0.000,6,0.211,0.024,2666,2445,2312,0,0,0,0,0,0,26.03,26.42,28.83
$GC,12990,0.51,146.0,489.3,10.9,960,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2441,2311,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18566,end climb,SURFACE_DEPTH_REACHED
$STATE,18566,begin surface coast
$FINISH,1.0,1.023355
$STATE,18612,end surface coast,CONTROL_FINISHED_OK
$STATE,18612,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.7,31.474
$10V_AH,10.1,18.916
$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
$DEVICE_SECS,17.400,156.850,353.800,33.450,0.000,35.921,19.223,264.117,0.000,0.000,14.007,4367.031,10343.469,546.837,3440.581,397.075,0.000,2142.432,0.000,2930.304,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,127476,1729
$CAP_FILE_SIZE,192927,0
$CFSIZE,260165632,209592320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156, 81.0,1
$GPS,080412,132531,2009.443,12408.098,42,1.4,42,-2.5