version: 66.10
glider: 176
mission: 5
dive: 145
start: 4 8 112 13 35 34
data:
$ID,176
$MISSION,5
$DIVE,145
$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,-7611.1616
$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
$GPS1,080412,132531,2009.443,12408.098,42,1.4,42,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.3
$GPS2,080412,133508,2009.365,12408.265,10,1.9,10,-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,53.4,22907,-13.1,-7.500
$D_GRID,5488
$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,-42.42,0.000,2,0.000,0.000,190,2658,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.0,-5.3,7,105,8.65,0.00,-25.25,0.000,6,0.237,0.000,2343,2659,3526,0,0,0,0,0,0,25.44,28.83,26.42
$GC,411,-0.51,-146.0,101.3,-29.1,71,417,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1151,3526,0,0,0,0,0,0,28.83,26.26,28.83
$GC,501,-0.51,-146.0,121.0,-17.0,85,509,0.08,2.25,0.00,0.000,6,0.198,0.043,2350,2633,3527,0,0,0,0,0,0,26.05,26.20,28.83
$GC,813,-0.51,-146.0,189.5,-20.3,146,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2633,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1127,-0.51,-146.0,248.5,-18.2,182,1136,0.00,2.10,0.00,0.000,4,0.000,0.025,2350,1154,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1258,-0.51,-146.0,267.8,-13.8,195,1267,0.00,2.22,0.00,0.000,6,0.000,0.044,2341,2633,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1569,-0.51,-146.0,322.5,-16.7,226,1578,0.00,2.12,0.00,0.000,4,0.000,0.027,2341,1149,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1611,-0.51,-146.0,328.9,-15.3,230,1620,0.08,2.22,0.00,0.000,6,0.188,0.044,2354,2629,3528,0,0,0,0,0,0,26.22,26.36,28.83
$GC,1920,-0.51,-146.0,371.2,-12.8,261,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2630,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-0.51,-146.0,406.4,-11.6,291,2232,0.00,2.08,0.00,0.000,4,0.000,0.026,2354,1158,3525,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2287,-0.51,-146.0,412.7,-9.3,297,2295,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2633,3525,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2594,-0.51,-146.0,449.1,-12.7,328,2603,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1153,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2666,-0.51,-146.0,456.7,-9.9,335,2675,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2629,3523,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2976,-0.51,-146.0,489.8,-10.8,366,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3277,-0.51,-146.0,521.9,-11.2,396,3286,0.00,2.08,0.00,0.000,4,0.000,0.026,2348,1159,3520,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3339,-0.51,-146.0,528.7,-10.4,402,3349,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2636,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3650,-0.51,-146.0,562.5,-10.6,433,3653,0.00,1.70,0.00,0.000,4,0.000,0.056,2345,3772,3517,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3690,-0.51,-146.0,567.0,-10.5,437,3694,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2509,3517,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4003,-0.51,-146.0,598.5,-10.0,468,4012,0.00,1.95,0.00,0.000,4,0.000,0.054,2336,3782,3514,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4032,-0.51,-146.0,601.0,-10.3,470,4036,0.08,1.75,0.00,0.000,6,0.176,0.023,2358,2502,3514,0,0,0,0,0,0,26.40,26.65,28.83
$GC,4345,-0.51,-146.0,630.6,-9.2,486,4349,0.08,1.92,0.00,0.000,4,0.132,0.024,2302,1154,3513,0,0,0,0,0,0,26.66,26.48,28.83
$GC,4367,-0.51,-146.0,633.0,-9.7,487,4374,0.20,2.28,0.00,0.000,6,0.138,0.045,2355,2637,3513,0,0,0,0,0,0,26.05,26.32,28.83
$GC,4687,-0.51,-146.0,664.3,-9.7,503,4688,0.05,0.00,0.00,0.000,6,0.174,0.000,2304,2637,3510,0,0,0,0,0,0,26.69,28.83,28.83
$GC,4989,-0.51,-146.0,705.6,-14.0,518,4994,0.12,2.12,0.00,0.000,4,0.159,0.025,2348,1158,3507,0,0,0,0,0,0,26.34,26.45,28.83
$GC,5068,-0.51,-146.0,713.9,-10.2,522,5073,0.00,2.22,0.00,0.000,6,0.000,0.047,2344,2627,3507,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5387,-0.51,-146.0,745.2,-9.9,538,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5688,-0.51,-146.0,770.9,-8.0,553,5694,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1151,3503,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5735,-0.51,-146.0,774.0,-7.7,555,5739,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2629,3503,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6042,-0.51,-146.0,797.6,-7.6,570,6048,0.00,2.12,0.00,0.000,4,0.000,0.028,2343,1157,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6086,-0.51,-146.0,800.7,-7.6,572,6091,0.00,2.28,0.00,0.000,6,0.000,0.048,2343,2633,3501,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6398,-0.51,-146.0,826.4,-8.6,588,6402,0.00,2.15,0.00,0.000,4,0.000,0.028,2343,1155,3498,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6427,-0.51,-146.0,828.2,-8.4,589,6431,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2629,3499,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6735,-0.51,-146.0,856.3,-9.2,604,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2630,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,-0.51,-146.0,882.7,-8.6,619,7040,0.00,2.12,0.00,0.000,4,0.000,0.028,2343,1161,3496,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7083,-0.51,-146.0,886.1,-8.7,621,7087,0.00,2.28,0.00,0.000,6,0.000,0.049,2343,2631,3495,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7390,-0.51,-146.0,914.2,-9.1,636,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2631,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.51,-146.0,942.2,-9.4,651,7695,0.00,2.15,0.00,0.000,4,0.000,0.028,2343,1160,3493,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7732,-0.51,-146.0,945.8,-9.2,653,7736,0.00,2.28,0.00,0.000,6,0.000,0.048,2343,2627,3493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8045,-0.51,-146.0,972.2,-8.0,669,8051,0.00,2.12,0.00,0.000,4,0.000,0.028,2343,1156,3491,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8072,-0.51,-146.0,973.7,-7.8,670,8076,0.00,2.28,0.00,0.000,6,0.000,0.048,2343,2625,3491,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8298,begin apogee
$GC,8304,-0.17,0.0,990.9,-7.2,681,8433,0.32,0.12,121.60,1.744,6,0.112,0.096,2459,2538,2929,0,0,0,0,0,0,26.01,24.53,23.43
$STATE,8434,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8436,0.51,146.0,994.2,0.0,687,8583,0.60,2.47,139.27,1.704,4,0.056,0.032,2703,1062,2332,0,0,0,0,0,0,24.79,23.90,22.71
$GC,8604,0.51,146.0,986.0,10.2,696,8609,0.15,2.47,0.00,0.000,6,0.181,0.047,2669,2530,2328,0,0,0,0,0,0,24.18,24.36,28.83
$GC,8922,0.51,146.0,944.3,12.5,712,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2531,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,0.51,146.0,907.9,11.9,727,9226,0.00,1.95,0.00,0.000,4,0.000,0.055,2668,3764,2321,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9252,0.51,146.0,904.8,12.3,728,9255,0.00,1.92,0.00,0.000,6,0.000,0.024,2677,2452,2320,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9564,0.51,146.0,863.8,12.7,744,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2448,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9865,0.51,146.0,825.9,12.6,759,9868,0.00,2.05,0.00,0.000,4,0.000,0.054,2677,3771,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9886,0.51,146.0,822.9,12.8,760,9890,0.10,1.92,0.00,0.000,6,0.220,0.024,2666,2446,2317,0,0,0,0,0,0,25.87,26.26,28.83
$GC,10203,0.51,146.0,787.3,10.6,776,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2442,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,0.51,146.0,754.9,11.3,791,10507,0.00,2.03,0.00,0.000,4,0.000,0.031,2676,1054,2316,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10537,0.51,146.0,752.5,11.3,792,10545,0.00,2.30,0.00,0.000,6,0.000,0.047,2676,2544,2315,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10846,0.51,146.0,713.0,12.2,808,10851,0.00,1.85,0.00,0.000,4,0.000,0.055,2676,3764,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10933,0.51,146.0,701.7,14.2,812,10938,0.10,1.90,0.00,0.000,6,0.218,0.025,2664,2449,2315,0,0,0,0,0,0,25.96,26.35,28.83
$GC,11240,0.51,146.0,667.8,10.0,827,11245,0.00,2.05,0.00,0.000,4,0.000,0.032,2674,1050,2314,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11309,0.51,146.0,662.3,9.4,830,11313,0.00,2.28,0.00,0.000,6,0.000,0.045,2674,2524,2313,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11615,0.51,146.0,627.3,11.6,845,11618,0.00,1.92,0.00,0.000,4,0.000,0.055,2674,3766,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11639,0.51,146.0,625.2,11.9,846,11643,0.08,1.90,0.00,0.000,6,0.233,0.024,2670,2447,2313,0,0,0,0,0,0,26.10,26.41,28.83
$GC,11952,0.51,146.0,590.3,10.2,866,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2443,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12254,0.51,146.0,562.3,8.1,896,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2443,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12563,0.51,146.0,534.8,8.7,927,12571,0.00,2.03,0.00,0.000,4,0.000,0.052,2670,3764,2312,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12677,0.51,146.0,522.5,11.6,938,12685,0.03,1.92,0.00,0.000,6,0.212,0.023,2672,2441,2312,0,0,0,0,0,0,26.25,26.44,28.83
$GC,12985,0.51,146.0,494.8,8.0,969,12994,0.00,2.05,0.00,0.000,4,0.000,0.033,2681,1052,2312,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13039,0.51,146.0,490.6,8.1,974,13047,0.03,2.28,0.00,0.000,6,0.176,0.044,2672,2515,2311,0,0,0,0,0,0,26.05,26.16,28.83
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$STATE,18285,end climb,SURFACE_DEPTH_REACHED
$STATE,18285,begin surface coast
$FINISH,0.7,1.015735
$STATE,18332,end surface coast,CONTROL_FINISHED_OK
$STATE,18332,begin surface
$SM_CCo,18348,43.17,0.132,0,0,1396,375.06
$SM_GC,2.20,6.18,1.75,43.17,0.028,0.023,0.132,182,2501,1396,-7.13,0.57,375.06,0,0,0,0,0,0,26.48,26.54,25.97
$IRIDIUM_FIX,1959.59,12401.78,080412,080821
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.4074
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,22.7,31.647
$10V_AH,10.2,19.040
$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,17.825,151.675,343.525,43.175,0.000,68.651,35.534,265.983,0.000,0.000,13.479,4267.613,10325.992,578.096,3375.402,394.222,0.000,2104.214,0.000,2820.107,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,96.390,1744.200,131.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.722,2182.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,127262,1696
$CAP_FILE_SIZE,187546,0
$CFSIZE,260165632,209498112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 93.5,1
$GPS,080412,184306,2010.929,12411.242,28,1.0,28,-2.5