version: 66.10
glider: 176
mission: 5
dive: 225
start: 4 26 112 22 40 46
data:
$ID,176
$MISSION,5
$DIVE,225
$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,-3
$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,-7729.644
$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,2514
$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
$GPS1,260412,222555,1757.566,12402.847,40,1.2,40,-2.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.7
$GPS2,260412,224020,1757.589,12403.057,13,1.2,13,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,286.8,197575,-13.1,-7.500
$D_GRID,4714
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.51,-146.0,0.0,0.0,0,66,0.00,0.00,-45.67,0.000,2,0.000,0.000,198,2684,2331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.3,-7.2,8,110,8.73,2.22,-24.98,0.000,4,0.234,0.036,2347,1145,3526,0,0,0,0,0,0,25.41,26.23,26.59
$GC,279,-0.51,-146.0,52.6,-20.7,45,286,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2637,3526,0,0,0,0,0,0,28.83,26.22,28.83
$GC,606,-0.51,-146.0,154.1,-27.0,106,613,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1140,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,681,-0.51,-146.0,168.4,-16.0,120,688,0.10,2.25,0.00,0.000,6,0.171,0.044,2362,2643,3526,0,0,0,0,0,0,26.17,26.37,28.83
$GC,997,-0.51,-146.0,229.0,-16.0,166,1001,0.08,2.12,0.00,0.000,4,0.134,0.024,2307,1154,3525,0,0,0,0,0,0,26.65,26.50,28.83
$GC,1040,-0.51,-146.0,237.1,-18.9,170,1049,0.15,2.20,0.00,0.000,6,0.127,0.047,2358,2619,3526,0,0,0,0,0,0,26.09,26.36,28.83
$GC,1349,-0.51,-146.0,285.7,-14.2,201,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2619,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-0.51,-146.0,327.0,-13.1,231,1661,0.00,2.08,0.00,0.000,4,0.000,0.024,2358,1145,3524,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1734,-0.51,-146.0,336.6,-9.9,239,1743,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2633,3524,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2045,-0.51,-146.0,376.1,-12.8,270,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2634,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-0.51,-146.0,409.8,-11.1,300,2353,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1149,3521,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2417,-0.51,-146.0,416.7,-9.0,307,2426,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2642,3520,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2728,-0.51,-146.0,449.5,-10.9,338,2737,0.00,2.10,0.00,0.000,4,0.000,0.025,2356,1155,3518,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2773,-0.51,-146.0,453.9,-10.4,342,2779,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2640,3518,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3081,-0.51,-146.0,485.8,-9.7,373,3091,0.00,2.12,-0.08,0.000,4,0.000,0.037,2356,1153,3544,0,0,0,0,0,0,28.83,26.51,25.62
$GC,3113,-0.51,-146.0,489.0,-9.0,376,3122,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2630,3544,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3424,-0.51,-146.0,513.5,-7.4,407,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2630,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-0.51,-146.0,538.3,-8.8,437,3737,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1157,3540,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3780,-0.51,-146.0,542.9,-8.3,442,3789,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2629,3539,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4090,-0.51,-146.0,568.8,-8.0,473,4099,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1150,3537,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4112,-0.51,-146.0,570.7,-8.2,475,4121,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2633,3537,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4422,-0.51,-146.0,594.4,-7.5,506,4426,0.00,1.73,0.00,0.000,4,0.000,0.056,2356,3767,3533,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4444,-0.51,-146.0,596.1,-7.7,508,4447,0.00,1.70,0.00,0.000,6,0.000,0.023,2356,2507,3533,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4765,-0.51,-146.0,619.8,-7.6,527,4771,0.00,1.98,0.00,0.000,4,0.000,0.055,2356,3768,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4792,-0.51,-146.0,621.3,-7.7,528,4796,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2482,3530,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5105,-0.51,-146.0,647.7,-8.4,544,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2477,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5405,-0.51,-146.0,671.8,-7.9,559,5409,0.00,2.03,0.00,0.000,4,0.000,0.056,2356,3765,3526,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5434,-0.51,-146.0,673.4,-7.8,560,5437,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2471,3525,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5747,-0.51,-146.0,697.7,-7.5,576,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2467,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6047,-0.51,-146.0,718.7,-6.9,591,6052,0.00,2.03,0.00,0.000,4,0.000,0.055,2356,3767,3521,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6094,-0.51,-146.0,721.5,-6.9,593,6098,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2496,3521,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6407,-0.51,-146.0,744.3,-7.3,609,6413,0.00,2.03,0.00,0.000,4,0.000,0.055,2356,3767,3518,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6459,-0.51,-146.0,747.3,-7.5,611,6466,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2454,3518,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6767,-0.51,-146.0,771.0,-7.2,627,6772,0.00,2.05,0.00,0.000,4,0.000,0.055,2356,3768,3516,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6807,-0.51,-146.0,773.9,-7.2,629,6810,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2496,3516,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7128,-0.51,-146.0,795.8,-6.4,645,7133,0.00,2.05,0.00,0.000,4,0.000,0.055,2356,3766,3515,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7161,-0.51,-146.0,797.0,-6.4,646,7168,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2447,3514,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7468,-0.51,-146.0,816.7,-6.2,662,7474,0.00,2.05,0.00,0.000,4,0.000,0.056,2356,3762,3513,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7511,-0.51,-146.0,819.3,-6.3,664,7514,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2504,3512,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7829,-0.51,-146.0,840.2,-6.7,680,7834,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3763,3511,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7870,-0.51,-146.0,843.0,-6.8,682,7874,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2471,3510,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8189,-0.51,-146.0,864.2,-6.6,698,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2468,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.51,-146.0,883.9,-6.7,713,8494,0.00,2.03,0.00,0.000,4,0.000,0.056,2356,3763,3508,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8536,-0.51,-146.0,886.5,-6.5,715,8539,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2508,3508,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8849,-0.51,-146.0,909.4,-7.4,731,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2477,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9148,-0.51,-146.0,932.2,-7.4,746,9154,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3768,3506,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9191,-0.51,-146.0,935.2,-7.4,748,9195,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2514,3505,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9509,-0.51,-146.0,956.4,-6.1,764,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2487,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9808,-0.51,-146.0,972.1,-4.8,779,9813,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3763,3503,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9851,-0.51,-146.0,974.0,-4.7,781,9855,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2511,3503,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10168,-0.51,-146.0,988.3,-4.3,797,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2480,3502,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10205,begin apogee
$GC,10210,-0.17,0.0,990.1,-4.5,799,10343,0.30,0.00,126.35,1.737,6,0.104,0.000,2465,2480,2928,0,0,0,0,0,0,26.03,28.83,23.15
$STATE,10344,end apogee,CONTROL_FINISHED_OK
$STATE,10344,begin climb
$GC,10346,0.51,146.0,992.9,0.0,805,10496,0.60,2.38,140.57,1.692,4,0.050,0.032,2712,1062,2332,0,0,0,0,0,0,24.69,23.84,22.44
$GC,10532,0.51,146.0,982.8,11.6,814,10538,0.17,2.40,0.00,0.000,6,0.173,0.046,2669,2514,2326,0,0,0,0,0,0,24.32,24.56,28.83
$GC,10839,0.51,146.0,943.2,11.9,829,10844,0.00,1.95,0.00,0.000,4,0.000,0.055,2670,3771,2322,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10863,0.51,146.0,940.9,12.0,830,10867,0.00,1.95,0.00,0.000,6,0.000,0.024,2679,2446,2321,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11175,0.51,146.0,903.2,11.9,846,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2441,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11474,0.51,146.0,868.1,11.6,861,11479,0.00,2.08,0.00,0.000,4,0.000,0.054,2679,3767,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11503,0.51,146.0,865.6,11.6,862,11507,0.08,1.92,0.00,0.000,6,0.236,0.025,2674,2441,2317,0,0,0,0,0,0,26.01,26.30,28.83
$GC,11809,0.51,146.0,829.6,11.3,877,11815,0.00,2.05,0.00,0.000,4,0.000,0.031,2684,1042,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11829,0.51,146.0,827.3,11.3,878,11835,0.05,2.30,0.00,0.000,6,0.224,0.047,2672,2526,2315,0,0,0,0,0,0,26.07,26.15,28.83
$GC,12150,0.51,146.0,789.8,11.7,894,12155,0.00,1.90,0.00,0.000,4,0.000,0.054,2672,3764,2315,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12170,0.51,146.0,787.3,11.9,895,12176,0.00,1.90,0.00,0.000,6,0.000,0.024,2681,2443,2314,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12489,0.51,146.0,750.0,11.1,911,12495,0.00,2.08,0.00,0.000,4,0.000,0.054,2681,3772,2314,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,20730,end climb,SURFACE_DEPTH_REACHED
$STATE,20730,begin surface coast
$FINISH,0.7,1.000287
$STATE,20793,end surface coast,CONTROL_FINISHED_OK
$STATE,20793,begin surface
$SM_CCo,20868,0.00,0.000,0,0,1157,434.67
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$IRIDIUM_FIX,1747.37,12404.02,260412,222208
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.53
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.4,46.151
$10V_AH,10.1,29.276
$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
$DEVICE_SECS,18.775,175.100,439.425,0.000,0.000,118.204,74.547,327.755,0.000,0.000,16.232,4683.622,12130.731,598.837,3830.227,455.462,0.000,2298.010,0.000,3061.236,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
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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,330000
$DATA_FILE_SIZE,137085,1859
$CAP_FILE_SIZE,216524,0
$CFSIZE,260165632,200830976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,106.7,1
$GPS,270412,042937,1758.025,12401.201,34,1.4,34,-2.0