version: 66.10
glider: 176
mission: 5
dive: 226
start: 4 27 112 4 37 40
data:
$ID,176
$MISSION,5
$DIVE,226
$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,-7730.9014
$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
$GPS1,270412,042937,1758.025,12401.201,34,1.4,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.3
$GPS2,270412,043714,1758.063,12401.286,14,1.5,14,-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,290.1,194348,-13.1,-7.500
$D_GRID,4725
$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,17,-0.51,-146.0,0.0,0.0,0,60,0.00,0.00,-41.00,0.000,2,0.000,0.000,183,2686,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.1,-6.7,7,106,8.80,2.28,-27.98,0.000,4,0.235,0.040,2352,1146,3527,0,0,0,0,0,0,25.35,26.20,26.55
$GC,244,-0.51,-146.0,45.3,-22.0,35,251,0.08,2.25,0.00,0.000,6,0.200,0.044,2358,2633,3528,0,0,0,0,0,0,26.03,26.18,28.83
$GC,571,-0.51,-146.0,139.6,-24.6,96,578,0.00,2.10,0.00,0.000,4,0.000,0.026,2358,1154,3528,0,0,0,0,0,0,28.83,26.40,28.83
$GC,647,-0.51,-146.0,154.1,-15.5,110,654,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2642,3529,0,0,0,0,0,0,28.83,26.33,28.83
$GC,958,-0.51,-146.0,221.0,-17.2,160,967,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1148,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1019,-0.51,-146.0,229.9,-13.0,166,1028,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2634,3529,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1331,-0.51,-146.0,282.3,-17.3,197,1341,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1148,3529,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1376,-0.51,-146.0,289.0,-15.3,201,1385,0.10,2.22,0.00,0.000,6,0.164,0.041,2362,2637,3529,0,0,0,0,0,0,26.20,26.37,28.83
$GC,1683,-0.51,-146.0,331.3,-12.4,232,1687,0.08,2.12,0.00,0.000,4,0.132,0.023,2306,1161,3527,0,0,0,0,0,0,26.67,26.51,28.83
$GC,1736,-0.51,-146.0,339.0,-15.5,237,1746,0.15,2.25,0.00,0.000,6,0.149,0.045,2356,2637,3527,0,0,0,0,0,0,26.12,26.37,28.83
$GC,2045,-0.51,-146.0,376.9,-12.1,268,2049,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1142,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2108,-0.51,-146.0,383.8,-10.7,274,2116,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2632,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2416,-0.51,-146.0,419.8,-11.9,305,2426,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1148,3524,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2503,-0.51,-146.0,428.4,-9.8,313,2511,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2630,3523,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2808,-0.51,-146.0,460.8,-9.8,344,2817,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1148,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2831,-0.51,-146.0,462.9,-9.8,346,2839,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2633,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3141,-0.51,-146.0,489.8,-8.4,377,3151,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1154,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3167,-0.51,-146.0,491.8,-8.3,379,3174,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2631,3518,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3473,-0.51,-146.0,519.4,-9.4,410,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2631,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.51,-146.0,550.0,-10.3,440,3779,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1156,3512,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3826,-0.51,-146.0,555.2,-9.7,445,3837,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2637,3511,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4138,-0.51,-146.0,583.2,-8.7,476,4147,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1156,3510,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4161,-0.51,-146.0,585.0,-8.6,478,4164,0.00,2.22,0.00,0.000,6,0.000,0.044,2356,2636,3510,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4483,-0.51,-146.0,612.2,-8.3,503,4488,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1148,3507,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4510,-0.51,-146.0,613.8,-8.2,504,4514,0.00,2.25,0.00,0.000,6,0.000,0.044,2356,2630,3507,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4818,-0.51,-146.0,638.6,-8.2,519,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2631,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5117,-0.51,-146.0,664.2,-8.6,534,5123,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1144,3502,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5158,-0.51,-146.0,667.5,-8.5,536,5163,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2627,3502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5477,-0.51,-146.0,694.7,-8.5,552,5482,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1146,3499,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5510,-0.51,-146.0,696.5,-8.6,553,5518,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2633,3499,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5818,-0.51,-146.0,723.4,-8.6,569,5823,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1147,3497,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5850,-0.51,-146.0,725.1,-8.6,570,5857,0.00,2.28,0.00,0.000,6,0.000,0.046,2355,2633,3497,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6159,-0.51,-146.0,751.6,-8.0,586,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6458,-0.51,-146.0,775.3,-8.2,601,6463,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1146,3493,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6499,-0.51,-146.0,778.4,-7.9,603,6503,0.00,2.30,0.00,0.000,6,0.000,0.046,2356,2628,3493,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6817,-0.51,-146.0,801.2,-6.5,619,6821,0.00,1.73,0.00,0.000,4,0.000,0.057,2356,3766,3490,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6860,-0.51,-146.0,803.9,-6.6,621,6864,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2506,3490,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7181,-0.51,-146.0,824.1,-6.4,637,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2481,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7482,-0.51,-146.0,844.3,-6.7,652,7487,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3773,3487,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7515,-0.51,-146.0,845.7,-6.7,653,7523,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2486,3486,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7821,-0.51,-146.0,867.9,-6.9,669,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,-0.51,-146.0,888.6,-6.9,684,8127,0.00,1.98,0.00,0.000,4,0.000,0.057,2356,3765,3484,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8169,-0.51,-146.0,891.6,-7.1,686,8173,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2519,3483,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8482,-0.51,-146.0,914.0,-7.0,702,8487,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3773,3482,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8510,-0.51,-146.0,915.5,-7.1,703,8513,0.00,1.73,0.00,0.000,6,0.000,0.024,2356,2501,3483,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8821,-0.51,-146.0,938.6,-7.2,719,8827,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3762,3481,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8861,-0.51,-146.0,941.5,-7.2,721,8865,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2504,3480,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9183,-0.51,-146.0,964.2,-6.9,737,9189,0.00,1.98,0.00,0.000,4,0.000,0.057,2356,3756,3480,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9210,-0.51,-146.0,965.7,-7.0,738,9214,0.00,1.70,0.00,0.000,6,0.000,0.025,2356,2503,3479,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9524,-0.51,-146.0,988.3,-7.0,754,9529,0.00,2.00,0.00,0.000,4,0.000,0.056,2356,3762,3479,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9555,-0.51,-146.0,989.8,-7.1,755,9562,0.00,1.70,0.00,0.000,6,0.000,0.025,2356,2475,3478,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9582,begin apogee
$GC,9587,-0.17,0.0,992.7,-7.2,757,9717,0.30,0.08,120.85,1.735,6,0.106,0.096,2465,2439,2928,0,0,0,0,0,0,26.01,24.45,23.17
$STATE,9718,end apogee,CONTROL_FINISHED_OK
$STATE,9718,begin climb
$GC,9720,0.51,146.0,998.3,0.0,763,9871,0.60,2.35,140.52,1.694,4,0.048,0.054,2705,3763,2332,0,0,0,0,0,0,24.77,23.78,22.43
$GC,9924,0.51,146.0,985.6,15.0,774,9930,0.12,1.98,0.00,0.000,6,0.181,0.024,2679,2466,2328,0,0,0,0,0,0,24.47,24.87,28.83
$GC,10244,0.51,146.0,943.2,13.0,790,10249,0.00,2.10,0.00,0.000,4,0.000,0.031,2689,1048,2322,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10271,0.51,146.0,940.5,13.0,791,10276,0.08,2.30,0.00,0.000,6,0.203,0.047,2674,2518,2320,0,0,0,0,0,0,25.78,25.91,28.83
$GC,10579,0.51,146.0,899.1,13.1,806,10583,0.00,1.92,0.00,0.000,4,0.000,0.056,2674,3778,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10634,0.51,146.0,892.7,14.0,808,10641,0.00,1.92,0.00,0.000,6,0.000,0.026,2683,2442,2318,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10943,0.51,146.0,850.1,13.0,824,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2439,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11241,0.51,146.0,812.8,12.3,839,11247,0.00,2.03,0.00,0.000,4,0.000,0.029,2694,1041,2316,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11274,0.51,146.0,810.3,12.5,840,11282,0.10,2.28,0.00,0.000,6,0.186,0.046,2670,2518,2315,0,0,0,0,0,0,25.93,26.15,28.83
$GC,11582,0.51,146.0,775.0,10.4,856,11587,0.00,1.92,0.00,0.000,4,0.000,0.055,2670,3766,2315,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11634,0.51,146.0,770.3,11.1,858,11641,0.00,1.88,0.00,0.000,6,0.000,0.025,2679,2446,2314,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11942,0.51,146.0,735.5,10.6,874,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2444,2314,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20315,end climb,SURFACE_DEPTH_REACHED
$STATE,20315,begin surface coast
$FINISH,0.8,1.000701
$STATE,20382,end surface coast,CONTROL_FINISHED_OK
$STATE,20382,begin surface
$SM_CCo,20457,0.00,0.000,0,0,1128,441.79
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$IRIDIUM_FIX,1751.90,12404.02,260412,222202
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.21
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.4,46.334
$10V_AH,10.0,29.412
$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,18.550,186.050,433.175,0.000,0.000,28.837,25.608,248.398,0.000,0.000,17.332,4689.350,11458.419,589.323,3679.991,459.997,0.000,2307.673,0.000,3081.650,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,122.400,1735.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_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,136792,1855
$CAP_FILE_SIZE,216926,0
$CFSIZE,260165632,200716288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,120.7,1
$GPS,270412,101937,1758.214,12359.790,31,1.1,31,-2.0