version: 66.10
glider: 176
mission: 5
dive: 229
start: 4 27 112 22 20 16
data:
$ID,176
$MISSION,5
$DIVE,229
$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,-7734.6787
$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
$GPS1,270412,221207,1759.474,12356.351,35,1.1,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.4
$GPS2,270412,221950,1759.466,12356.466,15,1.3,15,-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,286.2,185496,-13.1,-7.500
$D_GRID,4765
$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,-146.0,0.0,0.0,0,67,0.00,0.00,-48.22,0.000,2,0.000,0.000,176,2703,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.51,-146.0,3.6,-7.5,8,107,8.82,2.30,-21.12,0.000,4,0.234,0.040,2348,1151,3528,0,0,0,0,0,0,25.40,26.22,26.59
$GC,281,-0.51,-146.0,56.6,-20.6,42,288,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2632,3528,0,0,0,0,0,0,28.83,26.22,28.83
$GC,592,-0.51,-146.0,150.3,-26.5,103,599,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1148,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,682,-0.51,-146.0,169.1,-18.7,120,689,0.10,2.22,0.00,0.000,6,0.163,0.044,2363,2633,3529,0,0,0,0,0,0,26.19,26.34,28.83
$GC,992,-0.51,-146.0,224.2,-18.4,168,1002,0.08,2.10,0.00,0.000,4,0.132,0.024,2307,1158,3528,0,0,0,0,0,0,26.65,26.49,28.83
$GC,1065,-0.51,-146.0,237.6,-17.4,175,1076,0.17,2.20,0.00,0.000,6,0.145,0.044,2358,2629,3529,0,0,0,0,0,0,26.13,26.38,28.83
$GC,1375,-0.51,-146.0,288.7,-15.0,206,1384,0.00,2.10,0.00,0.000,4,0.000,0.025,2358,1143,3528,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1427,-0.51,-146.0,295.7,-13.0,211,1436,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2630,3528,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1738,-0.51,-146.0,338.5,-14.2,242,1741,0.00,1.70,0.00,0.000,4,0.000,0.051,2348,3776,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1753,-0.51,-146.0,340.0,-14.1,243,1760,0.00,1.67,0.00,0.000,6,0.000,0.021,2348,2477,3527,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2059,-0.51,-146.0,379.7,-12.0,274,2063,0.00,1.85,0.00,0.000,4,0.000,0.025,2348,1170,3525,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2123,-0.51,-146.0,385.6,-8.4,280,2130,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2633,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2430,-0.51,-146.0,419.1,-11.5,311,2439,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1149,3522,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2465,-0.51,-146.0,422.7,-11.4,314,2472,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2633,3523,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2772,-0.51,-146.0,459.5,-12.4,345,2781,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1140,3520,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2814,-0.51,-146.0,464.3,-11.5,349,2825,0.10,2.25,0.00,0.000,6,0.156,0.043,2364,2637,3520,0,0,0,0,0,0,26.22,26.37,28.83
$GC,3124,-0.51,-146.0,492.6,-8.7,380,3125,0.08,0.00,0.00,0.000,6,0.131,0.000,2303,2636,3518,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3425,-0.51,-146.0,534.5,-13.9,410,3434,0.15,2.10,0.00,0.000,4,0.154,0.022,2354,1156,3515,0,0,0,0,0,0,26.29,26.52,28.83
$GC,3507,-0.51,-146.0,542.1,-7.6,418,3517,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2631,3514,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3816,-0.51,-146.0,569.6,-8.5,449,3826,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1148,3511,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3848,-0.51,-146.0,572.3,-8.6,452,3857,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2638,3511,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4161,-0.51,-146.0,599.5,-8.9,483,4170,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1154,3509,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4203,-0.51,-146.0,603.4,-9.0,486,4208,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2629,3509,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4523,-0.51,-146.0,634.1,-10.0,502,4526,0.00,1.73,0.00,0.000,4,0.000,0.057,2347,3765,3506,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4551,-0.51,-146.0,636.2,-10.0,503,4555,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2485,3505,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4865,-0.51,-146.0,668.0,-9.7,519,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2481,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5164,-0.51,-146.0,694.3,-8.5,534,5169,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3772,3500,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5197,-0.51,-146.0,696.0,-8.6,535,5204,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2482,3499,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5503,-0.51,-146.0,723.6,-8.6,551,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2482,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,-0.51,-146.0,748.1,-8.0,566,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2482,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6104,-0.51,-146.0,771.7,-7.6,581,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2482,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6403,-0.51,-146.0,795.2,-7.8,596,6409,0.00,2.00,0.00,0.000,4,0.000,0.057,2343,3765,3491,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6466,-0.51,-146.0,799.9,-7.8,599,6470,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2492,3490,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6785,-0.51,-146.0,824.3,-7.6,615,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2487,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7084,-0.51,-146.0,847.8,-7.8,630,7090,0.03,2.00,0.00,0.000,4,0.288,0.055,2356,3766,3487,0,0,0,0,0,0,26.66,26.03,28.83
$GC,7131,-0.51,-146.0,850.9,-7.8,632,7135,0.00,1.75,0.00,0.000,6,0.000,0.025,2356,2489,3486,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7445,-0.51,-146.0,872.1,-6.3,648,7450,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3776,3485,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7472,-0.51,-146.0,873.4,-6.3,649,7475,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2511,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7785,-0.51,-146.0,892.9,-5.8,665,7790,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3765,3484,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7812,-0.51,-146.0,894.1,-5.9,666,7815,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2514,3484,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8125,-0.51,-146.0,913.4,-6.2,682,8130,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3770,3482,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8158,-0.51,-146.0,914.6,-6.2,683,8165,0.00,1.73,0.00,0.000,6,0.000,0.026,2356,2496,3482,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8464,-0.51,-146.0,934.9,-6.2,699,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2496,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8765,-0.51,-146.0,954.3,-6.4,714,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2496,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,-0.51,-146.0,972.5,-6.0,729,9070,0.00,1.98,0.00,0.000,4,0.000,0.056,2356,3768,3479,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9106,-0.51,-146.0,974.8,-5.9,731,9110,0.00,1.75,0.00,0.000,6,0.000,0.024,2356,2475,3478,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,9382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9382,begin apogee
$GC,9388,-0.17,0.0,990.3,-5.3,745,9515,0.30,0.08,120.57,1.734,6,0.106,0.097,2466,2432,2929,0,0,0,0,0,0,26.05,24.49,23.22
$STATE,9516,end apogee,CONTROL_FINISHED_OK
$STATE,9516,begin climb
$GC,9518,0.51,146.0,994.0,0.0,751,9663,0.60,0.00,141.45,1.691,6,0.050,0.000,2702,2431,2332,0,0,0,0,0,0,24.77,28.83,22.46
$GC,9959,0.51,146.0,947.3,13.7,774,9965,0.12,2.12,0.00,0.000,4,0.187,0.053,2667,3771,2323,0,0,0,0,0,0,25.65,25.78,28.83
$GC,10021,0.51,146.0,938.7,14.1,777,10025,0.00,1.98,0.00,0.000,6,0.000,0.024,2676,2451,2321,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10340,0.51,146.0,901.4,11.3,793,10345,0.00,2.05,0.00,0.000,4,0.000,0.030,2687,1048,2318,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10381,0.51,146.0,897.0,11.1,795,10386,0.08,2.30,0.00,0.000,6,0.198,0.047,2671,2528,2317,0,0,0,0,0,0,25.95,26.09,28.83
$GC,10699,0.51,146.0,859.7,11.9,811,10702,0.00,1.90,0.00,0.000,4,0.000,0.055,2671,3764,2316,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10764,0.51,146.0,852.0,13.5,814,10768,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2445,2316,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11070,0.51,146.0,810.8,13.2,829,11075,0.00,2.08,0.00,0.000,4,0.000,0.054,2680,3771,2315,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11092,0.51,146.0,807.9,13.5,830,11097,0.05,1.95,0.00,0.000,6,0.194,0.024,2674,2437,2315,0,0,0,0,0,0,26.05,26.37,28.83
$GC,11411,0.51,146.0,769.2,11.3,846,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2433,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11710,0.51,146.0,736.4,10.4,861,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2433,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12011,0.51,146.0,706.1,10.0,876,12017,0.00,2.03,0.00,0.000,4,0.000,0.029,2684,1046,2313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12039,0.51,146.0,704.3,9.7,877,12044,0.05,2.28,0.00,0.000,6,0.224,0.046,2672,2523,2313,0,0,0,0,0,0,26.08,26.16,28.83
$GC,12345,0.51,146.0,672.3,10.2,892,12349,0.00,1.90,0.00,0.000,4,0.000,0.054,2672,3765,2313,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12424,0.51,146.0,663.0,12.2,896,12428,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2440,2312,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12736,0.51,146.0,629.7,10.3,912,12742,0.00,2.08,0.00,0.000,4,0.000,0.054,2682,3767,2312,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12805,0.51,146.0,622.5,11.6,915,12809,0.10,1.90,0.00,0.000,6,0.205,0.023,2669,2440,2312,0,0,0,0,0,0,26.05,26.46,28.83
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$STATE,19641,end climb,SURFACE_DEPTH_REACHED
$STATE,19641,begin surface coast
$FINISH,0.8,1.003683
$STATE,19668,end surface coast,CONTROL_FINISHED_OK
$STATE,19668,begin surface
$SM_CCo,19745,0.00,0.000,0,0,1291,401.80
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$IRIDIUM_FIX,1751.90,12355.86,270412,161622
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.08
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.5,46.895
$10V_AH,10.1,29.819
$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,19.500,166.475,409.250,0.000,0.000,25.442,24.421,254.516,0.000,0.000,17.729,4515.371,11106.836,611.482,3511.814,425.872,0.000,2228.951,0.000,2960.965,0.000,0.542,0.000
$DEVICE_MAMPS,300.645,124.695,1734.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.276,2334.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330028
$DATA_FILE_SIZE,133748,1794
$CAP_FILE_SIZE,205358,0
$CFSIZE,260165632,200376320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057, 84.0,1
$GPS,280412,035031,1759.971,12354.653,40,1.3,40,-2.0