version: 66.10
glider: 176
mission: 5
dive: 232
start: 4 28 112 15 26 47
data:
$ID,176
$MISSION,5
$DIVE,232
$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,-7738.6362
$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
$GPS1,280412,151901,1800.459,12351.380,38,1.5,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-77.5
$GPS2,280412,152620,1800.477,12351.412,15,1.0,15,-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,296.4,176491,-13.1,-7.500
$D_GRID,4531
$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,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-40.08,0.000,2,0.000,0.000,186,2694,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.5,-8.3,7,99,8.75,1.67,-22.30,0.000,4,0.236,0.063,2341,3772,3527,0,0,0,0,0,0,25.34,26.09,26.56
$GC,276,-0.51,-146.0,68.7,-25.9,42,284,0.05,1.70,0.00,0.000,6,0.228,0.022,2354,2515,3527,0,0,0,0,0,0,26.22,26.42,28.83
$GC,588,-0.51,-146.0,153.1,-22.6,103,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2511,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.51,-146.0,216.7,-17.9,156,907,0.00,1.92,0.00,0.000,4,0.000,0.026,2355,1139,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,994,-0.51,-146.0,228.9,-11.8,164,1001,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2637,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1302,-0.51,-146.0,279.7,-16.3,195,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2638,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.51,-146.0,328.7,-16.7,225,1612,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1149,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1714,-0.51,-146.0,342.6,-11.1,236,1723,0.00,2.22,0.00,0.000,6,0.000,0.043,2347,2634,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2027,-0.51,-146.0,383.3,-12.5,267,2036,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1151,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2092,-0.51,-146.0,390.1,-9.4,273,2100,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2635,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2398,-0.51,-146.0,424.5,-11.3,304,2407,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1153,3524,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2462,-0.51,-146.0,430.8,-9.7,310,2470,0.03,2.25,0.00,0.000,6,0.176,0.044,2357,2627,3523,0,0,0,0,0,0,26.22,26.35,28.83
$GC,2770,-0.51,-146.0,463.1,-11.2,341,2774,0.00,2.10,0.00,0.000,4,0.000,0.025,2358,1155,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2832,-0.51,-146.0,469.3,-9.6,347,2841,0.00,2.22,0.00,0.000,6,0.000,0.044,2358,2629,3521,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3143,-0.51,-146.0,499.1,-9.5,378,3152,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1155,3519,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3167,-0.51,-146.0,501.1,-9.2,380,3174,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2628,3519,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3474,-0.51,-146.0,527.9,-8.6,411,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2629,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3778,-0.51,-146.0,554.0,-8.8,441,3787,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1156,3513,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3822,-0.51,-146.0,557.9,-8.8,445,3832,0.00,2.28,0.00,0.000,6,0.000,0.044,2357,2634,3512,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4130,-0.51,-146.0,585.8,-9.1,476,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2635,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.51,-146.0,608.9,-6.6,500,4436,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1153,3509,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4484,-0.51,-146.0,611.4,-6.4,502,4491,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2634,3508,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4791,-0.51,-146.0,628.8,-5.6,518,4794,0.00,1.73,0.00,0.000,4,0.000,0.056,2357,3763,3505,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4820,-0.51,-146.0,630.2,-5.9,519,4823,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2503,3504,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5133,-0.51,-146.0,653.3,-8.4,535,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2474,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5432,-0.51,-146.0,679.3,-9.0,550,5438,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3764,3501,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5485,-0.51,-146.0,682.9,-8.9,552,5491,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2466,3500,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5793,-0.51,-146.0,710.1,-8.1,568,5798,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3766,3498,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5834,-0.51,-146.0,713.3,-8.0,570,5838,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2478,3497,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6154,-0.51,-146.0,735.7,-6.5,586,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2475,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6453,-0.51,-146.0,754.2,-6.0,601,6458,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3772,3494,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6512,-0.51,-146.0,757.9,-6.3,604,6515,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2504,3493,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6834,-0.51,-146.0,779.6,-7.2,620,6839,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3492,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6866,-0.51,-146.0,780.9,-7.1,621,6874,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2460,3491,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7173,-0.51,-146.0,804.9,-7.8,637,7178,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3769,3489,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7207,-0.51,-146.0,806.5,-7.8,638,7213,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2472,3489,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7514,-0.51,-146.0,832.8,-8.4,654,7519,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3487,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7546,-0.51,-146.0,834.6,-8.5,655,7553,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2467,3487,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7854,-0.51,-146.0,860.9,-7.9,671,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2466,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,-0.51,-146.0,881.9,-6.4,686,8159,0.00,2.05,0.00,0.000,4,0.000,0.056,2357,3779,3485,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8195,-0.51,-146.0,884.5,-6.5,688,8199,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2483,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8514,-0.51,-146.0,903.3,-5.6,704,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2479,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8814,-0.51,-146.0,921.4,-6.4,719,8819,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3765,3484,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8863,-0.51,-146.0,924.0,-6.5,721,8866,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2514,3483,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9174,-0.51,-146.0,946.3,-7.2,737,9179,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3763,3482,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9202,-0.51,-146.0,947.6,-7.1,738,9205,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2514,3481,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9515,-0.51,-146.0,971.2,-7.3,754,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2488,3481,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9792,begin apogee
$GC,9797,-0.17,0.0,991.3,-7.0,768,9922,0.30,0.00,121.50,1.736,6,0.103,0.000,2466,2488,2929,0,0,0,0,0,0,26.02,28.83,23.13
$STATE,9926,end apogee,CONTROL_FINISHED_OK
$STATE,9926,begin climb
$GC,9928,0.51,146.0,996.6,0.0,774,10078,0.60,2.35,141.35,1.693,4,0.048,0.032,2716,1056,2332,0,0,0,0,0,0,24.70,23.82,22.39
$GC,10168,0.51,146.0,981.9,12.5,787,10174,0.12,2.35,0.00,0.000,6,0.162,0.047,2677,2510,2325,0,0,0,0,0,0,24.76,25.03,28.83
$GC,10486,0.51,146.0,942.9,11.9,803,10492,0.00,1.95,0.00,0.000,4,0.000,0.055,2677,3764,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10567,0.51,146.0,931.7,14.0,807,10573,0.08,1.92,0.00,0.000,6,0.229,0.024,2672,2448,2319,0,0,0,0,0,0,25.87,26.15,28.83
$GC,10886,0.51,146.0,895.3,10.6,823,10892,0.00,2.05,0.00,0.000,4,0.000,0.031,2682,1054,2317,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10919,0.51,146.0,893.2,10.5,824,10926,0.00,2.28,0.00,0.000,6,0.000,0.047,2682,2527,2316,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11227,0.51,146.0,859.1,10.7,840,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2527,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11527,0.51,146.0,825.5,11.7,855,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2527,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11827,0.51,146.0,788.9,12.7,870,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2527,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12127,0.51,146.0,751.0,12.7,885,12133,0.00,1.88,0.00,0.000,4,0.000,0.056,2682,3765,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12155,0.51,146.0,748.2,13.0,886,12159,0.10,1.90,0.00,0.000,6,0.207,0.023,2669,2440,2314,0,0,0,0,0,0,26.02,26.41,28.83
$GC,12468,0.51,146.0,712.2,10.7,902,12474,0.00,2.03,0.00,0.000,4,0.000,0.054,2669,3755,2313,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12536,0.51,146.0,704.6,12.2,905,12540,0.00,1.88,0.00,0.000,6,0.000,0.023,2678,2447,2313,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12842,0.51,146.0,670.2,10.6,920,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2443,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13143,0.51,146.0,637.6,11.3,935,13148,0.00,2.03,0.00,0.000,4,0.000,0.031,2689,1051,2312,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13202,0.51,146.0,631.5,10.4,938,13209,0.08,2.25,0.00,0.000,6,0.192,0.044,2673,2520,2312,0,0,0,0,0,0,26.01,26.15,28.83
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$STATE,20677,end climb,SURFACE_DEPTH_REACHED
$STATE,20677,begin surface coast
$FINISH,0.7,1.012691
$STATE,20748,end surface coast,CONTROL_FINISHED_OK
$STATE,20748,begin surface
$SM_CCo,20823,0.00,0.000,0,0,1187,427.31
$SM_GC,1.87,6.30,0.15,0.00,0.028,0.079,0.000,183,2682,1187,-7.14,-0.31,427.31,0,0,0,0,0,0,26.47,26.54,28.83
$IRIDIUM_FIX,1754.17,12353.98,280412,090908
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.14
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.4,47.474
$10V_AH,10.1,30.220
$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,17.675,169.650,450.150,0.000,0.000,33.157,21.794,234.355,0.000,0.000,18.253,4739.348,11764.025,593.384,3708.100,427.666,0.000,2325.180,0.000,3130.505,0.000,0.543,0.000
$DEVICE_MAMPS,252.450,78.795,1735.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.589,2491.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,140783,1883
$CAP_FILE_SIZE,212999,0
$CFSIZE,260165632,200028160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 87.2,1
$GPS,280412,211501,1801.515,12349.284,41,1.5,41,-2.0