version: 66.10
glider: 176
mission: 5
dive: 238
start: 4 30 112 2 34 46
data:
$ID,176
$MISSION,5
$DIVE,238
$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,595.83368
$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,-7746.2744
$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,48
$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
$GPS1,300412,021937,1805.511,12337.660,42,1.0,42,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.6
$GPS2,300412,023420,1805.497,12337.740,14,1.0,14,-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,271.0,150768,-13.1,-7.500
$D_GRID,5537
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.70,0.000,2,0.000,0.000,178,2669,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.3,-7.0,8,106,8.75,2.25,-23.23,0.000,4,0.232,0.041,2355,1149,3527,0,0,0,0,0,0,25.37,26.27,26.64
$GC,223,-0.51,-146.0,42.6,-21.3,34,230,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2629,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,535,-0.51,-146.0,144.8,-26.8,95,542,0.00,1.70,0.00,0.000,4,0.000,0.049,2335,3779,3527,0,0,0,0,0,0,28.83,26.29,28.83
$GC,565,-0.51,-146.0,153.6,-29.3,100,573,0.10,1.70,0.00,0.000,6,0.184,0.022,2360,2510,3527,0,0,0,0,0,0,26.22,26.57,28.83
$GC,881,-0.51,-146.0,220.9,-17.5,151,891,0.05,1.90,0.00,0.000,4,0.183,0.024,2314,1150,3527,0,0,0,0,0,0,26.67,26.51,28.83
$GC,934,-0.51,-146.0,230.5,-18.1,156,944,0.17,2.22,0.00,0.000,6,0.152,0.045,2356,2631,3527,0,0,0,0,0,0,26.08,26.36,28.83
$GC,1244,-0.51,-146.0,283.8,-16.3,187,1254,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1152,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1326,-0.51,-146.0,295.0,-12.1,195,1336,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2633,3526,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1637,-0.51,-146.0,340.8,-13.3,226,1646,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1144,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1701,-0.51,-146.0,347.9,-10.3,232,1708,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2634,3524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2008,-0.51,-146.0,383.1,-12.0,263,2018,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1146,3523,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2094,-0.51,-146.0,392.2,-10.0,271,2102,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2634,3522,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2401,-0.51,-146.0,431.8,-13.2,302,2410,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1148,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2466,-0.51,-146.0,439.5,-11.9,308,2473,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2632,3519,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2774,-0.51,-146.0,475.6,-11.1,339,2783,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1149,3517,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2808,-0.51,-146.0,479.2,-10.8,342,2815,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2626,3517,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3116,-0.51,-146.0,510.4,-10.0,373,3125,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1145,3513,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3149,-0.51,-146.0,513.3,-9.5,376,3152,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2627,3514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3460,-0.51,-146.0,541.2,-8.8,407,3469,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1135,3511,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3514,-0.51,-146.0,545.7,-8.6,412,3522,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2628,3510,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3822,-0.51,-146.0,576.1,-10.3,443,3825,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3763,3508,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3866,-0.51,-146.0,580.4,-10.6,447,3874,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2505,3505,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4174,-0.51,-146.0,609.3,-8.5,473,4178,0.00,1.98,0.00,0.000,4,0.000,0.027,2344,1138,3504,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4208,-0.51,-146.0,611.3,-8.6,474,4215,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2627,3504,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4516,-0.51,-146.0,637.3,-8.2,490,4522,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1134,3501,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4543,-0.51,-146.0,639.0,-8.4,491,4547,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2627,3501,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4851,-0.51,-146.0,666.6,-9.1,506,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,-0.51,-146.0,694.4,-9.3,521,5157,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1143,3495,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5183,-0.51,-146.0,696.3,-9.3,522,5190,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2629,3496,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5490,-0.51,-146.0,724.6,-8.4,538,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5792,-0.51,-146.0,747.4,-7.1,553,5797,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1150,3490,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5831,-0.51,-146.0,750.2,-7.0,555,5835,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2634,3490,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6153,-0.51,-146.0,770.1,-5.7,571,6157,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1149,3487,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6183,-0.51,-146.0,771.4,-5.7,572,6187,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2630,3487,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6490,-0.51,-146.0,790.4,-6.8,587,6493,0.00,1.75,0.00,0.000,4,0.000,0.059,2343,3767,3486,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6514,-0.51,-146.0,792.0,-7.0,588,6517,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2509,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6836,-0.51,-146.0,820.5,-9.8,604,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2491,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7135,-0.51,-146.0,851.9,-10.5,619,7140,0.00,2.00,0.00,0.000,4,0.000,0.057,2343,3772,3483,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7158,-0.51,-146.0,854.0,-10.5,620,7161,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2508,3482,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7475,-0.51,-146.0,883.0,-8.2,636,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2488,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7775,-0.51,-146.0,907.2,-8.0,651,7780,0.00,2.00,0.00,0.000,4,0.000,0.057,2336,3768,3480,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7823,-0.51,-146.0,910.6,-8.3,653,7828,0.05,1.75,0.00,0.000,6,0.120,0.024,2360,2498,3478,0,0,0,0,0,0,26.31,26.58,28.83
$GC,8136,-0.51,-146.0,931.9,-6.1,669,8138,0.05,0.00,0.00,0.000,6,0.177,0.000,2317,2496,3478,0,0,0,0,0,0,26.65,28.83,28.83
$GC,8437,-0.51,-146.0,957.6,-8.6,684,8439,0.15,0.00,0.00,0.000,6,0.136,0.000,2364,2495,3476,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8736,-0.51,-146.0,974.4,-5.6,699,8742,0.08,2.00,0.00,0.000,4,0.132,0.055,2316,3767,3475,0,0,0,0,0,0,26.63,25.94,28.83
$GC,8779,-0.51,-146.0,977.7,-6.8,701,8783,0.15,1.73,0.00,0.000,6,0.128,0.024,2365,2478,3474,0,0,0,0,0,0,26.15,26.56,28.83
$STATE,8968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8969,begin apogee
$GC,8975,-0.17,0.0,990.6,-6.5,711,9101,0.28,0.08,119.82,1.733,6,0.103,0.097,2467,2437,2929,0,0,0,0,0,0,26.12,24.51,23.20
$STATE,9102,end apogee,CONTROL_FINISHED_OK
$STATE,9102,begin climb
$GC,9104,0.51,146.0,996.3,0.0,717,9255,0.60,2.30,140.82,1.688,4,0.049,0.033,2715,1054,2332,0,0,0,0,0,0,24.79,23.89,22.45
$GC,9296,0.51,146.0,989.5,10.0,727,9301,0.17,2.40,0.00,0.000,6,0.171,0.046,2672,2516,2326,0,0,0,0,0,0,24.43,24.68,28.83
$GC,9604,0.51,146.0,954.8,11.1,742,9609,0.00,1.95,0.00,0.000,4,0.000,0.057,2672,3764,2321,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9685,0.51,146.0,944.3,13.2,746,9689,0.00,1.95,0.00,0.000,6,0.000,0.025,2681,2459,2320,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10003,0.51,146.0,905.8,12.1,762,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2455,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10305,0.51,146.0,868.5,12.7,777,10311,0.00,2.05,0.00,0.000,4,0.000,0.032,2687,1054,2316,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10351,0.51,146.0,863.7,12.4,779,10356,0.08,2.28,0.00,0.000,6,0.194,0.047,2671,2524,2316,0,0,0,0,0,0,26.03,26.17,28.83
$GC,10659,0.51,146.0,826.4,11.7,794,10665,0.00,1.92,0.00,0.000,4,0.000,0.056,2671,3775,2315,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10718,0.51,146.0,818.2,13.3,797,10722,0.00,1.92,0.00,0.000,6,0.000,0.024,2680,2454,2314,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11034,0.51,146.0,779.7,11.9,813,11040,0.00,2.05,0.00,0.000,4,0.000,0.054,2680,3765,2314,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11083,0.51,146.0,774.2,12.8,815,11087,0.03,1.92,0.00,0.000,6,0.151,0.024,2669,2444,2313,0,0,0,0,0,0,26.01,26.41,28.83
$GC,11395,0.51,146.0,737.6,11.0,831,11400,0.00,2.03,0.00,0.000,4,0.000,0.030,2679,1051,2313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11435,0.51,146.0,733.6,10.5,833,11440,0.00,2.28,0.00,0.000,6,0.000,0.046,2678,2522,2312,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11755,0.51,146.0,698.9,10.6,849,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2522,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12057,0.51,146.0,669.4,9.6,864,12062,0.00,1.92,0.00,0.000,4,0.000,0.054,2679,3774,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12078,0.51,146.0,667.3,9.7,865,12083,0.05,1.92,0.00,0.000,6,0.185,0.023,2659,2454,2312,0,0,0,0,0,0,25.96,26.46,28.83
$GC,12395,0.51,146.0,639.9,8.8,881,12402,0.10,2.03,0.00,0.000,4,0.113,0.028,2726,1055,2312,0,0,0,0,0,0,26.54,26.31,28.83
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$STATE,19534,end climb,SURFACE_DEPTH_REACHED
$STATE,19534,begin surface coast
$FINISH,0.7,1.008540
$STATE,19596,end surface coast,CONTROL_FINISHED_OK
$STATE,19596,begin surface
$SM_CCo,19612,52.62,0.122,0,0,498,595.83
$SM_GC,1.47,6.43,0.12,52.62,0.032,0.080,0.122,182,2686,498,-7.16,-0.57,595.83,0,0,0,0,0,0,26.43,26.58,25.84
$IRIDIUM_FIX,1800.97,12335.75,300412,020253
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.31
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.5,48.619
$10V_AH,10.2,31.025
$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,18.950,174.275,440.825,52.625,0.000,147.283,136.338,192.294,0.000,0.000,17.071,4495.398,11175.662,661.117,3740.681,442.393,0.000,2323.762,0.000,2960.741,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,121.635,1732.725,121.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.944,2383.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,134012,1787
$CAP_FILE_SIZE,210561,0
$CFSIZE,260165632,199340032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,357.2,1
$GPS,300412,080337,1806.361,12335.054,33,0.9,33,-2.0