version: 66.10
glider: 176
mission: 5
dive: 240
start: 4 30 112 13 40 59
data:
$ID,176
$MISSION,5
$DIVE,240
$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,-7748.8867
$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
$GPS1,300412,133255,1806.129,12332.267,38,1.6,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.6
$GPS2,300412,134032,1806.172,12332.288,10,1.6,10,-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,296.2,141306,-13.1,-7.500
$D_GRID,5102
$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,-45.80,0.000,2,0.000,0.000,191,2660,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.4,-7.7,8,110,8.77,2.17,-24.85,0.000,4,0.234,0.037,2346,1156,3527,0,0,0,0,0,0,25.37,26.22,26.59
$GC,291,-0.51,-146.0,59.6,-23.0,45,300,0.10,2.22,0.00,0.000,6,0.179,0.044,2362,2631,3527,0,0,0,0,0,0,26.04,26.24,28.83
$GC,624,-0.51,-146.0,157.1,-25.9,106,647,0.08,2.12,0.00,0.000,4,0.135,0.024,2309,1155,3527,0,0,0,0,0,0,26.60,26.46,28.83
$GC,684,-0.51,-146.0,171.4,-19.1,114,692,0.17,2.22,0.00,0.000,6,0.156,0.045,2355,2636,3528,0,0,0,0,0,0,26.04,26.34,28.83
$GC,996,-0.51,-146.0,231.0,-18.1,159,1005,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1141,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1037,-0.51,-146.0,237.8,-16.4,163,1046,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2633,3528,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1348,-0.51,-146.0,292.5,-16.1,194,1357,0.00,2.10,0.00,0.000,4,0.000,0.026,2345,1151,3528,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1391,-0.51,-146.0,298.5,-14.5,198,1400,0.05,2.25,0.00,0.000,6,0.139,0.044,2356,2630,3528,0,0,0,0,0,0,26.21,26.41,28.83
$GC,1700,-0.51,-146.0,340.8,-13.6,229,1710,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1141,3527,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1755,-0.51,-146.0,347.5,-12.3,234,1762,0.00,2.25,0.00,0.000,6,0.000,0.043,2356,2624,3527,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2063,-0.51,-146.0,386.1,-10.5,265,2072,0.00,2.10,0.00,0.000,4,0.000,0.024,2356,1149,3525,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2126,-0.51,-146.0,391.9,-8.6,271,2135,0.00,2.22,0.00,0.000,6,0.000,0.043,2356,2633,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2436,-0.51,-146.0,416.5,-9.1,302,2439,0.00,1.70,0.00,0.000,4,0.000,0.053,2356,3766,3522,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2478,-0.51,-146.0,420.4,-9.8,306,2481,0.00,1.70,0.00,0.000,6,0.000,0.022,2356,2498,3522,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2789,-0.51,-146.0,450.5,-9.4,337,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2477,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-0.51,-146.0,478.3,-9.0,367,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2477,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.51,-146.0,505.2,-8.3,398,3409,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3780,3513,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3453,-0.51,-146.0,509.9,-9.0,403,3456,0.00,1.73,0.00,0.000,6,0.000,0.021,2348,2505,3513,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3766,-0.51,-146.0,537.6,-9.1,434,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2478,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4075,-0.51,-146.0,565.5,-9.0,465,4085,0.00,2.00,0.00,0.000,4,0.000,0.055,2341,3781,3506,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4097,-0.51,-146.0,567.7,-9.2,467,4101,0.08,1.73,0.00,0.000,6,0.168,0.022,2363,2496,3506,0,0,0,0,0,0,26.41,26.65,28.83
$GC,4409,-0.51,-146.0,592.6,-7.9,498,4419,0.08,2.00,0.00,0.000,4,0.130,0.054,2305,3767,3503,0,0,0,0,0,0,26.66,26.17,28.83
$GC,4444,-0.51,-146.0,596.1,-9.6,501,4452,0.12,1.75,0.00,0.000,6,0.116,0.023,2363,2494,3502,0,0,0,0,0,0,26.16,26.61,28.83
$GC,4761,-0.51,-146.0,620.6,-6.9,519,4763,0.08,0.00,0.00,0.000,6,0.128,0.000,2305,2492,3500,0,0,0,0,0,0,26.65,28.83,28.83
$GC,5062,-0.51,-146.0,656.0,-12.3,534,5069,0.15,1.95,0.00,0.000,4,0.148,0.052,2346,3758,3499,0,0,0,0,0,0,26.27,26.16,28.83
$GC,5084,-0.51,-146.0,658.5,-12.2,535,5088,0.00,1.73,0.00,0.000,6,0.000,0.023,2347,2471,3498,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5402,-0.51,-146.0,687.4,-9.6,551,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2467,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5702,-0.51,-146.0,715.5,-9.0,566,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2467,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-0.51,-146.0,739.9,-7.5,581,6007,0.00,2.03,0.00,0.000,4,0.000,0.056,2343,3766,3492,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6055,-0.51,-146.0,743.1,-7.7,583,6062,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2467,3491,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6362,-0.51,-146.0,766.1,-7.2,599,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2467,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,-0.51,-146.0,787.0,-7.3,614,6668,0.00,2.00,0.00,0.000,4,0.000,0.055,2337,3764,3488,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6722,-0.51,-146.0,791.8,-7.8,617,6726,0.08,1.73,0.00,0.000,6,0.168,0.024,2360,2505,3487,0,0,0,0,0,0,26.36,26.60,28.83
$GC,7043,-0.51,-146.0,815.7,-7.5,633,7045,0.05,0.00,0.00,0.000,6,0.176,0.000,2307,2491,3486,0,0,0,0,0,0,26.66,28.83,28.83
$GC,7345,-0.51,-146.0,849.9,-11.4,648,7347,0.17,0.00,0.00,0.000,6,0.137,0.000,2361,2490,3484,0,0,0,0,0,0,26.24,28.83,28.83
$GC,7644,-0.51,-146.0,872.3,-7.2,663,7650,0.08,2.00,0.00,0.000,4,0.131,0.054,2304,3766,3482,0,0,0,0,0,0,26.63,25.99,28.83
$GC,7677,-0.51,-146.0,874.0,-7.4,664,7684,0.17,1.73,0.00,0.000,6,0.129,0.024,2361,2487,3481,0,0,0,0,0,0,26.11,26.58,28.83
$GC,7985,-0.51,-146.0,897.6,-6.7,680,7991,0.08,1.98,0.00,0.000,4,0.129,0.055,2304,3753,3480,0,0,0,0,0,0,26.63,25.98,28.83
$GC,8012,-0.51,-146.0,899.3,-7.0,681,8016,0.17,1.70,0.00,0.000,6,0.133,0.024,2360,2491,3480,0,0,0,0,0,0,26.08,26.58,28.83
$GC,8320,-0.51,-146.0,919.5,-5.7,696,8324,0.05,2.00,0.00,0.000,4,0.177,0.054,2304,3766,3479,0,0,0,0,0,0,26.65,25.96,28.83
$GC,8342,-0.51,-146.0,921.1,-6.0,697,8348,0.17,1.73,0.00,0.000,6,0.131,0.024,2360,2493,3478,0,0,0,0,0,0,26.08,26.55,28.83
$GC,8662,-0.51,-146.0,935.6,-4.0,713,8664,0.08,0.00,0.00,0.000,6,0.130,0.000,2306,2491,3477,0,0,0,0,0,0,26.63,28.83,28.83
$GC,8963,-0.51,-146.0,959.7,-8.8,728,8965,0.17,0.00,0.00,0.000,6,0.137,0.000,2361,2491,3476,0,0,0,0,0,0,26.22,28.83,28.83
$GC,9262,-0.51,-146.0,975.2,-5.2,743,9268,0.08,1.98,0.00,0.000,4,0.131,0.054,2304,3761,3476,0,0,0,0,0,0,26.63,25.91,28.83
$GC,9291,-0.51,-146.0,976.6,-5.6,744,9295,0.17,1.73,0.00,0.000,6,0.131,0.024,2360,2493,3475,0,0,0,0,0,0,26.06,26.55,28.83
$STATE,9515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9515,begin apogee
$GC,9520,-0.17,0.0,990.4,-5.4,755,9644,0.30,0.00,120.78,1.733,6,0.106,0.000,2470,2490,2928,0,0,0,0,0,0,26.04,28.83,23.17
$STATE,9647,end apogee,CONTROL_FINISHED_OK
$STATE,9648,begin climb
$GC,9650,0.51,146.0,994.7,0.0,761,9801,0.57,2.40,140.75,1.688,4,0.050,0.031,2708,1053,2331,0,0,0,0,0,0,24.75,23.87,22.42
$GC,9854,0.51,146.0,982.9,11.9,772,9860,0.15,2.42,0.00,0.000,6,0.176,0.045,2673,2524,2325,0,0,0,0,0,0,24.53,24.78,28.83
$GC,10175,0.51,146.0,943.0,12.4,788,10180,0.00,1.92,0.00,0.000,4,0.000,0.056,2673,3764,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10196,0.51,146.0,940.5,12.6,789,10200,0.00,1.95,0.00,0.000,6,0.000,0.024,2680,2448,2319,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10516,0.51,146.0,899.7,12.2,805,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2444,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10814,0.51,146.0,863.0,12.1,820,10819,0.00,2.08,0.00,0.000,4,0.000,0.054,2680,3771,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10842,0.51,146.0,860.3,12.2,821,10846,0.10,1.92,0.00,0.000,6,0.215,0.024,2667,2441,2316,0,0,0,0,0,0,25.95,26.32,28.83
$GC,11150,0.51,146.0,823.9,11.3,836,11156,0.05,2.03,0.00,0.000,4,0.184,0.054,2701,3758,2315,0,0,0,0,0,0,26.49,26.10,28.83
$GC,11182,0.51,146.0,821.3,11.6,837,11189,0.15,1.90,0.00,0.000,6,0.195,0.025,2673,2440,2315,0,0,0,0,0,0,25.84,26.38,28.83
$GC,11489,0.51,146.0,782.3,11.1,853,11493,0.00,2.03,0.00,0.000,4,0.000,0.031,2682,1050,2314,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11539,0.51,146.0,777.8,11.3,855,11543,0.00,2.28,0.00,0.000,6,0.000,0.047,2682,2525,2313,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11845,0.51,146.0,742.5,11.0,870,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2525,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12146,0.51,146.0,708.6,11.7,885,12151,0.00,1.90,0.00,0.000,4,0.000,0.055,2682,3764,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12198,0.51,146.0,703.4,12.2,887,12206,0.10,1.90,0.00,0.000,6,0.207,0.024,2669,2448,2312,0,0,0,0,0,0,26.03,26.43,28.83
$GC,12506,0.51,146.0,670.0,10.2,903,12511,0.00,2.03,0.00,0.000,4,0.000,0.030,2679,1054,2312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12554,0.51,146.0,666.0,10.2,905,12558,0.00,2.25,0.00,0.000,6,0.000,0.046,2679,2517,2311,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12860,0.51,146.0,630.3,11.3,920,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2517,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13160,0.51,146.0,596.9,10.9,936,13164,0.00,1.92,0.00,0.000,4,0.000,0.056,2679,3773,2310,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19773,end climb,SURFACE_DEPTH_REACHED
$STATE,19773,begin surface coast
$FINISH,1.0,1.020862
$STATE,19795,end surface coast,CONTROL_FINISHED_OK
$STATE,19795,begin surface
$SM_CCo,19870,0.00,0.000,0,0,1128,441.79
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$IRIDIUM_FIX,1758.70,12330.71,300412,080859
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.4,49.016
$10V_AH,10.0,31.284
$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,21.525,161.600,425.325,0.000,0.000,29.410,36.314,242.739,0.000,0.000,13.668,4527.051,11210.499,577.736,3563.092,418.664,0.000,2231.804,0.000,2953.060,0.000,0.543,0.000
$DEVICE_MAMPS,271.575,91.035,1733.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1219.960,2415.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,133883,1792
$CAP_FILE_SIZE,208544,0
$CFSIZE,260165632,199147520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,325.7,1
$GPS,300412,191307,1808.333,12329.148,28,1.3,28,-2.0