version: 66.10
glider: 176
mission: 5
dive: 139
start: 4 7 112 5 15 4
data:
$ID,176
$MISSION,5
$DIVE,139
$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,-7603.6177
$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,2510
$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
$GPS1,070412,050236,1959.459,12349.968,25,1.3,25,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.5
$GPS2,070412,051438,1959.461,12350.120,14,1.6,14,-2.5
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,48.7,59360,-13.1,-7.500
$D_GRID,5505
$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,16,-0.51,-146.0,0.0,0.0,0,71,0.00,0.00,-52.62,0.000,2,0.000,0.000,179,2645,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.51,-146.0,3.1,-2.7,9,106,8.75,2.17,-15.98,0.000,4,0.239,0.037,2350,1141,3523,0,0,0,0,0,0,25.43,26.06,26.40
$GC,124,-0.51,-146.0,14.4,-24.4,17,130,0.00,2.30,0.00,0.000,6,0.000,0.047,2339,2626,3524,0,0,0,0,0,0,28.83,25.98,28.83
$GC,434,-0.51,-146.0,108.9,-29.1,78,441,0.00,2.15,0.00,0.000,4,0.000,0.029,2339,1149,3524,0,0,0,0,0,0,28.83,26.25,28.83
$GC,519,-0.51,-146.0,128.4,-18.2,94,527,0.10,2.25,0.00,0.000,6,0.180,0.047,2357,2632,3524,0,0,0,0,0,0,26.01,26.18,28.83
$GC,830,-0.51,-146.0,195.7,-21.4,155,839,0.08,2.15,0.00,0.000,4,0.135,0.026,2304,1147,3524,0,0,0,0,0,0,26.52,26.37,28.83
$GC,867,-0.51,-146.0,204.5,-25.0,160,876,0.20,2.25,0.00,0.000,6,0.156,0.046,2351,2628,3524,0,0,0,0,0,0,25.96,26.28,28.83
$GC,1176,-0.51,-146.0,271.2,-17.6,191,1180,0.00,2.12,0.00,0.000,4,0.000,0.027,2352,1147,3524,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1237,-0.51,-146.0,280.3,-13.7,197,1246,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2636,3525,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1548,-0.51,-146.0,330.8,-15.2,228,1557,0.00,2.08,0.00,0.000,4,0.000,0.026,2347,1158,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1609,-0.51,-146.0,339.4,-13.4,234,1619,0.05,2.22,0.00,0.000,6,0.224,0.045,2352,2632,3525,0,0,0,0,0,0,26.27,26.37,28.83
$GC,1920,-0.51,-146.0,383.4,-13.6,265,1924,0.00,2.12,0.00,0.000,4,0.000,0.027,2352,1148,3524,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2002,-0.51,-146.0,393.1,-10.9,273,2011,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2631,3524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2314,-0.51,-146.0,433.1,-13.8,304,2322,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1158,3523,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2348,-0.51,-146.0,437.6,-13.8,307,2356,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2633,3523,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2655,-0.51,-146.0,480.0,-14.0,338,2663,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1155,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2709,-0.51,-146.0,486.2,-12.3,343,2717,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2628,3521,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3017,-0.51,-146.0,522.4,-11.4,374,3026,0.00,2.08,0.00,0.000,4,0.000,0.027,2345,1160,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3092,-0.51,-146.0,530.1,-10.2,381,3099,0.00,2.22,0.00,0.000,6,0.000,0.047,2344,2626,3519,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3399,-0.51,-146.0,564.7,-11.9,412,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,-0.51,-146.0,602.7,-11.8,442,3717,0.00,2.08,0.00,0.000,4,0.000,0.027,2344,1158,3515,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3757,-0.51,-146.0,607.4,-11.6,444,3761,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2626,3515,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4066,-0.51,-146.0,642.0,-10.5,459,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.51,-146.0,671.9,-9.4,474,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4667,-0.51,-146.0,698.9,-8.7,489,4672,0.00,2.08,0.00,0.000,4,0.000,0.027,2344,1161,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4699,-0.51,-146.0,700.9,-8.8,490,4706,0.00,2.25,0.00,0.000,6,0.000,0.050,2344,2626,3508,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5005,-0.51,-146.0,729.0,-9.1,506,5009,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1151,3506,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5074,-0.51,-146.0,734.5,-8.9,509,5078,0.00,2.28,0.00,0.000,6,0.000,0.050,2344,2625,3506,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5383,-0.51,-146.0,764.2,-9.5,524,5388,0.00,2.08,0.00,0.000,4,0.000,0.026,2344,1163,3503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5421,-0.51,-146.0,767.8,-9.5,526,5427,0.00,2.25,0.00,0.000,6,0.000,0.050,2345,2626,3503,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5741,-0.51,-146.0,795.7,-8.3,542,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6043,-0.51,-146.0,818.2,-7.4,557,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6342,-0.51,-146.0,841.1,-7.9,572,6347,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1150,3497,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6394,-0.51,-146.0,844.4,-8.2,574,6401,0.00,2.30,0.00,0.000,6,0.000,0.050,2344,2633,3497,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6702,-0.51,-146.0,870.8,-8.1,590,6708,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1156,3495,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6742,-0.51,-146.0,874.1,-8.2,592,6748,0.00,2.28,0.00,0.000,6,0.000,0.050,2344,2629,3495,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7062,-0.51,-146.0,900.0,-8.2,608,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7363,-0.51,-146.0,922.8,-7.1,623,7368,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1159,3492,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7403,-0.51,-146.0,925.5,-7.0,625,7408,0.00,2.28,0.00,0.000,6,0.000,0.051,2344,2629,3492,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7722,-0.51,-146.0,947.3,-7.0,641,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.51,-146.0,970.3,-7.9,656,8028,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1162,3489,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8061,-0.51,-146.0,973.5,-8.0,658,8067,0.00,2.28,0.00,0.000,6,0.000,0.051,2344,2625,3489,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,8280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8280,begin apogee
$GC,8286,-0.17,0.0,990.8,-7.9,669,8414,0.32,0.15,121.20,1.743,6,0.113,0.086,2459,2529,2929,0,0,0,0,0,0,26.02,24.58,23.46
$STATE,8415,end apogee,CONTROL_FINISHED_OK
$STATE,8416,begin climb
$GC,8417,0.51,146.0,994.0,0.0,675,8565,0.60,2.45,139.23,1.702,4,0.060,0.031,2697,1064,2332,0,0,0,0,0,0,24.80,23.94,22.76
$GC,8590,0.51,146.0,984.8,10.9,684,8595,0.12,2.42,0.00,0.000,6,0.178,0.045,2669,2516,2328,0,0,0,0,0,0,24.28,24.45,28.83
$GC,8898,0.51,146.0,939.3,14.2,699,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2517,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9198,0.51,146.0,899.0,12.9,714,9204,0.00,1.98,0.00,0.000,4,0.000,0.057,2668,3770,2320,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9230,0.51,146.0,896.4,13.0,715,9237,0.00,1.92,0.00,0.000,6,0.000,0.024,2678,2451,2320,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9538,0.51,146.0,855.4,11.8,731,9543,0.00,2.08,0.00,0.000,4,0.000,0.055,2678,3767,2319,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9566,0.51,146.0,852.7,12.2,732,9571,0.10,1.92,0.00,0.000,6,0.222,0.024,2667,2446,2318,0,0,0,0,0,0,25.84,26.22,28.83
$GC,9873,0.51,146.0,815.2,12.0,747,9878,0.00,2.08,0.00,0.000,4,0.000,0.033,2676,1047,2317,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9935,0.51,146.0,808.8,10.9,750,9940,0.00,2.28,0.00,0.000,6,0.000,0.047,2676,2517,2316,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10248,0.51,146.0,770.6,11.9,766,10254,0.00,1.90,0.00,0.000,4,0.000,0.056,2676,3764,2316,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10300,0.51,146.0,765.4,12.2,768,10309,0.05,1.92,0.00,0.000,6,0.203,0.025,2671,2449,2316,0,0,0,0,0,0,26.00,26.34,28.83
$GC,10608,0.51,146.0,728.7,11.1,784,10614,0.00,2.08,0.00,0.000,4,0.000,0.055,2671,3776,2315,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10650,0.51,146.0,723.5,12.0,786,10655,0.05,1.92,0.00,0.000,6,0.265,0.024,2671,2446,2314,0,0,0,0,0,0,26.13,26.36,28.83
$GC,10963,0.51,146.0,688.8,10.5,802,10968,0.00,2.05,0.00,0.000,4,0.000,0.034,2680,1059,2314,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11005,0.51,146.0,684.7,10.5,804,11010,0.03,2.28,0.00,0.000,6,0.187,0.045,2671,2519,2313,0,0,0,0,0,0,26.06,26.17,28.83
$GC,11323,0.51,146.0,649.5,11.4,820,11327,0.00,1.90,0.00,0.000,4,0.000,0.055,2671,3769,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11407,0.51,146.0,639.4,13.2,824,11411,0.05,1.92,0.00,0.000,6,0.269,0.024,2671,2437,2313,0,0,0,0,0,0,26.18,26.41,28.83
$GC,11720,0.51,146.0,606.8,9.6,840,11725,0.00,2.05,0.00,0.000,4,0.000,0.054,2671,3765,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11762,0.51,146.0,602.8,9.5,842,11766,0.05,1.90,0.00,0.000,6,0.262,0.023,2670,2441,2312,0,0,0,0,0,0,26.20,26.41,28.83
$GC,12069,0.51,146.0,575.3,8.2,871,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2437,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12372,0.51,146.0,548.9,8.7,901,12381,0.00,2.03,0.00,0.000,4,0.000,0.054,2670,3763,2312,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12416,0.51,146.0,544.4,10.4,905,12423,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2435,2312,0,0,0,0,0,0,28.83,26.44,28.83
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$GC,15527,0.55,183.7,269.8,8.9,1214,15535,0.00,2.17,0.00,0.000,4,0.000,0.034,2691,1054,2175,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,18611,end climb,SURFACE_DEPTH_REACHED
$STATE,18611,begin surface coast
$FINISH,0.9,1.012242
$STATE,18633,end surface coast,CONTROL_FINISHED_OK
$STATE,18633,begin surface
$SM_CCo,18648,32.70,0.130,0,0,1396,375.06
$SM_GC,2.03,6.20,0.28,32.70,0.028,0.054,0.130,187,2651,1396,-7.15,-0.40,375.06,0,0,0,0,0,0,26.39,26.48,25.94
$IRIDIUM_FIX,1950.41,12344.58,070412,050558
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.8,30.631
$10V_AH,10.2,18.284
$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,18.400,170.500,347.800,32.700,0.000,61.431,87.106,354.445,0.000,0.000,16.647,4372.030,10470.376,592.474,3530.493,409.054,0.000,2152.930,0.000,2877.063,0.000,0.541,0.000
$DEVICE_MAMPS,268.515,86.445,1743.435,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.972,2181.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329676
$DATA_FILE_SIZE,130571,1740
$CAP_FILE_SIZE,197071,0
$CFSIZE,260165632,210124800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168, 99.2,1
$GPS,070412,102737,2000.927,12353.603,39,1.0,39,-2.5