version: 66.10
glider: 176
mission: 5
dive: 212
start: 4 23 112 21 25 23
data:
$ID,176
$MISSION,5
$DIVE,212
$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,-7712.3433
$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
$GPS1,230412,211725,1752.225,12428.884,36,1.6,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.7
$GPS2,230412,212456,1752.223,12428.860,10,1.5,10,-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,283.3,243751,-13.1,-7.500
$D_GRID,4121
$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,-45.83,0.000,2,0.000,0.000,191,2685,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.1,-5.7,8,110,8.70,2.28,-24.12,0.000,4,0.234,0.041,2348,1138,3526,0,0,0,0,0,0,25.39,26.15,26.54
$GC,323,-0.51,-146.0,65.4,-21.3,51,330,0.00,2.28,0.00,0.000,6,0.000,0.046,2346,2632,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,650,-0.51,-146.0,167.5,-26.5,112,656,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1151,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,719,-0.51,-146.0,183.3,-18.5,125,726,0.10,2.22,0.00,0.000,6,0.174,0.042,2361,2634,3527,0,0,0,0,0,0,26.13,26.33,28.83
$GC,1029,-0.51,-146.0,240.2,-17.1,164,1039,0.05,2.12,0.00,0.000,4,0.177,0.023,2312,1144,3528,0,0,0,0,0,0,26.65,26.47,28.83
$GC,1104,-0.51,-146.0,254.0,-18.9,171,1112,0.17,2.25,0.00,0.000,6,0.148,0.042,2356,2639,3528,0,0,0,0,0,0,26.08,26.36,28.83
$GC,1411,-0.51,-146.0,306.8,-15.8,202,1421,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1148,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1476,-0.51,-146.0,315.4,-12.8,208,1484,0.00,2.25,0.00,0.000,6,0.000,0.042,2348,2629,3528,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1784,-0.51,-146.0,359.9,-14.2,239,1793,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1145,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1826,-0.51,-146.0,365.4,-13.2,243,1835,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2637,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2135,-0.51,-146.0,405.2,-13.2,274,2145,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1152,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2222,-0.51,-146.0,414.6,-10.5,282,2230,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2634,3524,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2528,-0.51,-146.0,452.1,-12.9,313,2537,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1148,3522,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2573,-0.51,-146.0,457.0,-12.1,317,2580,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2629,3521,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2879,-0.51,-146.0,494.6,-11.8,348,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,-0.51,-146.0,526.7,-10.2,378,3191,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1158,3517,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3223,-0.51,-146.0,531.1,-10.1,382,3233,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2635,3516,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3533,-0.51,-146.0,562.7,-10.4,413,3542,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1154,3513,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3556,-0.51,-146.0,564.9,-10.3,415,3564,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2621,3513,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3865,-0.51,-146.0,597.4,-10.5,446,3869,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1146,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3901,-0.51,-146.0,600.8,-10.4,449,3908,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2629,3511,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4207,-0.51,-146.0,633.4,-10.5,465,4213,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1146,3508,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4251,-0.51,-146.0,637.3,-10.0,467,4257,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2636,3508,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4568,-0.51,-146.0,667.6,-9.1,483,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.51,-146.0,695.8,-9.4,498,4872,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1155,3503,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4910,-0.51,-146.0,699.7,-9.4,500,4914,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2629,3503,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5222,-0.51,-146.0,729.0,-9.3,516,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.51,-146.0,756.6,-9.1,531,5526,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1150,3497,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5572,-0.51,-146.0,760.4,-9.3,533,5576,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2630,3497,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5878,-0.51,-146.0,788.8,-8.9,548,5884,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1157,3495,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5906,-0.51,-146.0,790.7,-8.9,549,5910,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3495,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6214,-0.51,-146.0,817.2,-8.5,564,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6514,-0.51,-146.0,842.7,-8.4,579,6519,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1156,3491,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6553,-0.51,-146.0,845.9,-8.3,581,6559,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3491,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6875,-0.51,-146.0,870.2,-7.3,597,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,-0.51,-146.0,890.6,-6.8,612,7180,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1156,3487,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7217,-0.51,-146.0,893.4,-7.1,614,7222,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3487,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7529,-0.51,-146.0,916.0,-7.4,630,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2632,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7829,-0.51,-146.0,938.0,-7.4,645,7835,0.00,2.17,0.00,0.000,4,0.000,0.028,2344,1145,3484,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7871,-0.51,-146.0,941.0,-7.4,647,7876,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2632,3484,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8190,-0.51,-146.0,964.2,-7.5,663,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8489,-0.51,-146.0,986.2,-7.3,678,8495,0.00,2.17,0.00,0.000,4,0.000,0.028,2344,1147,3481,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8530,-0.51,-146.0,989.2,-7.4,680,8535,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2628,3481,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8547,begin apogee
$GC,8552,-0.17,0.0,990.8,-7.5,681,8680,0.35,0.15,120.95,1.735,6,0.106,0.083,2468,2542,2928,0,0,0,0,0,0,25.96,24.55,23.28
$STATE,8681,end apogee,CONTROL_FINISHED_OK
$STATE,8681,begin climb
$GC,8683,0.51,146.0,995.1,0.0,687,8833,0.57,2.42,140.25,1.696,4,0.049,0.029,2708,1056,2332,0,0,0,0,0,0,24.79,23.88,22.53
$GC,8866,0.51,146.0,986.0,11.5,697,8873,0.10,2.42,0.00,0.000,6,0.161,0.044,2678,2526,2327,0,0,0,0,0,0,24.34,24.56,28.83
$GC,9185,0.51,146.0,943.3,13.4,713,9191,0.00,1.92,0.00,0.000,4,0.000,0.051,2677,3768,2322,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9228,0.51,146.0,937.1,14.3,715,9233,0.08,1.95,0.00,0.000,6,0.228,0.024,2673,2455,2320,0,0,0,0,0,0,25.79,26.06,28.83
$GC,9547,0.51,146.0,893.2,13.5,731,9551,0.00,2.05,0.00,0.000,4,0.000,0.029,2683,1050,2318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9568,0.51,146.0,890.2,13.6,732,9574,0.00,2.28,0.00,0.000,6,0.000,0.044,2683,2517,2318,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9888,0.51,146.0,844.5,13.6,748,9892,0.00,1.90,0.00,0.000,4,0.000,0.053,2683,3765,2317,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9908,0.51,146.0,842.1,13.8,749,9913,0.10,1.90,0.00,0.000,6,0.213,0.024,2670,2449,2316,0,0,0,0,0,0,25.94,26.32,28.83
$GC,10220,0.51,146.0,803.9,11.6,765,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2444,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,0.51,146.0,772.3,10.1,780,10526,0.00,2.05,0.00,0.000,4,0.000,0.052,2670,3764,2314,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10560,0.51,146.0,767.7,10.7,782,10564,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2443,2314,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10876,0.51,146.0,732.1,11.5,798,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2438,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11177,0.51,146.0,699.3,10.6,813,11183,0.00,2.05,0.00,0.000,4,0.000,0.052,2680,3767,2313,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11204,0.51,146.0,696.9,10.8,814,11209,0.10,1.90,0.00,0.000,6,0.207,0.024,2667,2449,2313,0,0,0,0,0,0,26.01,26.41,28.83
$GC,11511,0.51,146.0,665.8,9.8,829,11513,0.05,0.00,0.00,0.000,6,0.181,0.000,2703,2444,2313,0,0,0,0,0,0,26.58,28.83,28.83
$GC,11812,0.51,146.0,630.2,11.5,844,11818,0.12,2.05,0.00,0.000,4,0.178,0.050,2665,3767,2313,0,0,0,0,0,0,26.15,26.07,28.83
$GC,11840,0.51,146.0,627.8,11.5,845,11844,0.00,1.90,0.00,0.000,6,0.000,0.023,2675,2441,2312,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12148,0.51,146.0,599.5,8.7,860,12156,0.00,2.08,0.00,0.000,4,0.000,0.052,2675,3764,2312,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12189,0.51,146.0,595.0,10.6,864,12193,0.05,1.90,0.00,0.000,6,0.255,0.024,2673,2437,2311,0,0,0,0,0,0,26.20,26.43,28.83
$GC,12494,0.51,146.0,568.2,8.7,894,12504,0.00,2.05,0.00,0.000,4,0.000,0.031,2683,1045,2311,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,19056,0.88,452.8,19.3,4.4,1737,19098,0.12,2.22,35.10,0.167,4,0.090,0.031,2843,1051,1077,0,0,0,0,0,0,26.57,26.31,25.77
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$STATE,19201,end climb,SURFACE_DEPTH_REACHED
$STATE,19201,begin surface coast
$FINISH,0.7,1.009512
$STATE,19248,end surface coast,CONTROL_FINISHED_OK
$STATE,19248,begin surface
$SM_CCo,19323,0.00,0.000,0,0,1071,455.77
$SM_GC,1.64,6.43,0.15,0.00,0.032,0.070,0.000,193,2721,1071,-7.16,-0.37,455.77,0,0,0,0,0,0,26.37,26.52,28.83
$IRIDIUM_FIX,1742.84,12430.39,230412,151532
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.90
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.5,43.700
$10V_AH,10.1,27.582
$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,19.975,185.825,460.250,0.000,0.000,23.909,39.285,236.706,0.000,0.000,13.521,4443.217,10700.588,618.829,3548.838,431.099,0.000,2275.868,0.000,2904.220,0.000,0.542,0.000
$DEVICE_MAMPS,254.745,83.385,1735.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.109,2402.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330000
$DATA_FILE_SIZE,130368,1766
$CAP_FILE_SIZE,211457,0
$CFSIZE,260165632,202268672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.006,119.1,1
$GPS,240412,024837,1752.470,12426.392,41,0.9,41,-2.0