version: 66.10
glider: 176
mission: 5
dive: 221
start: 4 25 112 23 29 36
data:
$ID,176
$MISSION,5
$DIVE,221
$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,-7724.4248
$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
$GPS1,250412,232125,1756.102,12410.696,37,1.6,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.5
$GPS2,250412,232908,1756.030,12410.807,12,1.8,12,-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,286.4,211403,-13.1,-7.500
$D_GRID,4746
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.45,0.000,2,0.000,0.000,177,2668,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.51,-146.0,3.5,-7.5,8,109,8.80,2.20,-22.90,0.000,4,0.235,0.037,2347,1147,3528,0,0,0,0,0,0,25.39,26.24,26.56
$GC,185,-0.51,-146.0,35.9,-21.4,27,193,0.10,2.25,0.00,0.000,6,0.181,0.045,2361,2628,3528,0,0,0,0,0,0,25.96,26.15,28.83
$GC,513,-0.51,-146.0,134.0,-24.5,88,520,0.08,2.10,0.00,0.000,4,0.133,0.023,2314,1145,3528,0,0,0,0,0,0,26.56,26.43,28.83
$GC,558,-0.51,-146.0,145.5,-23.5,96,566,0.17,2.22,0.00,0.000,6,0.160,0.043,2354,2628,3528,0,0,0,0,0,0,25.98,26.29,28.83
$GC,874,-0.51,-146.0,215.0,-19.6,151,883,0.00,2.10,0.00,0.000,4,0.000,0.024,2354,1143,3528,0,0,0,0,0,0,28.83,26.49,28.83
$GC,970,-0.51,-146.0,229.6,-14.3,160,976,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2631,3529,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1275,-0.51,-146.0,280.3,-16.5,191,1284,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1149,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1330,-0.51,-146.0,288.3,-15.2,196,1337,0.00,2.22,0.00,0.000,6,0.000,0.044,2346,2632,3528,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1637,-0.51,-146.0,336.8,-16.1,227,1645,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1149,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1729,-0.51,-146.0,348.1,-10.6,236,1738,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2630,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2039,-0.51,-146.0,388.0,-12.6,267,2048,0.00,2.08,0.00,0.000,4,0.000,0.024,2344,1149,3525,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2103,-0.51,-146.0,395.3,-10.9,273,2113,0.03,2.20,0.00,0.000,6,0.177,0.043,2348,2627,3525,0,0,0,0,0,0,26.24,26.38,28.83
$GC,2411,-0.51,-146.0,433.1,-12.1,304,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.51,-146.0,466.4,-10.4,334,2723,0.00,2.08,0.00,0.000,4,0.000,0.024,2349,1149,3521,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2797,-0.51,-146.0,474.3,-8.7,342,2805,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2636,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3106,-0.51,-146.0,505.3,-10.8,373,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.51,-146.0,538.5,-11.1,403,3416,0.00,2.10,0.00,0.000,4,0.000,0.024,2349,1152,3516,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3461,-0.51,-146.0,544.1,-10.5,408,3468,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2628,3515,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3768,-0.51,-146.0,574.8,-9.4,439,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-0.51,-146.0,601.9,-8.9,468,4075,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1144,3510,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4129,-0.51,-146.0,607.1,-8.7,471,4134,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2634,3510,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4449,-0.51,-146.0,635.2,-8.9,487,4455,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1137,3506,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4481,-0.51,-146.0,637.1,-8.9,488,4489,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2633,3506,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4789,-0.51,-146.0,662.2,-7.4,504,4795,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1148,3504,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4817,-0.51,-146.0,663.5,-7.3,505,4821,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2628,3504,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5124,-0.51,-146.0,684.1,-6.5,520,5130,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1144,3501,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5178,-0.51,-146.0,686.5,-6.3,522,5185,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2633,3501,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5485,-0.51,-146.0,708.3,-7.3,538,5489,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1145,3498,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5514,-0.51,-146.0,710.1,-7.6,539,5518,0.00,2.28,0.00,0.000,6,0.000,0.046,2347,2627,3498,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5822,-0.51,-146.0,737.3,-9.3,554,5827,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1149,3496,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5862,-0.51,-146.0,741.0,-9.5,556,5868,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2634,3496,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6181,-0.51,-146.0,770.6,-9.3,572,6187,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1137,3494,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6214,-0.51,-146.0,772.5,-9.3,573,6222,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2627,3494,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6522,-0.51,-146.0,799.8,-8.3,589,6528,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1150,3491,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6550,-0.51,-146.0,801.4,-8.1,590,6554,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2630,3491,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6857,-0.51,-146.0,825.7,-7.4,605,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7158,-0.51,-146.0,846.9,-6.9,620,7163,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1152,3488,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7190,-0.51,-146.0,848.2,-6.9,621,7198,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2631,3487,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7498,-0.51,-146.0,868.9,-6.4,637,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7797,-0.51,-146.0,888.4,-6.4,652,7802,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1146,3485,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7845,-0.51,-146.0,891.0,-6.5,654,7849,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2626,3485,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8159,-0.51,-146.0,911.6,-6.6,670,8165,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1151,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8185,-0.51,-146.0,913.0,-6.6,671,8189,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2627,3484,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8493,-0.51,-146.0,933.8,-6.8,686,8498,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1144,3482,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8536,-0.51,-146.0,936.6,-6.9,688,8540,0.00,2.30,0.00,0.000,6,0.000,0.047,2347,2631,3483,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8848,-0.51,-146.0,957.2,-6.3,704,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2631,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9148,-0.51,-146.0,975.8,-6.0,719,9154,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1147,3480,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9181,-0.51,-146.0,977.2,-6.2,720,9188,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2626,3480,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,9386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9386,begin apogee
$GC,9391,-0.17,0.0,991.2,-6.8,731,9519,0.32,0.12,120.62,1.734,6,0.106,0.095,2464,2535,2929,0,0,0,0,0,0,25.98,24.51,23.23
$STATE,9520,end apogee,CONTROL_FINISHED_OK
$STATE,9520,begin climb
$GC,9522,0.51,146.0,995.2,0.0,737,9666,0.60,0.00,140.65,1.692,6,0.051,0.000,2699,2536,2332,0,0,0,0,0,0,24.77,28.83,22.48
$GC,9964,0.51,146.0,951.2,13.8,760,9965,0.12,0.00,0.00,0.000,6,0.188,0.000,2669,2536,2323,0,0,0,0,0,0,25.67,28.83,28.83
$GC,10263,0.51,146.0,917.5,11.0,775,10269,0.00,2.20,0.00,0.000,4,0.000,0.030,2679,1052,2319,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10303,0.51,146.0,913.3,10.9,777,10308,0.00,2.30,0.00,0.000,6,0.000,0.047,2679,2525,2318,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10624,0.51,146.0,876.5,11.8,793,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2524,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10923,0.51,146.0,841.0,11.9,808,10927,0.00,2.17,0.00,0.000,4,0.000,0.029,2690,1044,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10972,0.51,146.0,836.3,11.6,810,10977,0.08,2.28,0.00,0.000,6,0.194,0.046,2674,2518,2315,0,0,0,0,0,0,26.01,26.15,28.83
$GC,11280,0.51,146.0,800.5,11.3,825,11284,0.00,1.95,0.00,0.000,4,0.000,0.055,2674,3769,2315,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11324,0.51,146.0,794.8,12.3,827,11328,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2455,2314,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11643,0.51,146.0,756.1,11.9,843,11646,0.00,2.03,0.00,0.000,4,0.000,0.029,2694,1042,2314,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11666,0.51,146.0,753.4,11.9,844,11671,0.10,2.30,0.00,0.000,6,0.184,0.046,2670,2518,2313,0,0,0,0,0,0,25.95,26.16,28.83
$GC,11984,0.51,146.0,717.0,11.7,860,11989,0.00,1.92,0.00,0.000,4,0.000,0.054,2670,3774,2313,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12013,0.51,146.0,714.5,11.8,861,12016,0.00,1.90,0.00,0.000,6,0.000,0.024,2680,2447,2313,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12319,0.51,146.0,678.3,11.0,876,12325,0.00,2.03,0.00,0.000,4,0.000,0.029,2690,1053,2313,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12352,0.51,146.0,676.2,10.8,877,12360,0.08,2.25,0.00,0.000,6,0.191,0.044,2673,2523,2313,0,0,0,0,0,0,26.01,26.15,28.83
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$STATE,20110,end climb,SURFACE_DEPTH_REACHED
$STATE,20110,begin surface coast
$FINISH,0.6,1.005369
$STATE,20149,end surface coast,CONTROL_FINISHED_OK
$STATE,20149,begin surface
$SM_CCo,20225,0.00,0.000,0,0,1191,426.33
$SM_GC,1.87,6.53,0.15,0.00,0.032,0.076,0.000,189,2719,1191,-7.15,-0.37,426.33,0,0,0,0,0,0,26.40,26.50,28.83
$IRIDIUM_FIX,1749.63,12414.07,250412,171721
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.5,45.388
$10V_AH,10.1,28.742
$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,19.075,176.175,424.525,0.000,0.000,31.331,37.280,241.216,0.000,0.000,15.244,4569.629,11477.875,613.897,3573.153,421.793,0.000,2267.574,0.000,3004.253,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,94.860,1734.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.532,2396.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330008
$DATA_FILE_SIZE,133933,1817
$CAP_FILE_SIZE,208199,0
$CFSIZE,260165632,201289728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,125.5,1
$GPS,260412,050737,1756.266,12408.660,26,1.5,26,-2.0