version: 66.10
glider: 176
mission: 5
dive: 228
start: 4 27 112 16 27 34
data:
$ID,176
$MISSION,5
$DIVE,228
$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,-7733.4199
$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
$GPS1,270412,161907,1758.235,12358.224,27,1.2,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.0
$GPS2,270412,162708,1758.296,12358.294,14,1.2,14,-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,303.8,189233,-13.1,-7.500
$D_GRID,4803
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-46.65,0.000,2,0.000,0.000,190,2711,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.5,-7.8,8,105,8.82,2.30,-21.42,0.000,4,0.236,0.038,2346,1147,3527,0,0,0,0,0,0,25.37,26.22,26.57
$GC,299,-0.51,-146.0,61.7,-21.3,46,306,0.10,2.25,0.00,0.000,6,0.184,0.044,2360,2637,3528,0,0,0,0,0,0,26.01,26.22,28.83
$GC,611,-0.51,-146.0,144.5,-23.3,107,618,0.05,2.12,0.00,0.000,4,0.176,0.022,2315,1138,3528,0,0,0,0,0,0,26.61,26.44,28.83
$GC,671,-0.51,-146.0,158.6,-21.7,118,678,0.17,2.25,0.00,0.000,6,0.153,0.044,2356,2635,3528,0,0,0,0,0,0,26.04,26.32,28.83
$GC,987,-0.51,-146.0,221.4,-17.4,169,996,0.00,2.10,0.00,0.000,4,0.000,0.024,2356,1151,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1102,-0.51,-146.0,237.2,-12.6,180,1109,0.00,2.25,0.00,0.000,6,0.000,0.042,2347,2637,3529,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1409,-0.51,-146.0,289.4,-15.8,211,1418,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1140,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1493,-0.51,-146.0,299.9,-11.4,219,1501,0.10,2.22,0.00,0.000,6,0.162,0.042,2364,2634,3528,0,0,0,0,0,0,26.23,26.41,28.83
$GC,1801,-0.51,-146.0,339.4,-13.0,250,1811,0.08,2.12,0.00,0.000,4,0.132,0.024,2305,1142,3526,0,0,0,0,0,0,26.67,26.52,28.83
$GC,1906,-0.51,-146.0,355.2,-15.3,260,1914,0.17,2.25,0.00,0.000,6,0.139,0.047,2359,2631,3526,0,0,0,0,0,0,26.14,26.37,28.83
$GC,2213,-0.51,-146.0,395.2,-11.7,291,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2631,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,-0.51,-146.0,430.0,-11.2,321,2525,0.00,2.10,0.00,0.000,4,0.000,0.026,2359,1143,3522,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2569,-0.51,-146.0,435.8,-10.5,326,2578,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2632,3522,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2878,-0.51,-146.0,469.5,-10.7,357,2887,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1147,3520,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2913,-0.51,-146.0,472.8,-10.7,360,2920,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2630,3519,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3221,-0.51,-146.0,502.4,-8.7,391,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2632,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.51,-146.0,529.7,-9.3,421,3531,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1148,3514,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3574,-0.51,-146.0,534.6,-9.1,426,3578,0.00,2.22,0.00,0.000,6,0.000,0.045,2356,2628,3514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3886,-0.51,-146.0,562.9,-8.8,457,3895,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1146,3510,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3920,-0.51,-146.0,565.8,-8.9,460,3927,0.00,2.28,0.00,0.000,6,0.000,0.045,2356,2627,3510,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4229,-0.51,-146.0,592.6,-8.7,491,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4538,-0.51,-146.0,618.2,-8.2,511,4544,0.00,2.10,0.00,0.000,4,0.000,0.026,2356,1152,3506,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4580,-0.51,-146.0,621.2,-7.9,513,4584,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2626,3506,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4899,-0.51,-146.0,649.5,-9.7,529,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5198,-0.51,-146.0,678.6,-9.6,544,5201,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1145,3499,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5247,-0.51,-146.0,682.5,-9.6,546,5251,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2633,3499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5555,-0.51,-146.0,709.9,-8.3,561,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2634,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5854,-0.51,-146.0,734.1,-7.8,576,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2634,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,-0.51,-146.0,757.7,-7.7,591,6160,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1148,3493,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6195,-0.51,-146.0,760.9,-7.7,593,6201,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2634,3493,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6514,-0.51,-146.0,786.7,-8.1,609,6520,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1145,3491,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6547,-0.51,-146.0,788.4,-8.0,610,6554,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2628,3490,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6856,-0.51,-146.0,813.2,-7.6,626,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2629,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,-0.51,-146.0,835.6,-7.2,641,7161,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1145,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7198,-0.51,-146.0,838.6,-7.3,643,7203,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2626,3487,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7512,-0.51,-146.0,860.6,-6.7,659,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,-0.51,-146.0,880.0,-6.2,674,7818,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1152,3484,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7840,-0.51,-146.0,881.3,-6.2,675,7844,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2630,3484,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8147,-0.51,-146.0,899.9,-6.1,690,8150,0.00,1.75,0.00,0.000,4,0.000,0.058,2356,3765,3482,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8181,-0.51,-146.0,901.3,-6.2,691,8188,0.00,1.70,0.00,0.000,6,0.000,0.025,2356,2486,3482,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8489,-0.51,-146.0,921.1,-6.3,707,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8789,-0.51,-146.0,940.3,-6.4,722,8795,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3763,3480,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8821,-0.51,-146.0,941.6,-6.4,723,8828,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2479,3480,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9129,-0.51,-146.0,962.0,-6.4,739,9134,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3762,3479,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9156,-0.51,-146.0,963.3,-6.3,740,9159,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2507,3478,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9470,-0.51,-146.0,984.2,-6.6,756,9475,0.00,2.00,0.00,0.000,4,0.000,0.057,2356,3763,3478,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9501,-0.51,-146.0,985.5,-6.7,757,9509,0.00,1.73,0.00,0.000,6,0.000,0.026,2356,2488,3477,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9566,begin apogee
$GC,9571,-0.17,0.0,991.1,-7.0,761,9695,0.30,0.00,120.68,1.738,6,0.103,0.000,2467,2488,2929,0,0,0,0,0,0,26.05,28.83,23.18
$STATE,9699,end apogee,CONTROL_FINISHED_OK
$STATE,9699,begin climb
$GC,9701,0.51,146.0,996.4,0.0,767,9852,0.60,2.28,140.70,1.694,4,0.049,0.054,2705,3769,2332,0,0,0,0,0,0,24.75,23.79,22.43
$GC,9877,0.51,146.0,990.6,9.2,776,9885,0.17,2.05,0.00,0.000,6,0.188,0.024,2674,2452,2330,0,0,0,0,0,0,24.20,24.55,28.83
$GC,10185,0.51,146.0,950.7,12.0,792,10191,0.00,2.08,0.00,0.000,4,0.000,0.054,2674,3763,2322,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10237,0.51,146.0,945.0,12.9,794,10244,0.00,1.95,0.00,0.000,6,0.000,0.025,2683,2454,2321,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10546,0.51,146.0,902.5,13.1,810,10552,0.03,2.05,0.00,0.000,4,0.306,0.028,2684,1046,2319,0,0,0,0,0,0,26.28,26.17,28.83
$GC,10584,0.51,146.0,897.7,12.6,812,10591,0.05,2.30,0.00,0.000,6,0.220,0.046,2673,2526,2317,0,0,0,0,0,0,26.00,26.08,28.83
$GC,10904,0.51,146.0,857.6,12.4,828,10910,0.00,1.90,0.00,0.000,4,0.000,0.055,2673,3764,2316,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10978,0.51,146.0,849.0,13.9,831,10985,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2439,2316,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11284,0.51,146.0,808.8,12.1,847,11290,0.00,2.00,0.00,0.000,4,0.000,0.030,2692,1050,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11346,0.51,146.0,801.8,11.8,850,11352,0.05,2.25,0.00,0.000,6,0.171,0.046,2676,2517,2314,0,0,0,0,0,0,25.94,26.16,28.83
$GC,11665,0.51,146.0,765.2,11.2,866,11671,0.00,1.92,0.00,0.000,4,0.000,0.056,2676,3769,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11708,0.51,146.0,760.3,11.4,868,11712,0.05,1.90,0.00,0.000,6,0.259,0.024,2674,2444,2313,0,0,0,0,0,0,26.19,26.41,28.83
$GC,12020,0.51,146.0,729.0,9.4,884,12024,0.00,2.05,0.00,0.000,4,0.000,0.054,2674,3767,2313,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12050,0.51,146.0,726.7,9.7,885,12053,0.00,1.90,0.00,0.000,6,0.000,0.024,2684,2440,2313,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12363,0.51,146.0,692.8,10.5,901,12369,0.05,2.03,0.00,0.000,4,0.249,0.028,2683,1042,2312,0,0,0,0,0,0,26.50,26.32,28.83
$GC,12422,0.51,146.0,686.9,10.1,904,12428,0.03,2.28,0.00,0.000,6,0.268,0.046,2673,2518,2312,0,0,0,0,0,0,26.10,26.15,28.83
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$STATE,20495,end climb,SURFACE_DEPTH_REACHED
$STATE,20496,begin surface coast
$FINISH,0.8,1.021512
$STATE,20532,end surface coast,CONTROL_FINISHED_OK
$STATE,20533,begin surface
$SM_CCo,20608,0.00,0.000,0,0,1133,440.56
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$IRIDIUM_FIX,1751.90,12359.00,270412,101051
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.35
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.4,46.713
$10V_AH,10.1,29.689
$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
$DEVICE_SECS,19.900,191.900,437.675,0.000,0.000,27.207,44.140,253.396,0.000,0.000,17.287,4747.723,11447.716,609.249,3790.804,457.070,0.000,2398.567,0.000,3130.151,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329912
$DATA_FILE_SIZE,140793,1879
$CAP_FILE_SIZE,221651,0
$CFSIZE,260165632,200470528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037, 79.5,1
$GPS,270412,221207,1759.474,12356.351,35,1.1,35,-2.0