version: 66.10
glider: 176
mission: 5
dive: 335
start: 5 21 112 5 1 53
data:
$ID,176
$MISSION,5
$DIVE,335
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,420
$T_MISSION,480
$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,163
$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,-7962.5132
$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,2600
$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
$GPS1,210512,045336,1948.147,12335.521,32,0.9,32,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.3
$GPS2,210512,050126,1947.983,12335.444,12,1.4,12,-2.4
$SPEED_LIMITS,0.136,0.239
$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,35.0,92179,-13.8,-7.857
$D_GRID,5229
$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,-0.52,-146.0,0.0,0.0,0,70,0.00,0.00,-51.85,0.000,2,0.000,0.000,186,2435,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.52,-146.0,3.2,-6.9,9,117,8.73,1.85,-26.45,0.000,4,0.231,0.040,2342,1132,3527,0,0,0,0,0,0,25.19,26.31,26.70
$GC,150,-0.52,-146.0,22.8,-29.9,16,157,0.08,2.25,0.00,0.000,6,0.202,0.046,2352,2615,3528,0,0,0,0,0,0,26.01,26.16,28.83
$GC,478,-0.52,-146.0,122.3,-25.2,77,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2615,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-0.52,-146.0,190.4,-22.7,138,797,0.00,2.10,0.00,0.000,4,0.000,0.024,2352,1135,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,886,-0.52,-146.0,205.2,-12.6,152,894,0.00,2.25,0.00,0.000,6,0.000,0.041,2348,2615,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1196,-0.52,-146.0,259.3,-17.7,183,1200,0.00,2.08,0.00,0.000,4,0.000,0.024,2349,1139,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1280,-0.52,-146.0,271.7,-13.1,191,1289,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2621,3528,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1588,-0.52,-146.0,320.2,-15.1,222,1591,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1140,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1709,-0.52,-146.0,333.8,-10.3,234,1718,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2621,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2019,-0.52,-146.0,372.0,-14.0,265,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2621,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-0.52,-146.0,409.8,-11.3,295,2331,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1135,3523,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2395,-0.52,-146.0,416.5,-8.1,302,2403,0.00,2.25,0.00,0.000,6,0.000,0.042,2347,2615,3523,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2706,-0.52,-146.0,446.5,-9.4,333,2714,0.00,2.08,0.00,0.000,4,0.000,0.024,2347,1129,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2746,-0.52,-146.0,450.6,-9.6,337,2755,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2621,3521,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3059,-0.52,-146.0,481.4,-9.9,368,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2621,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3369,-0.52,-146.0,512.9,-10.0,399,3380,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1139,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3415,-0.52,-146.0,517.4,-9.7,403,3423,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2624,3516,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3722,-0.52,-146.0,547.2,-9.3,434,3726,0.00,1.73,0.00,0.000,4,0.000,0.055,2338,3766,3513,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3763,-0.52,-146.0,551.0,-9.6,438,3767,0.05,1.73,0.00,0.000,6,0.206,0.022,2356,2487,3513,0,0,0,0,0,0,26.42,26.62,28.83
$GC,4075,-0.52,-146.0,574.1,-6.9,469,4076,0.05,0.00,0.00,0.000,6,0.174,0.000,2293,2461,3510,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4386,-0.52,-146.0,611.1,-12.4,496,4388,0.20,0.00,0.00,0.000,6,0.134,0.000,2357,2460,3508,0,0,0,0,0,0,26.20,28.83,28.83
$GC,4686,-0.52,-146.0,633.8,-7.4,511,4692,0.08,1.98,0.00,0.000,4,0.126,0.053,2281,3762,3505,0,0,0,0,0,0,26.63,26.13,28.83
$GC,4746,-0.52,-146.0,641.0,-11.0,514,4752,0.22,1.75,0.00,0.000,6,0.125,0.023,2356,2475,3504,0,0,0,0,0,0,26.07,26.58,28.83
$GC,5067,-0.52,-146.0,667.1,-7.7,530,5073,0.05,1.98,0.00,0.000,4,0.174,0.052,2287,3758,3502,0,0,0,0,0,0,26.65,26.11,28.83
$GC,5118,-0.52,-146.0,671.7,-9.2,532,5126,0.20,1.75,0.00,0.000,6,0.127,0.022,2353,2446,3500,0,0,0,0,0,0,26.10,26.58,28.83
$GC,5426,-0.52,-146.0,699.8,-8.4,548,5431,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3765,3499,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5496,-0.52,-146.0,705.2,-8.9,551,5499,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2502,3498,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5807,-0.52,-146.0,733.8,-8.9,567,5812,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3769,3496,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5850,-0.52,-146.0,737.3,-8.8,569,5853,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2502,3496,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6168,-0.52,-146.0,761.6,-7.0,585,6172,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3762,3494,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6232,-0.52,-146.0,766.1,-6.9,588,6236,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2489,3493,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6551,-0.52,-146.0,787.2,-6.7,604,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2487,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,-0.52,-146.0,808.6,-7.2,619,6856,0.00,1.98,0.00,0.000,4,0.000,0.055,2348,3766,3490,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6893,-0.52,-146.0,811.4,-7.1,621,6897,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2508,3489,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7211,-0.52,-146.0,833.7,-6.9,637,7215,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3771,3487,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7254,-0.52,-146.0,836.6,-7.0,639,7258,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2510,3487,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7578,-0.52,-146.0,860.8,-7.7,655,7583,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3766,3485,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7609,-0.52,-146.0,862.3,-7.7,656,7616,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2461,3485,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7917,-0.52,-146.0,885.6,-6.8,672,7923,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3769,3484,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7950,-0.52,-146.0,887.0,-6.8,673,7957,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2487,3483,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8256,-0.52,-146.0,906.9,-6.0,689,8262,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3765,3482,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8284,-0.52,-146.0,907.9,-5.9,690,8288,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2505,3481,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8599,-0.52,-146.0,928.1,-6.7,706,8604,0.00,2.00,0.00,0.000,4,0.000,0.055,2349,3760,3480,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8640,-0.52,-146.0,930.9,-6.8,708,8643,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2480,3480,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8958,-0.52,-146.0,953.0,-7.0,724,8963,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3778,3479,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8986,-0.52,-146.0,954.4,-7.1,725,8990,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2506,3479,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9297,-0.52,-146.0,976.6,-6.9,741,9301,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3762,3478,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9342,-0.52,-146.0,979.3,-6.7,743,9346,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2509,3477,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,9517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9517,begin apogee
$GC,9524,-0.17,0.0,990.9,-6.2,752,9651,0.32,0.00,122.50,1.715,6,0.101,0.000,2466,2523,2928,0,0,0,0,0,0,26.01,28.83,22.82
$STATE,9653,end apogee,CONTROL_FINISHED_OK
$STATE,9653,begin climb
$GC,9655,0.52,146.0,995.5,0.0,758,9805,0.60,2.40,141.95,1.675,4,0.050,0.031,2714,1056,2333,0,0,0,0,0,0,24.83,23.97,22.19
$GC,9841,0.52,146.0,987.0,11.0,768,9847,0.15,2.42,0.00,0.000,6,0.171,0.047,2672,2523,2327,0,0,0,0,0,0,24.53,24.78,28.83
$GC,10162,0.52,146.0,951.3,10.7,784,10168,0.05,1.90,0.00,0.000,4,0.170,0.053,2707,3762,2320,0,0,0,0,0,0,26.33,26.03,28.83
$GC,10183,0.52,146.0,948.8,11.0,785,10188,0.15,1.92,0.00,0.000,6,0.191,0.024,2680,2441,2320,0,0,0,0,0,0,25.79,26.26,28.83
$GC,10495,0.52,146.0,914.2,10.6,801,10501,0.00,2.03,0.00,0.000,4,0.000,0.030,2689,1044,2318,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10558,0.52,146.0,908.4,9.8,804,10564,0.03,2.25,0.00,0.000,6,0.180,0.046,2680,2518,2316,0,0,0,0,0,0,26.11,26.17,28.83
$GC,10877,0.52,146.0,875.3,10.4,820,10882,0.00,1.92,0.00,0.000,4,0.000,0.054,2680,3767,2316,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10909,0.52,146.0,873.1,10.4,821,10917,0.05,1.92,0.00,0.000,6,0.256,0.024,2679,2437,2316,0,0,0,0,0,0,26.20,26.41,28.83
$GC,11217,0.52,146.0,838.7,10.8,837,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2434,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11517,0.52,146.0,806.2,10.9,852,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2435,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11817,0.52,146.0,776.6,9.3,867,11821,0.00,2.03,0.00,0.000,4,0.000,0.031,2689,1052,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11862,0.52,146.0,772.8,9.1,869,11866,0.05,2.28,0.00,0.000,6,0.219,0.046,2677,2527,2313,0,0,0,0,0,0,26.07,26.15,28.83
$GC,12174,0.52,146.0,745.4,8.4,885,12180,0.00,2.20,0.00,0.000,4,0.000,0.031,2687,1044,2312,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12218,0.52,146.0,742.2,8.3,887,12222,0.00,2.28,0.00,0.000,6,0.000,0.045,2687,2520,2311,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12530,0.52,146.0,713.8,9.1,903,12533,0.00,1.92,0.00,0.000,4,0.000,0.055,2687,3772,2311,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,20928,end climb,SURFACE_DEPTH_REACHED
$STATE,20928,begin surface coast
$FINISH,0.6,1.010238
$STATE,20976,end surface coast,CONTROL_FINISHED_OK
$STATE,20976,begin surface
$SM_CCo,21052,0.00,0.000,0,0,706,545.30
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$TT8_MAMPS,0.026215,0.026215
$HUMID,43.06
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.2,69.728
$10V_AH,9.8,43.082
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,143840,1908
$CAP_FILE_SIZE,224173,0
$CFSIZE,260165632,189124608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174,169.7,1
$GPS,210512,105354,1948.159,12337.193,23,1.1,40,-2.4