version: 66.10
glider: 176
mission: 5
dive: 242
start: 5 1 112 0 57 18
data:
$ID,176
$MISSION,5
$DIVE,242
$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,-7751.5962
$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,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
$GPS1,010512,004907,1809.138,12326.387,29,1.0,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.5
$GPS2,010512,005650,1809.105,12326.403,11,1.3,11,-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,274.2,129769,-13.1,-7.500
$D_GRID,4399
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-48.00,0.000,2,0.000,0.000,175,2717,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.51,-146.0,3.2,-6.3,8,112,8.85,2.25,-26.05,0.000,4,0.233,0.038,2352,1149,3526,0,0,0,0,0,0,25.37,26.22,26.60
$GC,355,-0.51,-146.0,73.5,-21.3,57,363,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2633,3526,0,0,0,0,0,0,28.83,26.26,28.83
$GC,669,-0.51,-146.0,165.6,-25.6,118,676,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1144,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,688,-0.51,-146.0,170.8,-25.2,121,696,0.10,2.22,0.00,0.000,6,0.177,0.042,2361,2634,3526,0,0,0,0,0,0,26.17,26.37,28.83
$GC,1000,-0.51,-146.0,234.4,-17.3,165,1010,0.08,2.10,0.00,0.000,4,0.133,0.023,2304,1151,3526,0,0,0,0,0,0,26.66,26.51,28.83
$GC,1053,-0.51,-146.0,244.2,-18.9,170,1063,0.22,2.22,0.00,0.000,6,0.142,0.042,2361,2640,3526,0,0,0,0,0,0,26.08,26.40,28.83
$GC,1364,-0.51,-146.0,291.7,-13.4,201,1368,0.08,2.10,0.00,0.000,4,0.132,0.022,2300,1146,3526,0,0,0,0,0,0,26.67,26.53,28.83
$GC,1418,-0.51,-146.0,299.8,-15.9,206,1426,0.17,2.25,0.00,0.000,6,0.127,0.041,2353,2629,3526,0,0,0,0,0,0,26.09,26.41,28.83
$GC,1726,-0.51,-146.0,343.2,-13.3,237,1730,0.00,2.10,0.00,0.000,4,0.000,0.024,2354,1150,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1820,-0.51,-146.0,354.0,-10.7,246,1828,0.00,2.25,0.00,0.000,6,0.000,0.042,2348,2633,3524,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2130,-0.51,-146.0,389.4,-11.0,277,2140,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1155,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2195,-0.51,-146.0,395.5,-8.7,283,2202,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2633,3522,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2503,-0.51,-146.0,431.8,-12.5,314,2512,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1146,3519,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2586,-0.51,-146.0,441.2,-10.9,322,2594,0.00,2.20,0.00,0.000,6,0.000,0.043,2345,2622,3519,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2897,-0.51,-146.0,479.9,-12.4,353,2901,0.00,1.75,0.00,0.000,4,0.000,0.055,2345,3777,3516,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2941,-0.51,-146.0,485.0,-11.6,357,2950,0.00,1.70,-0.08,0.000,6,0.000,0.021,2345,2491,3536,0,0,0,0,0,0,28.83,26.66,25.79
$GC,3248,-0.51,-146.0,516.4,-9.0,388,3252,0.00,1.92,0.00,0.000,4,0.000,0.025,2344,1141,3534,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3303,-0.51,-146.0,521.0,-8.8,393,3311,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2633,3533,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3611,-0.51,-146.0,549.2,-9.6,424,3619,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1148,3531,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3675,-0.51,-146.0,554.6,-8.4,430,3683,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2629,3530,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3982,-0.51,-146.0,584.6,-10.0,461,3991,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1141,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4004,-0.51,-146.0,586.8,-10.0,463,4013,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2637,3527,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4325,-0.51,-146.0,618.2,-9.8,486,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2638,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4624,-0.51,-146.0,645.9,-8.8,501,4630,0.00,2.15,0.00,0.000,4,0.000,0.024,2343,1148,3521,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4667,-0.51,-146.0,649.3,-8.6,503,4671,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2627,3522,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4979,-0.51,-146.0,674.9,-8.1,519,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.51,-146.0,699.9,-8.6,534,5285,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1142,3516,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5324,-0.51,-146.0,703.4,-8.5,536,5329,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2628,3517,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5639,-0.51,-146.0,731.4,-8.9,552,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2628,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.51,-146.0,757.7,-8.6,567,5944,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1145,3511,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5994,-0.51,-146.0,761.1,-8.4,569,6002,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2629,3511,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6301,-0.51,-146.0,786.6,-7.7,585,6306,0.00,2.12,0.00,0.000,4,0.000,0.025,2343,1154,3509,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6339,-0.51,-146.0,789.6,-7.8,587,6345,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3509,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6660,-0.51,-146.0,813.1,-7.4,603,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,-0.51,-146.0,834.9,-7.5,618,6965,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1149,3504,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7022,-0.51,-146.0,839.2,-7.2,621,7027,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2628,3504,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7334,-0.51,-146.0,862.2,-7.1,637,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,-0.51,-146.0,883.9,-7.5,652,7638,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1148,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7679,-0.51,-146.0,887.1,-7.7,654,7683,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3501,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7994,-0.51,-146.0,910.8,-7.6,670,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8291,-0.51,-146.0,934.3,-8.0,685,8296,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1151,3497,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8325,-0.51,-146.0,935.9,-8.0,686,8332,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2629,3497,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8631,-0.51,-146.0,961.0,-7.8,702,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,-0.51,-146.0,984.2,-7.6,717,8937,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1150,3495,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8974,-0.51,-146.0,987.2,-7.6,719,8978,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2625,3495,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,9025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9025,begin apogee
$GC,9030,-0.17,0.0,991.4,-7.6,722,9162,0.35,0.12,125.00,1.730,6,0.103,0.097,2470,2536,2928,0,0,0,0,0,0,25.96,24.49,23.16
$STATE,9163,end apogee,CONTROL_FINISHED_OK
$STATE,9163,begin climb
$GC,9165,0.51,146.0,996.2,0.0,728,9315,0.57,2.42,141.23,1.686,4,0.050,0.031,2708,1061,2332,0,0,0,0,0,0,24.77,23.89,22.45
$GC,9342,0.51,146.0,989.2,10.0,737,9349,0.15,2.42,0.00,0.000,6,0.174,0.047,2673,2513,2326,0,0,0,0,0,0,24.28,24.49,28.83
$GC,9663,0.51,146.0,951.3,11.8,753,9669,0.00,1.95,0.00,0.000,4,0.000,0.057,2672,3764,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9695,0.51,146.0,948.8,12.0,754,9702,0.00,1.92,0.00,0.000,6,0.000,0.024,2680,2446,2320,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10004,0.51,146.0,908.7,12.5,770,10009,0.00,2.05,0.00,0.000,4,0.000,0.054,2680,3766,2318,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10050,0.51,146.0,903.2,13.1,772,10055,0.10,1.92,0.00,0.000,6,0.212,0.024,2667,2437,2317,0,0,0,0,0,0,25.92,26.28,28.83
$GC,10362,0.51,146.0,865.6,11.3,788,10369,0.05,2.03,0.00,0.000,4,0.181,0.029,2708,1057,2316,0,0,0,0,0,0,26.46,26.27,28.83
$GC,10386,0.51,146.0,863.4,11.5,789,10391,0.15,2.25,0.00,0.000,6,0.176,0.046,2670,2519,2316,0,0,0,0,0,0,25.84,26.17,28.83
$GC,10699,0.51,146.0,826.8,11.6,805,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2519,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10999,0.51,146.0,794.6,10.9,820,11003,0.00,2.17,0.00,0.000,4,0.000,0.029,2680,1048,2314,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11028,0.51,146.0,792.3,10.7,821,11033,0.00,2.28,0.00,0.000,6,0.000,0.046,2680,2521,2313,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11336,0.51,146.0,758.1,10.5,836,11341,0.00,2.17,0.00,0.000,4,0.000,0.030,2689,1050,2313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11389,0.51,146.0,754.0,10.5,838,11397,0.08,2.25,0.00,0.000,6,0.201,0.045,2674,2518,2312,0,0,0,0,0,0,26.04,26.19,28.83
$GC,11696,0.51,146.0,722.3,10.2,854,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2518,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11996,0.51,146.0,689.6,11.3,869,12001,0.00,1.92,0.00,0.000,4,0.000,0.056,2674,3764,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12036,0.51,146.0,684.5,11.9,871,12042,0.00,1.90,0.00,0.000,6,0.000,0.024,2683,2445,2311,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12356,0.51,146.0,647.4,11.1,887,12362,0.00,2.05,0.00,0.000,4,0.000,0.054,2683,3764,2311,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12383,0.51,146.0,644.9,11.2,888,12388,0.10,1.90,0.00,0.000,6,0.206,0.023,2670,2439,2311,0,0,0,0,0,0,26.04,26.44,28.83
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$STATE,19404,end climb,SURFACE_DEPTH_REACHED
$STATE,19404,begin surface coast
$FINISH,1.0,1.020838
$STATE,19430,end surface coast,CONTROL_FINISHED_OK
$STATE,19430,begin surface
$SM_CCo,19506,0.00,0.000,0,0,1253,411.12
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$IRIDIUM_FIX,1803.24,12328.82,300412,191928
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.5,49.402
$10V_AH,10.0,31.543
$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,18.575,159.650,433.075,0.000,0.000,32.302,39.441,244.087,0.000,0.000,14.314,4425.984,11088.465,582.045,3430.691,410.865,0.000,2178.598,0.000,2895.053,0.000,0.543,0.000
$DEVICE_MAMPS,268.515,97.155,1729.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.562,2302.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329452
$DATA_FILE_SIZE,130556,1760
$CAP_FILE_SIZE,196220,0
$CFSIZE,260165632,198942720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,334.6,1
$GPS,010512,062331,1810.386,12323.151,37,1.4,37,-2.0