version: 66.10
glider: 176
mission: 5
dive: 248
start: 5 2 112 11 45 46
data:
$ID,176
$MISSION,5
$DIVE,248
$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,-7759.3301
$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
$GPS1,020512,113737,1814.688,12307.528,29,1.0,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.4
$GPS2,020512,114520,1814.711,12307.592,11,1.4,11,-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,278.7,95151,-13.1,-7.500
$D_GRID,4051
$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,-46.80,0.000,2,0.000,0.000,187,2703,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.2,-7.0,8,111,8.80,2.30,-26.45,0.000,4,0.235,0.040,2352,1146,3526,0,0,0,0,0,0,25.35,26.25,26.60
$GC,188,-0.51,-146.0,33.0,-21.3,24,195,0.00,2.28,0.00,0.000,6,0.000,0.049,2348,2630,3527,0,0,0,0,0,0,28.83,26.15,28.83
$GC,500,-0.51,-146.0,138.1,-33.1,85,507,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1150,3527,0,0,0,0,0,0,28.83,26.45,28.83
$GC,571,-0.51,-146.0,156.3,-20.0,98,578,0.10,2.22,0.00,0.000,6,0.174,0.047,2362,2629,3527,0,0,0,0,0,0,26.15,26.32,28.83
$GC,881,-0.51,-146.0,221.4,-20.3,148,891,0.08,2.12,0.00,0.000,4,0.134,0.025,2306,1143,3527,0,0,0,0,0,0,26.65,26.48,28.83
$GC,967,-0.51,-146.0,236.7,-17.8,156,975,0.17,2.22,0.00,0.000,6,0.154,0.045,2356,2629,3527,0,0,0,0,0,0,26.10,26.38,28.83
$GC,1273,-0.51,-146.0,290.1,-15.2,187,1282,0.00,2.10,0.00,0.000,4,0.000,0.027,2356,1154,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1378,-0.51,-146.0,303.0,-11.9,197,1386,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2638,3527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1686,-0.51,-146.0,344.2,-12.6,228,1695,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1161,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1758,-0.51,-146.0,352.5,-10.9,235,1767,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2639,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2068,-0.51,-146.0,389.8,-10.6,266,2072,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1146,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2112,-0.51,-146.0,394.1,-10.3,270,2119,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2636,3524,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2419,-0.51,-146.0,425.5,-10.4,301,2429,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1138,3520,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2495,-0.51,-146.0,432.3,-8.7,308,2503,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2631,3520,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2801,-0.51,-146.0,465.1,-10.7,339,2810,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1142,3517,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2844,-0.51,-146.0,469.5,-10.6,343,2853,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2630,3516,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3153,-0.51,-146.0,501.0,-10.2,374,3162,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1145,3514,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3185,-0.51,-146.0,504.2,-9.9,377,3188,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2628,3514,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3496,-0.51,-146.0,534.6,-10.2,408,3505,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1145,3512,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3607,-0.51,-146.0,545.4,-9.2,419,3616,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2633,3510,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3918,-0.51,-146.0,575.1,-9.1,450,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4219,-0.51,-146.0,600.4,-8.4,480,4225,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1148,3503,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4277,-0.51,-146.0,605.0,-7.9,483,4283,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2632,3503,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4597,-0.51,-146.0,630.6,-8.4,499,4603,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1145,3500,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4626,-0.51,-146.0,632.2,-8.4,500,4630,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2635,3500,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4932,-0.51,-146.0,660.6,-9.5,515,4938,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1149,3497,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4972,-0.51,-146.0,664.1,-8.9,517,4978,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2630,3497,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5293,-0.51,-146.0,691.6,-7.9,533,5299,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1152,3494,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5335,-0.51,-146.0,695.0,-8.1,535,5340,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2632,3493,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5648,-0.51,-146.0,720.0,-7.7,551,5653,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1148,3492,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5696,-0.51,-146.0,723.1,-7.8,553,5700,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3492,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6008,-0.51,-146.0,748.3,-7.8,569,6014,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1143,3490,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6036,-0.51,-146.0,750.0,-7.9,570,6040,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3490,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6344,-0.51,-146.0,773.6,-7.3,585,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2626,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6643,-0.51,-146.0,794.8,-6.8,600,6649,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1144,3485,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6697,-0.51,-146.0,797.5,-6.5,602,6704,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3485,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7004,-0.51,-146.0,819.6,-7.2,618,7007,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1149,3483,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7028,-0.51,-146.0,821.1,-7.2,619,7032,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2625,3483,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7341,-0.51,-146.0,842.7,-6.9,635,7347,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1149,3481,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7380,-0.51,-146.0,845.3,-6.7,637,7386,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3481,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7700,-0.51,-146.0,866.2,-6.7,653,7706,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1147,3479,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7744,-0.51,-146.0,869.1,-6.8,655,7748,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3479,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8057,-0.51,-146.0,889.0,-6.1,671,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8357,-0.51,-146.0,907.2,-5.8,686,8362,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3476,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8398,-0.51,-146.0,909.6,-5.8,688,8403,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3476,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8711,-0.51,-146.0,927.9,-6.0,704,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,-0.51,-146.0,946.9,-6.5,719,9014,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1151,3474,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9045,-0.51,-146.0,948.3,-6.5,720,9052,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3474,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9352,-0.51,-146.0,969.3,-6.5,736,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9654,-0.51,-146.0,988.3,-6.3,751,9659,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1156,3472,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,9690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9690,begin apogee
$GC,9697,-0.17,0.0,990.8,-6.2,753,9823,0.35,0.00,120.22,1.735,6,0.106,0.000,2469,2520,2928,0,0,0,0,0,0,25.94,28.83,23.10
$STATE,9826,end apogee,CONTROL_FINISHED_OK
$STATE,9826,begin climb
$GC,9828,0.51,146.0,994.8,0.0,759,9980,0.60,2.42,141.45,1.691,4,0.051,0.031,2715,1060,2330,0,0,0,0,0,0,24.76,23.85,22.37
$GC,10034,0.51,146.0,981.6,13.1,770,10040,0.12,2.38,0.00,0.000,6,0.162,0.047,2677,2516,2324,0,0,0,0,0,0,24.53,24.78,28.83
$GC,10353,0.51,146.0,941.1,12.3,786,10358,0.00,1.95,0.00,0.000,4,0.000,0.057,2678,3765,2319,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10400,0.51,146.0,935.5,13.2,788,10405,0.08,1.92,0.00,0.000,6,0.230,0.025,2672,2454,2319,0,0,0,0,0,0,25.86,26.13,28.83
$GC,10713,0.51,146.0,898.1,11.5,804,10719,0.00,2.05,0.00,0.000,4,0.000,0.054,2672,3765,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10732,0.51,146.0,895.6,11.6,805,10736,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2446,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11050,0.51,146.0,856.7,11.8,821,11055,0.00,2.05,0.00,0.000,4,0.000,0.054,2681,3766,2315,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11069,0.51,146.0,854.1,11.9,822,11074,0.05,1.95,0.00,0.000,6,0.190,0.024,2675,2448,2314,0,0,0,0,0,0,26.02,26.34,28.83
$GC,11392,0.51,146.0,816.1,11.5,838,11397,0.00,2.05,0.00,0.000,4,0.000,0.032,2685,1052,2314,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11414,0.51,146.0,813.8,11.6,839,11419,0.05,2.28,0.00,0.000,6,0.228,0.046,2674,2527,2313,0,0,0,0,0,0,26.09,26.17,28.83
$GC,11726,0.51,146.0,777.1,11.5,855,11732,0.00,2.20,0.00,0.000,4,0.000,0.030,2685,1048,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11746,0.51,146.0,774.9,11.5,856,11753,0.05,2.25,0.00,0.000,6,0.219,0.046,2673,2522,2312,0,0,0,0,0,0,26.10,26.17,28.83
$GC,12067,0.51,146.0,739.5,10.6,872,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2522,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20194,end climb,SURFACE_DEPTH_REACHED
$STATE,20194,begin surface coast
$FINISH,0.7,1.011113
$STATE,20265,end surface coast,CONTROL_FINISHED_OK
$STATE,20265,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,22.4,50.601
$10V_AH,10.1,32.361
$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
$DEVICE_SECS,19.750,208.700,464.225,0.000,0.000,27.887,39.103,243.706,0.000,0.000,14.451,4634.389,11335.124,633.646,3699.921,464.045,0.000,2406.770,0.000,3102.328,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1245.506,2444.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329444
$DATA_FILE_SIZE,137123,1831
$CAP_FILE_SIZE,220947,0
$CFSIZE,260165632,198238208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,326.6,1
$GPS,020512,172555,1815.649,12304.360,40,1.0,40,-2.0