version: 66.10
glider: 176
mission: 5
dive: 252
start: 5 3 112 11 6 28
data:
$ID,176
$MISSION,5
$DIVE,252
$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,-7764.5454
$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
$GPS1,030512,105607,1819.676,12254.574,39,0.9,39,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.0
$GPS2,030512,110602,1819.792,12254.565,15,1.0,15,-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,247.9,70474,-13.1,-7.500
$D_GRID,3964
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.51,-146.0,0.0,0.0,0,71,0.00,0.00,-50.70,0.000,2,0.000,0.000,187,2638,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.51,-146.0,3.1,-6.6,9,117,8.73,1.75,-29.12,0.000,4,0.235,0.064,2343,3772,3526,0,0,0,0,0,0,25.37,26.13,26.61
$GC,210,-0.51,-146.0,42.5,-29.2,31,216,0.00,1.70,0.00,0.000,6,0.000,0.022,2343,2520,3526,0,0,0,0,0,0,28.83,26.42,28.83
$GC,521,-0.51,-146.0,144.0,-32.9,92,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2517,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-0.51,-146.0,218.8,-19.6,144,836,0.00,1.92,0.00,0.000,4,0.000,0.025,2343,1151,3526,0,0,0,0,0,0,28.83,26.53,28.83
$GC,896,-0.51,-146.0,229.0,-15.0,150,904,0.05,2.25,0.00,0.000,6,0.148,0.043,2354,2631,3526,0,0,0,0,0,0,26.19,26.39,28.83
$GC,1204,-0.51,-146.0,277.1,-14.7,181,1213,0.00,2.10,0.00,0.000,4,0.000,0.026,2354,1152,3526,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1340,-0.51,-146.0,292.2,-11.2,194,1347,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2637,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1648,-0.51,-146.0,333.7,-12.6,225,1657,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1152,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1699,-0.51,-146.0,339.6,-10.9,230,1708,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2639,3524,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2009,-0.51,-146.0,373.2,-11.4,261,2019,0.00,2.10,0.00,0.000,4,0.000,0.023,2347,1139,3522,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2153,-0.51,-146.0,387.5,-9.8,275,2162,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2632,3520,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2461,-0.51,-146.0,423.2,-11.8,306,2472,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1136,3519,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2496,-0.51,-146.0,426.8,-11.3,309,2504,0.00,2.28,0.00,0.000,6,0.000,0.043,2344,2631,3518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2804,-0.51,-146.0,459.6,-10.6,340,2815,0.00,2.15,-0.08,0.000,4,0.000,0.036,2344,1137,3535,0,0,0,0,0,0,28.83,26.52,25.93
$GC,2850,-0.51,-146.0,463.9,-10.1,344,2858,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2628,3535,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3158,-0.51,-146.0,495.7,-9.8,375,3167,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1141,3532,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3211,-0.51,-146.0,500.5,-9.4,380,3220,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2621,3531,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3519,-0.51,-146.0,526.6,-8.2,411,3528,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1145,3528,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3550,-0.51,-146.0,529.1,-7.9,414,3559,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2633,3528,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3862,-0.51,-146.0,556.8,-9.8,445,3871,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1145,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3904,-0.51,-146.0,560.9,-9.5,449,3913,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2628,3525,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4214,-0.51,-146.0,589.1,-8.9,480,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4523,-0.51,-146.0,617.2,-9.5,502,4529,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1137,3519,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4584,-0.51,-146.0,622.8,-9.3,505,4590,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2628,3519,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4905,-0.51,-146.0,653.3,-9.9,521,4910,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1146,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4926,-0.51,-146.0,655.4,-10.0,522,4930,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2633,3516,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5243,-0.51,-146.0,686.5,-9.5,538,5249,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1137,3513,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5277,-0.51,-146.0,688.3,-9.3,539,5284,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2627,3512,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5584,-0.51,-146.0,714.5,-7.2,555,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5885,-0.51,-146.0,733.8,-6.5,570,5890,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1155,3508,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5932,-0.51,-146.0,736.4,-6.3,572,5936,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3508,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6239,-0.51,-146.0,755.4,-5.8,587,6244,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1149,3506,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6272,-0.51,-146.0,756.5,-5.6,588,6281,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3506,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6579,-0.51,-146.0,774.8,-5.8,604,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6879,-0.51,-146.0,792.4,-5.8,619,6884,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1139,3502,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6922,-0.51,-146.0,794.8,-5.9,621,6926,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2634,3502,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7235,-0.51,-146.0,814.9,-6.8,637,7241,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1146,3500,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7258,-0.51,-146.0,816.3,-6.8,638,7262,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2626,3501,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7570,-0.51,-146.0,839.9,-7.6,654,7576,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1146,3498,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7598,-0.51,-146.0,841.5,-7.6,655,7602,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3498,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7905,-0.51,-146.0,865.7,-7.7,670,7911,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1148,3496,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7933,-0.51,-146.0,867.3,-7.7,671,7937,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3496,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8240,-0.51,-146.0,890.4,-7.0,686,8246,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1148,3495,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8269,-0.51,-146.0,891.8,-6.9,687,8273,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3495,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8575,-0.51,-146.0,911.8,-6.4,702,8581,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1148,3494,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8598,-0.51,-146.0,913.1,-6.4,703,8602,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2629,3493,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8911,-0.51,-146.0,932.8,-6.4,719,8915,0.00,1.77,0.00,0.000,4,0.000,0.060,2344,3773,3493,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8935,-0.51,-146.0,934.2,-6.2,720,8939,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2509,3492,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9253,-0.51,-146.0,954.7,-6.6,736,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2487,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9553,-0.51,-146.0,974.2,-6.6,751,9559,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3773,3491,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9593,-0.51,-146.0,976.9,-6.6,753,9597,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2509,3490,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9792,begin apogee
$GC,9798,-0.17,0.0,990.7,-6.9,763,9928,0.32,0.00,124.47,1.733,6,0.106,0.000,2462,2482,2928,0,0,0,0,0,0,25.98,28.83,23.05
$STATE,9929,end apogee,CONTROL_FINISHED_OK
$STATE,9929,begin climb
$GC,9931,0.51,146.0,995.4,0.0,769,10082,0.62,2.30,141.98,1.688,4,0.048,0.057,2703,3763,2333,0,0,0,0,0,0,24.68,23.77,22.35
$GC,10111,0.51,146.0,986.3,11.6,778,10118,0.17,2.05,0.00,0.000,6,0.190,0.025,2672,2448,2329,0,0,0,0,0,0,24.24,24.58,28.83
$GC,10431,0.51,146.0,947.0,11.7,794,10437,0.00,2.10,0.00,0.000,4,0.000,0.056,2672,3766,2321,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10475,0.51,146.0,941.4,12.7,796,10479,0.00,1.95,0.00,0.000,6,0.000,0.025,2681,2441,2320,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10786,0.51,146.0,901.0,12.3,812,10792,0.00,2.10,0.00,0.000,4,0.000,0.055,2681,3774,2318,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10809,0.51,146.0,898.3,12.4,813,10813,0.05,1.95,0.00,0.000,6,0.191,0.025,2675,2456,2318,0,0,0,0,0,0,25.97,26.28,28.83
$GC,11128,0.51,146.0,859.0,12.4,829,11133,0.00,2.05,0.00,0.000,4,0.000,0.031,2685,1046,2317,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11179,0.51,146.0,854.2,12.3,831,11187,0.05,2.28,0.00,0.000,6,0.223,0.047,2673,2517,2315,0,0,0,0,0,0,26.08,26.16,28.83
$GC,11487,0.51,146.0,815.6,11.7,847,11493,0.00,1.92,0.00,0.000,4,0.000,0.056,2673,3764,2315,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11519,0.51,146.0,813.1,11.7,848,11527,0.00,1.90,0.00,0.000,6,0.000,0.025,2683,2440,2314,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11827,0.51,146.0,773.3,12.4,864,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2440,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12127,0.51,146.0,736.5,12.4,879,12133,0.00,2.08,0.00,0.000,4,0.000,0.054,2683,3783,2313,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,20168,end climb,SURFACE_DEPTH_REACHED
$STATE,20168,begin surface coast
$FINISH,0.7,1.018742
$STATE,20236,end surface coast,CONTROL_FINISHED_OK
$STATE,20236,begin surface
$SM_CCo,20312,0.00,0.000,0,0,1152,435.90
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$IRIDIUM_FIX,1810.04,12257.34,030512,050527
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,22.4,51.405
$10V_AH,10.0,32.905
$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
$DEVICE_SECS,17.825,206.050,452.050,0.000,0.000,67.262,48.820,257.286,0.000,0.000,17.586,4636.715,11387.504,665.106,3721.661,458.849,0.000,2392.934,0.000,3083.960,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,137083,1841
$CAP_FILE_SIZE,218375,0
$CFSIZE,260165632,197783552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,333.3,1
$GPS,030512,164607,1820.208,12251.344,38,0.8,38,-2.0