version: 66.10
glider: 176
mission: 5
dive: 254
start: 5 3 112 23 1 16
data:
$ID,176
$MISSION,5
$DIVE,254
$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,-5
$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,-7767.0586
$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,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2450
$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
$GPS1,030512,224906,1821.889,12247.872,38,1.0,43,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.6
$GPS2,030512,230049,1822.170,12247.822,12,1.0,12,-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,247.7,57856,-13.1,-7.500
$D_GRID,3887
$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,17,-0.51,-146.0,0.0,0.0,0,66,0.00,0.00,-46.38,0.000,2,0.000,0.000,192,2666,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.51,-146.0,3.2,-7.0,8,110,8.82,1.40,-25.98,0.000,4,0.237,0.064,2343,3601,3526,0,0,0,0,0,0,25.33,26.11,26.58
$GC,193,-0.51,-146.0,42.8,-31.6,25,201,0.05,1.62,0.00,0.000,6,0.233,0.024,2354,2400,3526,0,0,0,0,0,0,26.20,26.41,28.83
$GC,522,-0.51,-146.0,142.2,-30.3,86,528,0.00,1.80,0.00,0.000,4,0.000,0.047,2345,3592,3526,0,0,0,0,0,0,28.83,26.27,28.83
$GC,567,-0.51,-146.0,153.4,-23.5,94,573,0.00,1.60,0.00,0.000,6,0.000,0.023,2345,2426,3525,0,0,0,0,0,0,28.83,26.57,28.83
$GC,878,-0.51,-146.0,222.2,-21.5,145,881,0.00,1.42,0.00,0.000,4,0.000,0.025,2345,1384,3526,0,0,0,0,0,0,28.83,26.55,28.83
$GC,969,-0.51,-146.0,236.9,-15.7,154,973,0.10,1.70,0.00,0.000,6,0.171,0.044,2363,2532,3526,0,0,0,0,0,0,26.21,26.39,28.83
$GC,1280,-0.51,-146.0,281.1,-14.4,185,1285,0.08,1.60,0.00,0.000,4,0.130,0.022,2305,1397,3526,0,0,0,0,0,0,26.67,26.56,28.83
$GC,1334,-0.51,-146.0,288.6,-15.2,190,1342,0.12,1.73,0.00,0.000,6,0.127,0.046,2352,2530,3526,0,0,0,0,0,0,26.13,26.37,28.83
$GC,1645,-0.51,-146.0,327.9,-12.9,221,1648,0.00,1.58,0.00,0.000,4,0.000,0.024,2352,1392,3524,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1698,-0.51,-146.0,333.5,-10.1,226,1705,0.00,1.73,0.00,0.000,6,0.000,0.044,2348,2527,3524,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2006,-0.51,-146.0,371.2,-12.8,257,2009,0.00,1.58,0.00,0.000,4,0.000,0.051,2343,3584,3522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2029,-0.51,-146.0,373.8,-12.6,259,2037,0.00,1.60,0.00,0.000,6,0.000,0.021,2343,2405,3521,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2337,-0.51,-146.0,409.2,-10.5,290,2347,0.03,1.80,0.00,0.000,4,0.295,0.048,2347,3584,3519,0,0,0,0,0,0,26.65,26.30,28.83
$GC,2389,-0.51,-146.0,414.7,-10.6,295,2393,0.00,1.58,0.00,0.000,6,0.000,0.021,2347,2416,3519,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2700,-0.51,-146.0,445.7,-9.5,326,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2411,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,-0.51,-146.0,476.9,-10.8,356,3006,0.00,1.85,-0.10,0.000,4,0.000,0.067,2345,3606,3538,0,0,0,0,0,0,28.83,26.25,26.08
$GC,3115,-0.51,-146.0,489.4,-10.7,367,3119,0.00,1.62,0.00,0.000,6,0.000,0.023,2345,2417,3536,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3427,-0.51,-146.0,523.1,-9.9,398,3430,0.00,1.80,0.00,0.000,4,0.000,0.053,2338,3584,3533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3472,-0.51,-146.0,527.3,-10.1,402,3476,0.08,1.60,0.00,0.000,6,0.168,0.023,2361,2406,3533,0,0,0,0,0,0,26.39,26.62,28.83
$GC,3783,-0.51,-146.0,550.3,-6.7,433,3794,0.08,1.83,0.00,0.000,4,0.129,0.051,2292,3581,3529,0,0,0,0,0,0,26.65,26.22,28.83
$GC,3840,-0.51,-146.0,556.2,-12.2,438,3847,0.20,1.62,0.00,0.000,6,0.135,0.024,2356,2381,3529,0,0,0,0,0,0,26.12,26.60,28.83
$GC,4147,-0.51,-146.0,580.4,-7.5,469,4156,0.00,1.88,0.00,0.000,4,0.000,0.054,2356,3585,3526,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4233,-0.51,-146.0,586.4,-7.4,477,4240,0.00,1.62,0.00,0.000,6,0.000,0.023,2356,2391,3525,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4551,-0.51,-146.0,609.0,-7.3,503,4554,0.00,1.85,0.00,0.000,4,0.000,0.055,2356,3580,3523,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4655,-0.51,-146.0,616.8,-7.6,508,4658,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2413,3522,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4972,-0.51,-146.0,639.8,-6.8,524,4975,0.00,1.80,0.00,0.000,4,0.000,0.056,2356,3581,3519,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5023,-0.51,-146.0,642.5,-6.6,526,5026,0.00,1.60,0.00,0.000,6,0.000,0.023,2356,2409,3518,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5335,-0.51,-146.0,665.3,-7.9,542,5339,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3577,3517,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5404,-0.51,-146.0,670.4,-8.4,545,5408,0.00,1.62,0.00,0.000,6,0.000,0.023,2356,2407,3516,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5717,-0.51,-146.0,698.9,-8.6,561,5720,0.00,1.83,0.00,0.000,4,0.000,0.056,2356,3584,3514,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5786,-0.51,-146.0,703.8,-8.1,564,5789,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2409,3513,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6099,-0.51,-146.0,725.7,-6.4,580,6102,0.00,1.83,0.00,0.000,4,0.000,0.056,2356,3588,3511,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6174,-0.51,-146.0,729.3,-6.0,583,6181,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2389,3510,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6480,-0.51,-146.0,748.1,-6.1,599,6486,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3585,3509,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6543,-0.51,-146.0,752.0,-6.3,602,6547,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2411,3508,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6861,-0.51,-146.0,772.8,-7.0,618,6864,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3584,3506,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6918,-0.51,-146.0,775.8,-7.1,620,6924,0.00,1.62,0.00,0.000,6,0.000,0.023,2356,2394,3505,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7224,-0.51,-146.0,801.1,-8.2,636,7227,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3574,3504,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7293,-0.51,-146.0,806.2,-8.2,639,7296,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2410,3504,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7605,-0.51,-146.0,830.1,-6.8,655,7609,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3582,3503,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7670,-0.51,-146.0,834.1,-6.6,658,7673,0.00,1.60,0.00,0.000,6,0.000,0.024,2357,2414,3503,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7988,-0.51,-146.0,854.4,-6.5,674,7991,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3583,3502,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8032,-0.51,-146.0,857.3,-6.7,676,8036,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2422,3501,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8350,-0.51,-146.0,878.9,-6.6,692,8353,0.00,1.83,0.00,0.000,4,0.000,0.057,2356,3587,3500,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8415,-0.51,-146.0,882.8,-6.4,695,8419,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2414,3499,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8732,-0.51,-146.0,902.0,-6.0,711,8736,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3582,3498,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8782,-0.51,-146.0,904.6,-6.2,713,8785,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2407,3497,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9097,-0.51,-146.0,925.4,-6.6,729,9100,0.00,1.83,0.00,0.000,4,0.000,0.057,2357,3578,3496,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9151,-0.51,-146.0,928.3,-6.4,731,9157,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2395,3496,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9458,-0.51,-146.0,948.3,-6.1,747,9463,0.00,1.88,0.00,0.000,4,0.000,0.058,2356,3582,3495,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9492,-0.51,-146.0,949.3,-6.0,748,9498,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2403,3495,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9798,-0.51,-146.0,968.6,-5.9,764,9804,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3586,3494,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9846,-0.51,-146.0,971.0,-5.9,766,9849,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2410,3494,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,10156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10156,begin apogee
$GC,10163,-0.17,0.0,990.9,-6.4,782,10299,0.30,0.08,125.50,1.737,6,0.106,0.098,2465,2392,2928,0,0,0,0,0,0,26.01,24.33,22.96
$STATE,10300,end apogee,CONTROL_FINISHED_OK
$STATE,10300,begin climb
$GC,10303,0.51,146.0,996.4,0.0,789,10451,0.60,0.00,142.07,1.693,6,0.050,0.000,2701,2392,2332,0,0,0,0,0,0,24.70,28.83,22.30
$GC,10739,0.51,146.0,952.3,14.2,811,10743,0.12,1.50,0.00,0.000,4,0.191,0.026,2673,1346,2321,0,0,0,0,0,0,25.63,25.93,28.83
$GC,10769,0.51,146.0,949.2,14.4,812,10773,0.00,1.75,0.00,0.000,6,0.000,0.048,2673,2472,2320,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11081,0.51,146.0,909.3,12.4,828,11084,0.00,1.62,0.00,0.000,4,0.000,0.054,2673,3525,2318,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11135,0.51,146.0,903.5,13.1,830,11142,0.00,1.65,0.00,0.000,6,0.000,0.024,2680,2398,2317,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11443,0.51,146.0,863.5,12.3,846,11446,0.00,1.75,0.00,0.000,4,0.000,0.054,2680,3526,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11516,0.51,146.0,855.3,13.0,849,11524,0.05,1.65,0.00,0.000,6,0.190,0.024,2672,2391,2316,0,0,0,0,0,0,26.05,26.36,28.83
$GC,11824,0.51,146.0,819.3,10.5,865,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2389,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12123,0.51,146.0,785.8,11.7,880,12127,0.00,1.77,0.00,0.000,4,0.000,0.054,2672,3524,2314,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12167,0.51,146.0,780.5,12.5,882,12171,0.00,1.65,0.00,0.000,6,0.000,0.024,2680,2395,2314,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,20335,end climb,SURFACE_DEPTH_REACHED
$STATE,20336,begin surface coast
$FINISH,0.7,1.008256
$STATE,20369,end surface coast,CONTROL_FINISHED_OK
$STATE,20369,begin surface
$SM_CCo,20445,0.00,0.000,0,0,1032,465.33
$SM_GC,1.48,6.57,0.22,0.00,0.033,0.056,0.000,193,2568,1032,-7.15,-0.45,465.33,0,0,0,0,0,0,26.34,26.51,28.83
$IRIDIUM_FIX,1814.58,12245.34,030512,222223
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.3,51.813
$10V_AH,10.0,33.184
$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
$DEVICE_SECS,18.900,155.000,460.150,0.000,0.000,57.359,90.514,303.058,0.000,0.000,16.002,4656.308,11464.365,533.421,3988.265,470.609,0.000,2279.669,0.000,3199.816,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.889,2465.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323620
$DATA_FILE_SIZE,133821,1813
$CAP_FILE_SIZE,220405,0
$CFSIZE,260165632,197558272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226,339.3,1
$GPS,040512,044307,1823.516,12244.428,37,0.9,37,-2.0