version: 66.10
glider: 176
mission: 5
dive: 255
start: 5 4 112 4 51 17
data:
$ID,176
$MISSION,5
$DIVE,255
$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,-7768.4102
$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
$GPS1,040512,044307,1823.516,12244.428,37,0.9,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.5
$GPS2,040512,045050,1823.670,12244.376,17,1.0,17,-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,243.2,51261,-13.1,-7.500
$D_GRID,3936
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.95,0.000,2,0.000,0.000,191,2568,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.2,-6.5,8,110,8.82,1.52,-25.10,0.000,4,0.237,0.063,2341,3596,3526,0,0,0,0,0,0,25.32,26.12,26.60
$GC,197,-0.51,-146.0,46.8,-34.2,26,205,0.05,1.62,0.00,0.000,6,0.233,0.023,2354,2398,3525,0,0,0,0,0,0,26.20,26.41,28.83
$GC,526,-0.51,-146.0,149.9,-28.2,87,534,0.00,1.80,0.00,0.000,4,0.000,0.050,2345,3584,3525,0,0,0,0,0,0,28.83,26.27,28.83
$GC,561,-0.51,-146.0,157.9,-23.2,90,568,0.00,1.60,0.00,0.000,6,0.000,0.022,2345,2418,3525,0,0,0,0,0,0,28.83,26.56,28.83
$GC,875,-0.51,-146.0,224.8,-18.4,140,879,0.00,1.40,0.00,0.000,4,0.000,0.026,2345,1397,3526,0,0,0,0,0,0,28.83,26.54,28.83
$GC,978,-0.51,-146.0,240.8,-14.2,150,982,0.05,1.70,0.00,0.000,6,0.142,0.044,2357,2527,3526,0,0,0,0,0,0,26.20,26.39,28.83
$GC,1290,-0.51,-146.0,285.5,-12.9,181,1294,0.00,1.58,0.00,0.000,4,0.000,0.024,2358,1392,3526,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1321,-0.51,-146.0,289.3,-12.3,184,1324,0.00,1.70,0.00,0.000,6,0.000,0.045,2357,2535,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1633,-0.51,-146.0,328.6,-12.3,215,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2536,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1934,-0.51,-146.0,362.2,-9.4,245,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2536,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2243,-0.51,-146.0,391.4,-9.8,276,2246,0.00,1.55,0.00,0.000,4,0.000,0.052,2349,3584,3520,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2325,-0.51,-146.0,399.8,-9.8,284,2328,0.00,1.58,0.00,0.000,6,0.000,0.023,2349,2415,3519,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2635,-0.51,-146.0,430.0,-9.2,315,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2410,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-0.51,-146.0,457.5,-10.3,345,2942,0.00,1.85,-0.10,0.000,4,0.000,0.067,2348,3580,3537,0,0,0,0,0,0,28.83,26.25,26.08
$GC,3040,-0.51,-146.0,469.0,-11.2,355,3044,0.00,1.60,0.00,0.000,6,0.000,0.023,2348,2419,3536,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3351,-0.51,-146.0,502.3,-9.8,386,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2415,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-0.51,-146.0,530.6,-8.7,416,3657,0.00,1.80,0.00,0.000,4,0.000,0.054,2345,3581,3531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3724,-0.51,-146.0,536.8,-8.5,423,3727,0.00,1.60,0.00,0.000,6,0.000,0.024,2345,2410,3529,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4035,-0.51,-146.0,562.3,-7.9,454,4038,0.00,1.83,0.00,0.000,4,0.000,0.054,2344,3585,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4129,-0.51,-146.0,569.2,-7.6,463,4136,0.00,1.62,0.00,0.000,6,0.000,0.023,2345,2386,3526,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4437,-0.51,-146.0,591.1,-7.4,494,4440,0.00,1.85,0.00,0.000,4,0.000,0.055,2343,3580,3524,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4512,-0.51,-146.0,596.3,-7.3,501,4520,0.00,1.62,0.00,0.000,6,0.000,0.023,2344,2383,3522,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4828,-0.51,-146.0,619.1,-7.4,520,4834,0.00,1.88,0.00,0.000,4,0.000,0.055,2343,3586,3520,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4950,-0.51,-146.0,628.4,-7.8,526,4953,0.00,1.60,0.00,0.000,6,0.000,0.023,2343,2397,3519,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5271,-0.51,-146.0,657.5,-9.7,542,5277,0.03,1.85,0.00,0.000,4,0.291,0.054,2356,3580,3516,0,0,0,0,0,0,26.65,26.12,28.83
$GC,5352,-0.51,-146.0,664.5,-8.9,546,5355,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2409,3516,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5673,-0.51,-146.0,692.1,-8.7,562,5676,0.00,1.83,0.00,0.000,4,0.000,0.057,2356,3586,3513,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5756,-0.51,-146.0,699.2,-8.7,566,5760,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2406,3512,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6076,-0.51,-146.0,725.5,-7.8,582,6079,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3584,3511,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6137,-0.51,-146.0,730.3,-7.6,585,6141,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2403,3510,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6459,-0.51,-146.0,753.6,-6.9,601,6463,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3581,3508,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6523,-0.51,-146.0,757.8,-6.8,604,6526,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2406,3507,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6840,-0.51,-146.0,778.2,-6.3,620,6844,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3581,3505,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6905,-0.51,-146.0,782.0,-6.3,623,6909,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2406,3504,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7222,-0.51,-146.0,799.7,-5.2,639,7225,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3581,3503,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7304,-0.51,-146.0,803.4,-4.5,643,7307,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2404,3503,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7626,-0.51,-146.0,818.3,-4.8,659,7629,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3578,3502,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7689,-0.51,-146.0,821.4,-4.9,662,7693,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2408,3502,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8009,-0.51,-146.0,838.2,-5.6,678,8012,0.00,1.83,0.00,0.000,4,0.000,0.057,2356,3578,3500,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8079,-0.51,-146.0,841.9,-5.7,681,8082,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2406,3500,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8392,-0.51,-146.0,861.1,-6.1,697,8396,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3578,3499,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8436,-0.51,-146.0,863.6,-6.1,699,8439,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2408,3498,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8753,-0.51,-146.0,885.0,-6.9,715,8757,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3578,3497,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8828,-0.51,-146.0,889.5,-7.2,718,8835,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2389,3496,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9137,-0.51,-146.0,911.3,-6.6,734,9142,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3578,3495,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9196,-0.51,-146.0,915.2,-6.2,737,9199,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2407,3495,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9517,-0.51,-146.0,934.2,-5.7,753,9522,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3586,3495,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9571,-0.51,-146.0,936.6,-5.8,755,9578,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2396,3494,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9878,-0.51,-146.0,954.1,-5.4,771,9882,0.00,1.90,0.00,0.000,4,0.000,0.057,2356,3582,3493,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9921,-0.51,-146.0,956.2,-5.1,773,9925,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2403,3493,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10244,-0.51,-146.0,971.3,-4.6,789,10249,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3584,3493,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10305,-0.51,-146.0,974.0,-4.6,792,10309,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2416,3492,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,10620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10621,begin apogee
$GC,10627,-0.17,0.0,990.1,-5.3,808,10758,0.30,0.10,125.43,1.737,6,0.106,0.079,2465,2381,2928,0,0,0,0,0,0,26.02,24.34,22.92
$STATE,10759,end apogee,CONTROL_FINISHED_OK
$STATE,10760,begin climb
$GC,10761,0.51,146.0,994.1,0.0,814,10913,0.60,1.62,142.30,1.691,4,0.050,0.027,2708,1352,2332,0,0,0,0,0,0,24.58,23.77,22.29
$GC,10964,0.51,146.0,984.4,10.5,823,10968,0.15,1.83,0.00,0.000,6,0.168,0.046,2672,2468,2325,0,0,0,0,0,0,24.45,24.68,28.83
$GC,11272,0.51,146.0,948.7,11.5,838,11275,0.00,1.62,0.00,0.000,4,0.000,0.056,2671,3522,2320,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11393,0.51,146.0,932.5,13.7,844,11396,0.00,1.65,0.00,0.000,6,0.000,0.023,2679,2385,2319,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11713,0.51,146.0,894.4,11.6,860,11717,0.00,1.80,0.00,0.000,4,0.000,0.054,2679,3530,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11738,0.51,146.0,891.6,11.9,861,11742,0.08,1.62,0.00,0.000,6,0.227,0.024,2673,2390,2316,0,0,0,0,0,0,26.03,26.32,28.83
$GC,12055,0.51,146.0,853.4,12.3,877,12058,0.00,1.80,0.00,0.000,4,0.000,0.054,2674,3531,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12088,0.51,146.0,850.6,12.6,878,12095,0.00,1.65,0.00,0.000,6,0.000,0.024,2680,2403,2315,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12397,0.51,146.0,808.7,12.8,894,12401,0.00,1.77,0.00,0.000,4,0.000,0.053,2680,3515,2315,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12479,0.51,146.0,796.8,14.4,898,12483,0.05,1.65,0.00,0.000,6,0.194,0.024,2672,2377,2314,0,0,0,0,0,0,26.08,26.42,28.83
$GC,12802,0.51,146.0,761.7,10.8,914,12806,0.00,1.83,0.00,0.000,4,0.000,0.054,2672,3525,2314,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,21069,end climb,SURFACE_DEPTH_REACHED
$STATE,21069,begin surface coast
$FINISH,0.6,1.006108
$STATE,21115,end surface coast,CONTROL_FINISHED_OK
$STATE,21115,begin surface
$SM_CCo,21191,0.00,0.000,0,0,1217,419.95
$SM_GC,1.57,6.53,0.08,0.00,0.034,0.120,0.000,198,2547,1217,-7.15,-0.54,419.95,0,0,0,0,0,0,26.36,26.59,28.83
$IRIDIUM_FIX,1814.58,12250.39,030512,222254
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.00
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.3,52.013
$10V_AH,10.0,33.324
$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,17.950,145.425,450.150,0.000,0.000,33.153,38.205,237.062,0.000,0.000,19.766,4749.236,11995.326,503.794,3912.831,457.811,0.000,2286.024,0.000,3298.418,0.000,0.544,0.000
$DEVICE_MAMPS,290.700,120.105,1737.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1263.105,2523.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323632
$DATA_FILE_SIZE,137184,1848
$CAP_FILE_SIZE,218540,0
$CFSIZE,260165632,197439488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,343.8,1
$GPS,040512,104537,1824.651,12241.413,39,0.9,39,-2.0