version: 66.10
glider: 176
mission: 5
dive: 257
start: 5 4 112 16 53 28
data:
$ID,176
$MISSION,5
$DIVE,257
$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,-7770.9316
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,040512,164455,1826.179,12237.867,38,2.0,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.9
$GPS2,040512,165302,1826.430,12237.793,13,0.9,13,-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,240.8,38769,-13.1,-7.500
$D_GRID,2844
$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,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,71,0.00,0.00,-51.15,0.000,2,0.000,0.000,184,2554,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.51,-146.0,3.3,-7.8,9,115,8.80,0.00,-27.88,0.000,6,0.236,0.000,2348,2555,3527,0,0,0,0,0,0,25.34,28.83,26.60
$GC,422,-0.51,-146.0,120.6,-34.7,73,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2555,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,732,-0.51,-146.0,197.9,-19.0,134,739,0.00,1.60,0.00,0.000,4,0.000,0.023,2348,1396,3527,0,0,0,0,0,0,28.83,26.54,28.83
$GC,823,-0.51,-146.0,210.0,-11.5,142,831,0.00,1.70,0.00,0.000,6,0.000,0.045,2342,2525,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1135,-0.51,-146.0,257.5,-15.8,173,1139,0.03,1.58,0.00,0.000,4,0.311,0.021,2355,1383,3528,0,0,0,0,0,0,26.62,26.55,28.83
$GC,1167,-0.51,-146.0,263.1,-16.0,176,1171,0.00,1.70,0.00,0.000,6,0.000,0.044,2348,2530,3528,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1478,-0.51,-146.0,309.9,-12.6,207,1481,0.00,1.58,0.00,0.000,4,0.000,0.024,2348,1389,3527,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1511,-0.51,-146.0,313.5,-12.3,210,1518,0.00,1.73,0.00,0.000,6,0.000,0.045,2348,2529,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1820,-0.51,-146.0,349.6,-9.7,241,1824,0.00,1.55,0.00,0.000,4,0.000,0.023,2348,1392,3525,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1893,-0.51,-146.0,355.8,-8.0,248,1896,0.00,1.70,0.00,0.000,6,0.000,0.045,2348,2531,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2204,-0.51,-146.0,386.4,-9.9,279,2207,0.00,1.58,0.00,0.000,4,0.000,0.052,2348,3594,3521,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2247,-0.51,-146.0,390.4,-10.1,283,2250,0.00,1.60,0.00,0.000,6,0.000,0.021,2347,2393,3520,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2558,-0.51,-146.0,422.6,-10.8,314,2561,0.00,1.83,0.00,0.000,4,0.000,0.052,2341,3583,3518,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2669,-0.51,-146.0,433.8,-9.5,325,2674,0.03,1.60,0.00,0.000,6,0.168,0.023,2355,2403,3516,0,0,0,0,0,0,26.45,26.64,28.83
$GC,2982,-0.51,-146.0,457.6,-6.9,356,2991,0.00,1.85,-0.08,0.000,4,0.000,0.066,2348,3589,3542,0,0,0,0,0,0,28.83,26.24,25.60
$GC,3058,-0.51,-146.0,463.0,-7.2,363,3066,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2386,3541,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3364,-0.51,-146.0,486.8,-7.7,394,3367,0.00,1.85,0.00,0.000,4,0.000,0.054,2343,3584,3539,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3406,-0.51,-146.0,490.5,-9.0,398,3409,0.00,1.60,0.00,0.000,6,0.000,0.023,2343,2416,3538,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3717,-0.51,-146.0,519.1,-9.3,429,3720,0.00,1.83,0.00,0.000,4,0.000,0.054,2336,3587,3535,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3781,-0.51,-146.0,525.1,-9.7,435,3790,0.10,1.62,0.00,0.000,6,0.151,0.023,2366,2380,3534,0,0,0,0,0,0,26.33,26.61,28.83
$GC,4088,-0.51,-146.0,546.6,-6.5,466,4092,0.10,1.88,0.00,0.000,4,0.104,0.053,2292,3574,3532,0,0,0,0,0,0,26.63,26.18,28.83
$GC,4195,-0.51,-146.0,558.7,-12.6,476,4203,0.20,1.60,0.00,0.000,6,0.132,0.023,2357,2403,3531,0,0,0,0,0,0,26.12,26.60,28.83
$GC,4501,-0.51,-146.0,582.3,-8.1,507,4504,0.00,1.83,0.00,0.000,4,0.000,0.054,2357,3581,3528,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4602,-0.51,-146.0,590.8,-8.6,517,4606,0.00,1.60,0.00,0.000,6,0.000,0.023,2357,2398,3527,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4913,-0.51,-146.0,618.7,-9.2,538,4916,0.00,1.85,0.00,0.000,4,0.000,0.055,2356,3585,3525,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5036,-0.51,-146.0,629.4,-8.7,544,5039,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2406,3524,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5357,-0.51,-146.0,656.0,-7.9,560,5360,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3585,3522,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5447,-0.51,-146.0,661.9,-7.2,564,5451,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2406,3520,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5759,-0.51,-146.0,681.7,-5.7,580,5762,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3586,3519,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5810,-0.51,-146.0,684.0,-5.5,582,5813,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2402,3518,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6125,-0.51,-146.0,700.5,-5.0,598,6128,0.00,1.85,0.00,0.000,4,0.000,0.056,2357,3584,3517,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6186,-0.51,-146.0,704.0,-5.3,601,6189,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2399,3516,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6508,-0.51,-146.0,722.1,-5.7,617,6511,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3580,3515,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6617,-0.51,-146.0,727.7,-5.6,622,6620,0.00,1.60,0.00,0.000,6,0.000,0.025,2356,2406,3513,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6930,-0.51,-146.0,747.0,-6.4,638,6934,0.00,1.83,0.00,0.000,4,0.000,0.056,2356,3579,3512,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6994,-0.51,-146.0,751.5,-6.9,641,6997,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2409,3512,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7315,-0.51,-146.0,773.4,-6.3,657,7318,0.00,1.83,0.00,0.000,4,0.000,0.056,2356,3582,3510,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7367,-0.51,-146.0,775.9,-6.2,659,7370,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2404,3510,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7678,-0.51,-146.0,796.6,-6.9,675,7681,0.00,1.85,0.00,0.000,4,0.000,0.056,2356,3578,3508,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7741,-0.51,-146.0,801.0,-7.0,678,7744,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2400,3508,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8062,-0.51,-146.0,827.2,-8.8,694,8065,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3586,3506,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8111,-0.51,-146.0,830.3,-8.5,696,8117,0.00,1.65,0.00,0.000,6,0.000,0.024,2356,2402,3506,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8420,-0.51,-146.0,851.7,-6.1,712,8423,0.00,1.83,0.00,0.000,4,0.000,0.056,2356,3578,3506,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8484,-0.51,-146.0,855.1,-5.7,715,8487,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2409,3505,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8802,-0.51,-146.0,872.4,-5.5,731,8805,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3578,3504,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8846,-0.51,-146.0,874.8,-5.6,733,8849,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2407,3503,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9163,-0.51,-146.0,893.4,-6.3,749,9166,0.00,1.83,0.00,0.000,4,0.000,0.057,2356,3578,3503,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9229,-0.51,-146.0,897.4,-6.4,752,9233,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2403,3502,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9546,-0.51,-146.0,919.6,-6.9,768,9551,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3588,3502,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9588,-0.51,-146.0,922.4,-6.9,770,9591,0.00,1.65,0.00,0.000,6,0.000,0.024,2356,2407,3501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9906,-0.51,-146.0,943.0,-6.0,786,9910,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3579,3501,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9977,-0.51,-146.0,946.7,-5.9,789,9980,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2413,3501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10289,-0.51,-146.0,963.7,-5.1,805,10293,0.00,1.88,0.00,0.000,4,0.000,0.057,2356,3581,3500,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10332,-0.51,-146.0,965.8,-5.1,807,10336,0.00,1.62,0.00,0.000,6,0.000,0.024,2356,2398,3499,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10655,-0.51,-146.0,983.0,-5.6,823,10660,0.00,1.85,0.00,0.000,4,0.000,0.057,2356,3578,3499,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10702,-0.51,-146.0,985.4,-6.0,825,10705,0.00,1.60,0.00,0.000,6,0.000,0.024,2356,2425,3498,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,10771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10771,begin apogee
$GC,10777,-0.17,0.0,990.2,-6.1,829,10915,0.30,0.00,127.28,1.740,6,0.103,0.000,2466,2473,2929,0,0,0,0,0,0,26.02,28.83,22.85
$STATE,10916,end apogee,CONTROL_FINISHED_OK
$STATE,10916,begin climb
$GC,10918,0.51,146.0,996.0,0.0,836,11070,0.62,1.88,143.55,1.698,4,0.050,0.054,2704,3520,2332,0,0,0,0,0,0,24.62,23.69,22.23
$GC,11126,0.51,146.0,985.3,11.6,845,11134,0.17,1.73,0.00,0.000,6,0.190,0.023,2671,2386,2327,0,0,0,0,0,0,24.44,24.86,28.83
$GC,11432,0.51,146.0,949.1,10.2,861,11436,0.00,1.83,0.00,0.000,4,0.000,0.054,2671,3522,2319,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11466,0.51,146.0,946.7,10.5,862,11473,0.00,1.65,0.00,0.000,6,0.000,0.024,2679,2396,2319,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11775,0.51,146.0,910.2,11.8,878,11778,0.00,1.77,0.00,0.000,4,0.000,0.053,2679,3527,2317,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11816,0.51,146.0,904.7,12.3,880,11820,0.08,1.62,0.00,0.000,6,0.230,0.024,2672,2399,2317,0,0,0,0,0,0,26.00,26.28,28.83
$GC,12138,0.51,146.0,869.1,10.8,896,12141,0.00,1.77,0.00,0.000,4,0.000,0.054,2672,3531,2316,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,21319,end climb,SURFACE_DEPTH_REACHED
$STATE,21319,begin surface coast
$FINISH,0.7,1.008642
$STATE,21352,end surface coast,CONTROL_FINISHED_OK
$STATE,21352,begin surface
$SM_CCo,21428,0.00,0.000,0,0,1085,452.33
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$IRIDIUM_FIX,1816.86,12242.20,040512,101052
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.2,52.412
$10V_AH,9.9,33.611
$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,18.600,162.650,455.650,0.000,0.000,25.238,41.542,265.479,2.500,0.000,16.347,4870.508,12026.720,530.394,3988.993,460.697,0.000,2347.941,0.000,3345.695,0.000,19.164,0.000
$DEVICE_MAMPS,311.355,130.050,1739.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1286.847,2545.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323636
$DATA_FILE_SIZE,140689,1882
$CAP_FILE_SIZE,228325,0
$CFSIZE,260165632,197193728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,336.2,1
$GPS,040512,225137,1827.234,12234.500,32,1.2,32,-2.0