version: 66.10
glider: 176
mission: 5
dive: 258
start: 5 4 112 22 59 41
data:
$ID,176
$MISSION,5
$DIVE,258
$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,-7772.1919
$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
$GPS1,040512,225137,1827.234,12234.500,32,1.2,32,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.3
$GPS2,040512,225914,1827.508,12234.435,12,1.2,12,-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,245.1,32570,-13.1,-7.500
$D_GRID,1578
$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,16,-0.51,-146.0,0.0,0.0,0,58,0.00,0.00,-39.97,0.000,2,0.000,0.000,187,2529,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.1,-6.9,7,106,8.77,1.65,-28.40,0.000,4,0.236,0.062,2342,3594,3527,0,0,0,0,0,0,25.32,26.10,26.58
$GC,153,-0.51,-146.0,30.5,-37.4,20,161,0.03,1.62,0.00,0.000,6,0.213,0.023,2350,2425,3527,0,0,0,0,0,0,26.16,26.36,28.83
$GC,482,-0.51,-146.0,140.7,-26.8,81,489,0.00,1.42,0.00,0.000,4,0.000,0.024,2351,1380,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,518,-0.51,-146.0,148.4,-19.7,87,524,0.00,1.73,0.00,0.000,6,0.000,0.045,2344,2537,3527,0,0,0,0,0,0,28.83,26.30,28.83
$GC,847,-0.51,-146.0,220.4,-17.8,138,850,0.00,1.60,0.00,0.000,4,0.000,0.025,2343,1390,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,909,-0.51,-146.0,230.4,-15.5,144,913,0.10,1.70,0.00,0.000,6,0.171,0.044,2361,2537,3528,0,0,0,0,0,0,26.17,26.37,28.83
$GC,1221,-0.51,-146.0,271.3,-11.2,175,1222,0.08,0.00,0.00,0.000,6,0.131,0.000,2302,2537,3528,0,0,0,0,0,0,26.65,28.83,28.83
$GC,1520,-0.51,-146.0,322.0,-15.3,205,1524,0.15,1.58,0.00,0.000,4,0.158,0.021,2354,1397,3528,0,0,0,0,0,0,26.27,26.54,28.83
$GC,1646,-0.51,-146.0,334.1,-8.8,217,1652,0.00,1.70,0.00,0.000,6,0.000,0.044,2348,2534,3527,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1952,-0.51,-146.0,367.1,-11.4,248,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2534,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2254,-0.51,-146.0,398.7,-10.5,278,2258,0.00,1.62,0.00,0.000,4,0.000,0.024,2348,1392,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2290,-0.51,-146.0,402.1,-10.3,281,2296,0.00,1.70,0.00,0.000,6,0.000,0.047,2348,2529,3522,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2595,-0.51,-146.0,431.0,-9.0,312,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2529,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-0.51,-146.0,459.6,-10.0,342,2901,0.00,1.62,0.00,0.000,4,0.000,0.053,2344,3586,3516,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2932,-0.51,-146.0,463.3,-11.0,345,2939,0.00,1.60,-0.08,0.000,6,0.000,0.022,2344,2416,3535,0,0,0,0,0,0,28.83,26.63,25.75
$GC,3238,-0.51,-146.0,489.9,-9.7,376,3242,0.00,1.80,0.00,0.000,4,0.000,0.054,2337,3586,3533,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3310,-0.51,-146.0,497.2,-10.3,383,3314,0.08,1.60,0.00,0.000,6,0.169,0.023,2359,2399,3532,0,0,0,0,0,0,26.39,26.61,28.83
$GC,3621,-0.51,-146.0,526.0,-9.5,414,3626,0.05,1.85,0.00,0.000,4,0.175,0.052,2297,3587,3529,0,0,0,0,0,0,26.67,26.19,28.83
$GC,3708,-0.51,-146.0,538.1,-14.4,422,3713,0.20,1.60,0.00,0.000,6,0.132,0.024,2361,2396,3528,0,0,0,0,0,0,26.11,26.60,28.83
$GC,4020,-0.51,-146.0,567.3,-8.6,453,4024,0.08,1.85,0.00,0.000,4,0.128,0.052,2296,3588,3526,0,0,0,0,0,0,26.65,26.17,28.83
$GC,4118,-0.51,-146.0,580.1,-13.7,462,4122,0.20,1.60,0.00,0.000,6,0.131,0.024,2361,2408,3524,0,0,0,0,0,0,26.11,26.58,28.83
$GC,4429,-0.51,-146.0,606.8,-8.4,489,4434,0.05,1.85,0.00,0.000,4,0.175,0.053,2304,3589,3522,0,0,0,0,0,0,26.66,26.15,28.83
$GC,4509,-0.51,-146.0,616.2,-12.3,493,4514,0.12,1.62,0.00,0.000,6,0.115,0.024,2354,2410,3521,0,0,0,0,0,0,26.17,26.58,28.83
$GC,4827,-0.51,-146.0,644.3,-8.1,509,4830,0.00,1.83,0.00,0.000,4,0.000,0.054,2348,3580,3519,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4896,-0.51,-146.0,649.5,-8.4,512,4899,0.00,1.62,0.00,0.000,6,0.000,0.023,2348,2408,3518,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5209,-0.51,-146.0,673.9,-6.8,528,5212,0.00,1.85,0.00,0.000,4,0.000,0.056,2348,3588,3517,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5283,-0.51,-146.0,677.9,-6.5,531,5290,0.00,1.62,0.00,0.000,6,0.000,0.024,2348,2397,3515,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5592,-0.51,-146.0,698.1,-6.2,547,5595,0.00,1.85,0.00,0.000,4,0.000,0.056,2345,3580,3514,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5674,-0.51,-146.0,703.1,-6.0,551,5678,0.00,1.60,0.00,0.000,6,0.000,0.024,2345,2419,3513,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5996,-0.51,-146.0,724.5,-7.5,567,6000,0.00,1.85,0.00,0.000,4,0.000,0.057,2345,3586,3511,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6070,-0.51,-146.0,729.2,-7.6,570,6078,0.00,1.65,0.00,0.000,6,0.000,0.024,2345,2407,3510,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6377,-0.51,-146.0,754.6,-7.7,586,6380,0.00,1.85,0.00,0.000,4,0.000,0.056,2344,3587,3509,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6452,-0.51,-146.0,759.1,-7.6,589,6459,0.00,1.62,0.00,0.000,6,0.000,0.024,2345,2397,3508,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6758,-0.51,-146.0,781.9,-7.0,605,6762,0.00,1.85,0.00,0.000,4,0.000,0.057,2344,3580,3506,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6860,-0.51,-146.0,788.7,-6.7,610,6864,0.00,1.60,0.00,0.000,6,0.000,0.025,2345,2413,3505,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7182,-0.51,-146.0,811.6,-7.9,626,7185,0.00,1.85,0.00,0.000,4,0.000,0.057,2344,3586,3503,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7245,-0.51,-146.0,816.3,-7.7,629,7249,0.00,1.65,0.00,0.000,6,0.000,0.024,2344,2411,3504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7564,-0.51,-146.0,840.7,-7.9,645,7568,0.00,1.85,0.00,0.000,4,0.000,0.057,2344,3585,3503,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7645,-0.51,-146.0,847.2,-7.8,649,7648,0.00,1.62,0.00,0.000,6,0.000,0.024,2345,2406,3502,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7967,-0.51,-146.0,872.3,-7.9,665,7970,0.00,1.85,0.00,0.000,4,0.000,0.057,2344,3578,3501,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8027,-0.51,-146.0,877.2,-7.9,668,8031,0.00,1.60,0.00,0.000,6,0.000,0.024,2345,2407,3501,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8348,-0.51,-146.0,901.7,-7.9,684,8352,0.00,1.88,0.00,0.000,4,0.000,0.057,2344,3580,3500,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8453,-0.51,-146.0,910.3,-8.8,689,8457,0.00,1.60,0.00,0.000,6,0.000,0.024,2344,2424,3499,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8769,-0.51,-146.0,937.7,-8.2,705,8773,0.00,1.83,0.00,0.000,4,0.000,0.057,2344,3578,3497,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8798,-0.51,-146.0,939.3,-8.2,706,8802,0.00,1.62,0.00,0.000,6,0.000,0.025,2344,2428,3497,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9112,-0.51,-146.0,964.5,-7.4,722,9115,0.00,1.83,0.00,0.000,4,0.000,0.057,2344,3588,3496,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9173,-0.51,-146.0,968.9,-7.2,725,9176,0.00,1.62,0.00,0.000,6,0.000,0.025,2344,2406,3495,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,9492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9492,begin apogee
$GC,9498,-0.17,0.0,990.7,-6.7,741,9635,0.32,0.08,125.90,1.735,6,0.106,0.098,2461,2389,2929,0,0,0,0,0,0,25.96,24.30,22.92
$STATE,9636,end apogee,CONTROL_FINISHED_OK
$STATE,9636,begin climb
$GC,9638,0.51,146.0,995.5,0.0,748,9790,0.60,1.65,142.55,1.691,4,0.051,0.027,2704,1354,2332,0,0,0,0,0,0,24.66,23.78,22.26
$GC,9832,0.51,146.0,984.7,10.9,757,9837,0.08,1.85,0.00,0.000,6,0.149,0.046,2670,2464,2325,0,0,0,0,0,0,24.39,24.60,28.83
$GC,10155,0.51,146.0,946.5,11.7,773,10159,0.00,1.65,0.00,0.000,4,0.000,0.054,2669,3514,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10179,0.51,146.0,943.8,12.0,774,10183,0.00,1.65,0.00,0.000,6,0.000,0.023,2678,2381,2320,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10496,0.51,146.0,910.2,9.6,790,10500,0.00,1.77,0.00,0.000,4,0.000,0.054,2678,3523,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10526,0.51,146.0,908.1,9.7,791,10530,0.08,1.62,0.00,0.000,6,0.230,0.024,2671,2378,2317,0,0,0,0,0,0,26.01,26.31,28.83
$GC,10838,0.51,146.0,875.6,10.5,807,10841,0.00,1.77,0.00,0.000,4,0.000,0.054,2671,3522,2316,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10943,0.51,146.0,861.7,14.0,812,10947,0.00,1.65,0.00,0.000,6,0.000,0.024,2680,2391,2315,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11259,0.51,146.0,820.5,13.3,828,11263,0.00,1.77,0.00,0.000,4,0.000,0.053,2680,3526,2315,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11323,0.51,146.0,811.4,14.7,831,11327,0.05,1.65,0.00,0.000,6,0.191,0.023,2671,2384,2314,0,0,0,0,0,0,26.08,26.43,28.83
$GC,11642,0.51,146.0,775.5,11.8,847,11645,0.00,1.77,0.00,0.000,4,0.000,0.054,2671,3531,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11744,0.51,146.0,762.1,13.2,852,11748,0.00,1.65,0.00,0.000,6,0.000,0.024,2679,2399,2313,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12066,0.51,146.0,727.0,10.1,868,12070,0.00,1.77,0.00,0.000,4,0.000,0.053,2679,3517,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12095,0.51,146.0,724.4,10.3,869,12099,0.03,1.62,0.00,0.000,6,0.228,0.024,2677,2391,2313,0,0,0,0,0,0,26.22,26.45,28.83
$GC,12407,0.51,146.0,691.2,10.0,885,12410,0.00,1.50,0.00,0.000,4,0.000,0.031,2685,1349,2312,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12462,0.51,146.0,687.2,10.2,887,12469,0.05,1.70,0.00,0.000,6,0.219,0.046,2673,2473,2311,0,0,0,0,0,0,26.09,26.17,28.83
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$STATE,19708,end climb,SURFACE_DEPTH_REACHED
$STATE,19708,begin surface coast
$FINISH,1.0,1.020634
$STATE,19734,end surface coast,CONTROL_FINISHED_OK
$STATE,19734,begin surface
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$IRIDIUM_FIX,1821.40,12236.47,040512,161609
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.3,52.617
$10V_AH,10.0,33.744
$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
$DEVICE_SECS,19.050,151.800,482.750,0.000,0.000,25.784,21.286,256.676,2.500,0.000,15.087,4456.713,11117.708,543.387,3686.450,426.783,0.000,2208.093,0.000,3097.506,0.000,20.607,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323632
$DATA_FILE_SIZE,130473,1736
$CAP_FILE_SIZE,212271,0
$CFSIZE,260165632,197103616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.261,336.4,1
$GPS,050512,043101,1829.164,12230.837,40,1.1,40,-2.0