version: 66.10
glider: 176
mission: 5
dive: 282
start: 5 9 112 8 9 54
data:
$ID,176
$MISSION,5
$DIVE,282
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,300
$T_MISSION,330
$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,250
$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,-7886.7505
$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,2600
$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
$GPS1,090512,080236,1907.821,12228.896,26,1.6,26,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.5
$GPS2,090512,080926,1907.911,12228.870,13,1.7,13,-2.2
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,92.5,229614,-14.4,-11.000
$D_GRID,1514
$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,-0.66,-243.3,0.0,0.0,0,71,0.00,0.00,-52.12,0.000,2,0.000,0.000,186,2651,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.66,-243.3,3.2,-7.5,9,123,8.48,2.25,-33.33,0.000,4,0.235,0.042,2299,1147,3923,0,0,0,0,0,0,25.35,26.26,26.64
$GC,301,-0.66,-243.3,66.1,-24.8,46,309,0.08,2.22,0.00,0.000,6,0.206,0.046,2308,2616,3924,0,0,0,0,0,0,26.10,26.25,28.83
$GC,630,-0.66,-243.3,181.8,-27.1,107,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2616,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.66,-243.3,258.4,-23.0,144,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2616,3926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.66,-243.3,320.4,-18.3,174,1249,0.00,2.08,0.00,0.000,4,0.000,0.025,2308,1145,3925,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1294,-0.66,-243.3,328.2,-13.9,179,1304,0.00,2.20,0.00,0.000,6,0.000,0.044,2306,2622,3925,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1603,-0.66,-243.3,373.4,-14.6,210,1606,0.00,1.73,0.00,0.000,4,0.000,0.054,2304,3769,3925,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1627,-0.66,-243.3,376.6,-14.7,212,1633,0.00,1.70,0.00,0.000,6,0.000,0.021,2304,2488,3925,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1933,-0.66,-243.3,419.3,-14.1,243,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2487,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.66,-243.3,463.5,-14.3,273,2246,0.00,1.98,0.00,0.000,4,0.000,0.053,2294,3785,3920,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2262,-0.66,-243.3,467.2,-14.7,275,2270,0.05,1.75,0.00,0.000,6,0.208,0.021,2310,2471,3919,0,0,0,0,0,0,26.44,26.63,28.83
$GC,2569,-0.66,-243.3,510.3,-15.5,306,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2470,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,-0.66,-243.3,554.2,-13.7,336,2879,0.00,2.03,0.00,0.000,4,0.000,0.054,2304,3780,3913,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2953,-0.66,-243.3,564.5,-11.0,344,2957,0.00,1.75,0.00,0.000,6,0.000,0.023,2304,2503,3912,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3276,-0.66,-243.3,603.3,-12.0,375,3281,0.00,2.00,0.00,0.000,4,0.000,0.053,2295,3765,3909,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3327,-0.66,-243.3,608.0,-11.9,377,3334,0.00,1.75,0.00,0.000,6,0.000,0.024,2295,2490,3909,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3635,-0.66,-243.3,644.9,-11.8,393,3640,0.00,1.95,0.00,0.000,4,0.000,0.028,2295,1138,3906,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3674,-0.66,-243.3,649.3,-11.4,395,3680,0.08,2.28,0.00,0.000,6,0.174,0.046,2315,2626,3905,0,0,0,0,0,0,26.20,26.29,28.83
$GC,3996,-0.66,-243.3,678.1,-8.7,411,3997,0.08,0.00,0.00,0.000,6,0.126,0.000,2259,2626,3903,0,0,0,0,0,0,26.63,28.83,28.83
$GC,4294,-0.66,-243.3,720.1,-13.4,426,4301,0.15,2.12,0.00,0.000,4,0.152,0.024,2310,1149,3899,0,0,0,0,0,0,26.24,26.44,28.83
$GC,4362,-0.66,-243.3,725.0,-9.4,429,4367,0.00,2.25,0.00,0.000,6,0.000,0.047,2306,2622,3899,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4670,-0.66,-243.3,750.7,-8.9,444,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2622,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.66,-243.3,779.9,-10.7,459,4975,0.00,2.15,0.00,0.000,4,0.000,0.026,2306,1141,3894,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5015,-0.66,-243.3,784.3,-10.9,461,5020,0.00,2.28,0.00,0.000,6,0.000,0.047,2305,2636,3894,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5329,-0.66,-243.3,822.1,-12.0,477,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2636,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5630,-0.66,-243.3,857.4,-11.6,492,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2636,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,-0.66,-243.3,890.0,-10.2,507,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2636,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6230,-0.66,-243.3,920.4,-9.8,522,6235,0.00,2.17,0.00,0.000,4,0.000,0.027,2306,1145,3884,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6252,-0.66,-243.3,922.1,-9.5,523,6257,0.00,2.25,0.00,0.000,6,0.000,0.047,2305,2613,3883,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6566,-0.66,-243.3,950.4,-9.1,539,6569,0.00,1.77,0.00,0.000,4,0.000,0.058,2304,3765,3882,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6610,-0.66,-243.3,954.1,-9.1,541,6613,0.00,1.77,0.00,0.000,6,0.000,0.024,2304,2460,3881,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6928,-0.66,-243.3,983.5,-9.3,557,6933,0.00,2.03,0.00,0.000,4,0.000,0.057,2301,3756,3879,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6989,-0.66,-243.3,989.2,-9.4,560,6993,0.00,1.75,0.00,0.000,6,0.000,0.024,2301,2470,3879,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,7004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7010,-0.17,0.0,991.0,-9.3,561,7228,0.45,0.08,208.75,1.706,6,0.104,0.092,2462,2434,2929,0,0,0,0,0,0,25.95,23.81,22.44
$STATE,7228,end apogee,CONTROL_FINISHED_OK
$STATE,7229,begin climb
$GC,7231,0.66,243.3,1005.1,0.0,572,7467,0.75,0.00,231.40,1.660,6,0.044,0.000,2752,2434,1936,0,0,0,0,0,0,24.20,28.83,22.34
$GC,7767,0.66,243.3,913.5,21.9,599,7773,0.12,2.10,0.00,0.000,4,0.206,0.054,2718,3776,1928,0,0,0,0,0,0,25.78,25.95,28.83
$GC,7819,0.66,243.3,904.4,22.4,601,7827,0.00,1.98,0.00,0.000,6,0.000,0.027,2727,2454,1927,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8127,0.66,243.3,842.7,19.9,617,8133,0.00,2.03,0.00,0.000,4,0.000,0.056,2727,3766,1925,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8219,0.66,243.3,824.0,23.5,621,8228,0.08,1.92,0.00,0.000,6,0.233,0.026,2722,2447,1924,0,0,0,0,0,0,26.08,26.35,28.83
$GC,8527,0.66,243.3,756.3,21.9,637,8533,0.00,2.03,0.00,0.000,4,0.000,0.030,2732,1049,1923,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8547,0.66,243.3,752.1,21.8,638,8553,0.03,2.28,0.00,0.000,6,0.280,0.047,2722,2519,1922,0,0,0,0,0,0,26.16,26.25,28.83
$GC,8867,0.66,243.3,687.3,18.7,654,8872,0.00,1.92,0.00,0.000,4,0.000,0.057,2722,3771,1922,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8922,0.66,243.3,678.4,20.3,656,8929,0.00,1.90,0.00,0.000,6,0.000,0.024,2730,2445,1922,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9226,0.66,243.3,620.5,17.6,672,9232,0.00,2.08,0.00,0.000,4,0.000,0.054,2731,3770,1921,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9254,0.66,243.3,616.5,18.3,673,9259,0.10,1.90,0.00,0.000,6,0.217,0.024,2718,2449,1922,0,0,0,0,0,0,26.07,26.45,28.83
$GC,9561,0.66,243.3,561.4,16.9,699,9570,0.00,2.03,0.00,0.000,4,0.000,0.052,2718,3775,1921,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9585,0.66,243.3,557.4,17.4,701,9593,0.00,1.90,0.00,0.000,6,0.000,0.022,2728,2437,1921,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9892,0.66,243.3,502.1,17.3,732,9896,0.00,2.05,0.00,0.000,4,0.000,0.052,2728,3766,1921,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9926,0.66,243.3,495.8,19.8,735,9934,0.05,1.92,0.00,0.000,6,0.183,0.024,2711,2446,1921,0,0,0,0,0,0,26.05,26.47,28.83
$GC,10234,0.66,243.3,445.4,15.1,766,10244,0.08,2.05,0.00,0.000,4,0.137,0.031,2767,1054,1920,0,0,0,0,0,0,26.57,26.35,28.83
$GC,10256,0.66,243.3,441.8,15.4,768,10266,0.17,2.25,0.00,0.000,6,0.167,0.047,2719,2519,1920,0,0,0,0,0,0,25.86,26.22,28.83
$GC,10568,0.66,243.3,392.3,15.9,799,10576,0.00,1.90,0.00,0.000,4,0.000,0.054,2719,3768,1920,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10609,0.66,243.3,384.9,17.0,803,10617,0.00,1.90,0.00,0.000,6,0.000,0.024,2729,2445,1920,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10923,0.66,243.3,340.9,12.0,834,10932,0.00,2.00,0.00,0.000,4,0.000,0.050,2729,3767,1920,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11056,0.66,243.3,320.2,16.0,847,11065,0.10,1.90,0.00,0.000,6,0.195,0.025,2710,2448,1920,0,0,0,0,0,0,26.08,26.45,28.83
$GC,11365,0.66,243.3,281.3,11.0,878,11367,0.08,0.00,0.00,0.000,6,0.138,0.000,2752,2445,1920,0,0,0,0,0,0,26.59,28.83,28.83
$GC,11666,0.66,243.3,237.0,13.4,908,11675,0.12,2.00,0.00,0.000,4,0.163,0.047,2712,3769,1920,0,0,0,0,0,0,26.25,26.20,28.83
$GC,11741,0.66,243.3,227.6,12.1,915,11748,0.00,1.90,0.00,0.000,6,0.000,0.026,2721,2450,1921,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12048,0.80,356.5,197.7,7.5,949,12153,0.12,2.12,95.32,1.145,4,0.096,0.050,2799,3775,1473,0,0,0,0,0,0,26.55,25.26,24.01
$GC,12162,0.80,356.5,181.0,18.3,967,12170,0.17,1.98,0.00,0.000,6,0.172,0.026,2760,2456,1473,0,0,0,0,0,0,25.25,25.55,28.83
$GC,12488,0.87,416.1,139.5,9.2,1028,12519,0.12,0.00,26.30,1.050,6,0.091,0.000,2838,2452,1230,0,0,0,0,0,0,26.32,28.83,24.51
$GC,12825,0.87,416.1,78.1,19.5,1093,12834,0.15,2.05,0.00,0.000,4,0.158,0.031,2800,1055,1226,0,0,0,0,0,0,26.05,26.25,28.83
$GC,12860,0.87,416.1,73.2,14.4,1096,12868,0.05,2.22,0.00,0.000,6,0.190,0.044,2784,2517,1224,0,0,0,0,0,0,26.14,26.19,28.83
$GC,13173,1.00,521.3,45.0,7.8,1157,13222,0.15,2.22,42.12,0.225,4,0.077,0.033,2889,1057,800,0,0,0,0,0,0,26.51,26.22,25.52
$GC,13250,1.00,521.3,31.3,20.7,1164,13257,0.20,2.22,0.00,0.000,6,0.136,0.043,2828,2527,796,0,0,0,0,0,0,25.93,26.18,28.83
$STATE,13454,end climb,SURFACE_DEPTH_REACHED
$STATE,13454,begin surface coast
$FINISH,0.6,1.008562
$STATE,13495,end surface coast,CONTROL_FINISHED_OK
$STATE,13495,begin surface
$SM_CCo,13571,0.00,0.000,0,0,795,523.47
$SM_GC,1.39,6.53,0.12,0.00,0.032,0.084,0.000,198,2679,795,-7.16,-0.54,523.47,0,0,0,0,0,0,26.34,26.51,28.83
$IRIDIUM_FIX,1900.10,12232.47,090512,040457
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.3,58.439
$10V_AH,10.0,36.349
$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,18.525,105.225,603.900,0.000,0.000,31.414,43.259,198.455,0.000,0.000,16.338,3003.456,7436.847,638.642,2583.781,299.818,0.000,1859.124,0.000,2063.050,0.000,0.540,0.000
$DEVICE_MAMPS,279.990,123.930,1705.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.432,1655.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324076
$DATA_FILE_SIZE,90698,1212
$CAP_FILE_SIZE,142445,0
$CFSIZE,260165632,194936832
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,342.4,1
$GPS,090512,115706,1909.492,12230.828,31,1.1,31,-2.2