version: 66.10
glider: 176
mission: 5
dive: 132
start: 4 5 112 15 48 15
data:
$ID,176
$MISSION,5
$DIVE,132
$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,-6
$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,-7594.8066
$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,2510
$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,2610
$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,49
$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
$GPS1,050412,153437,1947.920,12330.159,32,1.0,32,-2.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.6
$GPS2,050412,154749,1947.708,12330.494,9,1.0,14,-2.4
$SPEED_LIMITS,0.130,0.234
$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,45.8,99769,-13.1,-7.500
$D_GRID,5185
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.53,0.000,2,0.000,0.000,189,2681,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.1,-6.7,7,104,8.60,2.22,-25.55,0.000,4,0.236,0.040,2344,1153,3525,0,0,0,0,0,0,25.51,26.11,26.45
$GC,153,-0.51,-146.0,20.8,-24.3,20,160,0.08,2.25,0.00,0.000,6,0.205,0.044,2349,2631,3526,0,0,0,0,0,0,25.91,26.07,28.83
$GC,464,-0.51,-146.0,110.2,-24.5,81,471,0.00,2.12,0.00,0.000,4,0.000,0.027,2349,1157,3526,0,0,0,0,0,0,28.83,26.32,28.83
$GC,617,-0.51,-146.0,137.0,-16.3,110,624,0.00,2.22,0.00,0.000,6,0.000,0.044,2339,2636,3526,0,0,0,0,0,0,28.83,26.31,28.83
$GC,928,-0.51,-146.0,212.0,-23.7,166,937,0.00,2.10,0.00,0.000,4,0.000,0.028,2340,1157,3526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1012,-0.51,-146.0,226.6,-15.1,174,1020,0.05,2.25,0.00,0.000,6,0.154,0.042,2352,2633,3526,0,0,0,0,0,0,26.17,26.37,28.83
$GC,1319,-0.51,-146.0,283.2,-17.2,205,1329,0.00,2.12,0.00,0.000,4,0.000,0.025,2352,1147,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1452,-0.51,-146.0,302.0,-13.4,218,1461,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2630,3526,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1763,-0.51,-146.0,352.2,-16.4,249,1772,0.00,2.08,0.00,0.000,4,0.000,0.028,2348,1155,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1834,-0.51,-146.0,362.4,-12.5,256,1843,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2633,3525,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2144,-0.51,-146.0,403.8,-13.2,287,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2632,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2448,-0.51,-146.0,444.3,-13.7,317,2457,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1158,3523,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2560,-0.51,-146.0,457.6,-10.8,328,2569,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2635,3522,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2871,-0.51,-146.0,496.9,-11.9,359,2880,0.00,2.08,0.00,0.000,4,0.000,0.025,2347,1157,3521,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2943,-0.51,-146.0,504.9,-10.5,366,2952,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2629,3520,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3254,-0.51,-146.0,540.8,-12.1,397,3264,0.00,2.08,0.00,0.000,4,0.000,0.026,2345,1155,3519,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3307,-0.51,-146.0,547.0,-11.7,402,3311,0.00,2.22,0.00,0.000,6,0.000,0.046,2344,2635,3518,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3618,-0.51,-146.0,583.7,-11.2,433,3628,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1157,3516,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3691,-0.51,-146.0,591.3,-10.1,440,3701,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2636,3515,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4001,-0.51,-146.0,625.5,-10.9,460,4006,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1144,3513,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4069,-0.51,-146.0,631.5,-10.3,463,4073,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2629,3512,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4376,-0.51,-146.0,660.6,-8.5,478,4382,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1156,3510,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4409,-0.51,-146.0,662.3,-8.4,479,4415,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2633,3510,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4716,-0.51,-146.0,688.4,-8.4,495,4722,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1145,3507,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4776,-0.51,-146.0,693.1,-8.1,498,4782,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2630,3507,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5096,-0.51,-146.0,720.1,-8.8,514,5102,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1157,3504,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5129,-0.51,-146.0,721.9,-9.0,515,5136,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2633,3504,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5436,-0.51,-146.0,751.5,-9.4,531,5442,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1151,3502,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5489,-0.51,-146.0,755.0,-9.2,533,5497,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3501,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5796,-0.51,-146.0,783.5,-9.0,549,5802,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1158,3500,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5848,-0.51,-146.0,786.9,-8.8,551,5855,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3499,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6156,-0.51,-146.0,814.1,-8.2,567,6161,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1158,3497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6184,-0.51,-146.0,815.8,-8.2,568,6188,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3497,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6491,-0.51,-146.0,841.1,-7.9,583,6497,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1158,3495,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6519,-0.51,-146.0,842.7,-7.9,584,6523,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3495,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6826,-0.51,-146.0,867.4,-8.1,599,6832,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1158,3493,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6866,-0.51,-146.0,870.6,-8.0,601,6871,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3493,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7186,-0.51,-146.0,896.1,-7.9,617,7192,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1158,3490,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7226,-0.51,-146.0,899.3,-7.9,619,7232,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2631,3490,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7546,-0.51,-146.0,925.6,-8.4,635,7552,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1154,3488,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7579,-0.51,-146.0,927.3,-8.4,636,7586,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2633,3489,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7887,-0.51,-146.0,953.7,-8.3,652,7892,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1157,3487,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7927,-0.51,-146.0,956.9,-8.2,654,7932,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2635,3487,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8247,-0.51,-146.0,983.2,-8.3,670,8253,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1160,3485,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8279,-0.51,-146.0,984.9,-8.2,671,8286,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3485,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,8344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8344,begin apogee
$GC,8350,-0.17,0.0,991.3,-8.0,675,8477,0.32,0.15,120.95,1.737,6,0.111,0.085,2459,2534,2928,0,0,0,0,0,0,26.07,24.64,23.55
$STATE,8478,end apogee,CONTROL_FINISHED_OK
$STATE,8478,begin climb
$GC,8480,0.51,146.0,995.5,0.0,681,8627,0.60,2.40,137.95,1.699,4,0.054,0.030,2706,1057,2333,0,0,0,0,0,0,24.86,24.01,22.86
$GC,8668,0.51,146.0,984.7,12.0,691,8673,0.15,2.40,0.00,0.000,6,0.184,0.046,2671,2521,2327,0,0,0,0,0,0,24.46,24.66,28.83
$GC,8975,0.51,146.0,941.4,13.8,706,8978,0.00,1.92,0.00,0.000,4,0.000,0.055,2671,3764,2322,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9019,0.51,146.0,935.8,14.5,708,9023,0.03,1.98,0.00,0.000,6,0.234,0.025,2673,2448,2321,0,0,0,0,0,0,25.70,25.90,28.83
$GC,9331,0.51,146.0,892.4,12.9,724,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2443,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9631,0.51,146.0,855.6,12.0,739,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2443,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9931,0.51,146.0,819.4,11.9,754,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2443,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10231,0.51,146.0,782.4,12.4,769,10237,0.00,2.05,0.00,0.000,4,0.000,0.054,2673,3770,2316,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10271,0.51,146.0,776.6,13.3,771,10276,0.08,1.92,0.00,0.000,6,0.237,0.026,2668,2454,2316,0,0,0,0,0,0,26.06,26.34,28.83
$GC,10594,0.51,146.0,737.7,11.8,787,10598,0.00,2.05,0.00,0.000,4,0.000,0.031,2676,1051,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10629,0.51,146.0,735.1,11.8,788,10636,0.00,2.25,0.00,0.000,6,0.000,0.046,2676,2521,2314,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10936,0.51,146.0,698.5,11.7,804,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2521,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11237,0.51,146.0,663.2,11.8,819,11243,0.00,2.12,0.00,0.000,4,0.000,0.031,2687,1063,2314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11310,0.51,146.0,656.5,11.2,822,11319,0.10,2.22,0.00,0.000,6,0.190,0.046,2665,2518,2312,0,0,0,0,0,0,25.98,26.21,28.83
$GC,11616,0.51,146.0,623.3,9.8,838,11620,0.00,1.90,0.00,0.000,4,0.000,0.054,2664,3772,2313,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11711,0.51,146.0,613.4,12.0,842,11719,0.00,1.90,0.00,0.000,6,0.000,0.023,2674,2432,2312,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12019,0.51,146.0,579.6,9.6,868,12028,0.00,2.00,0.00,0.000,4,0.000,0.032,2684,1052,2312,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12101,0.51,146.0,571.7,9.6,876,12111,0.08,2.25,0.00,0.000,6,0.196,0.044,2669,2518,2311,0,0,0,0,0,0,26.08,26.22,28.83
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$STATE,18348,end climb,SURFACE_DEPTH_REACHED
$STATE,18348,begin surface coast
$FINISH,0.9,1.023227
$STATE,18374,end surface coast,CONTROL_FINISHED_OK
$STATE,18374,begin surface
$SM_CCo,18389,30.77,0.131,0,0,1396,375.06
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$IRIDIUM_FIX,1938.95,12325.53,050412,101022
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.57
$INTERNAL_PRESSURE,9.4367
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,22.9,29.413
$10V_AH,10.2,17.401
$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,18.275,180.775,367.850,30.775,0.000,119.951,67.595,267.747,0.000,0.000,16.575,4288.558,10335.247,595.129,3555.414,409.360,0.000,2210.372,0.000,2927.297,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,84.915,1736.550,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.786,2159.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,127180,1702
$CAP_FILE_SIZE,197597,0
$CFSIZE,260165632,210874368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,104.9,1
$GPS,050412,205625,1949.175,12333.237,36,1.8,36,-2.4