version: 66.10
glider: 176
mission: 5
dive: 245
start: 5 1 112 18 6 16
data:
$ID,176
$MISSION,5
$DIVE,245
$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,-7755.5566
$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,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,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
$GPS1,010512,175537,1811.497,12317.133,36,0.9,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.0
$GPS2,010512,180550,1811.567,12317.281,9,1.9,9,-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,278.1,113134,-13.1,-7.500
$D_GRID,3898
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-46.90,0.000,2,0.000,0.000,190,2692,2256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.51,-146.0,3.1,-6.5,8,112,8.85,2.30,-26.90,0.000,4,0.238,0.039,2350,1137,3527,0,0,0,0,0,0,25.38,26.23,26.58
$GC,209,-0.51,-146.0,38.2,-23.2,28,215,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2635,3528,0,0,0,0,0,0,28.83,26.17,28.83
$GC,520,-0.51,-146.0,138.6,-30.1,89,527,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1137,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,540,-0.51,-146.0,144.6,-29.8,92,547,0.10,2.22,0.00,0.000,6,0.183,0.040,2361,2634,3527,0,0,0,0,0,0,26.11,26.34,28.83
$GC,856,-0.51,-146.0,207.1,-16.6,150,866,0.08,2.10,0.00,0.000,4,0.130,0.024,2303,1137,3528,0,0,0,0,0,0,26.64,26.48,28.83
$GC,981,-0.51,-146.0,229.8,-18.1,162,990,0.20,2.22,0.00,0.000,6,0.147,0.043,2357,2634,3528,0,0,0,0,0,0,26.07,26.40,28.83
$GC,1289,-0.51,-146.0,281.1,-15.7,193,1299,0.00,2.12,0.00,0.000,4,0.000,0.027,2358,1147,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1344,-0.51,-146.0,288.1,-13.0,198,1351,0.00,2.25,0.00,0.000,6,0.000,0.041,2349,2636,3528,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1652,-0.51,-146.0,330.3,-12.9,229,1661,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1145,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1757,-0.51,-146.0,341.6,-10.7,239,1764,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2634,3526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2064,-0.51,-146.0,375.3,-10.0,270,2073,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1147,3524,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2159,-0.51,-146.0,383.3,-7.9,279,2166,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2634,3524,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2466,-0.51,-146.0,412.3,-9.4,310,2470,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1155,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2519,-0.51,-146.0,416.7,-8.5,315,2528,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2634,3521,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2830,-0.51,-146.0,445.1,-9.3,346,2839,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1156,3518,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2915,-0.51,-146.0,452.1,-7.9,354,2922,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2636,3517,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3223,-0.51,-146.0,478.6,-9.0,385,3234,0.00,2.12,-0.10,0.000,4,0.000,0.037,2348,1159,3538,0,0,0,0,0,0,28.83,26.50,26.08
$GC,3278,-0.51,-146.0,483.5,-8.7,390,3282,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2637,3538,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3589,-0.51,-146.0,514.8,-10.4,421,3599,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1143,3535,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3632,-0.51,-146.0,518.9,-9.9,425,3642,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2637,3534,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3941,-0.51,-146.0,549.7,-9.4,456,3950,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1145,3532,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3965,-0.51,-146.0,551.8,-9.9,458,3972,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2626,3532,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4272,-0.51,-146.0,579.9,-8.8,489,4276,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1146,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4325,-0.51,-146.0,584.3,-8.7,494,4334,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2628,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4636,-0.51,-146.0,610.7,-8.5,519,4640,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1153,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4681,-0.51,-146.0,614.3,-8.5,521,4685,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2629,3525,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4994,-0.51,-146.0,641.6,-8.9,537,4997,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1146,3522,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5028,-0.51,-146.0,643.6,-8.8,538,5035,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2634,3522,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5336,-0.51,-146.0,668.1,-7.2,554,5341,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1151,3520,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5391,-0.51,-146.0,671.0,-7.3,556,5397,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2627,3520,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5695,-0.51,-146.0,693.4,-7.4,572,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5995,-0.51,-146.0,716.8,-7.9,587,6000,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1145,3515,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6044,-0.51,-146.0,719.9,-7.8,589,6048,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2627,3515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6350,-0.51,-146.0,743.8,-7.9,604,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6650,-0.51,-146.0,767.8,-8.1,619,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,-0.51,-146.0,793.0,-8.6,634,6957,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1157,3509,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7003,-0.51,-146.0,796.1,-8.3,636,7010,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2627,3509,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7312,-0.51,-146.0,820.3,-6.9,652,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,-0.51,-146.0,839.4,-6.2,667,7617,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1151,3505,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7655,-0.51,-146.0,841.9,-6.3,669,7661,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2627,3505,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7972,-0.51,-146.0,859.5,-5.3,685,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,-0.51,-146.0,876.4,-6.0,700,8276,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1151,3503,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8303,-0.51,-146.0,877.6,-5.9,701,8312,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2628,3503,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8612,-0.51,-146.0,898.8,-6.9,717,8617,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1155,3502,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8645,-0.51,-146.0,900.4,-7.1,718,8652,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2631,3502,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8953,-0.51,-146.0,924.8,-8.0,734,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2630,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9253,-0.51,-146.0,948.6,-7.7,749,9258,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1159,3499,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9294,-0.51,-146.0,951.9,-8.0,751,9299,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2631,3499,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9608,-0.51,-146.0,975.1,-7.0,767,9611,0.00,1.73,0.00,0.000,4,0.000,0.058,2345,3762,3498,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9632,-0.51,-146.0,976.6,-7.0,768,9635,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2491,3496,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9832,-0.17,0.0,990.4,-6.8,778,9962,0.32,0.00,125.40,1.735,6,0.106,0.000,2463,2488,2927,0,0,0,0,0,0,25.97,28.83,23.08
$STATE,9965,end apogee,CONTROL_FINISHED_OK
$STATE,9965,begin climb
$GC,9967,0.51,146.0,994.9,0.0,784,10113,0.62,0.00,142.48,1.689,6,0.048,0.000,2703,2487,2332,0,0,0,0,0,0,24.68,28.83,22.39
$GC,10406,0.51,146.0,950.6,13.7,806,10412,0.12,2.00,0.00,0.000,4,0.189,0.054,2668,3761,2321,0,0,0,0,0,0,25.65,25.79,28.83
$GC,10433,0.51,146.0,947.7,13.7,807,10437,0.00,1.92,0.00,0.000,6,0.000,0.025,2677,2456,2320,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10740,0.51,146.0,910.7,11.7,822,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2452,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11039,0.51,146.0,873.8,12.6,837,11045,0.00,2.08,0.00,0.000,4,0.000,0.031,2687,1045,2316,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11068,0.51,146.0,871.3,12.8,838,11073,0.08,2.28,0.00,0.000,6,0.203,0.047,2673,2517,2315,0,0,0,0,0,0,26.00,26.15,28.83
$GC,11376,0.51,146.0,832.2,12.4,853,11381,0.00,1.92,0.00,0.000,4,0.000,0.056,2672,3764,2314,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11415,0.51,146.0,826.8,12.8,855,11420,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2438,2314,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11734,0.51,146.0,787.9,11.5,871,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2434,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12035,0.51,146.0,754.9,10.5,886,12039,0.00,2.03,0.00,0.000,4,0.000,0.030,2692,1048,2313,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12065,0.51,146.0,752.5,10.7,887,12070,0.10,2.28,0.00,0.000,6,0.181,0.047,2668,2522,2312,0,0,0,0,0,0,25.96,26.17,28.83
$GC,12372,0.51,146.0,723.1,9.1,902,12377,0.00,1.90,0.00,0.000,4,0.000,0.055,2668,3764,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12399,0.51,146.0,721.1,9.2,903,12402,0.00,1.90,0.00,0.000,6,0.000,0.024,2677,2445,2311,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,20480,end climb,SURFACE_DEPTH_REACHED
$STATE,20480,begin surface coast
$FINISH,0.8,1.021107
$STATE,20523,end surface coast,CONTROL_FINISHED_OK
$STATE,20523,begin surface
$SM_CCo,20599,0.00,0.000,0,0,896,498.69
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$IRIDIUM_FIX,1805.50,12318.75,010512,121219
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,22.4,50.006
$10V_AH,10.2,31.950
$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,19.875,195.400,467.525,0.000,0.000,26.730,31.817,386.607,0.000,0.000,11.716,4715.925,11426.012,700.064,3857.763,476.025,0.000,2411.665,0.000,3115.353,0.000,0.543,0.000
$DEVICE_MAMPS,292.995,71.910,1735.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1274.589,2479.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329448
$DATA_FILE_SIZE,140537,1876
$CAP_FILE_SIZE,218307,0
$CFSIZE,260165632,198578176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,325.1,1
$GPS,010512,235037,1812.557,12314.056,33,1.1,33,-2.0