version: 66.10
glider: 176
mission: 5
dive: 322
start: 5 17 112 19 43 13
data:
$ID,176
$MISSION,5
$DIVE,322
$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,480
$T_MISSION,540
$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,163
$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,-7946.0654
$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
$GPS1,170512,193507,1945.633,12323.848,31,1.0,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.7
$GPS2,170512,194244,1945.717,12323.799,11,1.6,11,-2.4
$SPEED_LIMITS,0.119,0.227
$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,45.2,111700,-11.8,-6.875
$D_GRID,5117
$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,-0.48,-146.0,0.0,0.0,0,70,0.00,0.00,-51.78,0.000,2,0.000,0.000,179,2658,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.48,-146.0,3.4,-7.8,9,112,8.70,1.73,-24.40,0.000,4,0.230,0.066,2356,3770,3526,0,0,0,0,0,0,25.20,26.16,26.69
$GC,271,-0.48,-146.0,55.7,-23.3,43,278,0.00,1.73,0.00,0.000,6,0.000,0.023,2356,2524,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,599,-0.48,-146.0,141.0,-21.1,104,605,0.00,1.92,0.00,0.000,4,0.000,0.024,2355,1126,3526,0,0,0,0,0,0,28.83,26.52,28.83
$GC,649,-0.48,-146.0,150.9,-17.6,113,656,0.08,2.25,0.00,0.000,6,0.190,0.044,2368,2619,3526,0,0,0,0,0,0,26.20,26.33,28.83
$GC,960,-0.48,-146.0,207.6,-17.6,170,969,0.00,2.08,0.00,0.000,4,0.000,0.024,2369,1142,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1023,-0.48,-146.0,215.6,-11.6,176,1032,0.00,2.20,0.00,0.000,6,0.000,0.042,2362,2619,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1333,-0.48,-146.0,260.0,-13.5,207,1336,0.00,1.73,0.00,0.000,4,0.000,0.054,2361,3767,3526,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1374,-0.48,-146.0,265.7,-13.5,211,1378,0.00,1.73,0.00,0.000,6,0.000,0.021,2361,2493,3526,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1687,-0.48,-146.0,307.8,-13.5,242,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2475,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1988,-0.48,-146.0,344.1,-12.0,272,1996,0.00,1.88,0.00,0.000,4,0.000,0.024,2361,1132,3524,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2021,-0.48,-146.0,348.0,-11.7,275,2030,0.00,2.25,0.00,0.000,6,0.000,0.044,2361,2613,3524,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2329,-0.48,-146.0,384.5,-11.5,306,2332,0.00,1.73,0.00,0.000,4,0.000,0.054,2361,3775,3523,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2370,-0.48,-146.0,389.0,-11.0,310,2373,0.00,1.73,0.00,0.000,6,0.000,0.021,2361,2497,3522,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2683,-0.48,-146.0,419.2,-9.4,341,2692,0.00,1.88,0.00,0.000,4,0.000,0.026,2360,1134,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2724,-0.48,-146.0,423.1,-9.0,345,2733,0.00,2.22,0.00,0.000,6,0.000,0.043,2361,2620,3520,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3036,-0.48,-146.0,447.8,-7.5,376,3045,0.00,2.08,0.00,0.000,4,0.000,0.025,2361,1140,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3081,-0.48,-146.0,450.9,-7.4,380,3087,0.00,2.22,0.00,0.000,6,0.000,0.042,2361,2622,3518,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3389,-0.48,-146.0,473.7,-7.8,411,3398,0.00,2.10,0.00,0.000,4,0.000,0.025,2361,1143,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3421,-0.48,-146.0,476.3,-8.1,414,3430,0.00,2.20,0.00,0.000,6,0.000,0.044,2358,2614,3515,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3730,-0.48,-146.0,502.7,-8.5,445,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2614,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.48,-146.0,529.4,-8.7,475,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2614,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4342,-0.48,-146.0,556.0,-8.5,506,4350,0.00,2.08,0.00,0.000,4,0.000,0.026,2359,1145,3509,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4385,-0.48,-146.0,559.3,-8.1,510,4392,0.00,2.25,0.00,0.000,6,0.000,0.044,2358,2626,3509,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4693,-0.48,-146.0,581.7,-6.8,541,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2627,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.48,-146.0,601.4,-6.3,571,5010,0.00,2.12,0.00,0.000,4,0.000,0.026,2358,1140,3503,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5026,-0.48,-146.0,602.7,-6.5,572,5030,0.00,2.25,0.00,0.000,6,0.000,0.044,2358,2617,3503,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5338,-0.48,-146.0,623.7,-7.0,588,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2617,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5639,-0.48,-146.0,646.0,-7.6,603,5644,0.00,2.10,0.00,0.000,4,0.000,0.025,2358,1145,3498,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5660,-0.48,-146.0,647.6,-7.8,604,5664,0.00,2.28,0.00,0.000,6,0.000,0.044,2358,2636,3498,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5978,-0.48,-146.0,672.5,-7.6,620,5984,0.00,2.15,0.00,0.000,4,0.000,0.025,2358,1143,3495,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6007,-0.48,-146.0,674.1,-7.5,621,6011,0.00,2.25,0.00,0.000,6,0.000,0.044,2358,2619,3495,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6314,-0.48,-146.0,695.8,-6.7,636,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2620,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.48,-146.0,716.0,-6.9,651,6618,0.00,2.15,0.00,0.000,4,0.000,0.025,2358,1136,3492,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6637,-0.48,-146.0,717.3,-6.9,652,6641,0.00,2.28,0.00,0.000,6,0.000,0.044,2358,2624,3492,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6949,-0.48,-146.0,740.1,-7.3,668,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2625,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7248,-0.48,-146.0,762.2,-7.3,683,7252,0.00,1.75,0.00,0.000,4,0.000,0.058,2358,3763,3488,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7284,-0.48,-146.0,763.9,-7.2,684,7291,0.00,1.73,0.00,0.000,6,0.000,0.024,2358,2467,3487,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7592,-0.48,-146.0,787.8,-7.6,700,7598,0.00,1.98,0.00,0.000,4,0.000,0.056,2357,3759,3486,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7633,-0.48,-146.0,790.8,-7.7,702,7637,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2469,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7951,-0.48,-146.0,815.5,-7.4,718,7957,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3757,3484,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7993,-0.48,-146.0,818.4,-7.5,720,7997,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2468,3484,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8311,-0.48,-146.0,839.0,-5.9,736,8317,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3763,3483,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8355,-0.48,-146.0,841.2,-5.9,738,8358,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2503,3482,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8671,-0.48,-146.0,859.0,-5.4,754,8676,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3772,3480,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8720,-0.48,-146.0,861.3,-5.5,756,8724,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2468,3480,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9032,-0.48,-146.0,878.8,-5.2,772,9037,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3768,3479,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9079,-0.48,-146.0,880.9,-5.3,774,9083,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2468,3478,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9393,-0.48,-146.0,897.5,-5.3,790,9398,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3766,3478,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9432,-0.48,-146.0,899.7,-5.4,792,9435,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2507,3477,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9755,-0.48,-146.0,917.3,-5.4,808,9760,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3766,3476,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9795,-0.48,-146.0,919.7,-5.7,810,9799,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2466,3476,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10113,-0.48,-146.0,938.8,-6.2,826,10119,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3765,3475,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10157,-0.48,-146.0,941.4,-6.2,828,10160,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2471,3474,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10474,-0.48,-146.0,960.9,-5.9,844,10480,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3766,3473,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10501,-0.48,-146.0,962.1,-5.8,845,10505,0.00,1.75,0.00,0.000,6,0.000,0.025,2358,2507,3473,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10814,-0.48,-146.0,978.8,-5.0,861,10820,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3758,3473,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10853,-0.48,-146.0,980.7,-4.9,863,10857,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2497,3472,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,11072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11072,begin apogee
$GC,11079,-0.17,0.0,990.7,-4.3,874,11208,0.30,0.05,123.18,1.730,6,0.100,0.050,2468,2426,2927,0,0,0,0,0,0,26.04,24.37,22.74
$STATE,11209,end apogee,CONTROL_FINISHED_OK
$STATE,11209,begin climb
$GC,11211,0.48,146.0,993.9,0.0,880,11362,0.57,2.28,143.50,1.685,4,0.049,0.032,2711,1060,2333,0,0,0,0,0,0,24.74,23.87,22.11
$GC,11407,0.48,146.0,984.6,10.7,890,11415,0.20,2.38,0.00,0.000,6,0.171,0.045,2661,2516,2326,0,0,0,0,0,0,24.51,24.79,28.83
$GC,11714,0.48,146.0,951.2,9.9,906,11720,0.00,1.92,0.00,0.000,4,0.000,0.056,2661,3770,2321,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11743,0.48,146.0,949.1,10.0,907,11747,0.00,1.92,0.00,0.000,6,0.000,0.025,2670,2449,2320,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12049,0.48,146.0,918.1,9.5,922,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2445,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12349,0.48,146.0,890.0,9.4,937,12355,0.00,2.05,0.00,0.000,4,0.000,0.055,2670,3773,2317,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,23479,end climb,SURFACE_DEPTH_REACHED
$STATE,23479,begin surface coast
$FINISH,0.7,1.008529
$STATE,23540,end surface coast,CONTROL_FINISHED_OK
$STATE,23540,begin surface
$SM_CCo,23615,0.00,0.000,0,0,1151,436.14
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$IRIDIUM_FIX,1941.24,12320.44,170512,131321
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.1,67.194
$10V_AH,9.9,41.199
$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
$DEVICE_SECS,19.075,218.725,446.075,0.000,0.000,30.924,22.725,252.055,0.000,0.000,14.334,5390.071,13250.476,690.209,4204.200,506.397,0.000,2630.729,0.000,3548.317,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329860
$DATA_FILE_SIZE,160530,2137
$CAP_FILE_SIZE,248821,0
$CFSIZE,260165632,190672896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,234.2,1
$GPS,180512,021755,1946.719,12324.282,38,1.7,38,-2.4