version: 66.10
glider: 176
mission: 5
dive: 381
start: 5 31 112 4 14 47
data:
$ID,176
$MISSION,5
$DIVE,381
$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,420
$T_MISSION,480
$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,175
$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,-8020.7695
$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
$GPS1,310512,040625,1902.605,12423.557,41,0.9,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.3
$GPS2,310512,041420,1902.549,12423.478,14,1.0,14,-2.3
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,174.4,135888,-12.5,-7.857
$D_GRID,5262
$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,-0.52,-170.3,0.0,0.0,0,54,0.00,0.00,-34.90,0.000,2,0.000,0.000,177,2681,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.52,-170.3,3.0,-6.4,6,105,8.95,2.25,-30.52,0.000,4,0.236,0.038,2343,1136,3626,0,0,0,0,0,0,25.11,26.23,26.67
$GC,203,-0.52,-170.3,33.3,-13.6,30,210,0.08,2.25,0.00,0.000,6,0.186,0.042,2353,2629,3626,0,0,0,0,0,0,26.02,26.15,28.83
$GC,533,-0.52,-170.3,103.2,-22.0,91,540,0.00,2.12,0.00,0.000,4,0.000,0.026,2354,1144,3627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,614,-0.52,-170.3,117.1,-13.1,106,620,0.00,2.22,0.00,0.000,6,0.000,0.043,2349,2625,3627,0,0,0,0,0,0,28.83,26.22,28.83
$GC,924,-0.52,-170.3,173.0,-18.5,167,931,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1142,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,986,-0.52,-170.3,182.2,-12.7,178,993,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2618,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1302,-0.52,-170.3,233.0,-14.1,220,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2618,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.52,-170.3,276.0,-15.8,250,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2618,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1913,-0.52,-170.3,318.1,-12.9,281,1921,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1136,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1954,-0.52,-170.3,323.3,-11.8,285,1963,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2628,3625,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2265,-0.52,-170.3,356.3,-11.6,316,2268,0.00,1.70,0.00,0.000,4,0.000,0.054,2338,3765,3624,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2306,-0.52,-170.3,361.1,-11.8,320,2309,0.00,1.70,0.00,0.000,6,0.000,0.023,2338,2484,3623,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2617,-0.52,-170.3,395.4,-11.0,351,2627,0.03,2.03,0.00,0.000,4,0.285,0.052,2348,3766,3621,0,0,0,0,0,0,26.61,26.08,28.83
$GC,2684,-0.52,-170.3,401.6,-8.9,357,2690,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2469,3621,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2990,-0.52,-170.3,430.1,-9.0,388,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2467,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3294,-0.52,-170.3,457.6,-8.6,418,3302,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3768,3617,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3358,-0.52,-170.3,462.9,-7.6,424,3365,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2469,3616,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3666,-0.52,-170.3,486.1,-7.3,455,3676,0.00,2.03,-0.08,0.000,4,0.000,0.067,2348,3769,3644,0,0,0,0,0,0,28.83,26.03,25.46
$GC,3711,-0.52,-170.3,489.5,-7.9,459,3719,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2467,3644,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4018,-0.52,-170.3,514.8,-8.0,490,4027,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3766,3642,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4072,-0.52,-170.3,518.9,-8.0,495,4081,0.00,1.77,0.00,0.000,6,0.000,0.023,2348,2467,3641,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4379,-0.52,-170.3,545.1,-8.7,526,4388,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3766,3639,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4431,-0.52,-170.3,549.2,-8.4,531,4434,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2491,3639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4742,-0.52,-170.3,569.0,-5.0,562,4751,0.00,2.05,0.00,0.000,4,0.000,0.054,2348,3764,3637,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4805,-0.52,-170.3,572.0,-4.8,568,4808,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2498,3636,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5116,-0.52,-170.3,590.6,-7.4,599,5126,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3772,3634,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5179,-0.52,-170.3,595.4,-7.7,605,5182,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2503,3634,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5500,-0.52,-170.3,624.9,-9.4,624,5506,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3766,3632,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5555,-0.52,-170.3,628.5,-9.0,626,5562,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2460,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5860,-0.52,-170.3,652.5,-6.6,642,5866,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3766,3630,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5921,-0.52,-170.3,656.2,-6.3,645,5925,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2505,3629,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6242,-0.52,-170.3,676.5,-6.4,661,6248,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3772,3627,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6282,-0.52,-170.3,679.1,-6.6,663,6286,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2507,3626,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6605,-0.52,-170.3,700.3,-6.3,679,6610,0.00,1.98,0.00,0.000,4,0.000,0.055,2348,3757,3625,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6636,-0.52,-170.3,701.6,-6.3,680,6645,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2467,3624,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6945,-0.52,-170.3,720.6,-6.1,696,6951,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3767,3623,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6992,-0.52,-170.3,723.0,-6.0,698,6996,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2507,3622,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7305,-0.52,-170.3,744.7,-6.9,714,7310,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3770,3621,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7366,-0.52,-170.3,748.9,-6.8,717,7369,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2502,3620,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7687,-0.52,-170.3,773.0,-7.4,733,7692,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3767,3620,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7730,-0.52,-170.3,775.9,-7.3,735,7733,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2511,3619,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8048,-0.52,-170.3,796.7,-5.9,751,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2480,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8347,-0.52,-170.3,813.6,-5.7,766,8353,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3765,3616,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8411,-0.52,-170.3,817.2,-5.9,769,8414,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2513,3616,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8727,-0.52,-170.3,838.8,-7.2,785,8733,0.00,1.95,0.00,0.000,4,0.000,0.027,2348,1135,3615,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8795,-0.52,-170.3,843.3,-7.5,788,8799,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2628,3615,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9103,-0.52,-170.3,867.9,-8.0,803,9109,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1147,3614,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9114,-0.52,-170.3,867.9,-8.0,803,9122,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2621,3615,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9422,-0.52,-170.3,893.4,-7.8,819,9426,0.00,1.77,0.00,0.000,4,0.000,0.057,2348,3769,3613,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9487,-0.52,-170.3,898.0,-7.6,822,9490,0.00,1.73,0.00,0.000,6,0.000,0.026,2347,2517,3612,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9808,-0.52,-170.3,921.3,-7.0,838,9814,0.00,1.98,0.00,0.000,4,0.000,0.054,2347,3768,3611,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10039,-0.52,-170.3,937.0,-6.9,849,10047,0.03,1.77,0.00,0.000,6,0.142,0.025,2333,2487,3611,0,0,0,0,0,0,26.29,26.46,28.83
$GC,10349,-0.52,-170.3,955.6,-5.5,865,10351,0.08,0.00,0.00,0.000,6,0.131,0.000,2363,2487,3611,0,0,0,0,0,0,26.55,28.83,28.83
$GC,10648,-0.52,-170.3,974.2,-6.9,880,10654,0.10,2.00,0.00,0.000,4,0.127,0.054,2325,3765,3610,0,0,0,0,0,0,26.46,25.76,28.83
$GC,10721,-0.52,-170.3,978.4,-7.0,883,10729,0.10,1.75,0.00,0.000,6,0.106,0.026,2370,2495,3609,0,0,0,0,0,0,26.25,26.44,28.83
$STATE,10884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10885,begin apogee
$GC,10889,-0.17,0.0,990.8,-7.1,892,11050,0.25,0.00,153.55,1.717,6,0.067,0.000,2489,2494,2928,0,0,0,0,0,0,26.30,28.83,22.23
$STATE,11051,end apogee,CONTROL_FINISHED_OK
$STATE,11051,begin climb
$GC,11053,0.52,170.3,1001.1,0.0,900,11230,0.52,2.28,167.07,1.672,4,0.044,0.056,2709,3758,2234,0,0,0,0,0,0,24.47,23.63,21.79
$GC,11306,0.52,170.3,983.6,15.5,912,11313,0.17,1.98,0.00,0.000,6,0.184,0.024,2675,2457,2230,0,0,0,0,0,0,24.89,25.32,28.83
$GC,11614,0.52,170.3,943.6,12.4,928,11620,0.00,2.03,0.00,0.000,4,0.000,0.057,2676,3759,2224,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11635,0.52,170.3,940.8,12.7,929,11639,0.00,1.92,0.00,0.000,6,0.000,0.025,2685,2454,2223,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11953,0.52,170.3,900.5,12.1,945,11959,0.00,2.05,0.00,0.000,4,0.000,0.056,2685,3767,2222,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11975,0.52,170.3,897.8,12.3,946,11980,0.05,1.95,0.00,0.000,6,0.183,0.024,2679,2442,2222,0,0,0,0,0,0,26.03,26.34,28.83
$GC,12294,0.52,170.3,862.8,10.4,962,12298,0.00,2.08,0.00,0.000,4,0.000,0.056,2679,3763,2221,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12323,0.52,170.3,860.3,10.6,963,12327,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2445,2221,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,20909,end climb,SURFACE_DEPTH_REACHED
$STATE,20909,begin surface coast
$FINISH,0.6,1.021617
$STATE,21027,end surface coast,CONTROL_FINISHED_OK
$STATE,21027,begin surface
$SM_CCo,21104,0.00,0.000,0,0,1348,387.82
$SM_GC,1.46,6.30,0.15,0.00,0.028,0.078,0.000,175,2702,1348,-7.16,-0.20,387.82,0,0,0,0,0,0,26.42,26.52,28.83
$IRIDIUM_FIX,1855.54,12422.52,300512,222257
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.8,80.030
$10V_AH,9.9,48.745
$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
$DEVICE_SECS,18.400,187.500,467.600,0.000,0.000,25.516,21.117,267.644,0.000,0.000,17.372,4885.104,11665.318,657.734,3851.803,480.708,0.000,2474.549,0.000,3291.861,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1319.485,2489.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,144061,1935
$CAP_FILE_SIZE,227322,0
$CFSIZE,260165632,184279040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 14.0,1
$GPS,310512,100737,1900.290,12423.915,37,1.0,37,-2.3