version: 66.10
glider: 176
mission: 5
dive: 324
start: 5 18 112 9 7 6
data:
$ID,176
$MISSION,5
$DIVE,324
$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,-7948.5811
$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
$GPS1,180512,085837,1947.068,12325.797,25,1.4,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-78.0
$GPS2,180512,090638,1946.971,12325.805,11,1.5,11,-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,56.7,107527,-11.8,-6.875
$D_GRID,5152
$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,-146.0,0.0,0.0,0,58,0.00,0.00,-39.97,0.000,2,0.000,0.000,187,2632,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.48,-146.0,3.0,-6.2,7,110,8.75,2.20,-29.55,0.000,4,0.231,0.042,2359,1147,3525,0,0,0,0,0,0,25.22,26.27,26.68
$GC,269,-0.48,-146.0,49.5,-18.4,40,276,0.08,2.22,0.00,0.000,6,0.195,0.044,2366,2627,3526,0,0,0,0,0,0,26.12,26.28,28.83
$GC,597,-0.48,-146.0,129.7,-21.9,101,605,0.00,2.12,0.00,0.000,4,0.000,0.028,2367,1145,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,691,-0.48,-146.0,144.3,-13.2,116,698,0.00,2.22,0.00,0.000,6,0.000,0.044,2361,2628,3526,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1003,-0.48,-146.0,206.6,-19.9,174,1012,0.00,2.12,0.00,0.000,4,0.000,0.028,2362,1144,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1048,-0.48,-146.0,212.9,-15.5,178,1056,0.00,2.25,0.00,0.000,6,0.000,0.044,2361,2628,3526,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1356,-0.48,-146.0,260.7,-14.0,209,1366,0.00,2.12,0.00,0.000,4,0.000,0.028,2361,1148,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1390,-0.48,-146.0,265.1,-13.8,212,1398,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2613,3526,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1698,-0.48,-146.0,309.0,-13.1,243,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2613,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-0.48,-146.0,346.6,-12.3,273,2009,0.00,2.08,0.00,0.000,4,0.000,0.025,2357,1146,3525,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2064,-0.48,-146.0,353.6,-10.2,279,2071,0.00,2.20,0.00,0.000,6,0.000,0.043,2357,2621,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2372,-0.48,-146.0,389.0,-11.2,310,2375,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1137,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2426,-0.48,-146.0,394.1,-9.5,315,2433,0.00,2.25,0.00,0.000,6,0.000,0.042,2357,2617,3523,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2735,-0.48,-146.0,424.2,-9.8,346,2743,0.00,2.10,0.00,0.000,4,0.000,0.025,2357,1136,3520,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2786,-0.48,-146.0,429.1,-9.2,351,2795,0.00,2.22,0.00,0.000,6,0.000,0.042,2357,2620,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3096,-0.48,-146.0,457.3,-8.7,382,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2620,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3397,-0.48,-146.0,481.6,-8.6,412,3401,0.00,1.73,0.00,0.000,4,0.000,0.054,2349,3766,3516,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3472,-0.48,-146.0,487.9,-8.6,419,3480,0.08,1.70,-0.10,0.000,6,0.164,0.023,2372,2459,3540,0,0,0,0,0,0,26.41,26.64,25.84
$GC,3781,-0.48,-146.0,508.8,-6.4,450,3790,0.08,1.98,0.00,0.000,4,0.126,0.051,2294,3770,3538,0,0,0,0,0,0,26.65,26.20,28.83
$GC,3806,-0.48,-146.0,510.9,-7.2,452,3814,0.22,1.73,0.00,0.000,6,0.123,0.022,2368,2463,3537,0,0,0,0,0,0,26.14,26.62,28.83
$GC,4113,-0.48,-146.0,532.0,-6.8,483,4121,0.00,2.00,0.00,0.000,4,0.000,0.054,2362,3776,3535,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4186,-0.48,-146.0,537.3,-7.2,490,4189,0.00,1.73,0.00,0.000,6,0.000,0.023,2362,2505,3534,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4497,-0.48,-146.0,560.9,-7.7,521,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2467,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4799,-0.48,-146.0,581.6,-6.7,551,4803,0.00,2.00,0.00,0.000,4,0.000,0.054,2358,3776,3531,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4843,-0.48,-146.0,584.6,-6.9,555,4850,0.00,1.77,0.00,0.000,6,0.000,0.023,2358,2454,3529,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5164,-0.48,-146.0,607.3,-7.2,582,5169,0.00,2.00,0.00,0.000,4,0.000,0.054,2358,3759,3527,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5224,-0.48,-146.0,611.6,-7.1,585,5229,0.00,1.75,0.00,0.000,6,0.000,0.023,2358,2462,3526,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5542,-0.48,-146.0,633.8,-6.8,601,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2459,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5843,-0.48,-146.0,654.1,-6.9,616,5848,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3759,3522,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5942,-0.48,-146.0,661.2,-7.0,621,5946,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2473,3521,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6264,-0.48,-146.0,683.8,-6.7,637,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2469,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,-0.48,-146.0,703.1,-6.2,652,6569,0.00,2.00,0.00,0.000,4,0.000,0.055,2358,3764,3517,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6623,-0.48,-146.0,706.6,-6.0,655,6627,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2469,3517,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6946,-0.48,-146.0,725.4,-5.6,671,6950,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3765,3515,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6989,-0.48,-146.0,727.9,-5.9,673,6992,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2493,3515,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7312,-0.48,-146.0,748.4,-6.7,689,7317,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3761,3513,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7353,-0.48,-146.0,751.2,-6.7,691,7357,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2471,3512,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7671,-0.48,-146.0,773.8,-6.8,707,7677,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3766,3511,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7720,-0.48,-146.0,776.5,-6.9,709,7723,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2498,3510,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8031,-0.48,-146.0,796.6,-6.0,725,8037,0.00,2.05,0.00,0.000,4,0.000,0.056,2357,3765,3509,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8064,-0.48,-146.0,797.7,-5.9,726,8071,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2453,3508,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8373,-0.48,-146.0,815.8,-5.5,742,8378,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3760,3508,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8424,-0.48,-146.0,818.2,-5.7,744,8431,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2467,3507,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8733,-0.48,-146.0,836.0,-5.6,760,8738,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3753,3506,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8784,-0.48,-146.0,838.3,-5.4,762,8791,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2466,3506,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9092,-0.48,-146.0,856.7,-5.8,778,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2466,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,-0.48,-146.0,874.7,-6.3,793,9397,0.00,2.05,0.00,0.000,4,0.000,0.057,2357,3772,3504,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9442,-0.48,-146.0,877.4,-6.3,795,9446,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2509,3502,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9756,-0.48,-146.0,898.8,-6.9,811,9762,0.00,1.98,0.00,0.000,4,0.000,0.056,2357,3752,3502,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9789,-0.48,-146.0,900.1,-6.8,812,9795,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2468,3501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10094,-0.48,-146.0,923.7,-7.6,828,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2468,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10394,-0.48,-146.0,946.7,-7.5,843,10400,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3762,3500,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10435,-0.48,-146.0,949.8,-7.5,845,10439,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2502,3500,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10756,-0.48,-146.0,973.1,-6.8,861,10762,0.00,1.90,0.00,0.000,4,0.000,0.028,2357,1144,3499,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10826,-0.48,-146.0,977.2,-6.8,864,10830,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2616,3499,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,11030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11030,begin apogee
$GC,11035,-0.17,0.0,990.4,-5.9,874,11175,0.30,0.12,128.95,1.725,6,0.080,0.060,2477,2532,2928,0,0,0,0,0,0,26.20,24.39,22.69
$STATE,11176,end apogee,CONTROL_FINISHED_OK
$STATE,11176,begin climb
$GC,11178,0.48,146.0,997.1,0.0,881,11333,0.52,2.15,142.38,1.681,4,0.046,0.054,2700,3758,2332,0,0,0,0,0,0,24.81,23.81,22.11
$GC,11547,0.48,146.0,956.7,16.7,899,11551,0.15,1.95,0.00,0.000,6,0.170,0.025,2655,2445,2324,0,0,0,0,0,0,25.54,26.03,28.83
$GC,11860,0.48,146.0,923.4,9.5,915,11866,0.08,2.03,0.00,0.000,4,0.134,0.028,2706,1054,2319,0,0,0,0,0,0,26.38,26.24,28.83
$GC,11887,0.48,146.0,921.3,9.5,916,11892,0.17,2.28,0.00,0.000,6,0.173,0.047,2660,2523,2317,0,0,0,0,0,0,25.77,26.13,28.83
$GC,12196,0.48,146.0,891.2,9.3,931,12201,0.00,1.92,0.00,0.000,4,0.000,0.055,2660,3773,2317,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12223,0.48,146.0,889.1,9.4,932,12226,0.00,1.90,0.00,0.000,6,0.000,0.025,2668,2442,2316,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12534,0.48,146.0,857.7,9.3,948,12539,0.00,2.00,0.00,0.000,4,0.000,0.031,2679,1052,2315,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12588,0.48,146.0,854.3,8.7,950,12597,0.08,2.25,0.00,0.000,6,0.190,0.045,2664,2520,2314,0,0,0,0,0,0,26.06,26.19,28.83
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$STATE,23231,end climb,SURFACE_DEPTH_REACHED
$STATE,23231,begin surface coast
$FINISH,0.8,0.996709
$STATE,23310,end surface coast,CONTROL_FINISHED_OK
$STATE,23310,begin surface
$SM_CCo,23386,0.00,0.000,0,0,1046,461.90
$SM_GC,1.67,6.35,0.12,0.00,0.031,0.088,0.000,200,2665,1046,-7.14,-0.34,461.90,0,0,0,0,0,0,26.39,26.59,28.83
$IRIDIUM_FIX,1938.95,12322.35,180512,020218
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.1,67.591
$10V_AH,9.8,41.510
$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
$DEVICE_SECS,19.150,209.975,481.325,0.000,0.000,24.074,16.844,276.795,0.000,0.000,13.940,5307.852,13044.632,665.647,4289.900,517.806,0.000,2647.829,0.000,3625.953,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1429.310,2819.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,157031,2101
$CAP_FILE_SIZE,248366,0
$CFSIZE,260165632,190423040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,199.7,1
$GPS,180512,153801,1947.349,12327.555,40,1.5,40,-2.4