version: 66.10
glider: 176
mission: 5
dive: 326
start: 5 18 112 22 18 53
data:
$ID,176
$MISSION,5
$DIVE,326
$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,-7951.0967
$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
$GPS1,180512,220937,1947.178,12328.462,41,0.9,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.7
$GPS2,180512,221826,1947.068,12328.392,10,1.5,10,-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,38.5,103523,-11.8,-6.875
$D_GRID,5172
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,70,0.00,0.00,-50.97,0.000,2,0.000,0.000,181,2655,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.48,-146.0,3.0,-5.8,9,118,8.70,1.67,-27.80,0.000,4,0.229,0.062,2353,3772,3526,0,0,0,0,0,0,25.18,26.15,26.70
$GC,225,-0.48,-146.0,42.0,-22.6,34,231,0.00,1.73,0.00,0.000,6,0.000,0.022,2354,2520,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,537,-0.48,-146.0,122.5,-20.6,95,544,0.00,1.95,0.00,0.000,4,0.000,0.027,2355,1131,3525,0,0,0,0,0,0,28.83,26.47,28.83
$GC,657,-0.48,-146.0,141.5,-13.3,118,664,0.08,2.25,0.00,0.000,6,0.192,0.045,2367,2625,3526,0,0,0,0,0,0,26.19,26.32,28.83
$GC,970,-0.48,-146.0,201.0,-19.6,179,974,0.00,2.12,0.00,0.000,4,0.000,0.028,2368,1136,3525,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1051,-0.48,-146.0,213.2,-12.5,187,1060,0.00,2.22,0.00,0.000,6,0.000,0.044,2362,2618,3525,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1361,-0.48,-146.0,261.8,-15.1,218,1365,0.00,2.10,0.00,0.000,4,0.000,0.027,2362,1140,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1443,-0.48,-146.0,271.6,-10.5,226,1452,0.00,2.22,0.00,0.000,6,0.000,0.044,2361,2618,3525,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1754,-0.48,-146.0,310.1,-11.7,257,1763,0.00,2.10,0.00,0.000,4,0.000,0.027,2361,1136,3524,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1856,-0.48,-146.0,320.4,-9.5,267,1865,0.00,2.25,0.00,0.000,6,0.000,0.044,2361,2628,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2166,-0.48,-146.0,356.7,-11.5,298,2169,0.00,1.73,0.00,0.000,4,0.000,0.054,2357,3775,3522,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2197,-0.48,-146.0,360.6,-12.2,301,2201,0.00,1.73,0.00,0.000,6,0.000,0.022,2357,2506,3522,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2508,-0.48,-146.0,393.4,-10.3,332,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2489,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-0.48,-146.0,422.2,-9.1,362,2819,0.00,1.95,0.00,0.000,4,0.000,0.052,2347,3766,3519,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2862,-0.48,-146.0,427.0,-9.4,367,2866,0.08,1.73,0.00,0.000,6,0.164,0.023,2370,2487,3518,0,0,0,0,0,0,26.39,26.61,28.83
$GC,3173,-0.48,-146.0,451.5,-8.1,398,3175,0.05,0.00,0.00,0.000,6,0.172,0.000,2308,2470,3516,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3474,-0.48,-146.0,492.6,-13.1,428,3477,0.20,0.00,-0.10,0.000,6,0.132,0.000,2371,2469,3539,0,0,0,0,0,0,26.25,28.83,25.78
$GC,3775,-0.48,-146.0,513.7,-6.0,458,3779,0.05,2.00,0.00,0.000,4,0.174,0.052,2305,3770,3537,0,0,0,0,0,0,26.67,26.20,28.83
$GC,3841,-0.48,-146.0,519.8,-11.1,464,3849,0.20,1.73,0.00,0.000,6,0.119,0.022,2371,2480,3536,0,0,0,0,0,0,26.20,26.60,28.83
$GC,4147,-0.48,-146.0,539.3,-6.4,495,4156,0.08,2.00,0.00,0.000,4,0.127,0.052,2293,3777,3534,0,0,0,0,0,0,26.65,26.19,28.83
$GC,4179,-0.48,-146.0,542.6,-8.9,498,4188,0.22,1.75,0.00,0.000,6,0.122,0.021,2367,2455,3533,0,0,0,0,0,0,26.13,26.61,28.83
$GC,4490,-0.48,-146.0,565.3,-7.0,529,4499,0.00,2.00,0.00,0.000,4,0.000,0.054,2362,3765,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4541,-0.48,-146.0,569.1,-7.4,534,4544,0.00,1.73,0.00,0.000,6,0.000,0.023,2361,2495,3531,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4852,-0.48,-146.0,592.7,-7.5,565,4861,0.00,2.00,0.00,0.000,4,0.000,0.055,2358,3766,3528,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4883,-0.48,-146.0,595.0,-7.1,568,4887,0.00,1.73,0.00,0.000,6,0.000,0.024,2358,2496,3528,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5195,-0.48,-146.0,615.9,-6.4,587,5200,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3766,3526,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5227,-0.48,-146.0,617.0,-6.3,588,5235,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2467,3525,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5534,-0.48,-146.0,637.9,-6.5,604,5540,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3770,3523,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5588,-0.48,-146.0,640.7,-6.7,606,5595,0.00,1.73,0.00,0.000,6,0.000,0.023,2357,2455,3522,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5894,-0.48,-146.0,662.3,-6.8,622,5900,0.00,2.03,0.00,0.000,4,0.000,0.054,2357,3771,3520,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5960,-0.48,-146.0,666.3,-6.8,625,5963,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2493,3520,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6277,-0.48,-146.0,686.4,-6.0,641,6282,0.00,2.03,0.00,0.000,4,0.000,0.054,2357,3758,3518,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6319,-0.48,-146.0,688.9,-5.8,643,6322,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2494,3517,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6637,-0.48,-146.0,708.1,-6.3,659,6642,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3766,3515,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6689,-0.48,-146.0,710.7,-6.4,661,6695,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2457,3514,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6997,-0.48,-146.0,733.8,-7.5,677,7002,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3765,3513,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7044,-0.48,-146.0,736.9,-7.5,679,7047,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2470,3512,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7356,-0.48,-146.0,761.2,-7.4,695,7361,0.00,2.05,0.00,0.000,4,0.000,0.056,2357,3772,3511,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7405,-0.48,-146.0,764.2,-7.5,697,7409,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2461,3511,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7717,-0.48,-146.0,786.7,-6.7,713,7722,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3766,3509,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7759,-0.48,-146.0,789.3,-6.5,715,7763,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2502,3508,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8078,-0.48,-146.0,809.1,-6.2,731,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2469,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8377,-0.48,-146.0,827.2,-6.1,746,8382,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3505,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8429,-0.48,-146.0,829.6,-6.0,748,8437,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2455,3504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8737,-0.48,-146.0,851.0,-7.0,764,8743,0.00,1.90,0.00,0.000,4,0.000,0.027,2357,1134,3503,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8796,-0.48,-146.0,855.4,-7.3,767,8802,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2619,3503,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9117,-0.48,-146.0,878.8,-7.4,783,9121,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1143,3502,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9219,-0.48,-146.0,886.3,-7.2,788,9224,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2627,3502,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9540,-0.48,-146.0,908.8,-6.9,804,9545,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1143,3501,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9629,-0.48,-146.0,914.4,-6.8,808,9633,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2620,3501,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9936,-0.48,-146.0,934.0,-6.1,823,9941,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1142,3500,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10071,-0.48,-146.0,941.2,-5.8,829,10078,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2626,3499,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10378,-0.48,-146.0,960.4,-6.3,845,10383,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1141,3498,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10491,-0.48,-146.0,967.0,-6.5,850,10498,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2619,3498,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10798,-0.48,-146.0,988.3,-6.6,866,10804,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1146,3496,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,10835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10835,begin apogee
$GC,10842,-0.17,0.0,991.2,-6.9,868,10978,0.30,0.00,128.10,1.727,6,0.093,0.000,2471,2521,2928,0,0,0,0,0,0,26.10,28.83,22.70
$STATE,10979,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10982,0.48,146.0,998.5,0.0,875,11139,0.55,2.20,142.80,1.685,4,0.052,0.056,2692,3766,2332,0,0,0,0,0,0,24.77,23.82,22.12
$GC,11291,0.48,146.0,972.0,15.6,890,11301,0.15,1.95,0.00,0.000,6,0.192,0.025,2665,2439,2324,0,0,0,0,0,0,25.46,25.86,28.83
$GC,11601,0.48,146.0,936.7,10.4,906,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2438,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11902,0.48,146.0,907.0,9.6,921,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2438,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12202,0.48,146.0,877.7,9.9,936,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2438,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12501,0.48,146.0,847.5,10.1,951,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2438,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12802,0.48,146.0,817.1,9.6,966,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2438,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13102,0.48,146.0,788.1,10.0,981,13107,0.00,2.05,0.00,0.000,4,0.000,0.030,2675,1037,2314,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,22800,end climb,SURFACE_DEPTH_REACHED
$STATE,22800,begin surface coast
$FINISH,0.8,1.021151
$STATE,22858,end surface coast,CONTROL_FINISHED_OK
$STATE,22858,begin surface
$SM_CCo,22935,0.00,0.000,0,0,1305,398.37
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$IRIDIUM_FIX,1943.54,12326.79,180512,151526
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.91
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,22.1,67.999
$10V_AH,9.9,41.813
$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
$DEVICE_SECS,18.425,186.375,462.800,0.000,0.000,30.669,44.961,292.633,0.250,0.000,12.932,5089.833,13082.964,643.311,4121.094,485.639,0.000,2519.356,0.000,3470.947,0.000,0.543,0.000
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$SENSOR_SECS,1373.829,2698.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,150499,2017
$CAP_FILE_SIZE,235755,0
$CFSIZE,260165632,190185472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,228.0,1
$GPS,190512,044207,1947.658,12328.663,30,1.0,30,-2.4