version: 66.10
glider: 176
mission: 5
dive: 327
start: 5 19 112 4 50 41
data:
$ID,176
$MISSION,5
$DIVE,327
$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,-7952.3535
$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
$GPS1,190512,044207,1947.658,12328.663,30,1.0,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.8
$GPS2,190512,045014,1947.557,12328.553,13,1.3,13,-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,55.7,102830,-11.8,-6.875
$D_GRID,5182
$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,-0.48,-146.0,0.0,0.0,0,55,0.00,0.00,-35.58,0.000,2,0.000,0.000,178,2634,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.48,-146.0,3.2,-6.4,6,101,8.80,1.70,-26.55,0.000,4,0.230,0.062,2349,3779,3525,0,0,0,0,0,0,25.20,26.13,26.67
$GC,243,-0.48,-146.0,51.9,-24.5,35,252,0.08,1.73,0.00,0.000,6,0.188,0.024,2366,2531,3525,0,0,0,0,0,0,26.22,26.46,28.83
$GC,558,-0.48,-146.0,124.3,-18.1,96,564,0.00,1.95,0.00,0.000,4,0.000,0.024,2366,1127,3525,0,0,0,0,0,0,28.83,26.49,28.83
$GC,683,-0.48,-146.0,143.5,-12.9,120,689,0.00,2.25,0.00,0.000,6,0.000,0.043,2361,2630,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,994,-0.48,-146.0,202.5,-18.7,180,997,0.00,2.12,0.00,0.000,4,0.000,0.028,2361,1137,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1055,-0.48,-146.0,211.8,-13.7,186,1064,0.00,2.25,0.00,0.000,6,0.000,0.045,2361,2628,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1365,-0.48,-146.0,259.6,-14.4,217,1373,0.00,2.10,0.00,0.000,4,0.000,0.024,2361,1135,3526,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1418,-0.48,-146.0,265.5,-11.1,222,1428,0.08,2.22,0.00,0.000,6,0.177,0.042,2370,2624,3526,0,0,0,0,0,0,26.23,26.36,28.83
$GC,1726,-0.48,-146.0,303.3,-13.0,253,1736,0.05,2.10,0.00,0.000,4,0.175,0.023,2318,1125,3525,0,0,0,0,0,0,26.68,26.51,28.83
$GC,1759,-0.48,-146.0,308.0,-14.6,256,1768,0.17,2.25,0.00,0.000,6,0.139,0.045,2371,2618,3525,0,0,0,0,0,0,26.10,26.33,28.83
$GC,2069,-0.48,-146.0,344.6,-11.7,287,2079,0.08,2.08,0.00,0.000,4,0.129,0.022,2309,1135,3524,0,0,0,0,0,0,26.66,26.51,28.83
$GC,2132,-0.48,-146.0,353.7,-14.5,293,2142,0.20,2.25,0.00,0.000,6,0.130,0.044,2370,2627,3524,0,0,0,0,0,0,26.09,26.32,28.83
$GC,2444,-0.48,-146.0,384.7,-8.9,324,2448,0.05,2.10,0.00,0.000,4,0.173,0.023,2316,1142,3522,0,0,0,0,0,0,26.68,26.51,28.83
$GC,2466,-0.48,-146.0,387.1,-9.5,326,2476,0.20,2.22,0.00,0.000,6,0.129,0.043,2371,2618,3522,0,0,0,0,0,0,26.10,26.33,28.83
$GC,2777,-0.48,-146.0,414.7,-8.7,357,2782,0.05,1.75,0.00,0.000,4,0.174,0.051,2305,3765,3520,0,0,0,0,0,0,26.67,26.25,28.83
$GC,2799,-0.48,-146.0,417.2,-9.8,359,2810,0.20,1.70,0.00,0.000,6,0.128,0.022,2369,2478,3520,0,0,0,0,0,0,26.17,26.60,28.83
$GC,3109,-0.48,-146.0,446.8,-9.4,390,3119,0.05,1.98,0.00,0.000,4,0.174,0.051,2305,3766,3519,0,0,0,0,0,0,26.67,26.23,28.83
$GC,3133,-0.48,-146.0,449.2,-9.8,392,3142,0.20,1.73,0.00,0.000,6,0.125,0.022,2370,2463,3518,0,0,0,0,0,0,26.18,26.60,28.83
$GC,3441,-0.48,-146.0,477.9,-8.7,423,3445,0.05,2.00,0.00,0.000,4,0.174,0.052,2305,3766,3516,0,0,0,0,0,0,26.67,26.21,28.83
$GC,3484,-0.48,-146.0,483.0,-12.2,427,3495,0.20,1.73,-0.08,0.000,6,0.121,0.023,2371,2470,3538,0,0,0,0,0,0,26.20,26.60,25.71
$GC,3793,-0.48,-146.0,506.5,-6.4,458,3795,0.08,0.00,0.00,0.000,6,0.127,0.000,2302,2469,3537,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4094,-0.48,-146.0,542.7,-12.5,488,4096,0.20,0.00,0.00,0.000,6,0.135,0.000,2365,2469,3535,0,0,0,0,0,0,26.23,28.83,28.83
$GC,4395,-0.48,-146.0,563.3,-6.8,518,4403,0.00,1.98,0.00,0.000,4,0.000,0.054,2359,3770,3532,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4459,-0.48,-146.0,567.8,-7.2,524,4466,0.00,1.75,0.00,0.000,6,0.000,0.021,2359,2448,3531,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4766,-0.48,-146.0,590.5,-7.1,555,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2448,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-0.48,-146.0,611.8,-7.0,577,5073,0.00,2.03,0.00,0.000,4,0.000,0.054,2358,3766,3527,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5139,-0.48,-146.0,615.9,-7.0,580,5146,0.00,1.75,0.00,0.000,6,0.000,0.022,2358,2449,3527,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5448,-0.48,-146.0,637.9,-6.9,596,5454,0.00,2.00,0.00,0.000,4,0.000,0.054,2357,3765,3525,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5489,-0.48,-146.0,640.6,-7.0,598,5493,0.00,1.73,0.00,0.000,6,0.000,0.022,2357,2466,3524,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5807,-0.48,-146.0,663.2,-7.2,614,5812,0.00,2.03,0.00,0.000,4,0.000,0.054,2357,3773,3522,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5861,-0.48,-146.0,666.1,-7.2,616,5867,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2456,3521,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6167,-0.48,-146.0,688.7,-7.2,632,6173,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3770,3519,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6221,-0.48,-146.0,691.5,-7.1,634,6228,0.00,1.73,0.00,0.000,6,0.000,0.023,2357,2467,3518,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6528,-0.48,-146.0,712.5,-6.2,650,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2467,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6827,-0.48,-146.0,730.9,-6.1,665,6832,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3766,3515,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6876,-0.48,-146.0,733.3,-5.8,667,6879,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2500,3514,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7188,-0.48,-146.0,751.6,-5.7,683,7194,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3766,3512,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7221,-0.48,-146.0,752.6,-5.6,684,7228,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2456,3512,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7530,-0.48,-146.0,772.4,-6.5,700,7535,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3765,3511,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7596,-0.48,-146.0,776.3,-6.4,703,7600,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2496,3511,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7910,-0.48,-146.0,799.3,-7.4,719,7915,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3763,3509,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7971,-0.48,-146.0,803.7,-7.4,722,7975,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2496,3508,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8288,-0.48,-146.0,825.5,-6.3,738,8294,0.00,2.05,0.00,0.000,4,0.000,0.056,2357,3770,3507,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8344,-0.48,-146.0,828.0,-6.3,740,8351,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2451,3506,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8649,-0.48,-146.0,845.4,-4.9,756,8655,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3766,3504,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8681,-0.48,-146.0,846.5,-4.9,757,8688,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2442,3504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8990,-0.48,-146.0,860.1,-4.1,773,8995,0.00,2.05,0.00,0.000,4,0.000,0.056,2357,3767,3504,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9049,-0.48,-146.0,862.6,-4.2,776,9053,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2498,3504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9373,-0.48,-146.0,878.6,-5.5,792,9378,0.00,1.88,0.00,0.000,4,0.000,0.028,2357,1144,3503,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9434,-0.48,-146.0,882.3,-5.9,795,9438,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2622,3503,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9746,-0.48,-146.0,902.3,-6.6,811,9752,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1143,3502,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9890,-0.48,-146.0,912.3,-7.1,818,9896,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2611,3501,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10209,-0.48,-146.0,934.8,-7.1,834,10212,0.00,1.77,0.00,0.000,4,0.000,0.056,2357,3764,3499,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10346,-0.48,-146.0,942.9,-6.7,840,10352,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2456,3498,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10651,-0.48,-146.0,965.0,-6.8,856,10656,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3752,3498,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10886,-0.48,-146.0,980.3,-7.6,867,10893,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2471,3496,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,11010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11010,begin apogee
$GC,11016,-0.17,0.0,990.4,-7.2,874,11155,0.28,0.05,127.80,1.720,6,0.071,0.048,2476,2440,2929,0,0,0,0,0,0,26.29,24.22,22.70
$STATE,11156,end apogee,CONTROL_FINISHED_OK
$STATE,11156,begin climb
$GC,11158,0.48,146.0,998.6,0.0,881,11316,0.52,2.35,142.40,1.680,4,0.049,0.055,2694,3765,2332,0,0,0,0,0,0,24.82,23.83,22.12
$GC,11332,0.48,151.5,995.1,6.7,889,11343,0.17,2.05,6.20,1.352,6,0.185,0.025,2663,2449,2311,0,0,0,0,0,0,24.24,24.58,22.51
$GC,11658,0.48,151.5,957.8,10.7,906,11663,0.00,2.03,0.00,0.000,4,0.000,0.031,2673,1054,2303,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11684,0.48,151.5,955.6,10.9,907,11688,0.00,2.28,0.00,0.000,6,0.000,0.047,2673,2517,2301,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11991,0.48,151.5,917.5,12.0,922,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2517,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12293,0.48,151.5,881.2,11.9,937,12298,0.00,2.12,0.00,0.000,4,0.000,0.030,2683,1055,2298,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12313,0.48,151.5,878.7,12.0,938,12318,0.10,2.30,0.00,0.000,6,0.177,0.047,2660,2518,2297,0,0,0,0,0,0,25.98,26.16,28.83
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$STATE,22731,end climb,SURFACE_DEPTH_REACHED
$STATE,22731,begin surface coast
$FINISH,0.9,1.021164
$STATE,22777,end surface coast,CONTROL_FINISHED_OK
$STATE,22777,begin surface
$SM_CCo,22853,0.00,0.000,0,0,1150,436.39
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$IRIDIUM_FIX,1938.95,12328.70,180512,222208
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.60
$XPDR_PINGS,0
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$10V_AH,9.9,41.968
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,153754,2079
$CAP_FILE_SIZE,249604,0
$CFSIZE,260165632,190042112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,209.9,1
$GPS,190512,111237,1947.849,12329.887,34,2.0,34,-2.4