version: 66.10
glider: 176
mission: 5
dive: 328
start: 5 19 112 11 22 1
data:
$ID,176
$MISSION,5
$DIVE,328
$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,-7953.6108
$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
$GPS1,190512,111237,1947.849,12329.887,34,2.0,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.5
$GPS2,190512,112134,1947.820,12329.920,12,2.3,31,-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,46.9,100527,-11.8,-6.875
$D_GRID,5185
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.58,0.000,2,0.000,0.000,176,2666,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.48,-146.0,3.0,-6.0,7,106,8.75,1.73,-27.10,0.000,4,0.229,0.067,2350,3770,3525,0,0,0,0,0,0,25.18,26.14,26.70
$GC,276,-0.48,-146.0,56.3,-23.3,41,284,0.08,1.73,0.00,0.000,6,0.190,0.023,2367,2518,3526,0,0,0,0,0,0,26.25,26.49,28.83
$GC,605,-0.48,-146.0,132.3,-20.5,102,612,0.00,1.92,0.00,0.000,4,0.000,0.027,2368,1144,3526,0,0,0,0,0,0,28.83,26.46,28.83
$GC,724,-0.48,-146.0,150.9,-12.6,125,732,0.00,2.22,0.00,0.000,6,0.000,0.045,2362,2621,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1036,-0.48,-146.0,210.7,-19.0,181,1046,0.00,2.12,0.00,0.000,4,0.000,0.027,2362,1135,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1061,-0.48,-146.0,214.7,-18.2,183,1068,0.00,2.25,0.00,0.000,6,0.000,0.045,2362,2626,3526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1369,-0.48,-146.0,264.1,-13.7,214,1378,0.00,2.10,0.00,0.000,4,0.000,0.026,2361,1141,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1420,-0.48,-146.0,269.7,-10.2,219,1429,0.00,2.22,0.00,0.000,6,0.000,0.044,2361,2618,3525,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1731,-0.48,-146.0,308.8,-12.4,250,1734,0.00,1.73,0.00,0.000,4,0.000,0.052,2357,3770,3525,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1772,-0.48,-146.0,313.8,-12.1,254,1776,0.00,1.70,0.00,0.000,6,0.000,0.021,2357,2515,3525,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2084,-0.48,-146.0,352.1,-11.8,285,2094,0.00,1.90,0.00,0.000,4,0.000,0.024,2357,1127,3523,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2156,-0.48,-146.0,359.5,-9.2,292,2165,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2622,3523,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2468,-0.48,-146.0,391.7,-9.5,323,2476,0.00,2.10,0.00,0.000,4,0.000,0.024,2357,1136,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2510,-0.48,-146.0,395.4,-8.8,327,2519,0.00,2.20,0.00,0.000,6,0.000,0.042,2357,2614,3521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2820,-0.48,-146.0,422.2,-8.6,358,2828,0.00,2.08,0.00,0.000,4,0.000,0.024,2356,1136,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2863,-0.48,-146.0,425.8,-8.4,362,2871,0.00,2.22,0.00,0.000,6,0.000,0.043,2357,2621,3519,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3172,-0.48,-146.0,454.2,-9.5,393,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2621,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-0.48,-146.0,481.3,-8.7,423,3483,0.00,2.12,-0.10,0.000,4,0.000,0.035,2357,1135,3538,0,0,0,0,0,0,28.83,26.48,26.07
$GC,3507,-0.48,-146.0,484.2,-8.6,426,3515,0.00,2.28,0.00,0.000,6,0.000,0.043,2357,2618,3538,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3815,-0.48,-146.0,508.9,-7.8,457,3819,0.00,1.75,0.00,0.000,4,0.000,0.055,2357,3770,3535,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3867,-0.48,-146.0,512.5,-7.3,462,3870,0.00,1.75,0.00,0.000,6,0.000,0.023,2357,2489,3534,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4178,-0.48,-146.0,536.2,-7.6,493,4187,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3765,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4235,-0.48,-146.0,540.4,-7.9,498,4241,0.00,1.73,0.00,0.000,6,0.000,0.023,2357,2478,3532,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4541,-0.48,-146.0,564.5,-7.7,529,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2478,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.48,-146.0,586.3,-6.8,559,4848,0.00,1.98,0.00,0.000,4,0.000,0.055,2357,3766,3527,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4905,-0.48,-146.0,590.7,-6.6,565,4909,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2506,3526,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5228,-0.48,-146.0,613.4,-7.3,588,5233,0.00,1.98,0.00,0.000,4,0.000,0.056,2357,3765,3524,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5267,-0.48,-146.0,616.2,-7.2,590,5270,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2511,3523,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5588,-0.48,-146.0,639.6,-7.3,606,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2485,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5890,-0.48,-146.0,660.8,-7.1,621,5895,0.00,1.95,0.00,0.000,4,0.000,0.056,2357,3762,3520,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5936,-0.48,-146.0,663.7,-7.2,623,5939,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2491,3519,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6249,-0.48,-146.0,687.7,-7.5,639,6254,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3779,3517,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6276,-0.48,-146.0,689.2,-7.5,640,6279,0.00,1.77,0.00,0.000,6,0.000,0.023,2357,2484,3517,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6588,-0.48,-146.0,711.0,-6.3,656,6594,0.00,2.03,0.00,0.000,4,0.000,0.056,2357,3765,3515,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6617,-0.48,-146.0,712.1,-6.0,657,6621,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2505,3514,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6928,-0.48,-146.0,732.6,-6.4,673,6934,0.00,2.00,0.00,0.000,4,0.000,0.056,2357,3763,3513,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6971,-0.48,-146.0,735.2,-6.4,675,6974,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2474,3512,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7290,-0.48,-146.0,755.4,-6.4,691,7295,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3761,3511,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7321,-0.48,-146.0,756.7,-6.5,692,7328,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2459,3510,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7628,-0.48,-146.0,776.7,-6.2,708,7634,0.00,2.05,0.00,0.000,4,0.000,0.057,2357,3768,3509,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7662,-0.48,-146.0,777.9,-6.3,709,7670,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2480,3509,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7970,-0.48,-146.0,800.2,-7.1,725,7975,0.00,1.98,0.00,0.000,4,0.000,0.057,2357,3765,3507,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8016,-0.48,-146.0,803.0,-7.0,727,8019,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2494,3506,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8330,-0.48,-146.0,825.2,-6.5,743,8335,0.00,1.98,0.00,0.000,4,0.000,0.057,2357,3761,3505,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8361,-0.48,-146.0,826.6,-6.4,744,8368,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2474,3504,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8670,-0.48,-146.0,846.9,-6.4,760,8673,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3771,3503,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8704,-0.48,-146.0,848.5,-6.5,761,8712,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2469,3503,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9011,-0.48,-146.0,869.8,-6.6,777,9017,0.00,2.03,0.00,0.000,4,0.000,0.057,2357,3770,3503,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9052,-0.48,-146.0,872.5,-6.7,779,9056,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2504,3502,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9373,-0.48,-146.0,894.9,-7.0,795,9379,0.00,2.00,0.00,0.000,4,0.000,0.056,2358,3763,3501,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9413,-0.48,-146.0,897.8,-7.3,797,9417,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2500,3501,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9735,-0.48,-146.0,920.7,-7.0,813,9740,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3762,3500,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9774,-0.48,-146.0,923.5,-7.1,815,9777,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2507,3500,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10095,-0.48,-146.0,944.4,-6.0,831,10100,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3763,3498,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10136,-0.48,-146.0,946.8,-5.9,833,10140,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2510,3498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10457,-0.48,-146.0,966.7,-6.4,849,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2483,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10759,-0.48,-146.0,986.7,-6.7,864,10764,0.00,1.98,0.00,0.000,4,0.000,0.058,2357,3757,3496,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10810,-0.48,-146.0,989.5,-6.7,866,10817,0.00,1.75,0.00,0.000,6,0.000,0.025,2357,2484,3495,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,10835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10835,begin apogee
$GC,10840,-0.17,0.0,992.3,-7.0,868,10980,0.30,0.00,128.05,1.720,6,0.098,0.000,2468,2483,2928,0,0,0,0,0,0,26.06,28.83,22.69
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10983,0.48,146.0,1000.8,0.0,875,11131,0.55,0.00,142.15,1.681,6,0.050,0.000,2693,2482,2332,0,0,0,0,0,0,24.84,28.83,22.13
$GC,11434,0.48,146.0,964.5,11.7,897,11439,0.12,2.10,0.00,0.000,4,0.189,0.030,2667,1054,2322,0,0,0,0,0,0,25.85,26.10,28.83
$GC,11481,0.48,146.0,960.3,11.1,899,11485,0.00,2.28,0.00,0.000,6,0.000,0.047,2667,2515,2319,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11789,0.48,146.0,927.9,10.8,914,11794,0.00,1.92,0.00,0.000,4,0.000,0.057,2667,3773,2318,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11828,0.48,146.0,923.0,11.5,916,11834,0.08,1.92,0.00,0.000,6,0.218,0.025,2662,2453,2317,0,0,0,0,0,0,26.09,26.35,28.83
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$STATE,22930,end climb,SURFACE_DEPTH_REACHED
$STATE,22930,begin surface coast
$FINISH,0.8,1.009693
$STATE,22962,end surface coast,CONTROL_FINISHED_OK
$STATE,22962,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,43.46
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.1,68.389
$10V_AH,9.9,42.121
$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,329860
$DATA_FILE_SIZE,153950,2061
$CAP_FILE_SIZE,241477,0
$CFSIZE,260165632,189919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,184.3,1
$GPS,190512,174707,1947.704,12331.814,40,0.9,40,-2.4