version: 66.10
glider: 176
mission: 5
dive: 384
start: 5 31 112 22 34 59
data:
$ID,176
$MISSION,5
$DIVE,384
$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,-8024.5405
$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
$GPS1,310512,222630,1855.081,12424.033,36,0.8,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.7
$GPS2,310512,223431,1855.024,12424.113,9,0.8,14,-2.2
$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,163.8,121944,-12.5,-7.857
$D_GRID,5355
$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,-170.3,0.0,0.0,0,73,0.00,0.00,-53.55,0.000,2,0.000,0.000,178,2665,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.52,-170.3,3.1,-6.6,9,121,8.68,2.22,-26.33,0.000,4,0.227,0.040,2348,1137,3625,0,0,0,0,0,0,25.06,26.25,26.70
$GC,208,-0.52,-170.3,31.0,-13.0,30,215,0.05,2.25,0.00,0.000,6,0.226,0.042,2351,2632,3627,0,0,0,0,0,0,26.08,26.18,28.83
$GC,520,-0.52,-170.3,102.1,-22.7,91,528,0.00,1.67,0.00,0.000,4,0.000,0.051,2348,3768,3626,0,0,0,0,0,0,28.83,26.16,28.83
$GC,733,-0.52,-170.3,139.0,-13.9,132,740,0.00,1.73,0.00,0.000,6,0.000,0.022,2347,2495,3626,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1045,-0.52,-170.3,190.3,-16.9,193,1052,0.00,1.90,0.00,0.000,4,0.000,0.024,2347,1131,3627,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1074,-0.52,-170.3,195.2,-15.5,198,1081,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2626,3626,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1384,-0.52,-170.3,244.1,-15.2,232,1387,0.00,1.70,0.00,0.000,4,0.000,0.054,2348,3766,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1417,-0.52,-170.3,248.6,-14.5,235,1425,0.00,1.73,0.00,0.000,6,0.000,0.022,2347,2491,3626,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1725,-0.52,-170.3,289.0,-12.5,266,1734,0.00,1.90,0.00,0.000,4,0.000,0.025,2348,1135,3625,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1788,-0.52,-170.3,295.5,-9.4,272,1797,0.00,2.20,0.00,0.000,6,0.000,0.042,2348,2611,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2096,-0.52,-170.3,332.0,-11.6,303,2099,0.00,1.73,0.00,0.000,4,0.000,0.054,2341,3766,3624,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2140,-0.52,-170.3,336.6,-11.4,307,2143,0.00,1.73,0.00,0.000,6,0.000,0.023,2341,2493,3623,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2450,-0.52,-170.3,372.4,-11.2,338,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2468,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.52,-170.3,406.0,-10.5,368,2757,0.00,1.90,0.00,0.000,4,0.000,0.025,2341,1113,3620,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2774,-0.52,-170.3,408.4,-10.4,370,2784,0.08,2.28,0.00,0.000,6,0.170,0.044,2358,2629,3620,0,0,0,0,0,0,26.11,26.22,28.83
$GC,3085,-0.52,-170.3,437.2,-9.4,401,3094,0.08,2.15,0.00,0.000,4,0.129,0.023,2290,1131,3618,0,0,0,0,0,0,26.61,26.42,28.83
$GC,3120,-0.52,-170.3,441.0,-11.3,404,3128,0.15,2.30,0.00,0.000,6,0.109,0.046,2357,2614,3618,0,0,0,0,0,0,25.94,26.19,28.83
$GC,3428,-0.52,-170.3,469.3,-8.8,435,3438,0.05,2.12,0.00,0.000,4,0.172,0.023,2294,1125,3616,0,0,0,0,0,0,26.63,26.42,28.83
$GC,3462,-0.52,-170.3,472.9,-10.6,438,3472,0.15,2.22,0.00,0.000,6,0.109,0.044,2350,2614,3616,0,0,0,0,0,0,25.94,26.19,28.83
$GC,3771,-0.52,-170.3,502.2,-8.8,469,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2614,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.52,-170.3,526.4,-7.4,499,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2614,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4383,-0.52,-170.3,550.8,-8.4,530,4392,0.00,2.10,0.00,0.000,4,0.000,0.024,2350,1138,3609,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4417,-0.52,-170.3,553.5,-7.9,533,4424,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2618,3609,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4726,-0.52,-170.3,575.2,-6.6,564,4729,0.00,1.77,0.00,0.000,4,0.000,0.057,2345,3775,3606,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4757,-0.52,-170.3,577.3,-6.5,567,4760,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2490,3605,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5069,-0.52,-170.3,597.6,-6.9,598,5078,0.00,2.00,0.00,0.000,4,0.000,0.055,2338,3759,3603,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5120,-0.52,-170.3,600.7,-7.2,602,5123,0.00,1.73,0.00,0.000,6,0.000,0.024,2338,2487,3603,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5431,-0.52,-170.3,628.5,-9.3,618,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2458,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,-0.52,-170.3,654.0,-8.0,633,5738,0.00,2.03,0.00,0.000,4,0.000,0.057,2332,3753,3599,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5833,-0.52,-170.3,662.0,-8.0,638,5837,0.08,1.73,0.00,0.000,6,0.165,0.024,2355,2476,3597,0,0,0,0,0,0,26.31,26.54,28.83
$GC,6157,-0.52,-170.3,684.1,-6.8,654,6163,0.05,2.03,0.00,0.000,4,0.174,0.054,2288,3760,3596,0,0,0,0,0,0,26.60,25.96,28.83
$GC,6218,-0.52,-170.3,690.5,-9.6,657,6223,0.17,1.75,0.00,0.000,6,0.104,0.023,2356,2478,3595,0,0,0,0,0,0,26.03,26.53,28.83
$GC,6536,-0.52,-170.3,712.8,-6.7,673,6542,0.08,2.03,0.00,0.000,4,0.129,0.054,2287,3765,3594,0,0,0,0,0,0,26.58,25.94,28.83
$GC,6610,-0.52,-170.3,719.1,-9.7,676,6619,0.20,1.73,0.00,0.000,6,0.124,0.024,2353,2488,3592,0,0,0,0,0,0,26.02,26.52,28.83
$GC,6917,-0.52,-170.3,742.3,-6.7,692,6922,0.00,1.98,0.00,0.000,4,0.000,0.056,2348,3763,3591,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6965,-0.52,-170.3,744.9,-6.4,694,6969,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2499,3590,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7277,-0.52,-170.3,763.6,-5.2,710,7282,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3772,3589,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7310,-0.52,-170.3,764.6,-5.2,711,7317,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2455,3589,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7618,-0.52,-170.3,780.4,-5.3,727,7623,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3761,3588,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7670,-0.52,-170.3,782.5,-5.3,729,7676,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2470,3587,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7978,-0.52,-170.3,802.6,-6.8,745,7983,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3766,3585,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8019,-0.52,-170.3,805.5,-7.0,747,8023,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2499,3585,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8337,-0.52,-170.3,827.8,-6.9,763,8342,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3769,3584,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8378,-0.52,-170.3,830.5,-6.9,765,8381,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2501,3584,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8699,-0.52,-170.3,852.8,-7.0,781,8704,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3768,3583,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8742,-0.52,-170.3,855.6,-7.1,783,8745,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2503,3582,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9060,-0.52,-170.3,878.0,-6.7,799,9066,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3761,3581,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9102,-0.52,-170.3,880.6,-6.5,801,9105,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2500,3581,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9421,-0.52,-170.3,898.4,-4.8,817,9426,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3761,3580,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9459,-0.52,-170.3,900.4,-4.8,819,9462,0.00,1.75,0.00,0.000,6,0.000,0.026,2348,2509,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9780,-0.52,-170.3,915.3,-4.7,835,9786,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3769,3579,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9821,-0.52,-170.3,917.3,-4.9,837,9825,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2503,3579,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10143,-0.52,-170.3,934.5,-5.4,853,10148,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1124,3578,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10206,-0.52,-170.3,937.9,-5.7,856,10210,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2616,3578,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10520,-0.52,-170.3,955.5,-5.7,872,10525,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1139,3576,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10619,-0.52,-170.3,961.5,-6.0,877,10625,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2619,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10939,-0.52,-170.3,982.0,-6.9,893,10943,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1131,3576,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11031,-0.52,-170.3,987.7,-7.0,897,11040,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2615,3575,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,11059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11059,begin apogee
$GC,11064,-0.17,0.0,990.4,-6.7,899,11216,0.32,0.12,145.95,1.719,6,0.083,0.094,2475,2538,2928,0,0,0,0,0,0,26.06,24.14,22.29
$STATE,11217,end apogee,CONTROL_FINISHED_OK
$STATE,11218,begin climb
$GC,11221,0.52,170.3,998.3,0.0,906,11396,0.57,0.00,167.93,1.672,6,0.048,0.000,2704,2538,2233,0,0,0,0,0,0,24.55,28.83,21.80
$GC,11696,0.52,170.3,946.9,15.4,930,11702,0.12,2.20,0.00,0.000,4,0.194,0.028,2680,1058,2222,0,0,0,0,0,0,25.85,26.11,28.83
$GC,11730,0.52,170.3,944.1,15.2,931,11738,0.00,2.28,0.00,0.000,6,0.000,0.047,2680,2525,2220,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12036,0.52,170.3,904.4,12.3,947,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2526,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12336,0.52,170.3,869.1,11.8,962,12341,0.00,2.17,0.00,0.000,4,0.000,0.028,2690,1049,2218,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,21298,end climb,SURFACE_DEPTH_REACHED
$STATE,21298,begin surface coast
$FINISH,1.0,1.021720
$STATE,21329,end surface coast,CONTROL_FINISHED_OK
$STATE,21329,begin surface
$SM_CCo,21405,0.00,0.000,0,0,1038,463.86
$SM_GC,1.56,6.62,0.35,0.00,0.036,0.063,0.000,187,2633,1038,-7.16,-0.25,463.86,0,0,0,0,0,0,26.27,26.28,28.83
$IRIDIUM_FIX,1848.70,12425.00,310512,161636
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,21.8,80.632
$10V_AH,9.9,49.175
$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,18.875,183.750,470.500,0.000,0.000,28.574,19.778,271.999,0.000,0.000,17.222,4881.105,12006.462,682.369,3798.644,480.623,0.000,2455.009,0.000,3227.344,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,94.095,1718.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1319.117,2508.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,143842,1934
$CAP_FILE_SIZE,223593,0
$CFSIZE,260165632,183926784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016, 49.3,1
$GPS,010612,043237,1852.842,12424.744,24,1.7,24,-2.2