version: 66.10
glider: 176
mission: 5
dive: 311
start: 5 15 112 6 26 37
data:
$ID,176
$MISSION,5
$DIVE,311
$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,400
$T_MISSION,430
$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,-7931.2778
$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
$GPS1,150512,061825,1938.241,12307.103,38,1.6,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.9
$GPS2,150512,062608,1938.238,12307.029,13,1.1,13,-2.3
$SPEED_LIMITS,0.143,0.259
$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,74.4,143912,-13.2,-8.250
$D_GRID,4673
$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,-0.54,-170.3,0.0,0.0,0,72,0.00,0.00,-53.33,0.000,2,0.000,0.000,177,2637,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.54,-170.3,3.5,-7.6,9,113,8.65,1.77,-23.52,0.000,4,0.230,0.065,2328,3779,3626,0,0,0,0,0,0,25.23,26.15,26.68
$GC,246,-0.54,-170.3,57.9,-25.1,38,254,0.08,1.73,0.00,0.000,6,0.194,0.022,2346,2505,3626,0,0,0,0,0,0,26.24,26.49,28.83
$GC,558,-0.54,-170.3,147.8,-25.9,99,565,0.00,1.92,0.00,0.000,4,0.000,0.028,2347,1134,3626,0,0,0,0,0,0,28.83,26.47,28.83
$GC,653,-0.54,-170.3,163.7,-13.4,117,660,0.00,2.25,0.00,0.000,6,0.000,0.046,2336,2621,3626,0,0,0,0,0,0,28.83,26.35,28.83
$GC,968,-0.54,-170.3,235.4,-22.7,165,972,0.00,2.10,0.00,0.000,4,0.000,0.025,2337,1142,3626,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1012,-0.54,-170.3,243.0,-18.6,169,1020,0.03,2.22,0.00,0.000,6,0.291,0.041,2345,2631,3626,0,0,0,0,0,0,26.28,26.36,28.83
$GC,1319,-0.54,-170.3,297.2,-16.9,200,1328,0.00,2.12,0.00,0.000,4,0.000,0.024,2346,1136,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1374,-0.54,-170.3,304.3,-13.2,205,1381,0.00,2.22,0.00,0.000,6,0.000,0.042,2345,2629,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1683,-0.54,-170.3,350.5,-14.7,236,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2629,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.54,-170.3,390.1,-11.6,267,2002,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1143,3623,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2055,-0.54,-170.3,396.3,-8.7,273,2064,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2626,3623,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2366,-0.54,-170.3,429.4,-11.5,304,2375,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1137,3621,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2411,-0.54,-170.3,434.0,-11.0,308,2418,0.00,2.28,0.00,0.000,6,0.000,0.043,2344,2625,3621,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2721,-0.54,-170.3,468.6,-10.5,339,2730,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1143,3618,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2763,-0.54,-170.3,473.1,-10.1,343,2773,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2627,3618,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3074,-0.54,-170.3,503.9,-10.1,374,3083,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1148,3615,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3100,-0.54,-170.3,506.0,-9.9,376,3107,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2624,3615,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3405,-0.54,-170.3,537.1,-10.4,407,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2624,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3708,-0.54,-170.3,566.3,-8.9,437,3711,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1134,3610,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3743,-0.54,-170.3,569.2,-9.2,440,3749,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2617,3610,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4049,-0.54,-170.3,594.4,-7.9,471,4053,0.00,1.75,0.00,0.000,4,0.000,0.055,2337,3770,3606,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4091,-0.54,-170.3,597.9,-8.6,475,4095,0.00,1.73,0.00,0.000,6,0.000,0.023,2337,2490,3606,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4403,-0.54,-170.3,623.6,-8.2,492,4409,0.00,2.00,0.00,0.000,4,0.000,0.054,2332,3766,3603,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4432,-0.54,-170.3,625.3,-8.1,493,4436,0.05,1.73,0.00,0.000,6,0.203,0.023,2350,2488,3602,0,0,0,0,0,0,26.43,26.62,28.83
$GC,4744,-0.54,-170.3,645.7,-6.1,509,4750,0.05,2.00,0.00,0.000,4,0.175,0.054,2292,3763,3600,0,0,0,0,0,0,26.65,26.13,28.83
$GC,4792,-0.54,-170.3,649.4,-7.5,511,4796,0.17,1.70,0.00,0.000,6,0.129,0.024,2350,2490,3599,0,0,0,0,0,0,26.17,26.59,28.83
$GC,5100,-0.54,-170.3,672.9,-7.4,526,5104,0.05,1.98,0.00,0.000,4,0.174,0.053,2288,3766,3597,0,0,0,0,0,0,26.65,26.13,28.83
$GC,5162,-0.54,-170.3,680.1,-10.6,529,5168,0.20,1.73,0.00,0.000,6,0.122,0.024,2355,2477,3596,0,0,0,0,0,0,26.14,26.59,28.83
$GC,5483,-0.54,-170.3,703.6,-7.1,545,5489,0.08,1.98,0.00,0.000,4,0.128,0.052,2280,3758,3594,0,0,0,0,0,0,26.63,26.13,28.83
$GC,5530,-0.54,-170.3,707.9,-8.7,547,5534,0.17,1.75,0.00,0.000,6,0.113,0.023,2346,2489,3593,0,0,0,0,0,0,26.08,26.60,28.83
$GC,5844,-0.54,-170.3,733.5,-7.4,563,5849,0.00,1.95,0.00,0.000,4,0.000,0.056,2344,3769,3591,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5882,-0.54,-170.3,736.6,-7.6,565,5886,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2499,3591,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6203,-0.54,-170.3,760.8,-7.4,581,6209,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3763,3589,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6265,-0.54,-170.3,765.4,-7.6,584,6269,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2510,3588,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6589,-0.54,-170.3,789.5,-7.6,600,6594,0.00,1.92,0.00,0.000,4,0.000,0.028,2344,1146,3586,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6609,-0.54,-170.3,791.1,-7.7,601,6614,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2628,3586,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6923,-0.54,-170.3,818.1,-9.0,617,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7223,-0.54,-170.3,845.0,-9.0,632,7228,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1144,3583,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7256,-0.54,-170.3,846.8,-9.1,633,7263,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3583,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7562,-0.54,-170.3,874.9,-8.4,649,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,-0.54,-170.3,898.5,-7.3,664,7868,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1151,3579,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7891,-0.54,-170.3,900.0,-7.3,665,7895,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3579,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8198,-0.54,-170.3,920.9,-6.3,680,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8497,-0.54,-170.3,939.2,-5.9,695,8503,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1148,3577,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8538,-0.54,-170.3,941.6,-5.8,697,8543,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2616,3577,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8857,-0.54,-170.3,958.0,-4.5,713,8861,0.00,1.77,0.00,0.000,4,0.000,0.057,2343,3766,3575,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8893,-0.54,-170.3,959.0,-4.4,714,8899,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2467,3575,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9201,-0.54,-170.3,972.0,-4.0,730,9206,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3754,3574,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9263,-0.54,-170.3,974.5,-4.1,733,9266,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2497,3573,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9581,-0.54,-170.3,989.3,-5.1,749,9585,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3773,3572,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,9600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9600,begin apogee
$GC,9607,-0.17,0.0,990.5,-5.2,750,9759,0.32,0.20,143.75,1.726,6,0.099,0.070,2464,2525,2928,0,0,0,0,0,0,26.03,24.34,22.64
$STATE,9760,end apogee,CONTROL_FINISHED_OK
$STATE,9760,begin climb
$GC,9762,0.54,170.3,996.1,0.0,757,9939,0.62,2.45,165.18,1.681,4,0.054,0.031,2714,1061,2232,0,0,0,0,0,0,24.56,23.85,22.16
$GC,9996,0.54,170.3,983.9,12.0,768,10003,0.12,2.38,0.00,0.000,6,0.172,0.046,2685,2525,2226,0,0,0,0,0,0,24.76,24.97,28.83
$GC,10304,0.54,170.3,946.9,11.1,784,10309,0.00,1.90,0.00,0.000,4,0.000,0.055,2685,3764,2222,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10370,0.54,170.3,939.2,12.5,787,10374,0.03,1.95,0.00,0.000,6,0.222,0.025,2686,2442,2221,0,0,0,0,0,0,26.06,26.24,28.83
$GC,10682,0.54,170.3,901.4,11.9,803,10687,0.00,2.05,0.00,0.000,4,0.000,0.031,2696,1046,2218,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10744,0.54,170.3,894.7,11.3,806,10749,0.05,2.28,0.00,0.000,6,0.216,0.046,2683,2519,2217,0,0,0,0,0,0,26.10,26.19,28.83
$GC,11063,0.54,170.3,854.8,12.6,822,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2519,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11362,0.54,170.3,817.1,12.6,837,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2519,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11663,0.54,170.3,780.4,12.3,852,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2519,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11963,0.54,170.3,744.4,12.2,867,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2519,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12263,0.54,170.3,707.8,12.2,882,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2519,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12562,0.54,170.3,674.9,10.8,897,12567,0.00,1.90,0.00,0.000,4,0.000,0.055,2683,3769,2214,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12596,0.54,170.3,672.7,11.0,898,12602,0.00,1.90,0.00,0.000,6,0.000,0.024,2693,2451,2214,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,19564,end climb,SURFACE_DEPTH_REACHED
$STATE,19564,begin surface coast
$FINISH,0.7,1.020210
$STATE,19645,end surface coast,CONTROL_FINISHED_OK
$STATE,19645,begin surface
$SM_CCo,19720,0.00,0.000,0,0,1242,413.58
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$IRIDIUM_FIX,1929.80,12304.60,150512,010122
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.06
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.2,64.879
$10V_AH,9.9,39.732
$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,18.825,175.725,463.525,0.000,0.000,33.144,45.408,238.109,0.000,0.000,16.154,4408.195,11215.563,602.155,3509.765,422.557,0.000,2250.553,0.000,2930.308,0.000,0.543,0.000
$DEVICE_MAMPS,291.465,83.385,1725.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1185.555,2313.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329848
$DATA_FILE_SIZE,130396,1742
$CAP_FILE_SIZE,204177,0
$CFSIZE,260165632,191963136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,284.0,1
$GPS,150512,115625,1939.124,12308.780,38,1.7,38,-2.3