version: 66.10
glider: 176
mission: 5
dive: 312
start: 5 15 112 12 4 54
data:
$ID,176
$MISSION,5
$DIVE,312
$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,-7932.6309
$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
$GPS1,150512,115625,1939.124,12308.780,38,1.7,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.2
$GPS2,150512,120425,1939.121,12308.705,11,1.3,17,-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,75.0,140573,-13.2,-8.250
$D_GRID,4763
$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,-170.3,0.0,0.0,0,58,0.00,0.00,-39.88,0.000,2,0.000,0.000,175,2690,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.54,-170.3,3.2,-7.2,7,105,8.60,1.67,-27.75,0.000,4,0.229,0.063,2329,3773,3626,0,0,0,0,0,0,25.25,26.16,26.67
$GC,168,-0.54,-170.3,34.2,-31.7,20,175,0.08,1.73,0.00,0.000,6,0.198,0.022,2346,2521,3626,0,0,0,0,0,0,26.18,26.43,28.83
$GC,479,-0.54,-170.3,124.0,-25.2,81,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2517,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,791,-0.54,-170.3,195.6,-21.1,142,797,0.00,1.92,0.00,0.000,4,0.000,0.021,2346,1114,3627,0,0,0,0,0,0,28.83,26.55,28.83
$GC,896,-0.54,-170.3,210.6,-11.9,154,904,0.00,2.25,0.00,0.000,6,0.000,0.043,2335,2618,3627,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1205,-0.54,-170.3,274.9,-21.0,185,1209,0.00,2.10,0.00,0.000,4,0.000,0.027,2335,1143,3627,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1236,-0.54,-170.3,281.1,-19.5,188,1245,0.00,2.22,0.00,0.000,6,0.000,0.046,2334,2617,3627,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1546,-0.54,-170.3,333.9,-17.3,219,1556,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1145,3626,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1638,-0.54,-170.3,346.0,-11.8,228,1648,0.05,2.22,0.00,0.000,6,0.223,0.045,2348,2620,3625,0,0,0,0,0,0,26.26,26.35,28.83
$GC,1949,-0.54,-170.3,385.8,-12.0,259,1952,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1149,3624,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2000,-0.54,-170.3,391.2,-10.6,264,2009,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2620,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2310,-0.54,-170.3,426.2,-10.6,295,2319,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1134,3622,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2342,-0.54,-170.3,429.6,-10.3,298,2351,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2620,3622,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2651,-0.54,-170.3,459.7,-9.8,329,2655,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1137,3620,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2687,-0.54,-170.3,462.9,-10.2,332,2694,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2617,3620,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2992,-0.54,-170.3,495.0,-10.5,363,3001,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1129,3617,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3015,-0.54,-170.3,497.1,-10.2,365,3024,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2610,3617,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3324,-0.54,-170.3,526.4,-8.6,396,3327,0.00,1.77,0.00,0.000,4,0.000,0.056,2345,3757,3614,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3358,-0.54,-170.3,529.2,-8.7,399,3367,0.00,1.70,0.00,0.000,6,0.000,0.023,2345,2472,3614,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3665,-0.54,-170.3,556.8,-9.3,430,3674,0.00,1.90,0.00,0.000,4,0.000,0.025,2345,1128,3612,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3696,-0.54,-170.3,559.7,-9.1,433,3706,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2622,3612,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4006,-0.54,-170.3,588.2,-8.7,464,4010,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3773,3609,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4040,-0.54,-170.3,590.9,-8.7,467,4047,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2458,3608,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4359,-0.54,-170.3,616.0,-7.8,489,4364,0.00,1.98,0.00,0.000,4,0.000,0.055,2345,3761,3606,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4400,-0.54,-170.3,619.0,-7.6,491,4404,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2503,3605,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4717,-0.54,-170.3,645.2,-8.8,507,4721,0.00,1.92,0.00,0.000,4,0.000,0.028,2345,1136,3602,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4739,-0.54,-170.3,646.8,-9.1,508,4744,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2617,3602,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5055,-0.54,-170.3,677.9,-9.9,524,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2618,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,-0.54,-170.3,706.6,-9.3,539,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2618,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5655,-0.54,-170.3,731.8,-8.1,554,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2618,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,-0.54,-170.3,755.6,-7.7,569,5959,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1134,3593,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5994,-0.54,-170.3,758.8,-7.7,571,5999,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2621,3592,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6315,-0.54,-170.3,782.3,-7.4,587,6318,0.00,1.73,0.00,0.000,4,0.000,0.057,2345,3765,3590,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6339,-0.54,-170.3,783.9,-7.5,588,6342,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2497,3589,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6657,-0.54,-170.3,806.3,-7.1,604,6663,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3766,3587,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6704,-0.54,-170.3,809.3,-7.3,606,6707,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2498,3587,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7016,-0.54,-170.3,833.0,-7.8,622,7022,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3764,3586,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7060,-0.54,-170.3,836.0,-7.7,624,7063,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2499,3585,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7376,-0.54,-170.3,860.9,-7.7,640,7381,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3584,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7418,-0.54,-170.3,863.9,-7.6,642,7422,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2473,3583,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7738,-0.54,-170.3,887.1,-7.0,658,7743,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3767,3582,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7764,-0.54,-170.3,888.4,-6.8,659,7767,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2502,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8079,-0.54,-170.3,909.6,-6.5,675,8084,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3759,3580,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8125,-0.54,-170.3,912.3,-6.4,677,8128,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2502,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8437,-0.54,-170.3,932.3,-6.0,693,8442,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3763,3579,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8498,-0.54,-170.3,935.5,-5.6,696,8502,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2476,3578,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8819,-0.54,-170.3,953.5,-5.5,712,8825,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3764,3577,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8861,-0.54,-170.3,955.9,-5.7,714,8865,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2464,3576,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9183,-0.54,-170.3,975.2,-6.0,730,9189,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3765,3576,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9235,-0.54,-170.3,977.6,-6.0,732,9242,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2467,3576,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9440,begin apogee
$GC,9447,-0.17,0.0,990.9,-6.1,743,9597,0.32,0.08,144.20,1.727,6,0.101,0.096,2464,2440,2928,0,0,0,0,0,0,26.02,24.20,22.64
$STATE,9598,end apogee,CONTROL_FINISHED_OK
$STATE,9598,begin climb
$GC,9600,0.54,170.3,996.9,0.0,750,9778,0.62,2.35,165.50,1.679,4,0.053,0.055,2705,3760,2234,0,0,0,0,0,0,24.55,23.79,22.16
$GC,9805,0.54,170.3,986.0,12.5,760,9810,0.10,2.08,0.00,0.000,6,0.182,0.026,2687,2453,2232,0,0,0,0,0,0,24.34,24.68,28.83
$GC,10124,0.54,170.3,944.8,12.4,776,10130,0.00,2.03,0.00,0.000,4,0.000,0.054,2687,3766,2224,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10171,0.54,170.3,939.1,13.1,778,10175,0.08,1.92,0.00,0.000,6,0.227,0.025,2682,2444,2223,0,0,0,0,0,0,25.97,26.22,28.83
$GC,10483,0.54,170.3,899.9,12.2,794,10488,0.00,2.05,0.00,0.000,4,0.000,0.056,2681,3763,2221,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10572,0.54,170.3,888.1,14.9,798,10576,0.00,1.92,0.00,0.000,6,0.000,0.026,2689,2443,2221,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10878,0.54,170.3,846.0,13.1,813,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2439,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11179,0.54,170.3,807.6,12.5,828,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2439,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11478,0.54,170.3,769.6,13.1,843,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2439,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11778,0.54,170.3,734.7,11.1,858,11783,0.00,2.03,0.00,0.000,4,0.000,0.031,2700,1048,2217,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11798,0.54,170.3,732.5,11.1,859,11804,0.08,2.25,0.00,0.000,6,0.189,0.047,2684,2518,2216,0,0,0,0,0,0,26.06,26.17,28.83
$GC,12119,0.54,170.3,699.9,10.1,875,12123,0.00,1.92,0.00,0.000,4,0.000,0.056,2683,3771,2216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12188,0.54,170.3,692.6,11.2,878,12192,0.00,1.92,0.00,0.000,6,0.000,0.024,2693,2448,2216,0,0,0,0,0,0,28.83,26.44,28.83
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$GC,14939,0.54,170.9,410.4,10.5,1110,14948,0.08,1.90,0.00,0.000,6,0.208,0.022,2679,2431,2214,0,0,0,0,0,0,26.09,26.46,28.83
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$STATE,19251,end climb,SURFACE_DEPTH_REACHED
$STATE,19252,begin surface coast
$FINISH,0.8,1.021514
$STATE,19285,end surface coast,CONTROL_FINISHED_OK
$STATE,19285,begin surface
$SM_CCo,19360,0.00,0.000,0,0,955,484.22
$SM_GC,1.52,6.43,0.12,0.00,0.033,0.092,0.000,185,2657,955,-7.15,-0.37,484.22,0,0,0,0,0,0,26.42,26.53,28.83
$IRIDIUM_FIX,1932.09,12305.85,150512,060638
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.2,65.102
$10V_AH,10.0,39.861
$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,19.050,168.500,511.250,0.000,0.000,31.515,20.210,270.445,0.000,0.000,19.966,4346.308,10878.881,645.390,3521.623,417.861,0.000,2277.531,0.000,2874.425,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,126.225,1727.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.180,2327.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329800
$DATA_FILE_SIZE,127207,1725
$CAP_FILE_SIZE,202708,0
$CFSIZE,260165632,191852544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,233.9,1
$GPS,150512,172837,1939.596,12310.646,33,0.9,33,-2.3