version: 66.10
glider: 176
mission: 5
dive: 330
start: 5 19 112 23 32 17
data:
$ID,176
$MISSION,5
$DIVE,330
$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,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,-7956.2212
$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
$GPS1,190512,232336,1948.056,12331.937,25,1.9,25,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.8
$GPS2,190512,233149,1947.922,12331.982,15,2.0,32,-2.4
$SPEED_LIMITS,0.136,0.239
$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,41.3,97343,-13.8,-7.857
$D_GRID,5187
$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,-146.0,0.0,0.0,0,55,0.00,0.00,-35.88,0.000,2,0.000,0.000,179,2645,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.52,-146.0,3.2,-6.8,6,101,8.80,1.70,-26.62,0.000,4,0.231,0.060,2336,3783,3525,0,0,0,0,0,0,25.18,26.15,26.70
$GC,248,-0.52,-146.0,63.5,-23.0,36,256,0.05,1.73,0.00,0.000,6,0.223,0.022,2349,2509,3526,0,0,0,0,0,0,26.29,26.51,28.83
$GC,578,-0.52,-146.0,142.5,-23.0,97,584,0.00,1.92,0.00,0.000,4,0.000,0.027,2350,1140,3526,0,0,0,0,0,0,28.83,26.47,28.83
$GC,693,-0.52,-146.0,162.4,-14.3,119,700,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2622,3526,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1011,-0.52,-146.0,228.3,-21.1,168,1019,0.00,2.08,0.00,0.000,4,0.000,0.025,2348,1151,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1072,-0.52,-146.0,238.6,-14.5,174,1081,0.00,2.20,0.00,0.000,6,0.000,0.042,2345,2621,3526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1383,-0.52,-146.0,287.1,-14.0,205,1391,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1153,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1494,-0.52,-146.0,299.7,-10.2,216,1504,0.08,2.20,0.00,0.000,6,0.181,0.041,2356,2626,3526,0,0,0,0,0,0,26.22,26.35,28.83
$GC,1804,-0.52,-146.0,335.9,-12.8,247,1814,0.08,2.10,0.00,0.000,4,0.130,0.023,2291,1143,3525,0,0,0,0,0,0,26.66,26.48,28.83
$GC,1849,-0.52,-146.0,342.0,-14.3,251,1858,0.12,2.25,0.00,0.000,6,0.125,0.044,2354,2614,3525,0,0,0,0,0,0,26.03,26.32,28.83
$GC,2157,-0.52,-146.0,378.0,-11.0,282,2166,0.05,2.10,0.00,0.000,4,0.173,0.023,2293,1133,3523,0,0,0,0,0,0,26.67,26.48,28.83
$GC,2239,-0.52,-146.0,389.2,-14.3,290,2248,0.20,2.25,0.00,0.000,6,0.133,0.044,2355,2630,3523,0,0,0,0,0,0,26.07,26.32,28.83
$GC,2549,-0.52,-146.0,420.9,-9.8,321,2550,0.05,0.00,0.00,0.000,6,0.171,0.000,2292,2631,3520,0,0,0,0,0,0,26.67,28.83,28.83
$GC,2849,-0.52,-146.0,467.8,-15.0,351,2859,0.17,2.12,0.00,0.000,4,0.147,0.024,2351,1144,3519,0,0,0,0,0,0,26.22,26.46,28.83
$GC,2895,-0.52,-146.0,472.5,-10.8,355,2903,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2636,3519,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3204,-0.52,-146.0,501.6,-9.6,386,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,-0.52,-146.0,531.7,-9.7,416,3514,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1137,3513,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3587,-0.52,-146.0,539.3,-8.6,424,3596,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2625,3513,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3897,-0.52,-146.0,565.3,-7.7,455,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2625,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.52,-146.0,588.2,-7.5,485,4206,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1147,3508,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4243,-0.52,-146.0,591.4,-7.5,489,4251,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2630,3508,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4559,-0.52,-146.0,614.9,-7.3,511,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2631,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4859,-0.52,-146.0,637.2,-7.3,526,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-0.52,-146.0,659.2,-7.2,541,5166,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1140,3500,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5212,-0.52,-146.0,661.9,-7.0,543,5220,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2617,3499,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5520,-0.52,-146.0,682.7,-6.3,559,5524,0.00,1.77,0.00,0.000,4,0.000,0.056,2345,3762,3497,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5544,-0.52,-146.0,684.2,-6.4,560,5548,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2469,3497,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5862,-0.52,-146.0,705.4,-6.5,576,5868,0.00,2.00,0.00,0.000,4,0.000,0.054,2344,3770,3494,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5931,-0.52,-146.0,709.2,-6.4,579,5934,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2506,3493,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6243,-0.52,-146.0,731.1,-7.4,595,6248,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3771,3491,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6286,-0.52,-146.0,734.2,-7.5,597,6289,0.00,1.75,0.00,0.000,6,0.000,0.023,2344,2499,3491,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6604,-0.52,-146.0,760.5,-8.6,613,6609,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3756,3489,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6630,-0.52,-146.0,762.2,-8.6,614,6634,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2458,3488,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6943,-0.52,-146.0,788.8,-7.8,630,6949,0.00,2.03,0.00,0.000,4,0.000,0.054,2339,3765,3488,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7023,-0.52,-146.0,795.1,-7.9,634,7027,0.00,1.73,0.00,0.000,6,0.000,0.024,2339,2498,3487,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7344,-0.52,-146.0,817.8,-6.7,650,7350,0.00,2.00,0.00,0.000,4,0.000,0.054,2331,3766,3486,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7398,-0.52,-146.0,820.6,-6.7,652,7406,0.08,1.73,0.00,0.000,6,0.167,0.024,2355,2468,3485,0,0,0,0,0,0,26.32,26.56,28.83
$GC,7706,-0.52,-146.0,838.2,-5.3,668,7712,0.05,2.00,0.00,0.000,4,0.171,0.054,2301,3757,3484,0,0,0,0,0,0,26.63,25.96,28.83
$GC,7745,-0.52,-146.0,841.4,-6.3,670,7751,0.17,1.73,0.00,0.000,6,0.125,0.024,2358,2474,3482,0,0,0,0,0,0,26.10,26.55,28.83
$GC,8066,-0.52,-146.0,860.0,-5.8,686,8072,0.08,2.00,0.00,0.000,4,0.128,0.052,2292,3768,3481,0,0,0,0,0,0,26.60,25.96,28.83
$GC,8106,-0.52,-146.0,863.5,-7.1,688,8112,0.20,1.75,0.00,0.000,6,0.127,0.024,2357,2456,3481,0,0,0,0,0,0,26.03,26.55,28.83
$GC,8427,-0.52,-146.0,884.0,-6.1,704,8433,0.08,2.00,0.00,0.000,4,0.127,0.054,2291,3755,3481,0,0,0,0,0,0,26.60,25.93,28.83
$GC,8493,-0.52,-146.0,889.6,-8.6,707,8497,0.20,1.73,0.00,0.000,6,0.125,0.024,2357,2475,3480,0,0,0,0,0,0,26.03,26.54,28.83
$GC,8807,-0.52,-146.0,909.4,-5.8,723,8813,0.08,1.98,0.00,0.000,4,0.127,0.053,2288,3759,3479,0,0,0,0,0,0,26.60,25.93,28.83
$GC,8859,-0.52,-146.0,913.0,-7.2,725,8866,0.20,1.73,0.00,0.000,6,0.127,0.024,2354,2476,3478,0,0,0,0,0,0,26.00,26.53,28.83
$GC,9167,-0.52,-146.0,934.6,-6.5,741,9173,0.05,2.00,0.00,0.000,4,0.171,0.054,2304,3758,3478,0,0,0,0,0,0,26.61,25.89,28.83
$GC,9214,-0.52,-146.0,938.1,-7.6,743,9218,0.15,1.73,0.00,0.000,6,0.130,0.024,2353,2481,3477,0,0,0,0,0,0,26.11,26.53,28.83
$GC,9521,-0.52,-146.0,959.3,-6.6,758,9527,0.00,2.00,0.00,0.000,4,0.000,0.056,2346,3766,3476,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9575,-0.52,-146.0,962.0,-6.7,760,9581,0.00,1.75,0.00,0.000,6,0.000,0.024,2346,2466,3476,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9881,-0.52,-146.0,983.2,-6.3,776,9887,0.00,2.05,0.00,0.000,4,0.000,0.057,2345,3768,3475,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9921,-0.52,-146.0,985.9,-6.5,778,9924,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2508,3474,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,10001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10001,begin apogee
$GC,10008,-0.17,0.0,990.9,-6.2,782,10137,0.32,0.08,123.43,1.726,6,0.103,0.096,2463,2434,2929,0,0,0,0,0,0,25.98,24.37,22.68
$STATE,10138,end apogee,CONTROL_FINISHED_OK
$STATE,10139,begin climb
$GC,10142,0.52,146.0,995.3,0.0,788,10289,0.65,0.00,143.80,1.682,6,0.049,0.000,2711,2433,2332,0,0,0,0,0,0,24.78,28.83,22.09
$GC,10578,0.52,146.0,949.2,14.2,810,10583,0.12,2.05,0.00,0.000,4,0.192,0.054,2676,3757,2321,0,0,0,0,0,0,25.83,25.95,28.83
$GC,10641,0.52,146.0,941.0,13.7,813,10645,0.00,1.92,0.00,0.000,6,0.000,0.024,2685,2438,2320,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10953,0.52,146.0,903.6,11.9,829,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2434,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11253,0.52,146.0,868.4,11.8,844,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2434,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11553,0.52,146.0,833.5,11.5,859,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2434,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11852,0.52,146.0,798.1,11.7,874,11858,0.00,2.08,0.00,0.000,4,0.000,0.055,2685,3763,2314,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11874,0.52,146.0,795.4,12.0,875,11879,0.05,1.92,0.00,0.000,6,0.187,0.024,2679,2453,2314,0,0,0,0,0,0,26.09,26.43,28.83
$GC,12192,0.52,146.0,759.2,11.1,891,12197,0.00,2.08,0.00,0.000,4,0.000,0.054,2679,3772,2313,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12220,0.52,146.0,756.9,11.0,892,12223,0.00,1.90,0.00,0.000,6,0.000,0.023,2688,2446,2313,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12533,0.52,146.0,722.2,10.0,908,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2442,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12833,0.52,146.0,693.6,9.6,923,12838,0.00,2.03,0.00,0.000,4,0.000,0.032,2699,1055,2312,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,20804,end climb,SURFACE_DEPTH_REACHED
$STATE,20804,begin surface coast
$FINISH,0.7,1.021055
$STATE,20900,end surface coast,CONTROL_FINISHED_OK
$STATE,20900,begin surface
$SM_CCo,20976,0.00,0.000,0,0,1191,426.33
$SM_GC,1.81,6.38,0.12,0.00,0.033,0.096,0.000,194,2635,1191,-7.14,-0.51,426.33,0,0,0,0,0,0,26.41,26.55,28.83
$IRIDIUM_FIX,1938.95,12330.61,190512,171710
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.10
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.1,68.785
$10V_AH,9.9,42.391
$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,20.525,168.625,448.025,0.000,0.000,30.357,43.966,244.047,0.000,0.000,35.259,4809.471,11718.341,607.415,3845.889,456.423,0.000,2359.175,0.000,3196.531,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,124.695,1725.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.152,2511.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,140508,1899
$CAP_FILE_SIZE,219464,0
$CFSIZE,260165632,189714432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,203.4,1
$GPS,200512,052301,1948.205,12332.841,38,1.2,38,-2.4