version: 66.10
glider: 176
mission: 5
dive: 376
start: 5 29 112 22 30 12
data:
$ID,176
$MISSION,5
$DIVE,376
$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,-8014.3809
$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
$GPS1,290512,222137,1916.870,12422.546,36,0.9,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.3
$GPS2,290512,222944,1916.812,12422.553,13,1.2,13,-2.3
$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,167.3,162266,-12.5,-7.857
$D_GRID,5305
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,53,0.00,0.00,-34.60,0.000,2,0.000,0.000,175,2686,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.52,-170.3,3.0,-6.1,6,104,8.90,2.25,-30.62,0.000,4,0.234,0.037,2346,1137,3624,0,0,0,0,0,0,25.08,26.22,26.67
$GC,199,-0.52,-170.3,33.1,-14.6,26,206,0.08,2.22,0.00,0.000,6,0.181,0.041,2355,2621,3626,0,0,0,0,0,0,26.03,26.17,28.83
$GC,529,-0.52,-170.3,105.9,-19.4,87,537,0.05,1.70,0.00,0.000,4,0.176,0.050,2304,3767,3626,0,0,0,0,0,0,26.62,26.15,28.83
$GC,565,-0.52,-170.3,114.0,-21.7,90,572,0.17,1.70,0.00,0.000,6,0.147,0.022,2357,2486,3625,0,0,0,0,0,0,26.04,26.55,28.83
$GC,879,-0.52,-170.3,166.0,-13.7,151,886,0.08,1.90,0.00,0.000,4,0.136,0.024,2296,1141,3626,0,0,0,0,0,0,26.61,26.41,28.83
$GC,934,-0.52,-170.3,174.3,-14.6,161,941,0.20,2.22,0.00,0.000,6,0.137,0.044,2354,2628,3627,0,0,0,0,0,0,25.95,26.23,28.83
$GC,1252,-0.52,-170.3,221.2,-15.0,209,1262,0.05,2.12,0.00,0.000,4,0.174,0.024,2302,1144,3626,0,0,0,0,0,0,26.64,26.41,28.83
$GC,1295,-0.52,-170.3,228.4,-16.9,213,1304,0.20,2.20,0.00,0.000,6,0.135,0.043,2355,2619,3626,0,0,0,0,0,0,25.96,26.24,28.83
$GC,1604,-0.52,-170.3,271.4,-12.2,244,1606,0.05,0.00,0.00,0.000,6,0.173,0.000,2296,2619,3626,0,0,0,0,0,0,26.65,28.83,28.83
$GC,1904,-0.52,-170.3,330.0,-21.2,274,1914,0.15,2.10,0.00,0.000,4,0.161,0.022,2347,1142,3625,0,0,0,0,0,0,26.18,26.42,28.83
$GC,1978,-0.52,-170.3,339.6,-10.4,281,1987,0.00,2.20,0.00,0.000,6,0.000,0.043,2346,2613,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2286,-0.52,-170.3,371.7,-9.4,312,2290,0.00,1.73,0.00,0.000,4,0.000,0.054,2343,3768,3623,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2310,-0.52,-170.3,373.8,-9.5,314,2318,0.00,1.75,0.00,0.000,6,0.000,0.022,2343,2466,3623,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2619,-0.52,-170.3,405.7,-10.1,345,2627,0.00,1.88,0.00,0.000,4,0.000,0.025,2343,1142,3622,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2644,-0.52,-170.3,407.9,-9.9,347,2651,0.08,2.22,0.00,0.000,6,0.167,0.043,2358,2619,3622,0,0,0,0,0,0,26.12,26.22,28.83
$GC,2950,-0.52,-170.3,429.0,-6.4,378,2954,0.08,1.75,0.00,0.000,4,0.126,0.052,2281,3758,3619,0,0,0,0,0,0,26.61,26.11,28.83
$GC,3024,-0.52,-170.3,437.7,-13.8,385,3033,0.22,1.70,0.00,0.000,6,0.125,0.022,2356,2457,3619,0,0,0,0,0,0,26.05,26.58,28.83
$GC,3332,-0.52,-170.3,465.0,-9.3,416,3342,0.05,2.03,0.00,0.000,4,0.173,0.054,2290,3773,3616,0,0,0,0,0,0,26.63,26.06,28.83
$GC,3387,-0.52,-170.3,472.1,-14.3,421,3396,0.20,1.70,0.00,0.000,6,0.125,0.022,2358,2466,3616,0,0,0,0,0,0,26.09,26.58,28.83
$GC,3696,-0.52,-170.3,502.0,-9.1,452,3707,0.08,2.00,0.00,0.000,4,0.127,0.051,2279,3766,3614,0,0,0,0,0,0,26.60,26.08,28.83
$GC,3763,-0.52,-170.3,510.7,-14.9,458,3771,0.22,1.73,0.00,0.000,6,0.127,0.022,2353,2460,3613,0,0,0,0,0,0,26.03,26.56,28.83
$GC,4070,-0.52,-170.3,535.4,-6.8,489,4079,0.00,2.03,0.00,0.000,4,0.000,0.054,2347,3774,3612,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4113,-0.52,-170.3,538.4,-7.1,493,4117,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2491,3611,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4424,-0.52,-170.3,563.3,-8.5,524,4434,0.00,2.08,0.00,0.000,4,0.000,0.056,2347,3773,3609,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4477,-0.52,-170.3,567.6,-8.3,529,4480,0.00,1.75,0.00,0.000,6,0.000,0.023,2347,2494,3608,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4789,-0.52,-170.3,590.1,-6.1,560,4798,0.00,2.03,0.00,0.000,4,0.000,0.055,2347,3766,3606,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4834,-0.52,-170.3,592.6,-5.9,564,4842,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2466,3605,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5152,-0.52,-170.3,610.8,-6.2,587,5158,0.00,2.00,0.00,0.000,4,0.000,0.055,2347,3755,3604,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5221,-0.52,-170.3,614.9,-6.6,590,5224,0.00,1.70,0.00,0.000,6,0.000,0.023,2347,2493,3603,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5534,-0.52,-170.3,638.3,-7.4,606,5539,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3763,3601,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5597,-0.52,-170.3,642.5,-7.1,609,5600,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2501,3600,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5915,-0.52,-170.3,663.7,-6.3,625,5919,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3770,3598,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5958,-0.52,-170.3,666.5,-6.3,627,5961,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2500,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6279,-0.52,-170.3,687.9,-7.1,643,6285,0.00,2.05,0.00,0.000,4,0.000,0.056,2347,3766,3597,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6333,-0.52,-170.3,690.9,-7.5,645,6340,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2460,3596,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6640,-0.52,-170.3,716.2,-7.8,661,6645,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3765,3595,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6679,-0.52,-170.3,719.2,-7.6,663,6682,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2496,3594,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7002,-0.52,-170.3,741.7,-7.0,679,7007,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3766,3593,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7041,-0.52,-170.3,744.5,-6.9,681,7044,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2499,3592,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7364,-0.52,-170.3,767.6,-7.0,697,7369,0.00,2.00,0.00,0.000,4,0.000,0.056,2347,3763,3591,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7416,-0.52,-170.3,770.2,-6.8,699,7423,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2464,3590,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7722,-0.52,-170.3,789.5,-5.5,715,7728,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3766,3589,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7764,-0.52,-170.3,791.6,-5.3,717,7768,0.00,1.77,0.00,0.000,6,0.000,0.024,2347,2464,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8086,-0.52,-170.3,807.4,-5.0,733,8092,0.00,2.00,0.00,0.000,4,0.000,0.056,2347,3754,3587,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8128,-0.52,-170.3,809.5,-5.1,735,8132,0.00,1.73,0.00,0.000,6,0.000,0.025,2347,2503,3587,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8447,-0.52,-170.3,826.8,-5.4,751,8450,0.00,2.05,0.00,0.000,4,0.000,0.057,2347,3769,3586,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8491,-0.52,-170.3,829.2,-5.5,753,8494,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2496,3585,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8810,-0.52,-170.3,847.1,-5.9,769,8814,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3767,3585,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8855,-0.52,-170.3,849.8,-6.1,771,8858,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2504,3584,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9172,-0.52,-170.3,872.7,-7.7,787,9176,0.00,2.05,0.00,0.000,4,0.000,0.057,2347,3766,3584,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9217,-0.52,-170.3,875.8,-7.6,789,9220,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2509,3583,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9539,-0.52,-170.3,901.1,-7.6,805,9544,0.00,1.92,0.00,0.000,4,0.000,0.027,2347,1135,3582,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9607,-0.52,-170.3,905.6,-7.5,808,9611,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2621,3582,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9913,-0.52,-170.3,926.1,-5.8,823,9919,0.00,2.17,0.00,0.000,4,0.000,0.025,2347,1133,3581,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10057,-0.52,-170.3,933.8,-5.4,830,10063,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2612,3581,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10377,-0.52,-170.3,950.2,-5.2,846,10382,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1146,3580,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10491,-0.52,-170.3,955.7,-5.5,851,10497,0.00,2.28,0.00,0.000,6,0.000,0.045,2347,2622,3580,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10795,-0.52,-170.3,975.9,-6.9,867,10801,0.00,2.17,0.00,0.000,4,0.000,0.025,2347,1133,3579,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10948,-0.52,-170.3,985.9,-7.3,874,10955,0.00,2.30,0.00,0.000,6,0.000,0.045,2347,2628,3579,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,10993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10994,begin apogee
$GC,10999,-0.17,0.0,990.2,-7.0,877,11159,0.32,0.15,146.70,1.714,6,0.080,0.083,2477,2541,2928,0,0,0,0,0,0,26.11,24.13,22.27
$STATE,11160,end apogee,CONTROL_FINISHED_OK
$STATE,11160,begin climb
$GC,11162,0.52,170.3,1000.2,0.0,885,11338,0.60,2.20,167.73,1.672,4,0.045,0.057,2711,3765,2233,0,0,0,0,0,0,24.61,23.63,21.80
$GC,11355,0.52,170.3,994.5,9.1,894,11362,0.17,2.08,0.00,0.000,6,0.187,0.024,2680,2456,2232,0,0,0,0,0,0,23.96,24.30,28.83
$GC,11661,0.52,170.3,952.5,12.7,910,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2452,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11961,0.52,170.3,915.9,12.1,925,11967,0.00,2.08,0.00,0.000,4,0.000,0.031,2690,1042,2221,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,20928,end climb,SURFACE_DEPTH_REACHED
$STATE,20929,begin surface coast
$FINISH,0.8,1.003045
$STATE,21041,end surface coast,CONTROL_FINISHED_OK
$STATE,21041,begin surface
$SM_CCo,21117,0.00,0.000,0,0,1390,377.52
$SM_GC,1.48,6.35,0.28,0.00,0.033,0.054,0.000,186,2646,1390,-7.15,-0.40,377.52,0,0,0,0,0,0,26.31,26.51,28.83
$IRIDIUM_FIX,1911.51,12423.22,290512,161644
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,21.8,79.034
$10V_AH,9.8,48.047
$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
$DEVICE_SECS,21.300,203.900,434.475,0.000,0.000,25.586,26.212,279.119,0.000,0.000,15.806,4900.500,11612.029,649.622,3914.783,493.230,0.000,2477.949,0.000,3291.028,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1311.599,2498.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,143723,1922
$CAP_FILE_SIZE,234714,0
$CFSIZE,260165632,184856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,185.1,1
$GPS,300512,042307,1913.776,12423.039,29,1.1,29,-2.3