version: 66.10
glider: 176
mission: 5
dive: 303
start: 5 13 112 10 38 48
data:
$ID,176
$MISSION,5
$DIVE,303
$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,-5
$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,-7920.7378
$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
$GPS1,130512,103106,1931.566,12253.902,36,0.9,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.7
$GPS2,130512,103819,1931.646,12253.915,12,1.6,12,-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,85.0,169763,-13.2,-8.250
$D_GRID,4850
$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,-0.54,-170.3,0.0,0.0,0,70,0.00,0.00,-51.62,0.000,2,0.000,0.000,190,2644,2334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.2,-7.2,9,119,8.55,1.70,-26.50,0.000,4,0.230,0.070,2336,3773,3626,0,0,0,0,0,0,25.29,26.13,26.68
$GC,221,-0.54,-170.3,57.1,-32.8,33,227,0.00,1.73,0.00,0.000,6,0.000,0.023,2336,2519,3625,0,0,0,0,0,0,28.83,26.46,28.83
$GC,547,-0.54,-170.3,153.0,-23.8,94,553,0.00,1.90,0.00,0.000,4,0.000,0.051,2326,3777,3625,0,0,0,0,0,0,28.83,26.29,28.83
$GC,586,-0.54,-170.3,161.8,-22.5,101,593,0.08,1.70,0.00,0.000,6,0.187,0.021,2346,2491,3626,0,0,0,0,0,0,26.35,26.60,28.83
$GC,896,-0.54,-170.3,220.2,-17.5,151,905,0.00,1.92,0.00,0.000,4,0.000,0.049,2337,3768,3625,0,0,0,0,0,0,28.83,26.32,28.83
$GC,929,-0.54,-170.3,226.3,-18.9,154,932,0.00,1.67,0.00,0.000,6,0.000,0.022,2337,2506,3626,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1241,-0.54,-170.3,286.8,-19.2,185,1249,0.00,1.90,0.00,0.000,4,0.000,0.024,2338,1122,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1315,-0.54,-170.3,298.0,-13.3,192,1322,0.00,2.25,0.00,0.000,6,0.000,0.042,2335,2627,3625,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1622,-0.54,-170.3,346.8,-14.7,223,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2627,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1926,-0.54,-170.3,390.0,-14.1,253,1934,0.00,2.10,0.00,0.000,4,0.000,0.025,2337,1134,3623,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2017,-0.54,-170.3,401.1,-11.1,262,2026,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2618,3622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2327,-0.54,-170.3,440.3,-12.9,293,2330,0.00,1.73,0.00,0.000,4,0.000,0.055,2332,3766,3620,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2410,-0.54,-170.3,450.2,-11.5,301,2418,0.03,1.73,0.00,0.000,6,0.083,0.022,2359,2479,3619,0,0,0,0,0,0,26.37,26.63,28.83
$GC,2718,-0.54,-170.3,479.9,-9.0,332,2727,0.10,1.98,0.00,0.000,4,0.102,0.052,2272,3767,3617,0,0,0,0,0,0,26.65,26.26,28.83
$GC,2772,-0.54,-170.3,487.1,-14.9,337,2780,0.20,1.75,0.00,0.000,6,0.119,0.022,2346,2474,3618,0,0,0,0,0,0,26.10,26.60,28.83
$GC,3080,-0.54,-170.3,519.7,-10.6,368,3089,0.00,1.85,0.00,0.000,4,0.000,0.025,2346,1135,3615,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3104,-0.54,-170.3,521.8,-10.1,370,3111,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2621,3615,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3412,-0.54,-170.3,550.0,-8.3,401,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2621,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3714,-0.54,-170.3,576.7,-8.6,431,3723,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1134,3610,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3749,-0.54,-170.3,579.4,-8.2,434,3756,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2619,3610,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4058,-0.54,-170.3,603.3,-7.9,463,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2619,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-0.54,-170.3,628.1,-8.3,478,4362,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1138,3604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4405,-0.54,-170.3,631.4,-8.2,480,4409,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2616,3603,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4711,-0.54,-170.3,655.8,-7.3,495,4715,0.00,1.75,0.00,0.000,4,0.000,0.057,2345,3765,3601,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4755,-0.54,-170.3,658.8,-7.3,497,4759,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2502,3599,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5074,-0.54,-170.3,681.3,-7.3,513,5079,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3766,3598,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5120,-0.54,-170.3,684.1,-7.3,515,5124,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2503,3597,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5432,-0.54,-170.3,709.4,-8.3,531,5438,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3775,3594,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5466,-0.54,-170.3,711.1,-8.4,532,5473,0.00,1.75,0.00,0.000,6,0.000,0.023,2344,2450,3593,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5773,-0.54,-170.3,737.4,-8.1,548,5779,0.00,2.03,0.00,0.000,4,0.000,0.055,2343,3765,3592,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5834,-0.54,-170.3,742.1,-7.8,551,5837,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2507,3591,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6155,-0.54,-170.3,766.4,-7.3,567,6160,0.00,2.03,0.00,0.000,4,0.000,0.056,2343,3775,3589,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6188,-0.54,-170.3,767.9,-7.4,568,6194,0.00,1.75,0.00,0.000,6,0.000,0.023,2343,2470,3588,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6496,-0.54,-170.3,789.7,-6.6,584,6502,0.00,1.88,0.00,0.000,4,0.000,0.026,2343,1140,3586,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6519,-0.54,-170.3,791.0,-6.7,585,6525,0.00,2.28,0.00,0.000,6,0.000,0.045,2343,2626,3587,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6836,-0.54,-170.3,811.2,-6.2,601,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7136,-0.54,-170.3,831.0,-6.9,616,7142,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1137,3583,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7175,-0.54,-170.3,833.7,-6.8,618,7180,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2616,3583,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7496,-0.54,-170.3,856.2,-6.7,634,7499,0.00,1.75,0.00,0.000,4,0.000,0.058,2343,3766,3582,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7538,-0.54,-170.3,859.0,-6.5,636,7541,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2503,3581,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7859,-0.54,-170.3,876.9,-5.3,652,7865,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3764,3579,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7920,-0.54,-170.3,879.8,-4.8,655,7923,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2500,3579,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8241,-0.54,-170.3,895.9,-5.0,671,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2467,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.54,-170.3,913.2,-6.1,686,8547,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3771,3576,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8570,-0.54,-170.3,914.4,-6.2,687,8573,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2512,3576,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8881,-0.54,-170.3,936.1,-7.1,703,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2478,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,-0.54,-170.3,958.3,-7.4,718,9187,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3767,3574,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9224,-0.54,-170.3,961.4,-7.6,720,9227,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2508,3574,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9542,-0.54,-170.3,984.5,-6.9,736,9547,0.00,1.92,0.00,0.000,4,0.000,0.028,2343,1141,3573,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9564,-0.54,-170.3,986.0,-7.0,737,9568,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2615,3573,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9634,begin apogee
$GC,9639,-0.17,0.0,991.2,-7.0,741,9790,0.32,0.10,143.85,1.727,6,0.100,0.067,2462,2539,2929,0,0,0,0,0,0,26.03,24.20,22.65
$STATE,9791,end apogee,CONTROL_FINISHED_OK
$STATE,9791,begin climb
$GC,9794,0.54,170.3,998.0,0.0,748,9964,0.62,0.00,165.82,1.678,6,0.050,0.000,2705,2539,2233,0,0,0,0,0,0,24.54,28.83,22.18
$GC,10256,0.54,170.3,947.9,14.7,772,10262,0.10,2.22,0.00,0.000,4,0.197,0.029,2693,1056,2222,0,0,0,0,0,0,25.93,26.06,28.83
$GC,10305,0.54,170.3,942.7,13.8,774,10309,0.00,2.28,0.00,0.000,6,0.000,0.047,2693,2518,2220,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10611,0.54,170.3,899.4,14.1,789,10616,0.00,2.15,0.00,0.000,4,0.000,0.031,2704,1054,2219,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10644,0.54,170.3,896.4,14.5,790,10651,0.10,2.28,0.00,0.000,6,0.184,0.047,2680,2525,2218,0,0,0,0,0,0,25.96,26.17,28.83
$GC,10953,0.54,170.3,854.3,12.5,806,10958,0.00,1.90,0.00,0.000,4,0.000,0.054,2680,3769,2218,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11024,0.54,170.3,845.5,14.0,809,11032,0.00,1.90,0.00,0.000,6,0.000,0.025,2689,2449,2217,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11332,0.54,170.3,803.4,12.7,825,11336,0.00,2.05,0.00,0.000,4,0.000,0.055,2689,3764,2216,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11361,0.54,170.3,800.3,12.9,826,11365,0.08,1.90,0.00,0.000,6,0.231,0.025,2684,2447,2216,0,0,0,0,0,0,26.13,26.41,28.83
$GC,11674,0.54,170.3,760.5,12.2,842,11679,0.00,2.05,0.00,0.000,4,0.000,0.030,2694,1046,2215,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11717,0.54,170.3,755.8,11.9,844,11722,0.05,2.25,0.00,0.000,6,0.218,0.045,2682,2523,2215,0,0,0,0,0,0,26.12,26.20,28.83
$GC,12029,0.54,170.3,717.4,12.4,860,12035,0.00,1.92,0.00,0.000,4,0.000,0.055,2682,3776,2214,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12084,0.54,170.3,711.9,13.0,862,12090,0.00,1.90,0.00,0.000,6,0.000,0.023,2692,2449,2214,0,0,0,0,0,0,28.83,26.45,28.83
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$STATE,19173,end climb,SURFACE_DEPTH_REACHED
$STATE,19173,begin surface coast
$FINISH,0.8,1.021406
$STATE,19220,end surface coast,CONTROL_FINISHED_OK
$STATE,19220,begin surface
$SM_CCo,19296,0.00,0.000,0,0,903,496.98
$SM_GC,1.48,6.43,0.12,0.00,0.031,0.093,0.000,194,2653,903,-7.16,-0.40,496.98,0,0,0,0,0,0,26.36,26.55,28.83
$IRIDIUM_FIX,1925.22,12250.02,130512,050518
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.43
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.2,63.180
$10V_AH,9.9,38.707
$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,19.500,171.725,504.825,0.000,0.000,30.511,19.549,235.497,0.000,0.000,14.979,4326.853,10821.702,648.477,3495.909,407.310,0.000,2296.881,0.000,2883.302,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,93.330,1727.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.220,2322.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324036
$DATA_FILE_SIZE,126922,1712
$CAP_FILE_SIZE,205421,0
$CFSIZE,260165632,192823296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,351.7,1
$GPS,130512,160131,1932.169,12256.489,37,1.5,37,-2.3