version: 66.10
glider: 176
mission: 5
dive: 304
start: 5 13 112 16 9 12
data:
$ID,176
$MISSION,5
$DIVE,304
$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,-7922.0894
$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
$GPS1,130512,160131,1932.169,12256.489,37,1.5,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.3
$GPS2,130512,160843,1932.202,12256.542,9,1.1,14,-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,68.7,165260,-13.2,-8.250
$D_GRID,4828
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-52.42,0.000,2,0.000,0.000,190,2654,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.54,-170.3,3.1,-7.0,9,118,8.62,1.75,-27.30,0.000,4,0.232,0.068,2331,3776,3626,0,0,0,0,0,0,25.25,26.14,26.68
$GC,192,-0.54,-170.3,42.4,-30.4,24,199,0.05,1.73,0.00,0.000,6,0.231,0.023,2343,2511,3626,0,0,0,0,0,0,26.25,26.45,28.83
$GC,520,-0.54,-170.3,148.8,-28.8,85,526,0.00,1.92,0.00,0.000,4,0.000,0.052,2334,3774,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,571,-0.54,-170.3,163.5,-26.9,94,577,0.00,1.70,0.00,0.000,6,0.000,0.022,2334,2514,3626,0,0,0,0,0,0,28.83,26.59,28.83
$GC,880,-0.54,-170.3,236.2,-20.6,139,883,0.00,1.92,0.00,0.000,4,0.000,0.027,2334,1138,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,917,-0.54,-170.3,242.5,-18.5,142,926,0.05,2.22,0.00,0.000,6,0.227,0.047,2347,2618,3626,0,0,0,0,0,0,26.25,26.35,28.83
$GC,1226,-0.54,-170.3,291.7,-15.1,173,1235,0.00,2.10,0.00,0.000,4,0.000,0.025,2349,1141,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1247,-0.54,-170.3,294.9,-15.2,175,1258,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2626,3625,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1557,-0.54,-170.3,338.9,-14.6,206,1566,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1135,3625,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1591,-0.54,-170.3,343.1,-13.2,209,1598,0.00,2.22,0.00,0.000,6,0.000,0.042,2335,2624,3624,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1899,-0.54,-170.3,386.7,-14.0,240,1903,0.00,1.75,0.00,0.000,4,0.000,0.054,2332,3772,3623,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1922,-0.54,-170.3,389.7,-14.1,242,1930,0.03,1.75,0.00,0.000,6,0.171,0.022,2345,2481,3623,0,0,0,0,0,0,26.44,26.63,28.83
$GC,2230,-0.54,-170.3,427.4,-12.0,273,2234,0.00,1.95,0.00,0.000,4,0.000,0.054,2342,3768,3621,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2322,-0.54,-170.3,437.1,-10.1,282,2325,0.00,1.70,0.00,0.000,6,0.000,0.022,2342,2511,3620,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2632,-0.54,-170.3,470.6,-10.0,313,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2496,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,-0.54,-170.3,498.1,-8.9,343,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2496,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3235,-0.54,-170.3,526.0,-9.7,373,3243,0.00,1.95,0.00,0.000,4,0.000,0.054,2334,3766,3613,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3266,-0.54,-170.3,529.3,-10.3,376,3270,0.00,1.73,0.00,0.000,6,0.000,0.022,2335,2489,3613,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3577,-0.54,-170.3,558.9,-8.8,407,3587,0.00,2.03,0.00,0.000,4,0.000,0.055,2332,3769,3611,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3602,-0.54,-170.3,560.8,-8.8,409,3610,0.05,1.73,0.00,0.000,6,0.204,0.023,2350,2468,3610,0,0,0,0,0,0,26.44,26.63,28.83
$GC,3911,-0.54,-170.3,582.5,-6.8,440,3913,0.05,0.00,0.00,0.000,6,0.174,0.000,2291,2468,3608,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4220,-0.54,-170.3,621.3,-13.0,463,4226,0.15,1.98,0.00,0.000,4,0.146,0.051,2336,3765,3604,0,0,0,0,0,0,26.28,26.20,28.83
$GC,4268,-0.54,-170.3,625.4,-11.7,465,4272,0.00,1.75,0.00,0.000,6,0.000,0.023,2336,2467,3604,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4581,-0.54,-170.3,653.7,-9.2,481,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2464,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,-0.54,-170.3,681.0,-9.0,496,4887,0.00,2.00,0.00,0.000,4,0.000,0.055,2335,3766,3599,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4961,-0.54,-170.3,688.1,-8.9,500,4964,0.00,1.75,0.00,0.000,6,0.000,0.024,2335,2501,3598,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5285,-0.54,-170.3,719.4,-9.8,516,5290,0.00,2.00,0.00,0.000,4,0.000,0.055,2330,3768,3595,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5331,-0.54,-170.3,723.7,-10.0,518,5335,0.05,1.75,0.00,0.000,6,0.201,0.024,2350,2467,3595,0,0,0,0,0,0,26.40,26.60,28.83
$GC,5644,-0.54,-170.3,749.7,-7.4,534,5650,0.05,2.00,0.00,0.000,4,0.174,0.053,2292,3762,3593,0,0,0,0,0,0,26.64,26.11,28.83
$GC,5731,-0.54,-170.3,758.0,-10.6,538,5735,0.17,1.75,0.00,0.000,6,0.128,0.024,2350,2475,3592,0,0,0,0,0,0,26.15,26.59,28.83
$GC,6044,-0.54,-170.3,780.0,-6.4,554,6050,0.05,2.00,0.00,0.000,4,0.171,0.054,2300,3766,3590,0,0,0,0,0,0,26.64,26.08,28.83
$GC,6091,-0.54,-170.3,783.4,-7.4,556,6095,0.15,1.75,0.00,0.000,6,0.131,0.024,2349,2468,3588,0,0,0,0,0,0,26.20,26.58,28.83
$GC,6398,-0.54,-170.3,807.2,-7.8,571,6404,0.05,2.00,0.00,0.000,4,0.176,0.054,2300,3763,3587,0,0,0,0,0,0,26.63,26.06,28.83
$GC,6461,-0.54,-170.3,813.5,-9.7,574,6467,0.15,1.75,0.00,0.000,6,0.130,0.024,2349,2470,3586,0,0,0,0,0,0,26.19,26.58,28.83
$GC,6780,-0.54,-170.3,837.5,-7.0,590,6786,0.05,2.00,0.00,0.000,4,0.176,0.054,2300,3765,3585,0,0,0,0,0,0,26.63,26.05,28.83
$GC,6850,-0.54,-170.3,843.1,-8.8,593,6859,0.15,1.75,0.00,0.000,6,0.132,0.024,2349,2473,3584,0,0,0,0,0,0,26.17,26.56,28.83
$GC,7162,-0.54,-170.3,863.6,-5.8,609,7167,0.05,2.00,0.00,0.000,4,0.174,0.054,2300,3760,3582,0,0,0,0,0,0,26.63,26.03,28.83
$GC,7236,-0.54,-170.3,869.2,-8.4,612,7243,0.15,1.73,0.00,0.000,6,0.130,0.024,2349,2482,3582,0,0,0,0,0,0,26.17,26.58,28.83
$GC,7543,-0.54,-170.3,889.3,-5.8,628,7544,0.05,0.00,0.00,0.000,6,0.174,0.000,2301,2481,3581,0,0,0,0,0,0,26.63,28.83,28.83
$GC,7840,-0.54,-170.3,917.0,-9.2,643,7842,0.15,0.00,0.00,0.000,6,0.138,0.000,2349,2481,3579,0,0,0,0,0,0,26.29,28.83,28.83
$GC,8142,-0.54,-170.3,935.1,-6.1,658,8146,0.05,2.00,0.00,0.000,4,0.174,0.055,2302,3763,3578,0,0,0,0,0,0,26.63,25.97,28.83
$GC,8172,-0.54,-170.3,936.9,-6.4,659,8176,0.15,1.75,0.00,0.000,6,0.132,0.024,2351,2484,3577,0,0,0,0,0,0,26.14,26.54,28.83
$GC,8480,-0.54,-170.3,958.6,-6.9,674,8486,0.08,1.98,0.00,0.000,4,0.129,0.054,2291,3767,3576,0,0,0,0,0,0,26.60,25.96,28.83
$GC,8522,-0.54,-170.3,962.6,-8.1,676,8527,0.12,1.77,0.00,0.000,6,0.113,0.025,2350,2512,3575,0,0,0,0,0,0,26.05,26.53,28.83
$GC,8842,-0.54,-170.3,984.6,-6.4,692,8847,0.05,1.92,0.00,0.000,4,0.172,0.055,2302,3762,3574,0,0,0,0,0,0,26.62,25.94,28.83
$GC,8883,-0.54,-170.3,987.8,-7.0,694,8887,0.10,1.77,0.00,0.000,6,0.110,0.024,2344,2509,3574,0,0,0,0,0,0,26.15,26.52,28.83
$STATE,8919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8919,begin apogee
$GC,8924,-0.17,0.0,991.0,-8.2,696,9074,0.32,0.00,144.12,1.719,6,0.102,0.000,2463,2505,2928,0,0,0,0,0,0,26.03,28.83,22.71
$STATE,9075,end apogee,CONTROL_FINISHED_OK
$STATE,9076,begin climb
$GC,9078,0.54,170.3,996.4,0.0,703,9251,0.62,2.25,165.10,1.669,4,0.052,0.057,2705,3761,2234,0,0,0,0,0,0,24.58,23.80,22.22
$GC,9287,0.54,170.3,981.5,15.0,714,9292,0.15,2.03,0.00,0.000,6,0.190,0.027,2681,2456,2231,0,0,0,0,0,0,24.43,24.75,28.83
$GC,9594,0.54,170.3,935.4,14.5,729,9600,0.00,2.05,0.00,0.000,4,0.000,0.055,2681,3769,2222,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9715,0.54,170.3,915.2,17.0,735,9720,0.00,1.95,0.00,0.000,6,0.000,0.026,2689,2442,2221,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10034,0.54,170.3,869.1,13.5,751,10039,0.00,2.05,0.00,0.000,4,0.000,0.031,2700,1048,2219,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10096,0.54,170.3,861.5,12.9,754,10101,0.08,2.30,0.00,0.000,6,0.193,0.047,2684,2516,2218,0,0,0,0,0,0,26.08,26.20,28.83
$GC,10415,0.54,170.3,823.6,11.9,770,10420,0.00,2.12,0.00,0.000,4,0.000,0.031,2694,1060,2217,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10436,0.54,170.3,821.3,11.8,771,10441,0.05,2.25,0.00,0.000,6,0.220,0.047,2683,2517,2216,0,0,0,0,0,0,26.13,26.21,28.83
$GC,10750,0.54,170.3,784.7,12.0,787,10753,0.00,1.90,0.00,0.000,4,0.000,0.056,2683,3763,2216,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10835,0.54,170.3,773.5,13.8,791,10838,0.00,1.88,0.00,0.000,6,0.000,0.025,2692,2450,2216,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11147,0.54,170.3,736.6,10.8,807,11151,0.00,2.03,0.00,0.000,4,0.000,0.054,2692,3765,2215,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11177,0.54,170.3,734.1,10.7,808,11182,0.10,1.90,0.00,0.000,6,0.207,0.024,2679,2445,2215,0,0,0,0,0,0,26.06,26.44,28.83
$GC,11483,0.54,170.3,704.7,9.2,823,11489,0.00,2.03,0.00,0.000,4,0.000,0.054,2679,3763,2214,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11526,0.54,170.3,700.0,10.3,825,11530,0.00,1.92,0.00,0.000,6,0.000,0.024,2688,2448,2214,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11845,0.54,170.3,665.7,10.8,841,11850,0.00,2.03,0.00,0.000,4,0.000,0.032,2699,1054,2214,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11886,0.54,170.3,661.2,11.1,843,11891,0.08,2.25,0.00,0.000,6,0.192,0.045,2683,2518,2213,0,0,0,0,0,0,26.05,26.17,28.83
$GC,12200,0.54,170.3,625.0,10.7,859,12205,0.00,1.90,0.00,0.000,4,0.000,0.053,2682,3774,2213,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,15083,0.70,304.2,325.0,5.0,1135,15176,0.12,2.15,85.47,1.250,4,0.089,0.034,2777,1066,1687,0,0,0,0,0,0,26.51,25.24,23.81
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$STATE,18043,end climb,SURFACE_DEPTH_REACHED
$STATE,18043,begin surface coast
$FINISH,0.8,1.015096
$STATE,18065,end surface coast,CONTROL_FINISHED_OK
$STATE,18065,begin surface
$SM_CCo,18142,0.00,0.000,0,0,1052,460.43
$SM_GC,1.43,6.50,0.12,0.00,0.028,0.090,0.000,179,2659,1052,-7.15,-0.62,460.43,0,0,0,0,0,0,26.44,26.55,28.83
$IRIDIUM_FIX,1922.94,12251.94,130512,101020
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.2,63.393
$10V_AH,9.9,38.829
$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,20.750,170.350,489.625,0.000,0.000,25.189,20.270,235.647,0.000,0.000,16.762,4096.903,10107.336,622.147,3320.619,397.543,0.000,2200.611,0.000,2786.662,0.000,0.543,0.000
$DEVICE_MAMPS,299.115,90.270,1718.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1093.955,2144.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,120536,1609
$CAP_FILE_SIZE,198016,0
$CFSIZE,260165632,192724992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,257.9,1
$GPS,130512,211237,1932.958,12258.202,33,1.1,33,-2.3