version: 66.10
glider: 176
mission: 5
dive: 316
start: 5 16 112 10 1 48
data:
$ID,176
$MISSION,5
$DIVE,316
$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,-7938.0405
$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
$GPS1,160512,095336,1942.760,12314.513,38,0.9,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.9
$GPS2,160512,100119,1942.767,12314.467,14,1.0,19,-2.4
$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,81.4,128566,-13.2,-8.250
$D_GRID,5027
$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,-170.3,0.0,0.0,0,70,0.00,0.00,-51.85,0.000,2,0.000,0.000,191,2634,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.5,-7.5,9,111,8.68,1.77,-23.12,0.000,4,0.233,0.063,2330,3777,3626,0,0,0,0,0,0,25.22,26.15,26.67
$GC,233,-0.54,-170.3,57.7,-29.8,33,241,0.08,1.73,0.00,0.000,6,0.204,0.022,2346,2501,3626,0,0,0,0,0,0,26.22,26.48,28.83
$GC,562,-0.54,-170.3,148.7,-24.7,94,569,0.00,1.90,0.00,0.000,4,0.000,0.025,2346,1143,3626,0,0,0,0,0,0,28.83,26.48,28.83
$GC,678,-0.54,-170.3,168.9,-15.2,116,685,0.00,2.20,0.00,0.000,6,0.000,0.044,2336,2622,3627,0,0,0,0,0,0,28.83,26.36,28.83
$GC,994,-0.54,-170.3,236.3,-20.4,161,1003,0.00,2.08,0.00,0.000,4,0.000,0.027,2337,1142,3627,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1047,-0.54,-170.3,245.6,-17.2,166,1055,0.00,2.25,0.00,0.000,6,0.000,0.046,2335,2614,3627,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1355,-0.54,-170.3,302.0,-18.5,197,1364,0.00,2.10,0.00,0.000,4,0.000,0.026,2337,1143,3626,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1430,-0.54,-170.3,312.4,-12.9,204,1436,0.00,2.22,0.00,0.000,6,0.000,0.047,2335,2616,3627,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1738,-0.54,-170.3,360.6,-15.4,235,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2617,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.54,-170.3,404.8,-14.1,265,2047,0.00,2.10,0.00,0.000,4,0.000,0.026,2336,1136,3624,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2060,-0.54,-170.3,407.9,-13.8,267,2071,0.05,2.20,0.00,0.000,6,0.220,0.042,2348,2619,3624,0,0,0,0,0,0,26.25,26.35,28.83
$GC,2370,-0.54,-170.3,441.1,-10.1,298,2374,0.00,1.75,0.00,0.000,4,0.000,0.054,2342,3767,3622,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2411,-0.54,-170.3,445.1,-10.0,302,2414,0.00,1.73,0.00,0.000,6,0.000,0.022,2342,2484,3621,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2722,-0.54,-170.3,473.8,-10.4,333,2725,0.00,1.88,0.00,0.000,4,0.000,0.026,2341,1117,3620,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2743,-0.54,-170.3,476.0,-10.1,335,2753,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2626,3619,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3054,-0.54,-170.3,509.3,-10.6,366,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2626,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3356,-0.54,-170.3,539.7,-9.8,396,3364,0.00,2.12,0.00,0.000,4,0.000,0.026,2336,1138,3614,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3388,-0.54,-170.3,542.9,-9.6,399,3398,0.00,2.25,0.00,0.000,6,0.000,0.047,2335,2619,3614,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3697,-0.54,-170.3,572.1,-9.7,430,3700,0.00,1.73,0.00,0.000,4,0.000,0.053,2329,3778,3612,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3730,-0.54,-170.3,575.3,-10.1,433,3738,0.05,1.77,0.00,0.000,6,0.121,0.023,2354,2489,3611,0,0,0,0,0,0,26.36,26.61,28.83
$GC,4039,-0.54,-170.3,600.2,-8.0,464,4043,0.08,1.98,0.00,0.000,4,0.127,0.051,2281,3777,3609,0,0,0,0,0,0,26.64,26.21,28.83
$GC,4093,-0.54,-170.3,605.1,-10.2,466,4101,0.20,1.77,0.00,0.000,6,0.129,0.024,2346,2493,3608,0,0,0,0,0,0,26.12,26.58,28.83
$GC,4402,-0.54,-170.3,631.9,-7.7,482,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2492,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.54,-170.3,654.2,-7.1,497,4706,0.00,1.92,0.00,0.000,4,0.000,0.026,2346,1143,3603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4729,-0.54,-170.3,655.6,-7.1,498,4733,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2623,3602,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5037,-0.54,-170.3,677.4,-7.3,513,5041,0.00,1.77,0.00,0.000,4,0.000,0.057,2345,3766,3600,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5086,-0.54,-170.3,680.5,-7.3,515,5090,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2519,3599,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5398,-0.54,-170.3,704.7,-7.9,531,5402,0.00,1.95,0.00,0.000,4,0.000,0.059,2345,3763,3597,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5429,-0.54,-170.3,706.4,-8.0,532,5432,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2522,3596,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5740,-0.54,-170.3,734.1,-8.8,548,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2509,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.54,-170.3,761.0,-9.0,563,6045,0.00,1.98,0.00,0.000,4,0.000,0.059,2344,3769,3592,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6093,-0.54,-170.3,764.6,-9.0,565,6100,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2497,3592,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6400,-0.54,-170.3,791.6,-8.2,581,6406,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3772,3590,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6441,-0.54,-170.3,794.8,-8.1,583,6444,0.00,1.75,0.00,0.000,6,0.000,0.023,2344,2517,3590,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6762,-0.54,-170.3,819.1,-7.3,599,6767,0.00,1.98,0.00,0.000,4,0.000,0.058,2344,3773,3588,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6790,-0.54,-170.3,820.6,-7.3,600,6793,0.00,1.75,0.00,0.000,6,0.000,0.023,2344,2519,3588,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7104,-0.54,-170.3,842.6,-6.6,616,7107,0.00,1.95,0.00,0.000,4,0.000,0.058,2344,3763,3586,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7133,-0.54,-170.3,844.1,-6.6,617,7136,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2515,3586,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7445,-0.54,-170.3,864.8,-6.5,633,7451,0.00,2.00,0.00,0.000,4,0.000,0.059,2344,3772,3584,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7489,-0.54,-170.3,867.4,-6.4,635,7492,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2520,3583,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7805,-0.54,-170.3,888.7,-6.9,651,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2503,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8107,-0.54,-170.3,907.7,-6.2,666,8112,0.00,1.98,0.00,0.000,4,0.000,0.059,2344,3769,3581,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8165,-0.54,-170.3,911.4,-6.1,669,8169,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2511,3580,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8486,-0.54,-170.3,931.2,-6.3,685,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2494,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8788,-0.54,-170.3,950.8,-6.7,700,8794,0.00,2.00,0.00,0.000,4,0.000,0.058,2344,3766,3578,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8846,-0.54,-170.3,954.9,-6.7,703,8850,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2514,3577,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9168,-0.54,-170.3,977.9,-7.3,719,9173,0.00,2.00,0.00,0.000,4,0.000,0.058,2344,3763,3576,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9223,-0.54,-170.3,980.8,-7.3,721,9230,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2488,3576,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,9346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9346,begin apogee
$GC,9351,-0.17,0.0,990.9,-7.0,728,9502,0.32,0.00,144.65,1.721,6,0.098,0.000,2465,2487,2927,0,0,0,0,0,0,26.04,28.83,22.65
$STATE,9503,end apogee,CONTROL_FINISHED_OK
$STATE,9503,begin climb
$GC,9505,0.54,170.3,997.9,0.0,735,9684,0.65,2.28,165.45,1.678,4,0.047,0.054,2713,3767,2233,0,0,0,0,0,0,24.58,23.80,22.16
$GC,9696,0.54,170.3,990.9,10.8,744,9700,0.17,2.05,0.00,0.000,6,0.190,0.024,2683,2444,2231,0,0,0,0,0,0,24.10,24.44,28.83
$GC,10002,0.54,170.3,946.8,13.4,759,10008,0.00,2.08,0.00,0.000,4,0.000,0.056,2683,3771,2222,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10075,0.54,170.3,937.4,15.2,762,10082,0.00,1.92,0.00,0.000,6,0.000,0.025,2693,2443,2222,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10383,0.54,170.3,889.5,14.9,778,10388,0.00,2.03,0.00,0.000,4,0.000,0.031,2703,1052,2220,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10405,0.54,170.3,886.5,15.0,779,10410,0.10,2.28,0.00,0.000,6,0.173,0.047,2679,2525,2219,0,0,0,0,0,0,26.00,26.18,28.83
$GC,10717,0.54,170.3,842.4,13.5,795,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2525,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11018,0.54,170.3,802.6,12.8,810,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2525,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11318,0.54,170.3,764.5,12.6,825,11323,0.00,2.17,0.00,0.000,4,0.000,0.029,2689,1044,2217,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11357,0.54,170.3,759.9,12.1,827,11363,0.00,2.28,0.00,0.000,6,0.000,0.046,2689,2523,2215,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11678,0.54,170.3,722.6,11.2,843,11683,0.00,1.92,0.00,0.000,4,0.000,0.056,2689,3774,2215,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11745,0.54,170.3,714.6,12.6,846,11749,0.08,1.90,0.00,0.000,6,0.229,0.024,2684,2448,2215,0,0,0,0,0,0,26.15,26.44,28.83
$GC,12058,0.54,170.3,682.6,9.7,862,12063,0.00,2.03,0.00,0.000,4,0.000,0.032,2694,1051,2215,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12097,0.54,170.3,678.7,9.8,864,12103,0.05,2.22,0.00,0.000,6,0.214,0.046,2682,2517,2213,0,0,0,0,0,0,26.09,26.17,28.83
$GC,12418,0.54,170.3,646.7,10.3,880,12423,0.00,1.90,0.00,0.000,4,0.000,0.054,2682,3765,2214,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,19062,end climb,SURFACE_DEPTH_REACHED
$STATE,19062,begin surface coast
$FINISH,0.7,1.001458
$STATE,19126,end surface coast,CONTROL_FINISHED_OK
$STATE,19126,begin surface
$SM_CCo,19201,0.00,0.000,0,0,1003,472.45
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$IRIDIUM_FIX,1932.09,12310.93,160512,040424
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.2,65.941
$10V_AH,9.9,40.375
$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,19.825,172.075,488.950,0.000,0.000,35.081,37.068,238.255,0.000,0.000,21.812,4365.056,10710.740,628.800,3519.277,412.777,0.000,2272.601,0.000,2908.762,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,94.095,1721.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1177.547,2293.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329860
$DATA_FILE_SIZE,130506,1732
$CAP_FILE_SIZE,204378,0
$CFSIZE,260165632,191418368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,175.5,1
$GPS,160512,152301,1942.785,12317.119,42,1.2,42,-2.4