version: 66.10
glider: 176
mission: 5
dive: 317
start: 5 16 112 15 30 42
data:
$ID,176
$MISSION,5
$DIVE,317
$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,-7939.395
$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
$GPS1,160512,152301,1942.785,12317.119,42,1.2,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.4
$GPS2,160512,153014,1942.797,12317.090,12,1.3,12,-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,53.9,124520,-13.2,-8.250
$D_GRID,5000
$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,-51.30,0.000,2,0.000,0.000,177,2655,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.5,-8.4,9,112,8.65,1.75,-24.58,0.000,4,0.230,0.063,2332,3783,3626,0,0,0,0,0,0,25.22,26.15,26.68
$GC,221,-0.54,-170.3,52.7,-32.4,33,228,0.05,1.75,0.00,0.000,6,0.233,0.024,2343,2520,3626,0,0,0,0,0,0,26.26,26.45,28.83
$GC,549,-0.54,-170.3,150.1,-24.6,94,556,0.00,1.95,0.00,0.000,4,0.000,0.026,2344,1148,3626,0,0,0,0,0,0,28.83,26.48,28.83
$GC,604,-0.54,-170.3,161.3,-16.7,104,612,0.00,2.22,0.00,0.000,6,0.000,0.046,2333,2628,3626,0,0,0,0,0,0,28.83,26.32,28.83
$GC,916,-0.54,-170.3,233.0,-22.7,151,924,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1128,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,991,-0.54,-170.3,245.0,-14.7,158,999,0.08,2.25,0.00,0.000,6,0.184,0.045,2348,2626,3626,0,0,0,0,0,0,26.22,26.35,28.83
$GC,1299,-0.54,-170.3,296.4,-16.0,189,1308,0.00,2.08,0.00,0.000,4,0.000,0.024,2349,1135,3626,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1354,-0.54,-170.3,303.6,-13.2,194,1361,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2619,3626,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1661,-0.54,-170.3,347.4,-15.4,225,1669,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1133,3624,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1704,-0.54,-170.3,352.9,-12.9,229,1711,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2618,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2012,-0.54,-170.3,394.0,-14.0,260,2021,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1128,3622,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2054,-0.54,-170.3,398.9,-11.7,264,2064,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2626,3622,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2364,-0.54,-170.3,433.5,-10.3,295,2373,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1137,3621,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2417,-0.54,-170.3,438.1,-8.9,300,2426,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2624,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2725,-0.54,-170.3,466.2,-9.7,331,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2624,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,-0.54,-170.3,493.2,-9.0,361,3037,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1143,3616,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3080,-0.54,-170.3,497.9,-8.4,366,3089,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2613,3616,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3390,-0.54,-170.3,526.4,-8.6,397,3393,0.00,1.73,0.00,0.000,4,0.000,0.055,2346,3766,3613,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3421,-0.54,-170.3,529.1,-8.5,400,3424,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2496,3612,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3732,-0.54,-170.3,553.3,-7.5,431,3741,0.00,2.00,0.00,0.000,4,0.000,0.054,2346,3765,3609,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3796,-0.54,-170.3,557.8,-7.4,437,3803,0.00,1.75,0.00,0.000,6,0.000,0.023,2346,2467,3609,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4104,-0.54,-170.3,581.5,-8.0,468,4114,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3772,3606,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4170,-0.54,-170.3,586.3,-7.7,474,4176,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2467,3606,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4478,-0.54,-170.3,612.4,-8.9,498,4483,0.00,1.98,0.00,0.000,4,0.000,0.055,2345,3766,3603,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4520,-0.54,-170.3,615.9,-9.1,500,4523,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2505,3602,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4838,-0.54,-170.3,645.1,-9.0,516,4841,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3763,3600,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4887,-0.54,-170.3,648.8,-8.8,518,4890,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2468,3599,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5199,-0.54,-170.3,675.0,-8.0,534,5203,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3773,3597,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5270,-0.54,-170.3,679.7,-7.6,537,5274,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2499,3596,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5582,-0.54,-170.3,703.6,-7.2,553,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2450,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5882,-0.54,-170.3,725.4,-7.2,568,5886,0.00,2.05,0.00,0.000,4,0.000,0.055,2345,3767,3592,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5932,-0.54,-170.3,728.2,-7.1,570,5935,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2494,3592,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6244,-0.54,-170.3,750.1,-6.7,586,6250,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3771,3590,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6306,-0.54,-170.3,754.0,-6.4,589,6309,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2498,3589,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6627,-0.54,-170.3,776.0,-6.8,605,6633,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3762,3587,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6690,-0.54,-170.3,780.2,-7.0,608,6693,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2496,3587,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7009,-0.54,-170.3,804.5,-7.9,624,7014,0.00,2.03,0.00,0.000,4,0.000,0.055,2345,3757,3585,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7040,-0.54,-170.3,806.1,-7.9,625,7047,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2448,3584,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7349,-0.54,-170.3,831.9,-8.1,641,7353,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3768,3583,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7410,-0.54,-170.3,837.0,-7.9,644,7414,0.00,1.75,0.00,0.000,6,0.000,0.024,2346,2501,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7731,-0.54,-170.3,860.9,-7.3,660,7737,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3763,3581,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7780,-0.54,-170.3,863.8,-7.3,662,7784,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2469,3580,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8092,-0.54,-170.3,885.4,-6.4,678,8097,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3762,3579,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8135,-0.54,-170.3,887.8,-6.2,680,8138,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2499,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8453,-0.54,-170.3,906.0,-5.5,696,8458,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3755,3577,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8485,-0.54,-170.3,907.1,-5.4,697,8491,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2456,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8794,-0.54,-170.3,925.7,-6.0,713,8799,0.00,2.00,0.00,0.000,4,0.000,0.056,2345,3758,3576,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8845,-0.54,-170.3,928.1,-6.1,715,8852,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2466,3576,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9152,-0.54,-170.3,947.8,-6.3,731,9157,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3767,3575,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9194,-0.54,-170.3,950.3,-6.3,733,9197,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2514,3574,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9515,-0.54,-170.3,971.0,-6.4,749,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2485,3574,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9813,begin apogee
$GC,9819,-0.17,0.0,990.6,-6.4,764,9969,0.32,0.00,144.38,1.724,6,0.098,0.000,2465,2485,2927,0,0,0,0,0,0,26.03,28.83,22.61
$STATE,9970,end apogee,CONTROL_FINISHED_OK
$STATE,9970,begin climb
$GC,9972,0.54,170.3,997.2,0.0,771,10152,0.62,2.40,165.30,1.679,4,0.050,0.031,2718,1059,2232,0,0,0,0,0,0,24.54,23.85,22.13
$GC,10278,0.54,170.3,971.9,13.4,786,10283,0.15,2.33,0.00,0.000,6,0.167,0.047,2680,2526,2223,0,0,0,0,0,0,25.35,25.60,28.83
$GC,10591,0.54,170.3,929.9,13.1,802,10596,0.00,1.88,0.00,0.000,4,0.000,0.055,2680,3764,2220,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10613,0.54,170.3,927.0,13.4,803,10617,0.00,1.92,0.00,0.000,6,0.000,0.024,2689,2447,2220,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10931,0.54,170.3,882.0,14.1,819,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2443,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11232,0.54,170.3,841.6,12.7,834,11237,0.00,2.05,0.00,0.000,4,0.000,0.055,2690,3766,2218,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11258,0.54,170.3,838.9,13.0,835,11263,0.08,1.92,0.00,0.000,6,0.231,0.025,2684,2446,2218,0,0,0,0,0,0,26.12,26.41,28.83
$GC,11571,0.54,170.3,800.5,11.6,851,11576,0.00,2.08,0.00,0.000,4,0.000,0.055,2684,3769,2217,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11600,0.54,170.3,798.0,11.8,852,11604,0.03,1.92,0.00,0.000,6,0.313,0.024,2685,2438,2216,0,0,0,0,0,0,26.22,26.41,28.83
$GC,11906,0.54,170.3,758.6,12.6,867,11911,0.00,2.05,0.00,0.000,4,0.000,0.055,2685,3763,2216,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11961,0.54,170.3,752.9,13.3,869,11968,0.05,1.90,0.00,0.000,6,0.258,0.024,2684,2450,2215,0,0,0,0,0,0,26.22,26.44,28.83
$GC,12266,0.54,170.3,711.8,12.3,885,12272,0.00,2.03,0.00,0.000,4,0.000,0.054,2684,3763,2215,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,19655,end climb,SURFACE_DEPTH_REACHED
$STATE,19655,begin surface coast
$FINISH,0.8,1.015787
$STATE,19688,end surface coast,CONTROL_FINISHED_OK
$STATE,19689,begin surface
$SM_CCo,19767,0.00,0.000,0,0,851,509.49
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$IRIDIUM_FIX,1936.66,12316.01,160512,090954
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.55
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.1,66.154
$10V_AH,9.9,40.509
$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
$DEVICE_SECS,19.100,183.700,517.975,0.000,0.000,25.575,19.932,238.585,0.000,0.000,14.805,4430.161,10989.101,702.753,3623.833,423.613,0.000,2375.915,0.000,3025.101,0.000,0.544,0.000
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$SENSOR_SECS,1200.194,2380.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,133794,1768
$CAP_FILE_SIZE,209982,0
$CFSIZE,260165632,191295488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,224.5,1
$GPS,160512,210107,1943.505,12318.304,28,1.0,28,-2.4