version: 66.10
glider: 176
mission: 5
dive: 318
start: 5 16 112 21 9 31
data:
$ID,176
$MISSION,5
$DIVE,318
$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,-7940.7461
$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
$GPS1,160512,210107,1943.505,12318.304,28,1.0,28,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.0
$GPS2,160512,210902,1943.427,12318.341,10,1.7,10,-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,56.5,122053,-13.2,-8.250
$D_GRID,5024
$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,-51.70,0.000,2,0.000,0.000,185,2633,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.0,-6.4,9,120,8.62,2.22,-30.58,0.000,4,0.231,0.041,2342,1140,3626,0,0,0,0,0,0,25.22,26.28,26.69
$GC,283,-0.54,-170.3,52.7,-22.8,48,290,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2629,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,595,-0.54,-170.3,146.4,-24.8,109,602,0.03,0.00,0.00,0.000,6,0.318,0.000,2343,2629,3626,0,0,0,0,0,0,26.58,28.83,28.83
$GC,906,-0.54,-170.3,211.0,-20.4,165,915,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1139,3626,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1078,-0.54,-170.3,234.7,-11.4,182,1087,0.00,2.22,0.00,0.000,6,0.000,0.041,2335,2632,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1388,-0.54,-170.3,289.4,-17.8,213,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2632,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.54,-170.3,339.7,-15.9,243,1694,0.00,2.12,0.00,0.000,4,0.000,0.027,2335,1143,3624,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1822,-0.54,-170.3,354.7,-9.6,256,1831,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2624,3624,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2132,-0.54,-170.3,395.3,-13.1,287,2142,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1141,3622,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2164,-0.54,-170.3,399.4,-13.0,290,2173,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2621,3623,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2474,-0.54,-170.3,440.9,-13.3,321,2478,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1141,3620,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2518,-0.54,-170.3,446.0,-12.0,325,2525,0.00,2.22,0.00,0.000,6,0.000,0.044,2333,2621,3620,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2827,-0.54,-170.3,482.2,-11.5,356,2831,0.00,2.12,0.00,0.000,4,0.000,0.026,2332,1140,3617,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2871,-0.54,-170.3,487.0,-11.1,360,2879,0.03,2.28,0.00,0.000,6,0.164,0.047,2347,2612,3617,0,0,0,0,0,0,26.18,26.31,28.83
$GC,3179,-0.54,-170.3,515.1,-8.0,391,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2612,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3482,-0.54,-170.3,541.3,-8.6,421,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2612,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.54,-170.3,567.4,-8.0,452,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2613,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-0.54,-170.3,593.0,-8.6,483,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2613,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.54,-170.3,621.4,-9.5,503,4414,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1144,3603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4449,-0.54,-170.3,625.1,-9.5,505,4455,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2621,3603,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4769,-0.54,-170.3,653.0,-8.2,521,4772,0.00,1.73,0.00,0.000,4,0.000,0.055,2345,3766,3600,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4814,-0.54,-170.3,656.3,-7.9,523,4817,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2502,3599,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5130,-0.54,-170.3,679.3,-6.9,539,5136,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3763,3596,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5183,-0.54,-170.3,682.1,-6.9,541,5190,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2467,3596,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5491,-0.54,-170.3,703.8,-7.1,557,5497,0.00,1.98,0.00,0.000,4,0.000,0.054,2345,3766,3595,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5523,-0.54,-170.3,705.4,-7.2,558,5530,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2474,3594,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5830,-0.54,-170.3,728.9,-7.4,574,5836,0.00,1.98,0.00,0.000,4,0.000,0.055,2343,3763,3592,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5879,-0.54,-170.3,732.0,-7.5,576,5883,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2502,3591,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6191,-0.54,-170.3,755.4,-7.4,592,6196,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3767,3589,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6251,-0.54,-170.3,759.9,-7.5,595,6255,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2471,3588,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6573,-0.54,-170.3,784.6,-7.7,611,6579,0.00,2.03,0.00,0.000,4,0.000,0.055,2343,3769,3586,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6641,-0.54,-170.3,789.2,-7.7,614,6644,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2503,3586,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6954,-0.54,-170.3,814.1,-7.8,630,6959,0.00,1.98,0.00,0.000,4,0.000,0.055,2343,3761,3584,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6995,-0.54,-170.3,817.0,-7.7,632,6999,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2480,3584,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7314,-0.54,-170.3,841.7,-7.6,648,7320,0.00,1.98,0.00,0.000,4,0.000,0.055,2343,3754,3582,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7367,-0.54,-170.3,844.8,-7.6,650,7374,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2466,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7673,-0.54,-170.3,867.5,-6.8,666,7679,0.00,2.03,0.00,0.000,4,0.000,0.056,2343,3762,3580,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7722,-0.54,-170.3,870.1,-6.5,668,7726,0.00,1.75,0.00,0.000,6,0.000,0.025,2343,2510,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8034,-0.54,-170.3,889.5,-5.9,684,8038,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3765,3579,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8079,-0.54,-170.3,892.1,-6.2,686,8082,0.00,1.75,0.00,0.000,6,0.000,0.026,2343,2514,3578,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8397,-0.54,-170.3,912.0,-6.1,702,8401,0.00,1.98,0.00,0.000,4,0.000,0.056,2343,3763,3577,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8441,-0.54,-170.3,914.6,-6.3,704,8444,0.00,1.73,0.00,0.000,6,0.000,0.026,2343,2511,3576,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8765,-0.54,-170.3,935.3,-6.6,720,8771,0.00,1.95,0.00,0.000,4,0.000,0.056,2344,3761,3575,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8804,-0.54,-170.3,938.0,-6.3,722,8807,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2501,3575,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9125,-0.54,-170.3,958.4,-6.1,738,9130,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3764,3573,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9174,-0.54,-170.3,961.1,-6.3,740,9177,0.00,1.75,0.00,0.000,6,0.000,0.025,2343,2506,3573,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9485,-0.54,-170.3,980.7,-6.1,756,9491,0.00,2.00,0.00,0.000,4,0.000,0.055,2344,3763,3572,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9518,-0.54,-170.3,981.9,-6.0,757,9524,0.00,1.73,0.00,0.000,6,0.000,0.026,2343,2473,3572,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9645,begin apogee
$GC,9651,-0.17,0.0,990.4,-6.0,764,9807,0.32,0.08,143.80,1.721,6,0.099,0.096,2464,2437,2929,0,0,0,0,0,0,26.03,24.22,22.64
$STATE,9808,end apogee,CONTROL_FINISHED_OK
$STATE,9808,begin climb
$GC,9811,0.54,170.3,996.6,0.0,772,9987,0.65,2.33,165.18,1.678,4,0.047,0.054,2713,3770,2232,0,0,0,0,0,0,24.72,23.80,22.15
$GC,10002,0.54,170.3,987.7,11.7,781,10010,0.17,2.08,0.00,0.000,6,0.187,0.024,2683,2452,2230,0,0,0,0,0,0,24.13,24.46,28.83
$GC,10312,0.54,170.3,942.3,13.1,797,10317,0.00,2.05,0.00,0.000,4,0.000,0.055,2683,3758,2222,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10339,0.54,170.3,939.4,13.4,798,10343,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2447,2222,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10645,0.54,170.3,897.5,12.6,813,10650,0.00,2.08,0.00,0.000,4,0.000,0.055,2691,3769,2220,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10666,0.54,170.3,894.6,13.1,814,10672,0.10,1.92,0.00,0.000,6,0.208,0.024,2679,2434,2220,0,0,0,0,0,0,26.00,26.35,28.83
$GC,10985,0.54,170.3,859.7,10.7,830,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2430,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11285,0.54,170.3,826.4,11.6,845,11290,0.00,2.05,0.00,0.000,4,0.000,0.054,2679,3767,2217,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11334,0.54,170.3,821.2,12.2,847,11338,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2439,2217,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11645,0.54,170.3,781.2,12.4,863,11650,0.00,2.08,0.00,0.000,4,0.000,0.056,2689,3763,2216,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11687,0.54,170.3,775.5,13.2,865,11692,0.05,1.92,0.00,0.000,6,0.181,0.024,2682,2448,2216,0,0,0,0,0,0,26.11,26.44,28.83
$GC,12006,0.54,170.3,738.6,11.0,881,12011,0.00,2.05,0.00,0.000,4,0.000,0.055,2682,3766,2216,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12086,0.54,170.3,728.0,13.4,885,12091,0.00,1.90,0.00,0.000,6,0.000,0.024,2691,2448,2215,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12406,0.54,170.3,688.3,12.4,901,12411,0.00,2.03,0.00,0.000,4,0.000,0.031,2702,1053,2215,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12478,0.54,170.3,681.2,11.9,904,12485,0.10,2.25,0.00,0.000,6,0.174,0.046,2678,2519,2213,0,0,0,0,0,0,25.98,26.17,28.83
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$STATE,19432,end climb,SURFACE_DEPTH_REACHED
$STATE,19432,begin surface coast
$FINISH,0.7,1.021501
$STATE,19505,end surface coast,CONTROL_FINISHED_OK
$STATE,19505,begin surface
$SM_CCo,19581,0.00,0.000,0,0,997,473.92
$SM_GC,1.67,6.40,0.12,0.00,0.030,0.085,0.000,176,2675,997,-7.16,-0.45,473.92,0,0,0,0,0,0,26.51,26.60,28.83
$IRIDIUM_FIX,1938.95,12312.19,160512,151512
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.2,66.363
$10V_AH,9.9,40.641
$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,19.525,181.450,491.800,0.000,0.000,29.886,51.501,242.956,0.000,0.000,13.378,4497.009,10821.990,643.076,3636.101,428.085,0.000,2355.474,0.000,3053.460,0.000,0.542,0.000
$DEVICE_MAMPS,318.240,124.695,1721.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1209.610,2302.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,133695,1780
$CAP_FILE_SIZE,210232,0
$CFSIZE,260165632,191184896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,235.9,1
$GPS,170512,023701,1944.158,12319.257,39,1.4,39,-2.4