version: 66.10
glider: 176
mission: 5
dive: 416
start: 6 8 112 22 4 50
data:
$ID,176
$MISSION,5
$DIVE,416
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$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,-8118.8149
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,080612,215636,1751.199,12433.735,28,1.1,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.3
$GPS2,080612,220420,1751.142,12433.869,7,1.8,7,-2.0
$SPEED_LIMITS,0.150,0.280
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,285.2,252745,-12.9,-8.684
$D_GRID,4045
$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,-0.56,-194.6,0.0,0.0,0,77,0.00,0.00,-58.10,0.000,2,0.000,0.000,178,2739,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.56,-194.6,3.0,-6.1,10,131,8.85,2.22,-32.85,0.000,4,0.235,0.039,2333,1190,3725,0,0,0,0,0,0,25.04,26.30,26.73
$GC,234,-0.56,-194.6,42.2,-21.9,35,241,0.00,2.25,0.00,0.000,6,0.000,0.047,2332,2674,3726,0,0,0,0,0,0,28.83,26.17,28.83
$GC,562,-0.56,-194.6,133.0,-24.6,96,570,0.00,1.62,0.00,0.000,4,0.000,0.050,2324,3774,3725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,608,-0.56,-194.6,143.5,-22.1,104,617,0.05,1.62,0.00,0.000,6,0.222,0.023,2337,2545,3725,0,0,0,0,0,0,26.34,26.54,28.83
$GC,928,-0.56,-194.6,207.5,-17.6,162,937,0.00,1.90,0.00,0.000,4,0.000,0.024,2338,1166,3725,0,0,0,0,0,0,28.83,26.47,28.83
$GC,952,-0.56,-194.6,211.2,-17.5,164,960,0.00,2.25,0.00,0.000,6,0.000,0.043,2335,2671,3725,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1261,-0.56,-194.6,265.1,-16.9,195,1269,0.00,2.08,0.00,0.000,4,0.000,0.024,2336,1180,3724,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1293,-0.56,-194.6,270.4,-16.3,198,1302,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2671,3724,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1602,-0.56,-194.6,316.5,-14.3,229,1611,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1181,3723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1657,-0.56,-194.6,322.8,-11.6,234,1664,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2669,3723,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1966,-0.56,-194.6,364.5,-13.4,265,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2669,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.56,-194.6,404.1,-12.8,296,2286,0.00,2.08,0.00,0.000,4,0.000,0.024,2334,1184,3719,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2349,-0.56,-194.6,411.8,-9.3,303,2358,0.00,2.25,0.00,0.000,6,0.000,0.043,2334,2679,3719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2661,-0.56,-194.6,448.6,-11.7,334,2670,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1184,3716,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2686,-0.56,-194.6,451.3,-11.4,336,2694,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2677,3716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2992,-0.56,-194.6,485.4,-10.8,367,3002,0.00,2.15,-0.08,0.000,4,0.000,0.037,2331,1181,3743,0,0,0,0,0,0,28.83,26.40,25.50
$GC,3036,-0.56,-194.6,489.5,-9.9,371,3045,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2669,3743,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3344,-0.56,-194.6,518.8,-9.2,402,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2669,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,-0.56,-194.6,545.2,-9.1,432,3651,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1181,3737,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3683,-0.56,-194.6,548.3,-9.0,435,3690,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2667,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3988,-0.56,-194.6,578.2,-9.8,466,3992,0.00,1.67,0.00,0.000,4,0.000,0.057,2331,3768,3735,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4012,-0.56,-194.6,580.4,-10.0,468,4020,0.00,1.67,0.00,0.000,6,0.000,0.023,2332,2499,3734,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4332,-0.56,-194.6,609.5,-8.7,495,4337,0.00,1.95,0.00,0.000,4,0.000,0.055,2331,3781,3732,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4373,-0.56,-194.6,612.8,-8.4,497,4376,0.00,1.70,0.00,0.000,6,0.000,0.023,2331,2477,3731,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4691,-0.56,-194.6,638.0,-7.8,513,4696,0.00,2.00,0.00,0.000,4,0.000,0.055,2331,3768,3728,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4746,-0.56,-194.6,641.2,-7.8,515,4753,0.00,1.65,0.00,0.000,6,0.000,0.024,2332,2493,3728,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5050,-0.56,-194.6,665.5,-7.6,531,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2493,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5350,-0.56,-194.6,689.4,-8.1,546,5356,0.00,1.98,0.00,0.000,4,0.000,0.056,2331,3762,3723,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5416,-0.56,-194.6,694.5,-8.5,549,5419,0.00,1.65,0.00,0.000,6,0.000,0.024,2331,2529,3722,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5732,-0.56,-194.6,723.1,-9.1,565,5736,0.00,1.95,0.00,0.000,4,0.000,0.056,2331,3762,3720,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5755,-0.56,-194.6,725.0,-9.1,566,5759,0.00,1.67,0.00,0.000,6,0.000,0.024,2332,2523,3720,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6074,-0.56,-194.6,753.2,-8.5,582,6079,0.00,1.95,0.00,0.000,4,0.000,0.056,2331,3770,3718,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6121,-0.56,-194.6,756.6,-8.4,584,6125,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2515,3717,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6435,-0.56,-194.6,782.6,-7.9,600,6440,0.00,1.95,0.00,0.000,4,0.000,0.057,2331,3772,3716,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6473,-0.56,-194.6,785.5,-7.5,602,6477,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2530,3715,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6795,-0.56,-194.6,808.0,-6.9,618,6800,0.00,1.95,0.00,0.000,4,0.000,0.057,2331,3765,3713,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6839,-0.56,-194.6,810.6,-6.7,620,6842,0.00,1.67,0.00,0.000,6,0.000,0.026,2331,2535,3713,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7155,-0.56,-194.6,831.8,-6.8,636,7161,0.00,1.92,0.00,0.000,4,0.000,0.057,2331,3762,3711,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7196,-0.56,-194.6,834.5,-6.7,638,7200,0.00,1.70,0.00,0.000,6,0.000,0.026,2331,2525,3711,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7518,-0.56,-194.6,857.6,-7.6,654,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2523,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7818,-0.56,-194.6,881.0,-7.9,669,7824,0.00,1.92,0.00,0.000,4,0.000,0.057,2331,3763,3708,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7879,-0.56,-194.6,886.0,-8.1,672,7883,0.00,1.67,0.00,0.000,6,0.000,0.026,2331,2540,3707,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8200,-0.56,-194.6,911.5,-7.7,688,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2539,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,-0.56,-194.6,934.6,-7.6,703,8507,0.00,1.92,0.00,0.000,4,0.000,0.057,2331,3766,3704,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8523,-0.56,-194.6,935.9,-7.5,704,8527,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2533,3704,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8842,-0.56,-194.6,959.4,-7.2,720,8847,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3776,3703,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8875,-0.56,-194.6,960.7,-7.1,721,8882,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2524,3703,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9181,-0.56,-194.6,982.2,-6.3,737,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2523,3702,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9318,begin apogee
$GC,9324,-0.17,0.0,991.3,-6.7,744,9505,0.38,0.08,172.70,1.705,6,0.098,0.099,2468,2481,2929,0,0,0,0,0,0,25.89,24.16,22.42
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9508,0.56,194.6,1000.1,0.0,753,9705,0.62,2.15,188.38,1.661,4,0.050,0.031,2723,1115,2134,0,0,0,0,0,0,24.68,23.87,21.95
$GC,9755,0.56,194.6,982.0,14.3,765,9760,0.12,2.35,0.00,0.000,6,0.164,0.047,2691,2569,2127,0,0,0,0,0,0,24.87,25.07,28.83
$GC,10062,0.56,194.6,936.7,14.3,780,10068,0.00,2.15,0.00,0.000,4,0.000,0.030,2701,1105,2123,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10091,0.56,194.6,933.8,14.4,781,10096,0.05,2.25,0.00,0.000,6,0.215,0.047,2689,2565,2121,0,0,0,0,0,0,26.03,26.11,28.83
$GC,10397,0.56,194.6,889.6,13.9,796,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2565,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10698,0.56,194.6,847.3,14.4,811,10702,0.00,1.88,0.00,0.000,4,0.000,0.057,2690,3769,2119,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10748,0.56,194.6,840.5,15.4,813,10751,0.00,1.83,0.00,0.000,6,0.000,0.025,2698,2490,2119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11060,0.56,194.6,793.6,14.5,829,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2486,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11361,0.56,194.6,751.8,13.7,844,11366,0.00,1.98,0.00,0.000,4,0.000,0.056,2698,3774,2117,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11388,0.56,194.6,748.9,13.8,845,11392,0.10,1.83,0.00,0.000,6,0.204,0.023,2684,2491,2118,0,0,0,0,0,0,26.01,26.41,28.83
$GC,11701,0.56,194.6,710.2,11.4,861,11707,0.05,2.00,0.00,0.000,4,0.171,0.053,2726,3768,2117,0,0,0,0,0,0,26.54,25.98,28.83
$GC,11744,0.56,194.6,704.3,12.9,863,11749,0.17,1.80,0.00,0.000,6,0.179,0.022,2688,2496,2117,0,0,0,0,0,0,25.77,26.40,28.83
$GC,12056,0.56,194.6,665.5,12.6,879,12062,0.00,1.98,0.00,0.000,4,0.000,0.054,2688,3764,2116,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12110,0.56,194.6,659.8,13.4,881,12117,0.00,1.80,0.00,0.000,6,0.000,0.023,2697,2490,2117,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12417,0.56,194.6,616.6,13.8,897,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2486,2116,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18289,end climb,SURFACE_DEPTH_REACHED
$STATE,18289,begin surface coast
$FINISH,1.3,1.020952
$STATE,18305,end surface coast,CONTROL_FINISHED_OK
$STATE,18305,begin surface
$SM_CCo,18383,0.00,0.000,0,0,489,598.53
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$IRIDIUM_FIX,1742.84,12435.41,080612,161643
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.0,87.301
$10V_AH,9.8,53.650
$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,18.775,158.125,566.700,0.000,0.000,25.007,45.855,244.996,0.000,0.000,9.683,4123.998,10251.720,702.088,3323.243,415.836,0.000,2251.643,0.000,2755.463,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,128.520,1705.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1124.328,2176.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330192
$DATA_FILE_SIZE,123898,1655
$CAP_FILE_SIZE,192532,0
$CFSIZE,260165632,180215808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,112.3,1
$GPS,090612,031224,1751.152,12432.962,23,1.2,40,-2.0