version: 66.10
glider: 176
mission: 5
dive: 417
start: 6 9 112 3 20 37
data:
$ID,176
$MISSION,5
$DIVE,417
$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,-8120.1704
$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
$GPS1,090612,031224,1751.152,12432.962,23,1.2,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.2
$GPS2,090612,032008,1751.015,12433.092,10,1.3,10,-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,292.4,251511,-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,16,-0.56,-194.6,0.0,0.0,0,84,0.00,0.00,-65.72,0.000,2,0.000,0.000,192,2682,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.56,-194.6,3.4,-7.0,11,134,8.75,2.12,-28.05,0.000,4,0.234,0.041,2333,1201,3723,0,0,0,0,0,0,25.06,26.27,26.73
$GC,221,-0.56,-194.6,39.0,-20.4,32,228,0.08,2.20,0.00,0.000,6,0.193,0.043,2340,2670,3723,0,0,0,0,0,0,26.06,26.21,28.83
$GC,549,-0.56,-194.6,129.1,-24.4,93,557,0.00,1.65,0.00,0.000,4,0.000,0.051,2332,3777,3723,0,0,0,0,0,0,28.83,26.18,28.83
$GC,584,-0.56,-194.6,137.9,-25.2,96,590,0.00,1.62,0.00,0.000,6,0.000,0.023,2332,2566,3723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,895,-0.56,-194.6,199.1,-17.6,157,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2562,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1201,-0.56,-194.6,251.2,-17.5,188,1205,0.00,1.83,0.00,0.000,4,0.000,0.050,2323,3777,3723,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1235,-0.56,-194.6,257.5,-18.9,191,1242,0.03,1.67,0.00,0.000,6,0.170,0.022,2336,2546,3723,0,0,0,0,0,0,26.36,26.55,28.83
$GC,1543,-0.56,-194.6,303.6,-13.9,222,1546,0.00,1.90,0.00,0.000,4,0.000,0.024,2338,1163,3721,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1574,-0.56,-194.6,307.7,-13.4,225,1578,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2675,3722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1885,-0.56,-194.6,348.6,-12.4,256,1894,0.00,2.10,0.00,0.000,4,0.000,0.024,2336,1188,3720,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1926,-0.56,-194.6,353.3,-11.6,260,1935,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2674,3720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2236,-0.56,-194.6,389.8,-12.3,291,2245,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1187,3717,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2291,-0.56,-194.6,395.4,-11.0,296,2297,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2669,3718,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2597,-0.56,-194.6,433.2,-12.2,327,2606,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1185,3715,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2641,-0.56,-194.6,437.9,-11.0,331,2648,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2667,3714,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2949,-0.56,-194.6,470.2,-9.9,362,2959,0.00,2.12,-0.08,0.000,4,0.000,0.036,2334,1187,3741,0,0,0,0,0,0,28.83,26.41,25.51
$GC,2995,-0.56,-194.6,473.9,-9.0,366,3002,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2677,3741,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3301,-0.56,-194.6,501.8,-8.8,397,3312,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1181,3738,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3339,-0.56,-194.6,504.7,-8.6,400,3346,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2669,3738,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3647,-0.56,-194.6,529.7,-8.1,431,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2669,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,-0.56,-194.6,552.9,-7.9,461,3957,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1180,3733,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4003,-0.56,-194.6,557.0,-7.3,466,4010,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2676,3732,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4310,-0.56,-194.6,582.2,-8.1,497,4320,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1189,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4346,-0.56,-194.6,584.9,-8.4,500,4352,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2671,3729,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4655,-0.56,-194.6,610.1,-8.2,525,4659,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1185,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4699,-0.56,-194.6,613.7,-8.2,527,4704,0.00,2.22,0.00,0.000,6,0.000,0.045,2334,2660,3726,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5017,-0.56,-194.6,640.0,-8.1,543,5023,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1187,3724,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5046,-0.56,-194.6,641.6,-8.1,544,5050,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2674,3724,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5352,-0.56,-194.6,666.6,-7.7,559,5358,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1186,3721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5380,-0.56,-194.6,668.1,-7.8,560,5384,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2674,3720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5689,-0.56,-194.6,693.4,-8.3,575,5694,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1182,3719,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5710,-0.56,-194.6,695.1,-8.2,576,5714,0.00,2.25,0.00,0.000,6,0.000,0.046,2333,2666,3719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6023,-0.56,-194.6,720.0,-7.9,592,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2666,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6322,-0.56,-194.6,741.8,-6.7,607,6327,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1182,3713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6350,-0.56,-194.6,743.2,-6.8,608,6354,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2665,3713,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6658,-0.56,-194.6,763.4,-6.4,623,6662,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1184,3711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6681,-0.56,-194.6,764.9,-6.4,624,6687,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2674,3711,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7001,-0.56,-194.6,784.8,-6.2,640,7007,0.00,2.15,0.00,0.000,4,0.000,0.025,2333,1176,3710,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7030,-0.56,-194.6,786.2,-6.2,641,7034,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2670,3710,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7336,-0.56,-194.6,806.7,-6.8,656,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2670,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7636,-0.56,-194.6,827.1,-6.7,671,7642,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1188,3706,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7685,-0.56,-194.6,829.9,-6.6,673,7689,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2665,3706,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7992,-0.56,-194.6,850.7,-6.6,688,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2666,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.56,-194.6,870.9,-6.9,703,8297,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1177,3703,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8343,-0.56,-194.6,874.0,-7.1,705,8347,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2665,3703,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8650,-0.56,-194.6,896.9,-7.5,720,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2666,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,-0.56,-194.6,919.1,-7.4,735,8957,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1188,3700,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8983,-0.56,-194.6,920.8,-7.4,736,8990,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2665,3700,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9291,-0.56,-194.6,943.4,-7.0,752,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2665,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9591,-0.56,-194.6,963.5,-6.6,767,9597,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1181,3698,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9630,-0.56,-194.6,965.9,-6.6,769,9636,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2672,3698,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9952,-0.56,-194.6,986.2,-6.4,785,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2672,3697,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10028,begin apogee
$GC,10033,-0.17,0.0,991.2,-6.2,789,10213,0.38,0.12,172.18,1.712,6,0.098,0.093,2470,2583,2929,0,0,0,0,0,0,25.87,24.13,22.27
$STATE,10215,end apogee,CONTROL_FINISHED_OK
$STATE,10215,begin climb
$GC,10218,0.56,194.6,999.2,0.0,798,10419,0.62,2.47,190.18,1.664,4,0.050,0.030,2724,1112,2134,0,0,0,0,0,0,24.58,23.77,21.83
$GC,10434,0.56,194.6,984.7,14.2,809,10439,0.15,2.45,0.00,0.000,6,0.159,0.047,2687,2568,2130,0,0,0,0,0,0,24.15,24.34,28.83
$GC,10748,0.56,194.6,939.1,14.2,825,10753,0.00,1.85,0.00,0.000,4,0.000,0.057,2687,3773,2123,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10800,0.56,194.6,932.9,14.8,827,10806,0.00,1.83,0.00,0.000,6,0.000,0.026,2696,2506,2123,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11108,0.56,194.6,885.9,14.4,843,11113,0.00,2.03,0.00,0.000,4,0.000,0.031,2706,1098,2121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11140,0.56,194.6,883.2,14.4,844,11147,0.08,2.28,0.00,0.000,6,0.185,0.047,2690,2576,2119,0,0,0,0,0,0,26.01,26.13,28.83
$GC,11448,0.56,194.6,839.7,13.8,860,11452,0.00,1.83,0.00,0.000,4,0.000,0.057,2689,3763,2118,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11470,0.56,194.6,836.6,13.8,861,11474,0.00,1.83,0.00,0.000,6,0.000,0.024,2698,2488,2118,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11791,0.56,194.6,790.4,14.2,877,11797,0.00,2.03,0.00,0.000,4,0.000,0.031,2709,1094,2117,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11819,0.56,194.6,787.6,14.2,878,11824,0.10,2.28,0.00,0.000,6,0.174,0.045,2685,2570,2117,0,0,0,0,0,0,25.91,26.10,28.83
$GC,12128,0.56,194.6,746.7,12.6,893,12134,0.05,2.12,0.00,0.000,4,0.170,0.027,2733,1107,2117,0,0,0,0,0,0,26.54,26.25,28.83
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$STATE,19263,end climb,SURFACE_DEPTH_REACHED
$STATE,19263,begin surface coast
$FINISH,0.8,1.008771
$STATE,19288,end surface coast,CONTROL_FINISHED_OK
$STATE,19289,begin surface
$SM_CCo,19368,0.00,0.000,0,0,491,598.04
$SM_GC,1.40,6.68,2.38,0.00,0.026,0.033,0.000,184,2680,491,-7.14,-0.45,598.04,0,0,0,0,0,0,26.38,26.27,28.83
$IRIDIUM_FIX,1742.84,12435.41,080612,212154
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.81
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,21.8,87.531
$10V_AH,9.8,53.780
$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,19.600,198.075,569.150,0.000,0.000,32.130,49.184,236.174,0.000,0.000,12.856,4349.500,10768.018,731.958,3501.413,453.827,0.000,2367.336,0.000,2867.314,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,92.565,1712.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.659,2339.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,130449,1729
$CAP_FILE_SIZE,210174,0
$CFSIZE,260165632,180088832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,107.0,1
$GPS,090612,084436,1751.357,12432.214,37,0.9,42,-2.0