version: 66.10
glider: 176
mission: 5
dive: 422
start: 6 10 112 6 24 54
data:
$ID,176
$MISSION,5
$DIVE,422
$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,-8134.1216
$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
$GPS1,100612,061637,1752.526,12428.794,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.5
$GPS2,100612,062426,1752.438,12428.896,13,1.3,13,-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,288.0,243693,-12.9,-8.684
$D_GRID,4121
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-194.6,0.0,0.0,0,77,0.00,0.00,-58.42,0.000,2,0.000,0.000,191,2716,2409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.56,-194.6,3.7,-9.0,10,122,8.82,2.22,-24.88,0.000,4,0.233,0.042,2334,1192,3726,0,0,0,0,0,0,25.03,26.27,26.73
$GC,195,-0.56,-194.6,37.5,-21.5,25,201,0.00,2.25,0.00,0.000,6,0.000,0.050,2333,2664,3726,0,0,0,0,0,0,28.83,26.15,28.83
$GC,522,-0.56,-194.6,131.9,-22.0,86,530,0.00,1.65,0.00,0.000,4,0.000,0.050,2324,3779,3726,0,0,0,0,0,0,28.83,26.21,28.83
$GC,568,-0.56,-194.6,142.6,-23.4,94,575,0.05,1.62,0.00,0.000,6,0.228,0.022,2337,2552,3726,0,0,0,0,0,0,26.35,26.55,28.83
$GC,880,-0.56,-194.6,212.2,-18.9,149,889,0.00,1.90,0.00,0.000,4,0.000,0.027,2339,1195,3726,0,0,0,0,0,0,28.83,26.42,28.83
$GC,942,-0.56,-194.6,221.1,-12.5,155,951,0.00,2.20,0.00,0.000,6,0.000,0.044,2335,2667,3726,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1251,-0.56,-194.6,266.6,-15.8,186,1260,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1194,3725,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1284,-0.56,-194.6,271.0,-14.4,189,1288,0.00,2.20,0.00,0.000,6,0.000,0.045,2335,2670,3725,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1597,-0.56,-194.6,316.9,-14.8,220,1606,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1182,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1640,-0.56,-194.6,322.4,-12.7,224,1650,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2674,3723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1949,-0.56,-194.6,362.1,-13.1,255,1958,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1178,3721,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1990,-0.56,-194.6,366.5,-10.8,259,1999,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2669,3721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2300,-0.56,-194.6,403.8,-12.3,290,2309,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1189,3719,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2341,-0.56,-194.6,408.2,-10.5,294,2350,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2678,3719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2652,-0.56,-194.6,444.5,-11.8,325,2661,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1189,3716,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2694,-0.56,-194.6,448.9,-10.9,329,2703,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2678,3716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3003,-0.56,-194.6,483.8,-11.3,360,3013,0.00,2.15,-0.08,0.000,4,0.000,0.037,2332,1189,3743,0,0,0,0,0,0,28.83,26.39,25.50
$GC,3046,-0.56,-194.6,487.9,-9.7,364,3056,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2677,3743,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3356,-0.56,-194.6,518.8,-9.8,395,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2678,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3658,-0.56,-194.6,545.6,-8.4,425,3667,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1195,3737,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3703,-0.56,-194.6,548.7,-7.6,429,3710,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2667,3737,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4010,-0.56,-194.6,572.6,-8.1,460,4019,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1179,3733,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4044,-0.56,-194.6,575.2,-8.1,463,4051,0.00,2.28,0.00,0.000,6,0.000,0.044,2331,2672,3733,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4362,-0.56,-194.6,602.3,-8.8,494,4368,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1189,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4395,-0.56,-194.6,604.1,-8.9,495,4402,0.00,2.25,0.00,0.000,6,0.000,0.045,2331,2669,3730,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4703,-0.56,-194.6,633.5,-9.6,511,4707,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1188,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4732,-0.56,-194.6,635.7,-9.6,512,4736,0.00,2.28,0.00,0.000,6,0.000,0.044,2332,2671,3728,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5039,-0.56,-194.6,667.9,-10.5,527,5045,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1177,3725,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5068,-0.56,-194.6,670.0,-10.5,528,5072,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2666,3725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5374,-0.56,-194.6,701.8,-9.8,543,5380,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1183,3722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5418,-0.56,-194.6,705.5,-9.5,545,5422,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2669,3722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5732,-0.56,-194.6,731.3,-7.5,561,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2669,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6030,-0.56,-194.6,752.6,-7.2,576,6036,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1186,3718,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6058,-0.56,-194.6,754.0,-7.3,577,6062,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2667,3717,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6366,-0.56,-194.6,777.0,-7.1,592,6370,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1177,3715,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6390,-0.56,-194.6,778.7,-7.1,593,6395,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2666,3715,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6711,-0.56,-194.6,800.2,-6.5,609,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,-0.56,-194.6,820.3,-6.8,624,7015,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1185,3711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7044,-0.56,-194.6,821.7,-6.8,625,7051,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2667,3711,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7353,-0.56,-194.6,844.8,-7.5,641,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2667,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,-0.56,-194.6,867.9,-7.8,656,7657,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1186,3707,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7684,-0.56,-194.6,869.5,-7.8,657,7691,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2668,3708,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7993,-0.56,-194.6,895.1,-8.2,673,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2668,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8291,-0.56,-194.6,918.4,-7.6,688,8297,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1175,3705,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8331,-0.56,-194.6,921.4,-7.7,690,8337,0.00,2.30,0.00,0.000,6,0.000,0.045,2331,2666,3705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8653,-0.56,-194.6,945.2,-7.2,706,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,-0.56,-194.6,966.8,-7.1,721,8957,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1188,3701,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8981,-0.56,-194.6,968.2,-7.2,722,8990,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2666,3702,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,9290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9290,begin apogee
$GC,9295,-0.17,0.0,991.1,-7.2,738,9475,0.38,0.12,172.35,1.704,6,0.099,0.093,2468,2585,2928,0,0,0,0,0,0,25.88,24.25,22.40
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9476,begin climb
$GC,9478,0.56,194.6,1000.8,0.0,747,9675,0.62,2.08,188.23,1.660,4,0.050,0.057,2713,3761,2134,0,0,0,0,0,0,24.68,23.78,21.93
$GC,9759,0.56,194.6,973.4,19.0,761,9764,0.15,1.88,0.00,0.000,6,0.193,0.026,2686,2498,2129,0,0,0,0,0,0,25.23,25.63,28.83
$GC,10082,0.56,194.6,925.4,14.4,777,10088,0.00,1.98,0.00,0.000,4,0.000,0.056,2686,3769,2123,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10123,0.56,194.6,918.9,15.2,779,10126,0.00,1.85,0.00,0.000,6,0.000,0.025,2695,2463,2123,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10444,0.56,194.6,870.2,14.9,795,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2458,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10744,0.56,194.6,825.1,14.9,810,10749,0.00,2.05,0.00,0.000,4,0.000,0.057,2695,3773,2119,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10773,0.56,194.6,821.6,15.5,811,10777,0.08,1.83,0.00,0.000,6,0.220,0.024,2690,2485,2120,0,0,0,0,0,0,26.09,26.37,28.83
$GC,11079,0.56,194.6,774.9,14.2,826,11085,0.00,2.00,0.00,0.000,4,0.000,0.056,2690,3765,2118,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11132,0.56,194.6,768.5,15.1,828,11139,0.00,1.80,0.00,0.000,6,0.000,0.024,2699,2490,2118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11440,0.56,194.6,722.1,13.9,844,11444,0.00,1.98,0.00,0.000,4,0.000,0.055,2699,3767,2117,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11494,0.56,194.6,715.6,14.7,846,11503,0.10,1.83,0.00,0.000,6,0.202,0.024,2685,2486,2118,0,0,0,0,0,0,25.99,26.39,28.83
$GC,11804,0.56,194.6,676.8,11.8,862,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2484,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12102,0.56,194.6,641.7,11.8,877,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2484,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12403,0.56,194.6,606.1,12.3,892,12408,0.00,1.92,0.00,0.000,4,0.000,0.052,2685,3762,2116,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12462,0.56,194.6,597.4,13.9,895,12466,0.00,1.83,0.00,0.000,6,0.000,0.023,2694,2480,2117,0,0,0,0,0,0,28.83,26.40,28.83
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$STATE,18366,end climb,SURFACE_DEPTH_REACHED
$STATE,18367,begin surface coast
$FINISH,0.6,1.021078
$STATE,18401,end surface coast,CONTROL_FINISHED_OK
$STATE,18401,begin surface
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$IRIDIUM_FIX,1745.10,12422.23,100612,000057
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.05
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,25.80
$XPDR_PINGS,0
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$10V_AH,9.8,54.409
$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
$DEVICE_SECS,18.450,167.700,584.575,0.000,0.000,25.965,43.511,238.093,0.000,0.000,23.784,4157.793,10273.544,692.926,3367.722,421.669,0.000,2303.008,0.000,2764.199,0.000,0.543,0.000
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$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,123734,1667
$CAP_FILE_SIZE,194365,0
$CFSIZE,260165632,179572736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,108.2,1
$GPS,100612,113401,1752.469,12428.186,41,1.3,41,-2.0