version: 66.10
glider: 176
mission: 5
dive: 424
start: 6 10 112 17 2 25
data:
$ID,176
$MISSION,5
$DIVE,424
$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,-8136.8281
$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
$GPS1,100612,165401,1752.426,12427.469,39,1.3,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.1
$GPS2,100612,170156,1752.296,12427.563,14,1.3,14,-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,291.2,241537,-12.9,-8.684
$D_GRID,4189
$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,-194.6,0.0,0.0,0,79,0.00,0.00,-60.05,0.000,2,0.000,0.000,178,2698,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-194.6,3.2,-6.8,10,126,8.75,2.22,-28.08,0.000,4,0.232,0.041,2333,1198,3725,0,0,0,0,0,0,25.08,26.30,26.74
$GC,219,-0.56,-194.6,38.8,-20.0,32,226,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2678,3727,0,0,0,0,0,0,28.83,26.22,28.83
$GC,530,-0.56,-194.6,131.3,-25.0,93,538,0.00,1.62,0.00,0.000,4,0.000,0.050,2324,3773,3726,0,0,0,0,0,0,28.83,26.21,28.83
$GC,555,-0.56,-194.6,137.0,-22.6,97,563,0.05,1.62,0.00,0.000,6,0.226,0.023,2337,2565,3726,0,0,0,0,0,0,26.34,26.53,28.83
$GC,868,-0.56,-194.6,200.6,-16.4,158,877,0.00,1.90,0.00,0.000,4,0.000,0.023,2338,1184,3726,0,0,0,0,0,0,28.83,26.48,28.83
$GC,921,-0.56,-194.6,207.0,-11.6,163,929,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2676,3726,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1230,-0.56,-194.6,255.3,-17.2,194,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2677,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.56,-194.6,300.9,-14.9,224,1539,0.00,2.08,0.00,0.000,4,0.000,0.024,2336,1195,3723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1604,-0.56,-194.6,308.4,-8.4,231,1612,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2674,3723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1913,-0.56,-194.6,344.5,-12.1,262,1921,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1188,3722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1976,-0.56,-194.6,350.7,-9.0,268,1984,0.00,2.20,0.00,0.000,6,0.000,0.044,2334,2660,3721,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2284,-0.56,-194.6,385.3,-11.6,299,2293,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1180,3719,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2325,-0.56,-194.6,389.5,-10.1,303,2334,0.00,2.25,0.00,0.000,6,0.000,0.043,2333,2674,3718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2637,-0.56,-194.6,422.5,-10.2,334,2646,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1190,3715,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2679,-0.56,-194.6,426.6,-9.6,338,2688,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2677,3715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2988,-0.56,-194.6,455.9,-9.6,369,2999,0.00,2.12,-0.08,0.000,4,0.000,0.037,2332,1190,3741,0,0,0,0,0,0,28.83,26.40,25.51
$GC,3022,-0.56,-194.6,458.9,-9.2,372,3031,0.00,2.22,0.00,0.000,6,0.000,0.044,2331,2663,3741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3332,-0.56,-194.6,486.2,-8.5,403,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2663,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3634,-0.56,-194.6,512.8,-9.4,433,3643,0.00,2.08,0.00,0.000,4,0.000,0.024,2331,1193,3735,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3658,-0.56,-194.6,515.1,-9.2,435,3665,0.00,2.28,0.00,0.000,6,0.000,0.044,2331,2666,3735,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3966,-0.56,-194.6,543.1,-9.0,466,3970,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1190,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4002,-0.56,-194.6,545.9,-8.8,469,4010,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2669,3732,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4307,-0.56,-194.6,574.6,-9.8,500,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2669,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.56,-194.6,604.1,-9.4,529,4624,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1187,3727,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4657,-0.56,-194.6,607.8,-9.3,531,4663,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2668,3727,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4978,-0.56,-194.6,637.3,-9.1,547,4984,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1194,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5025,-0.56,-194.6,640.8,-9.0,549,5029,0.00,2.25,0.00,0.000,6,0.000,0.045,2331,2667,3723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5339,-0.56,-194.6,668.3,-8.5,565,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2667,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5638,-0.56,-194.6,692.2,-7.6,580,5643,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1185,3719,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5680,-0.56,-194.6,695.1,-7.5,582,5685,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2671,3719,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6000,-0.56,-194.6,719.4,-7.7,598,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2672,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,-0.56,-194.6,742.8,-7.9,613,6302,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1197,3714,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6343,-0.56,-194.6,746.2,-8.0,615,6347,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2666,3714,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6655,-0.56,-194.6,771.5,-8.0,631,6659,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1193,3711,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6679,-0.56,-194.6,773.3,-8.0,632,6683,0.00,2.30,0.00,0.000,6,0.000,0.046,2331,2671,3711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6993,-0.56,-194.6,796.6,-7.0,648,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2670,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7292,-0.56,-194.6,816.9,-6.8,663,7297,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1163,3708,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7331,-0.56,-194.6,819.5,-6.8,665,7337,0.00,2.33,0.00,0.000,6,0.000,0.047,2331,2665,3708,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7653,-0.56,-194.6,842.0,-7.2,681,7656,0.00,1.70,0.00,0.000,4,0.000,0.058,2331,3769,3706,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7675,-0.56,-194.6,843.6,-7.2,682,7678,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2523,3706,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7997,-0.56,-194.6,865.8,-6.7,698,8003,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3767,3704,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8045,-0.56,-194.6,868.4,-6.5,700,8049,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2526,3703,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8357,-0.56,-194.6,887.5,-5.7,716,8362,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3762,3702,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8399,-0.56,-194.6,889.7,-5.5,718,8402,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2530,3702,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8722,-0.56,-194.6,906.8,-5.2,734,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2510,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9020,-0.56,-194.6,923.7,-6.1,749,9024,0.00,1.98,0.00,0.000,4,0.000,0.059,2331,3768,3700,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9056,-0.56,-194.6,925.1,-6.3,750,9063,0.00,1.67,0.00,0.000,6,0.000,0.026,2329,2522,3700,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9362,-0.56,-194.6,946.9,-7.4,766,9368,0.00,1.98,0.00,0.000,4,0.000,0.059,2331,3769,3699,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9395,-0.56,-194.6,948.4,-7.5,767,9401,0.00,1.67,0.00,0.000,6,0.000,0.026,2330,2526,3698,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9703,-0.56,-194.6,972.7,-7.6,783,9708,0.00,1.95,0.00,0.000,4,0.000,0.059,2331,3762,3697,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9735,-0.56,-194.6,974.1,-7.6,784,9741,0.00,1.67,0.00,0.000,6,0.000,0.026,2331,2513,3697,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,9940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9940,begin apogee
$GC,9947,-0.17,0.0,990.9,-7.6,795,10124,0.38,0.10,171.05,1.705,6,0.096,0.077,2468,2494,2929,0,0,0,0,0,0,25.90,24.25,22.41
$STATE,10125,end apogee,CONTROL_FINISHED_OK
$STATE,10125,begin climb
$GC,10127,0.56,194.6,1001.0,0.0,804,10327,0.68,2.28,188.50,1.656,4,0.051,0.057,2722,3759,2134,0,0,0,0,0,0,24.62,23.77,21.93
$GC,10378,0.56,194.6,980.8,17.1,816,10382,0.17,1.90,0.00,0.000,6,0.187,0.024,2688,2504,2131,0,0,0,0,0,0,24.81,25.22,28.83
$GC,10686,0.56,194.6,934.4,14.2,831,10691,0.00,1.98,0.00,0.000,4,0.000,0.056,2688,3773,2124,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10712,0.56,194.6,931.5,14.3,832,10716,0.00,1.85,0.00,0.000,6,0.000,0.025,2697,2492,2124,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11025,0.56,194.6,882.6,15.1,848,11030,0.00,2.03,0.00,0.000,4,0.000,0.031,2708,1104,2121,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11079,0.56,194.6,876.9,14.8,850,11086,0.10,2.25,0.00,0.000,6,0.174,0.049,2683,2566,2119,0,0,0,0,0,0,25.95,26.13,28.83
$GC,11385,0.56,194.6,833.2,13.6,866,11387,0.05,0.00,0.00,0.000,6,0.170,0.000,2717,2566,2119,0,0,0,0,0,0,26.52,28.83,28.83
$GC,11684,0.56,194.6,783.8,16.3,881,11686,0.12,0.00,0.00,0.000,6,0.177,0.000,2685,2566,2119,0,0,0,0,0,0,26.15,28.83,28.83
$GC,11986,0.56,194.6,743.3,12.7,896,11991,0.00,2.12,0.00,0.000,4,0.000,0.031,2696,1103,2118,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12028,0.56,194.6,738.4,12.1,898,12032,0.00,2.28,0.00,0.000,6,0.000,0.047,2696,2569,2116,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12347,0.56,194.6,697.6,12.9,914,12350,0.00,1.85,0.00,0.000,4,0.000,0.057,2696,3768,2116,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12368,0.56,194.6,694.4,13.1,915,12372,0.08,1.83,0.00,0.000,6,0.216,0.022,2689,2486,2117,0,0,0,0,0,0,26.10,26.39,28.83
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$GC,15038,0.61,238.1,396.7,7.4,1140,15084,0.00,2.22,36.55,1.311,6,0.000,0.043,2705,2568,1957,0,0,0,0,0,0,28.83,26.01,23.58
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$STATE,18807,end climb,SURFACE_DEPTH_REACHED
$STATE,18807,begin surface coast
$FINISH,0.6,1.015386
$STATE,18833,end surface coast,CONTROL_FINISHED_OK
$STATE,18834,begin surface
$SM_CCo,18909,0.00,0.000,0,0,677,552.42
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$IRIDIUM_FIX,1745.10,12425.38,100612,111111
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,9.48553
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,21.9,89.136
$10V_AH,9.8,54.659
$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,18.525,153.025,567.025,0.000,0.000,31.372,41.266,249.472,0.250,0.000,16.736,4186.584,10737.498,699.942,3316.712,415.306,0.000,2253.368,0.000,2779.744,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,107.100,1705.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1143.977,2202.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,124158,1682
$CAP_FILE_SIZE,191841,0
$CFSIZE,260165632,179363840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,105.6,1
$GPS,100612,221837,1752.828,12426.079,33,1.1,33,-2.0