version: 66.10
glider: 176
mission: 5
dive: 429
start: 6 11 112 20 10 41
data:
$ID,176
$MISSION,5
$DIVE,429
$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,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,-8145.6343
$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
$GPS1,110612,200230,1753.301,12423.441,41,1.1,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.4
$GPS2,110612,201013,1753.292,12423.513,10,1.1,15,-2.0
$SPEED_LIMITS,0.150,0.264
$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,287.5,234198,-14.0,-8.684
$D_GRID,4500
$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,-170.3,0.0,0.0,0,78,0.00,0.00,-59.58,0.000,2,0.000,0.000,181,2686,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.3,-6.2,10,125,8.75,2.17,-23.45,0.000,4,0.230,0.041,2332,1204,3626,0,0,0,0,0,0,25.08,26.29,26.73
$GC,282,-0.56,-170.3,54.7,-23.2,42,289,0.08,2.20,0.00,0.000,6,0.196,0.044,2339,2675,3626,0,0,0,0,0,0,26.08,26.24,28.83
$GC,612,-0.56,-170.3,146.0,-21.9,103,620,0.00,1.62,0.00,0.000,4,0.000,0.053,2331,3778,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,681,-0.56,-170.3,162.0,-21.7,113,687,0.00,1.65,0.00,0.000,6,0.000,0.024,2331,2571,3626,0,0,0,0,0,0,28.83,26.52,28.83
$GC,998,-0.56,-170.3,227.6,-18.6,161,1002,0.00,1.95,0.00,0.000,4,0.000,0.024,2331,1163,3626,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1079,-0.56,-170.3,238.6,-11.8,169,1089,0.08,2.25,0.00,0.000,6,0.185,0.042,2342,2670,3626,0,0,0,0,0,0,26.13,26.26,28.83
$GC,1390,-0.56,-170.3,281.8,-13.8,200,1399,0.00,2.08,0.00,0.000,4,0.000,0.024,2342,1186,3626,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1432,-0.56,-170.3,286.8,-12.0,204,1441,0.00,2.22,0.00,0.000,6,0.000,0.043,2342,2672,3626,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1744,-0.56,-170.3,330.0,-14.3,235,1754,0.00,2.10,0.00,0.000,4,0.000,0.026,2342,1190,3624,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1799,-0.56,-170.3,336.9,-12.2,240,1806,0.00,2.25,0.00,0.000,6,0.000,0.043,2334,2669,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2106,-0.56,-170.3,379.0,-12.7,271,2116,0.00,2.10,0.00,0.000,4,0.000,0.025,2335,1193,3622,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2142,-0.56,-170.3,382.7,-11.9,274,2149,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2674,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2450,-0.56,-170.3,418.2,-12.2,305,2459,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1196,3619,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2534,-0.56,-170.3,426.2,-8.8,313,2543,0.00,2.20,0.00,0.000,6,0.000,0.044,2334,2660,3618,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2843,-0.56,-170.3,458.5,-10.8,344,2852,0.00,2.10,-0.08,0.000,4,0.000,0.037,2334,1193,3645,0,0,0,0,0,0,28.83,26.40,25.52
$GC,2876,-0.56,-170.3,461.8,-10.2,347,2886,0.00,2.20,0.00,0.000,6,0.000,0.044,2334,2661,3645,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3186,-0.56,-170.3,492.9,-9.1,378,3195,0.00,2.10,0.00,0.000,4,0.000,0.026,2334,1187,3641,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3232,-0.56,-170.3,496.5,-8.7,382,3239,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2676,3641,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3540,-0.56,-170.3,520.4,-7.1,413,3548,0.00,2.12,0.00,0.000,4,0.000,0.027,2334,1189,3638,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3566,-0.56,-170.3,522.2,-7.6,415,3574,0.00,2.22,0.00,0.000,6,0.000,0.041,2334,2671,3638,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3871,-0.56,-170.3,547.4,-8.5,446,3875,0.00,1.65,0.00,0.000,4,0.000,0.056,2334,3774,3635,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3935,-0.56,-170.3,552.9,-9.3,452,3942,0.00,1.67,0.00,0.000,6,0.000,0.022,2334,2532,3634,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4243,-0.56,-170.3,580.2,-8.4,483,4253,0.00,1.90,0.00,0.000,4,0.000,0.055,2334,3774,3631,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4306,-0.56,-170.3,585.5,-8.8,489,4310,0.00,1.65,0.00,0.000,6,0.000,0.023,2334,2533,3630,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4620,-0.56,-170.3,610.3,-7.0,513,4625,0.00,1.88,0.00,0.000,4,0.000,0.025,2334,1180,3628,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4661,-0.56,-170.3,613.1,-6.9,515,4665,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2674,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4975,-0.56,-170.3,633.3,-6.5,531,4980,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1188,3625,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5013,-0.56,-170.3,636.0,-6.6,533,5019,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2677,3625,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5333,-0.56,-170.3,658.6,-7.6,549,5339,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1181,3622,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5377,-0.56,-170.3,661.6,-7.8,551,5381,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2671,3622,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5694,-0.56,-170.3,687.0,-7.9,567,5700,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1176,3620,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5727,-0.56,-170.3,688.6,-7.9,568,5733,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2668,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6036,-0.56,-170.3,715.3,-8.5,584,6041,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1180,3618,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6057,-0.56,-170.3,716.9,-8.5,585,6061,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2667,3617,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6371,-0.56,-170.3,743.9,-8.7,601,6376,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1181,3615,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6403,-0.56,-170.3,745.7,-8.6,602,6410,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2668,3616,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6710,-0.56,-170.3,772.6,-8.3,618,6714,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1177,3613,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6754,-0.56,-170.3,776.1,-8.4,620,6758,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2674,3613,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7076,-0.56,-170.3,801.9,-7.8,636,7080,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1179,3611,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7106,-0.56,-170.3,803.7,-7.8,637,7110,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2671,3611,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7415,-0.56,-170.3,828.0,-7.7,652,7420,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1185,3609,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7446,-0.56,-170.3,829.6,-7.8,653,7452,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2666,3609,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7755,-0.56,-170.3,853.8,-7.4,669,7760,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1192,3607,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7783,-0.56,-170.3,855.3,-7.5,670,7792,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2667,3607,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8094,-0.56,-170.3,879.0,-7.4,686,8099,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1188,3606,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8127,-0.56,-170.3,880.4,-7.3,687,8135,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2667,3606,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8435,-0.56,-170.3,903.1,-7.1,703,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2667,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8733,-0.56,-170.3,924.6,-7.4,718,8739,0.00,2.15,0.00,0.000,4,0.000,0.025,2333,1177,3603,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8788,-0.56,-170.3,927.5,-7.4,720,8795,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2669,3603,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9094,-0.56,-170.3,951.4,-7.7,736,9100,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1188,3602,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9117,-0.56,-170.3,953.0,-7.6,737,9121,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2674,3602,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9430,-0.56,-170.3,977.1,-7.6,753,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2674,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9607,begin apogee
$GC,9612,-0.17,0.0,990.3,-7.2,762,9772,0.38,0.12,149.88,1.703,6,0.103,0.093,2468,2585,2929,0,0,0,0,0,0,25.84,24.50,22.64
$STATE,9773,end apogee,CONTROL_FINISHED_OK
$STATE,9773,begin climb
$GC,9775,0.56,170.3,997.9,0.0,770,9948,0.62,0.00,163.73,1.661,6,0.048,0.000,2715,2584,2234,0,0,0,0,0,0,24.99,28.83,22.15
$GC,10250,0.56,170.3,941.0,16.3,794,10252,0.12,0.00,0.00,0.000,6,0.184,0.000,2684,2585,2223,0,0,0,0,0,0,26.01,28.83,28.83
$GC,10548,0.56,170.3,900.4,13.6,809,10554,0.00,2.17,0.00,0.000,4,0.000,0.028,2695,1095,2221,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10591,0.56,170.3,895.2,13.4,811,10596,0.00,2.28,0.00,0.000,6,0.000,0.047,2695,2565,2219,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10905,0.56,170.3,850.4,14.6,827,10908,0.00,1.88,0.00,0.000,4,0.000,0.057,2695,3774,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10926,0.56,170.3,847.0,14.8,828,10932,0.08,1.83,0.00,0.000,6,0.223,0.024,2689,2488,2218,0,0,0,0,0,0,26.09,26.39,28.83
$GC,11246,0.56,170.3,802.9,13.2,844,11251,0.00,2.03,0.00,0.000,4,0.000,0.030,2700,1091,2217,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11270,0.56,170.3,800.3,13.1,845,11274,0.00,2.28,0.00,0.000,6,0.000,0.047,2699,2566,2216,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11581,0.56,170.3,755.3,14.9,861,11587,0.00,2.17,0.00,0.000,4,0.000,0.031,2710,1100,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11601,0.56,170.3,752.3,15.0,862,11608,0.10,2.28,0.00,0.000,6,0.171,0.047,2686,2565,2215,0,0,0,0,0,0,25.88,26.06,28.83
$GC,11923,0.56,170.3,710.1,12.7,878,11928,0.00,1.85,0.00,0.000,4,0.000,0.056,2685,3772,2215,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,19060,end climb,SURFACE_DEPTH_REACHED
$STATE,19062,begin surface coast
$FINISH,0.9,1.021188
$STATE,19088,end surface coast,CONTROL_FINISHED_OK
$STATE,19088,begin surface
$SM_CCo,19167,0.00,0.000,0,0,628,564.44
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$IRIDIUM_FIX,1745.10,12422.23,110612,141416
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,22.2,90.245
$10V_AH,9.8,55.298
$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,19.225,188.150,529.650,0.000,0.000,28.387,38.628,239.023,0.250,0.000,17.832,4345.261,10591.166,692.407,3507.267,461.565,0.000,2348.849,0.000,2868.462,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,93.330,1702.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.378,2357.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330268
$DATA_FILE_SIZE,130591,1724
$CAP_FILE_SIZE,206184,0
$CFSIZE,260165632,178810880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,102.8,1
$GPS,120612,013107,1753.324,12423.342,29,1.3,29,-2.0