version: 66.10
glider: 176
mission: 5
dive: 430
start: 6 12 112 1 39 18
data:
$ID,176
$MISSION,5
$DIVE,430
$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,-8146.9849
$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
$GPS1,120612,013107,1753.324,12423.342,29,1.3,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.3
$GPS2,120612,013850,1753.289,12423.549,8,1.9,8,-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,285.9,234261,-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,15,begin dive
$GC,17,-0.56,-170.3,0.0,0.0,0,74,0.00,0.00,-54.30,0.000,2,0.000,0.000,189,2680,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.56,-170.3,3.0,-6.2,9,128,8.85,2.20,-35.42,0.000,4,0.236,0.042,2338,1202,3624,0,0,0,0,0,0,25.03,26.27,26.74
$GC,212,-0.56,-170.3,31.7,-24.1,30,218,0.00,2.20,0.00,0.000,6,0.000,0.044,2333,2669,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,525,-0.56,-170.3,135.0,-29.2,91,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2671,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.56,-170.3,204.9,-20.1,151,851,0.00,2.10,0.00,0.000,4,0.000,0.025,2333,1188,3625,0,0,0,0,0,0,28.83,26.43,28.83
$GC,907,-0.56,-170.3,214.7,-14.0,157,914,0.00,2.22,0.00,0.000,6,0.000,0.043,2332,2671,3625,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1215,-0.56,-170.3,269.3,-18.3,188,1224,0.00,2.10,0.00,0.000,4,0.000,0.026,2332,1195,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1257,-0.56,-170.3,276.2,-16.3,192,1266,0.08,2.22,0.00,0.000,6,0.181,0.043,2342,2674,3625,0,0,0,0,0,0,26.13,26.27,28.83
$GC,1566,-0.56,-170.3,317.5,-12.5,223,1576,0.00,2.12,0.00,0.000,4,0.000,0.027,2342,1192,3624,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1611,-0.56,-170.3,322.2,-11.3,227,1619,0.00,2.22,0.00,0.000,6,0.000,0.042,2335,2672,3625,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1919,-0.56,-170.3,363.1,-13.4,258,1927,0.00,2.12,0.00,0.000,4,0.000,0.027,2335,1193,3622,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1983,-0.56,-170.3,370.4,-11.2,264,1990,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2664,3622,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2290,-0.56,-170.3,409.7,-12.2,295,2294,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1190,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2334,-0.56,-170.3,414.5,-11.7,299,2343,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2677,3619,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2642,-0.56,-170.3,450.0,-11.4,330,2650,0.00,2.12,0.00,0.000,4,0.000,0.028,2334,1198,3617,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2667,-0.56,-170.3,452.4,-11.3,332,2673,0.00,2.25,0.00,0.000,6,0.000,0.047,2334,2675,3616,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2974,-0.56,-170.3,483.8,-9.7,363,2985,0.00,2.12,-0.08,0.000,4,0.000,0.039,2334,1200,3642,0,0,0,0,0,0,28.83,26.35,25.50
$GC,3021,-0.56,-170.3,487.7,-8.9,367,3029,0.00,2.25,0.00,0.000,6,0.000,0.047,2334,2676,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3327,-0.56,-170.3,513.9,-9.1,398,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2676,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.56,-170.3,542.9,-9.6,428,3639,0.00,2.12,0.00,0.000,4,0.000,0.028,2334,1202,3637,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3672,-0.56,-170.3,547.0,-9.4,432,3681,0.00,2.25,0.00,0.000,6,0.000,0.048,2334,2670,3637,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3981,-0.56,-170.3,576.8,-9.7,463,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2670,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.56,-170.3,604.1,-9.0,491,4287,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1185,3630,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4331,-0.56,-170.3,607.4,-8.7,493,4335,0.00,2.28,0.00,0.000,6,0.000,0.048,2334,2665,3630,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4637,-0.56,-170.3,633.1,-7.9,508,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2666,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-0.56,-170.3,657.4,-8.3,523,4943,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1198,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4986,-0.56,-170.3,660.6,-8.2,525,4995,0.00,2.28,0.00,0.000,6,0.000,0.049,2334,2670,3624,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5298,-0.56,-170.3,686.8,-8.2,541,5304,0.00,2.10,0.00,0.000,4,0.000,0.026,2334,1200,3621,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5325,-0.56,-170.3,688.5,-8.2,542,5329,0.00,2.28,0.00,0.000,6,0.000,0.049,2334,2671,3622,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5633,-0.56,-170.3,713.9,-8.0,557,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2672,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,-0.56,-170.3,737.9,-7.9,572,5938,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1196,3617,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5965,-0.56,-170.3,739.6,-7.9,573,5972,0.00,2.28,0.00,0.000,6,0.000,0.049,2334,2666,3617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6273,-0.56,-170.3,763.8,-7.6,589,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2666,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6573,-0.56,-170.3,787.4,-8.3,604,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2666,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6873,-0.56,-170.3,811.4,-8.1,619,6878,0.00,2.10,0.00,0.000,4,0.000,0.026,2334,1200,3611,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6912,-0.56,-170.3,814.8,-8.3,621,6917,0.00,2.30,0.00,0.000,6,0.000,0.050,2334,2674,3610,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7232,-0.56,-170.3,841.1,-8.3,637,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2674,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7535,-0.56,-170.3,865.8,-8.1,652,7540,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1201,3606,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7563,-0.56,-170.3,867.5,-7.9,653,7572,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2674,3606,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7876,-0.56,-170.3,892.0,-7.4,669,7882,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1190,3606,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7904,-0.56,-170.3,893.6,-7.5,670,7908,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2672,3606,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8210,-0.56,-170.3,914.0,-6.1,685,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2672,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,-0.56,-170.3,931.6,-5.5,700,8515,0.00,2.15,0.00,0.000,4,0.000,0.026,2333,1185,3603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8556,-0.56,-170.3,934.1,-5.6,702,8560,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2670,3603,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8870,-0.56,-170.3,950.3,-5.2,718,8875,0.00,2.15,0.00,0.000,4,0.000,0.026,2333,1187,3602,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8897,-0.56,-170.3,951.4,-5.3,719,8908,0.00,2.28,0.00,0.000,6,0.000,0.048,2333,2666,3602,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9208,-0.56,-170.3,968.8,-5.4,735,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2666,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9508,-0.56,-170.3,986.8,-6.1,750,9514,0.00,2.15,0.00,0.000,4,0.000,0.026,2333,1189,3599,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9532,-0.56,-170.3,988.1,-6.2,751,9536,0.00,2.30,0.00,0.000,6,0.000,0.048,2333,2669,3599,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9562,begin apogee
$GC,9567,-0.17,0.0,990.3,-6.4,753,9728,0.38,0.15,150.25,1.701,6,0.100,0.085,2469,2582,2928,0,0,0,0,0,0,25.84,24.47,22.56
$STATE,9729,end apogee,CONTROL_FINISHED_OK
$STATE,9729,begin climb
$GC,9731,0.56,170.3,997.3,0.0,761,9906,0.62,2.38,164.20,1.661,4,0.051,0.028,2722,1111,2233,0,0,0,0,0,0,24.94,24.02,22.06
$GC,9954,0.56,170.3,983.4,13.2,772,9961,0.15,2.35,0.00,0.000,6,0.164,0.047,2684,2564,2226,0,0,0,0,0,0,24.95,25.18,28.83
$GC,10271,0.56,170.3,943.4,12.4,788,10276,0.00,1.85,0.00,0.000,4,0.000,0.055,2684,3773,2221,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10297,0.56,170.3,940.6,12.6,789,10301,0.00,1.85,0.00,0.000,6,0.000,0.023,2693,2499,2221,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10610,0.56,170.3,898.1,13.4,805,10616,0.00,2.00,0.00,0.000,4,0.000,0.028,2703,1107,2219,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10663,0.56,170.3,893.2,12.9,807,10672,0.08,2.25,0.00,0.000,6,0.188,0.047,2686,2566,2217,0,0,0,0,0,0,25.99,26.12,28.83
$GC,10969,0.56,170.3,853.5,12.5,823,10972,0.00,1.83,0.00,0.000,4,0.000,0.054,2686,3764,2217,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11004,0.56,170.3,850.6,12.9,824,11010,0.00,1.83,0.00,0.000,6,0.000,0.023,2694,2481,2216,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11310,0.56,170.3,808.1,13.0,840,11316,0.00,2.03,0.00,0.000,4,0.000,0.054,2695,3767,2216,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11333,0.56,170.3,805.2,13.2,841,11337,0.08,1.83,0.00,0.000,6,0.223,0.023,2689,2485,2216,0,0,0,0,0,0,26.09,26.39,28.83
$GC,11646,0.56,170.3,765.5,12.5,857,11650,0.00,2.00,0.00,0.000,4,0.000,0.055,2689,3767,2215,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11675,0.56,170.3,762.3,12.8,858,11679,0.00,1.83,0.00,0.000,6,0.000,0.023,2699,2483,2215,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11988,0.56,170.3,719.5,13.0,874,11994,0.00,2.00,0.00,0.000,4,0.000,0.055,2699,3766,2215,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12042,0.56,170.3,713.6,13.8,876,12049,0.10,1.83,0.00,0.000,6,0.203,0.023,2685,2478,2215,0,0,0,0,0,0,25.97,26.37,28.83
$GC,12348,0.56,170.3,674.6,11.8,892,12352,0.00,2.00,0.00,0.000,4,0.000,0.032,2695,1097,2214,0,0,0,0,0,0,28.83,26.18,28.83
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$GC,16104,0.62,222.1,284.7,10.0,1234,16108,0.08,1.83,0.00,0.000,4,0.125,0.050,2757,3769,2016,0,0,0,0,0,0,26.44,25.95,28.83
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$STATE,19365,end climb,SURFACE_DEPTH_REACHED
$STATE,19365,begin surface coast
$FINISH,0.6,0.998149
$STATE,19408,end surface coast,CONTROL_FINISHED_OK
$STATE,19408,begin surface
$SM_CCo,19483,0.00,0.000,0,0,508,593.87
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$IRIDIUM_FIX,1747.37,12422.23,110612,202048
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,26.10
$XPDR_PINGS,2
$24V_AH,22.1,90.464
$10V_AH,9.8,55.428
$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
$DEVICE_SECS,19.600,176.050,552.400,0.000,0.000,33.714,38.356,243.858,0.500,0.000,11.145,4391.040,10826.672,723.131,3521.952,452.653,0.000,2368.157,0.000,2888.273,0.000,0.543,0.000
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$SENSOR_SECS,1194.153,2364.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,130688,1759
$CAP_FILE_SIZE,206083,0
$CFSIZE,260165632,178700288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,107.4,1
$GPS,120612,070506,1753.349,12422.996,35,1.2,35,-2.0