version: 66.10
glider: 176
mission: 5
dive: 432
start: 6 12 112 12 39 36
data:
$ID,176
$MISSION,5
$DIVE,432
$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,-8151.7783
$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
$GPS1,120612,123124,1753.702,12422.587,25,1.2,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.4
$GPS2,120612,123908,1753.598,12422.721,13,2.0,13,-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,282.6,232702,-14.0,-8.684
$D_GRID,4584
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-59.67,0.000,2,0.000,0.000,190,2681,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.0,-5.7,10,127,8.68,2.20,-29.05,0.000,4,0.230,0.041,2341,1196,3626,0,0,0,0,0,0,25.06,26.29,26.74
$GC,188,-0.56,-170.3,29.7,-20.2,25,195,0.00,2.22,0.00,0.000,6,0.000,0.045,2335,2669,3626,0,0,0,0,0,0,28.83,26.18,28.83
$GC,501,-0.56,-170.3,126.2,-28.9,86,509,0.00,1.65,0.00,0.000,4,0.000,0.051,2327,3780,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,542,-0.56,-170.3,140.1,-34.8,93,549,0.00,1.65,0.00,0.000,6,0.000,0.024,2327,2566,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,853,-0.56,-170.3,208.2,-19.6,150,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2564,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1156,-0.56,-170.3,267.1,-19.0,180,1159,0.00,1.83,0.00,0.000,4,0.000,0.049,2318,3775,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1219,-0.56,-170.3,278.1,-16.3,186,1227,0.05,1.65,0.00,0.000,6,0.143,0.021,2339,2526,3626,0,0,0,0,0,0,26.31,26.60,28.83
$GC,1527,-0.56,-170.3,322.2,-12.4,217,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2525,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1828,-0.56,-170.3,360.1,-12.8,247,1837,0.00,1.90,0.00,0.000,4,0.000,0.052,2335,3769,3623,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1872,-0.56,-170.3,365.6,-13.3,251,1879,0.00,1.67,0.00,0.000,6,0.000,0.022,2335,2515,3622,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2179,-0.56,-170.3,404.2,-12.1,282,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2514,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,-0.56,-170.3,440.0,-11.6,312,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2514,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,-0.56,-170.3,472.1,-9.3,343,2792,0.00,0.00,-0.08,0.000,6,0.000,0.000,2335,2513,3639,0,0,0,0,0,0,28.83,28.83,25.39
$GC,3090,-0.56,-170.3,499.1,-9.4,373,3099,0.00,1.92,0.00,0.000,4,0.000,0.054,2332,3777,3637,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3151,-0.56,-170.3,504.6,-8.9,379,3155,0.00,1.67,0.00,0.000,6,0.000,0.023,2332,2512,3636,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3462,-0.56,-170.3,534.7,-9.8,410,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2481,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3765,-0.56,-170.3,563.7,-9.6,440,3774,0.00,1.95,0.00,0.000,4,0.000,0.054,2332,3769,3630,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3842,-0.56,-170.3,570.7,-8.8,447,3849,0.00,1.65,0.00,0.000,6,0.000,0.024,2331,2513,3629,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4150,-0.56,-170.3,599.5,-9.1,478,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2512,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,-0.56,-170.3,625.7,-8.2,494,4465,0.00,1.95,0.00,0.000,4,0.000,0.054,2330,3770,3624,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4499,-0.56,-170.3,628.9,-8.0,496,4502,0.00,1.65,0.00,0.000,6,0.000,0.024,2331,2532,3623,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4820,-0.56,-170.3,654.6,-8.0,512,4825,0.00,1.95,0.00,0.000,4,0.000,0.054,2324,3768,3620,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4869,-0.56,-170.3,658.0,-8.1,514,4873,0.03,1.67,0.00,0.000,6,0.151,0.024,2339,2525,3619,0,0,0,0,0,0,26.34,26.53,28.83
$GC,5181,-0.56,-170.3,681.8,-7.5,530,5187,0.00,1.92,0.00,0.000,4,0.000,0.054,2334,3763,3618,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5209,-0.56,-170.3,683.2,-7.4,531,5212,0.00,1.65,0.00,0.000,6,0.000,0.025,2334,2532,3617,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5523,-0.56,-170.3,708.3,-8.0,547,5528,0.00,1.95,0.00,0.000,4,0.000,0.056,2331,3763,3615,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5554,-0.56,-170.3,710.0,-8.0,548,5562,0.00,1.65,0.00,0.000,6,0.000,0.025,2331,2522,3614,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5863,-0.56,-170.3,736.0,-7.9,564,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2522,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,-0.56,-170.3,758.5,-7.5,579,6167,0.00,1.95,0.00,0.000,4,0.000,0.056,2330,3769,3610,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6203,-0.56,-170.3,761.5,-7.4,581,6206,0.00,1.67,0.00,0.000,6,0.000,0.024,2330,2529,3609,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6526,-0.56,-170.3,786.3,-7.8,597,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2503,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6824,-0.56,-170.3,809.6,-7.5,612,6829,0.00,1.95,0.00,0.000,4,0.000,0.057,2329,3763,3606,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6904,-0.56,-170.3,815.6,-7.6,616,6907,0.00,1.67,0.00,0.000,6,0.000,0.025,2329,2537,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7226,-0.56,-170.3,839.8,-7.4,632,7232,0.00,1.92,0.00,0.000,4,0.000,0.027,2330,1188,3604,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7247,-0.56,-170.3,841.3,-7.5,633,7252,0.00,2.30,0.00,0.000,6,0.000,0.050,2330,2668,3604,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7562,-0.56,-170.3,865.2,-7.6,649,7567,0.00,2.12,0.00,0.000,4,0.000,0.027,2329,1200,3602,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7594,-0.56,-170.3,866.8,-7.5,650,7601,0.00,2.28,0.00,0.000,6,0.000,0.051,2330,2664,3602,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7902,-0.56,-170.3,890.4,-7.2,666,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2665,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8203,-0.56,-170.3,911.1,-6.8,681,8208,0.00,2.12,0.00,0.000,4,0.000,0.026,2330,1191,3599,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8241,-0.56,-170.3,913.8,-6.7,683,8247,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2669,3599,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8561,-0.56,-170.3,934.6,-6.4,699,8567,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1191,3598,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8591,-0.56,-170.3,936.0,-6.6,700,8601,0.00,2.30,0.00,0.000,6,0.000,0.048,2330,2675,3598,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8903,-0.56,-170.3,957.8,-7.0,716,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2675,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9203,-0.56,-170.3,980.1,-7.6,731,9207,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1189,3595,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9245,-0.56,-170.3,983.4,-7.8,733,9251,0.00,2.30,0.00,0.000,6,0.000,0.050,2330,2668,3595,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9342,begin apogee
$GC,9347,-0.17,0.0,990.7,-7.3,738,9508,0.38,0.12,148.80,1.701,6,0.100,0.063,2465,2582,2930,0,0,0,0,0,0,25.85,24.49,22.64
$STATE,9509,end apogee,CONTROL_FINISHED_OK
$STATE,9510,begin climb
$GC,9511,0.56,170.3,997.4,0.0,746,9684,0.62,0.00,164.60,1.657,6,0.050,0.000,2714,2582,2233,0,0,0,0,0,0,25.03,28.83,22.18
$GC,9985,0.56,170.3,937.8,16.9,770,9991,0.10,2.20,0.00,0.000,4,0.194,0.027,2701,1096,2222,0,0,0,0,0,0,26.09,26.20,28.83
$GC,10006,0.56,170.3,934.5,16.9,771,10011,0.05,2.30,0.00,0.000,6,0.212,0.048,2689,2570,2221,0,0,0,0,0,0,26.01,26.08,28.83
$GC,10324,0.56,170.3,888.7,14.2,787,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2570,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10626,0.56,170.3,848.0,13.3,802,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2570,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10924,0.56,170.3,810.3,11.9,817,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2570,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11225,0.56,170.3,774.6,11.6,832,11229,0.00,1.85,0.00,0.000,4,0.000,0.054,2689,3774,2216,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11246,0.56,170.3,771.8,12.0,833,11250,0.00,1.83,0.00,0.000,6,0.000,0.024,2698,2492,2215,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11562,0.56,170.3,731.5,12.9,849,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2489,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11863,0.56,170.3,693.0,13.3,864,11868,0.00,2.00,0.00,0.000,4,0.000,0.053,2698,3780,2214,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11930,0.56,170.3,683.8,14.8,867,11934,0.10,1.85,0.00,0.000,6,0.206,0.022,2685,2490,2214,0,0,0,0,0,0,25.97,26.38,28.83
$GC,12242,0.56,170.3,643.4,12.2,883,12247,0.00,1.95,0.00,0.000,4,0.000,0.053,2685,3765,2213,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12291,0.56,170.3,637.9,12.8,885,12295,0.00,1.83,0.00,0.000,6,0.000,0.023,2694,2487,2213,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12597,0.56,170.3,598.1,12.5,900,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2484,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12900,0.56,170.3,563.0,11.7,930,12909,0.00,2.03,0.00,0.000,4,0.000,0.033,2704,1098,2213,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12921,0.56,170.3,560.3,11.6,932,12931,0.08,2.28,0.00,0.000,6,0.179,0.046,2686,2567,2213,0,0,0,0,0,0,25.87,25.98,28.83
$GC,13232,0.56,170.3,527.2,10.9,963,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2567,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13534,0.56,170.3,494.1,11.0,993,13543,0.00,2.12,0.00,0.000,4,0.000,0.032,2694,1102,2212,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,18861,end climb,SURFACE_DEPTH_REACHED
$STATE,18861,begin surface coast
$FINISH,0.8,1.021223
$STATE,18901,end surface coast,CONTROL_FINISHED_OK
$STATE,18901,begin surface
$SM_CCo,18980,0.00,0.000,0,0,767,530.34
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$IRIDIUM_FIX,1747.37,12422.23,120612,070724
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.46
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,22.2,90.897
$10V_AH,9.8,55.682
$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
$DEVICE_SECS,18.700,145.025,519.200,0.000,0.000,30.395,27.592,249.591,0.000,0.000,16.968,4290.711,10637.362,673.282,3376.493,434.459,0.000,2224.233,0.000,2780.686,0.000,0.543,0.000
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$SENSOR_SECS,1168.254,2287.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,127436,1719
$CAP_FILE_SIZE,193689,0
$CFSIZE,260165632,178499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 96.5,1
$GPS,120612,175706,1754.005,12422.344,38,0.9,38,-2.0