version: 66.10
glider: 176
mission: 5
dive: 434
start: 6 12 112 23 24 30
data:
$ID,176
$MISSION,5
$DIVE,434
$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,-8155.6382
$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
$GPS1,120612,231636,1754.306,12421.563,39,1.1,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.2
$GPS2,120612,232401,1754.291,12421.656,11,1.7,11,-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,279.2,230534,-14.0,-8.684
$D_GRID,4813
$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,-170.3,0.0,0.0,0,78,0.00,0.00,-59.80,0.000,2,0.000,0.000,191,2698,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.1,-6.5,10,127,8.73,2.15,-27.80,0.000,4,0.232,0.038,2340,1202,3625,0,0,0,0,0,0,25.04,26.29,26.74
$GC,189,-0.56,-170.3,30.2,-17.2,26,196,0.00,2.22,0.00,0.000,6,0.000,0.046,2335,2672,3625,0,0,0,0,0,0,28.83,26.20,28.83
$GC,518,-0.56,-170.3,127.1,-28.9,87,525,0.00,1.65,0.00,0.000,4,0.000,0.052,2333,3776,3624,0,0,0,0,0,0,28.83,26.18,28.83
$GC,583,-0.56,-170.3,143.0,-18.6,96,591,0.00,1.62,0.00,0.000,6,0.000,0.023,2333,2560,3624,0,0,0,0,0,0,28.83,26.56,28.83
$GC,895,-0.56,-170.3,206.5,-20.6,154,898,0.00,1.80,0.00,0.000,4,0.000,0.049,2332,3767,3624,0,0,0,0,0,0,28.83,26.20,28.83
$GC,979,-0.56,-170.3,221.3,-16.6,162,986,0.00,1.62,0.00,0.000,6,0.000,0.023,2333,2549,3624,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1288,-0.56,-170.3,270.2,-15.5,193,1296,0.00,1.92,0.00,0.000,4,0.000,0.028,2333,1179,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1362,-0.56,-170.3,279.7,-11.1,200,1370,0.00,2.25,0.00,0.000,6,0.000,0.046,2332,2670,3625,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1670,-0.56,-170.3,324.0,-13.7,231,1679,0.00,2.08,0.00,0.000,4,0.000,0.026,2332,1201,3623,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1735,-0.56,-170.3,331.3,-10.9,237,1743,0.00,2.20,0.00,0.000,6,0.000,0.046,2331,2665,3623,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2041,-0.56,-170.3,370.5,-13.2,268,2051,0.00,2.10,0.00,0.000,4,0.000,0.026,2331,1195,3621,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2074,-0.56,-170.3,374.6,-12.9,271,2083,0.00,2.22,0.00,0.000,6,0.000,0.047,2330,2668,3621,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2384,-0.56,-170.3,413.7,-12.3,302,2392,0.00,2.12,0.00,0.000,4,0.000,0.026,2330,1184,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2437,-0.56,-170.3,419.3,-10.6,307,2447,0.05,2.28,0.00,0.000,6,0.124,0.046,2361,2666,3619,0,0,0,0,0,0,26.04,26.22,28.83
$GC,2745,-0.56,-170.3,444.3,-7.8,338,2755,0.12,2.12,0.00,0.000,4,0.086,0.024,2264,1185,3615,0,0,0,0,0,0,26.58,26.39,28.83
$GC,2778,-0.56,-170.3,447.8,-10.6,341,2788,0.22,2.28,0.00,0.000,6,0.139,0.047,2341,2674,3615,0,0,0,0,0,0,25.86,26.18,28.83
$GC,3087,-0.56,-170.3,477.6,-9.3,372,3098,0.00,2.17,-0.10,0.000,4,0.000,0.037,2341,1184,3636,0,0,0,0,0,0,28.83,26.36,26.00
$GC,3113,-0.56,-170.3,479.8,-9.3,374,3120,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2674,3636,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3422,-0.56,-170.3,506.8,-8.6,405,3430,0.00,2.12,0.00,0.000,4,0.000,0.027,2335,1198,3633,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3475,-0.56,-170.3,510.7,-7.5,410,3483,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2666,3633,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3783,-0.56,-170.3,536.3,-8.5,441,3792,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1195,3630,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3807,-0.56,-170.3,538.3,-8.9,443,3814,0.00,2.28,0.00,0.000,6,0.000,0.047,2335,2657,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4115,-0.56,-170.3,564.8,-8.8,474,4118,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1198,3627,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4138,-0.56,-170.3,566.6,-8.8,476,4147,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2661,3627,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4449,-0.56,-170.3,593.2,-8.8,507,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2662,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4766,-0.56,-170.3,621.9,-9.1,527,4771,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1193,3621,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4788,-0.56,-170.3,623.6,-9.0,528,4792,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2669,3621,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5107,-0.56,-170.3,649.6,-8.0,544,5113,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1187,3618,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5146,-0.56,-170.3,652.8,-7.9,546,5152,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2669,3618,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5466,-0.56,-170.3,679.7,-8.4,562,5472,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1186,3616,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5490,-0.56,-170.3,681.3,-8.4,563,5494,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2668,3616,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5802,-0.56,-170.3,706.2,-7.8,579,5808,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1188,3613,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5843,-0.56,-170.3,709.5,-7.7,581,5849,0.00,2.28,0.00,0.000,6,0.000,0.049,2334,2673,3613,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6164,-0.56,-170.3,735.0,-8.1,597,6168,0.00,1.67,0.00,0.000,4,0.000,0.056,2332,3766,3611,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6194,-0.56,-170.3,736.8,-8.1,598,6197,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2542,3610,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6507,-0.56,-170.3,762.5,-7.8,614,6513,0.00,1.92,0.00,0.000,4,0.000,0.025,2332,1189,3609,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6530,-0.56,-170.3,764.1,-7.7,615,6534,0.00,2.28,0.00,0.000,6,0.000,0.049,2331,2667,3609,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6842,-0.56,-170.3,786.8,-7.0,631,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2667,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7143,-0.56,-170.3,807.6,-6.9,646,7148,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1196,3605,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7182,-0.56,-170.3,810.3,-6.9,648,7187,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2668,3604,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7502,-0.56,-170.3,833.4,-7.4,664,7507,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1185,3602,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7536,-0.56,-170.3,834.9,-7.5,665,7543,0.00,2.30,0.00,0.000,6,0.000,0.048,2331,2675,3602,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7843,-0.56,-170.3,859.6,-7.7,681,7848,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1198,3601,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7870,-0.56,-170.3,861.1,-7.7,682,7874,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2671,3600,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8179,-0.56,-170.3,885.8,-8.0,697,8183,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1195,3599,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8214,-0.56,-170.3,887.8,-8.1,698,8221,0.00,2.28,0.00,0.000,6,0.000,0.048,2331,2669,3600,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8522,-0.56,-170.3,912.8,-7.7,714,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2669,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8823,-0.56,-170.3,935.6,-7.5,729,8828,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1193,3596,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8869,-0.56,-170.3,938.6,-7.6,731,8873,0.00,2.30,0.00,0.000,6,0.000,0.048,2331,2675,3596,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9178,-0.56,-170.3,961.2,-6.9,746,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2675,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9476,-0.56,-170.3,982.1,-7.1,761,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2675,3594,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9594,begin apogee
$GC,9599,-0.17,0.0,990.6,-7.1,767,9759,0.38,0.10,148.60,1.698,6,0.100,0.068,2467,2581,2929,0,0,0,0,0,0,25.86,24.46,22.67
$STATE,9760,end apogee,CONTROL_FINISHED_OK
$STATE,9760,begin climb
$GC,9762,0.56,170.3,998.1,0.0,775,9935,0.65,0.00,163.98,1.658,6,0.048,0.000,2718,2581,2234,0,0,0,0,0,0,25.03,28.83,22.20
$GC,10235,0.56,170.3,945.8,14.5,799,10240,0.12,1.83,0.00,0.000,4,0.184,0.054,2681,3772,2223,0,0,0,0,0,0,25.95,26.02,28.83
$GC,10275,0.56,170.3,940.3,14.6,801,10279,0.00,1.85,0.00,0.000,6,0.000,0.024,2691,2496,2223,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10594,0.56,170.3,900.4,12.1,817,10600,0.00,1.98,0.00,0.000,4,0.000,0.055,2691,3773,2220,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10635,0.56,170.3,894.9,12.9,819,10640,0.05,1.85,0.00,0.000,6,0.257,0.023,2690,2482,2220,0,0,0,0,0,0,26.17,26.39,28.83
$GC,10952,0.56,170.3,854.5,12.4,835,10958,0.00,2.00,0.00,0.000,4,0.000,0.030,2700,1099,2219,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10987,0.56,170.3,852.1,12.5,836,10995,0.05,2.28,0.00,0.000,6,0.217,0.047,2689,2571,2217,0,0,0,0,0,0,26.02,26.10,28.83
$GC,11292,0.56,170.3,812.5,12.2,852,11296,0.00,1.85,0.00,0.000,4,0.000,0.054,2688,3776,2217,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11315,0.56,170.3,809.6,12.5,853,11319,0.00,1.85,0.00,0.000,6,0.000,0.023,2697,2492,2216,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11638,0.56,170.3,768.1,13.0,869,11642,0.00,1.98,0.00,0.000,4,0.000,0.054,2698,3772,2216,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11682,0.56,170.3,762.0,13.5,871,11687,0.10,1.83,0.00,0.000,6,0.203,0.023,2684,2491,2216,0,0,0,0,0,0,25.99,26.40,28.83
$GC,11996,0.56,170.3,724.1,12.0,887,11997,0.05,0.00,0.00,0.000,6,0.172,0.000,2720,2487,2215,0,0,0,0,0,0,26.54,28.83,28.83
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$STATE,18810,end climb,SURFACE_DEPTH_REACHED
$STATE,18810,begin surface coast
$FINISH,0.6,1.008582
$STATE,18855,end surface coast,CONTROL_FINISHED_OK
$STATE,18855,begin surface
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$IRIDIUM_FIX,1745.10,12422.23,120612,171725
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.70
$XPDR_PINGS,0
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$10V_AH,9.8,55.936
$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
$DEVICE_SECS,19.025,177.250,526.450,0.000,0.000,30.208,17.669,246.601,0.000,0.000,15.734,4200.284,10594.057,737.991,3368.043,444.242,0.000,2301.726,0.000,2785.214,0.000,0.542,0.000
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$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,127217,1681
$CAP_FILE_SIZE,200338,0
$CFSIZE,260165632,178282496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,105.7,1
$GPS,130612,044106,1754.077,12421.060,35,0.9,35,-2.0