version: 66.10
glider: 176
mission: 5
dive: 435
start: 6 13 112 4 49 5
data:
$ID,176
$MISSION,5
$DIVE,435
$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,-8156.9912
$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
$GPS1,130612,044106,1754.077,12421.060,35,0.9,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.2
$GPS2,130612,044837,1754.006,12421.123,10,1.3,10,-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,288.2,229799,-14.0,-8.684
$D_GRID,4654
$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,-59.53,0.000,2,0.000,0.000,191,2708,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.4,-7.5,10,127,8.70,2.25,-24.90,0.000,4,0.231,0.043,2334,1200,3626,0,0,0,0,0,0,25.05,26.27,26.72
$GC,215,-0.56,-170.3,39.5,-23.1,31,222,0.00,2.22,0.00,0.000,6,0.000,0.046,2332,2669,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,543,-0.56,-170.3,142.5,-24.2,92,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2669,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.56,-170.3,208.2,-18.5,150,864,0.00,1.65,0.00,0.000,4,0.000,0.050,2324,3764,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,995,-0.56,-170.3,228.9,-14.0,163,1003,0.08,1.62,0.00,0.000,6,0.181,0.024,2344,2549,3626,0,0,0,0,0,0,26.30,26.55,28.83
$GC,1301,-0.56,-170.3,273.4,-13.8,194,1306,0.05,1.90,0.00,0.000,4,0.177,0.022,2292,1185,3626,0,0,0,0,0,0,26.63,26.46,28.83
$GC,1321,-0.56,-170.3,275.9,-14.0,195,1329,0.17,2.25,0.00,0.000,6,0.147,0.044,2344,2677,3626,0,0,0,0,0,0,25.94,26.21,28.83
$GC,1628,-0.56,-170.3,317.4,-12.3,226,1638,0.05,2.12,0.00,0.000,4,0.174,0.023,2283,1179,3625,0,0,0,0,0,0,26.63,26.43,28.83
$GC,1704,-0.56,-170.3,327.0,-12.9,233,1713,0.17,2.22,0.00,0.000,6,0.120,0.044,2341,2667,3624,0,0,0,0,0,0,25.90,26.21,28.83
$GC,2010,-0.56,-170.3,362.9,-11.4,264,2022,0.00,2.10,0.00,0.000,4,0.000,0.024,2342,1187,3622,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2047,-0.56,-170.3,366.4,-10.4,267,2054,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2669,3622,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2354,-0.56,-170.3,402.6,-11.8,298,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2669,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.56,-170.3,437.2,-11.7,328,2660,0.00,2.10,0.00,0.000,4,0.000,0.024,2336,1181,3617,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2730,-0.56,-170.3,444.8,-9.6,335,2738,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2662,3617,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3038,-0.56,-170.3,479.3,-10.4,366,3048,0.00,2.15,-0.08,0.000,4,0.000,0.036,2335,1178,3643,0,0,0,0,0,0,28.83,26.39,25.48
$GC,3092,-0.56,-170.3,484.3,-9.7,371,3100,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2671,3643,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3400,-0.56,-170.3,513.5,-8.9,402,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2672,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3704,-0.56,-170.3,541.0,-9.1,432,3714,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1195,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3759,-0.56,-170.3,545.5,-8.1,437,3767,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2664,3637,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4066,-0.56,-170.3,572.9,-9.1,468,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2665,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-0.56,-170.3,600.1,-8.7,498,4374,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1185,3631,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4422,-0.56,-170.3,603.6,-8.8,500,4430,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2675,3631,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4727,-0.56,-170.3,632.9,-9.4,516,4730,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1181,3628,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4761,-0.56,-170.3,634.8,-9.2,517,4768,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2675,3628,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5070,-0.56,-170.3,663.8,-9.1,533,5075,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1189,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5116,-0.56,-170.3,667.2,-8.8,535,5120,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2674,3626,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5430,-0.56,-170.3,694.1,-8.0,551,5435,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1195,3623,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5456,-0.56,-170.3,695.7,-7.8,552,5460,0.00,2.25,0.00,0.000,6,0.000,0.045,2332,2668,3623,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5763,-0.56,-170.3,719.4,-7.6,567,5769,0.00,2.15,0.00,0.000,4,0.000,0.024,2332,1177,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5805,-0.56,-170.3,722.4,-7.5,569,5811,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2663,3621,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6124,-0.56,-170.3,745.4,-7.0,585,6129,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1175,3618,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6156,-0.56,-170.3,746.7,-6.9,586,6163,0.00,2.30,0.00,0.000,6,0.000,0.046,2332,2671,3618,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6465,-0.56,-170.3,768.7,-6.9,602,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2671,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6764,-0.56,-170.3,789.9,-7.2,617,6769,0.00,2.15,0.00,0.000,4,0.000,0.024,2332,1184,3614,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6806,-0.56,-170.3,792.7,-7.2,619,6810,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2674,3614,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7120,-0.56,-170.3,815.6,-7.2,635,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2674,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7418,-0.56,-170.3,837.6,-7.4,650,7424,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1188,3610,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7460,-0.56,-170.3,840.3,-7.0,652,7465,0.00,2.25,0.00,0.000,6,0.000,0.047,2332,2657,3610,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7778,-0.56,-170.3,861.5,-6.4,668,7784,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1186,3608,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7807,-0.56,-170.3,862.8,-6.4,669,7811,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2672,3608,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8116,-0.56,-170.3,882.8,-6.4,684,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2673,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,-0.56,-170.3,903.2,-7.0,699,8419,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1186,3606,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8456,-0.56,-170.3,906.0,-7.1,701,8460,0.00,2.30,0.00,0.000,6,0.000,0.048,2332,2666,3606,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8771,-0.56,-170.3,928.8,-7.2,717,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2666,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9071,-0.56,-170.3,950.3,-6.8,732,9076,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1179,3603,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9118,-0.56,-170.3,953.1,-7.0,734,9122,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2664,3603,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9425,-0.56,-170.3,974.5,-6.8,749,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2665,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9662,begin apogee
$GC,9669,-0.17,0.0,990.6,-6.7,761,9827,0.38,0.12,150.75,1.701,6,0.103,0.094,2467,2591,2929,0,0,0,0,0,0,25.84,24.40,22.54
$STATE,9828,end apogee,CONTROL_FINISHED_OK
$STATE,9828,begin climb
$GC,9830,0.56,170.3,997.0,0.0,769,10007,0.62,2.00,165.35,1.655,4,0.050,0.055,2711,3759,2233,0,0,0,0,0,0,24.84,23.87,21.99
$GC,10054,0.56,170.3,979.4,15.9,780,10058,0.15,1.90,0.00,0.000,6,0.194,0.024,2685,2505,2230,0,0,0,0,0,0,24.84,25.25,28.83
$GC,10367,0.56,170.3,935.4,13.3,796,10371,0.00,1.98,0.00,0.000,4,0.000,0.056,2685,3773,2223,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10390,0.56,170.3,932.1,13.6,797,10395,0.00,1.85,0.00,0.000,6,0.000,0.024,2694,2506,2222,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10709,0.56,170.3,886.3,14.1,813,10714,0.00,2.05,0.00,0.000,4,0.000,0.029,2705,1092,2220,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10752,0.56,170.3,881.0,13.8,815,10757,0.08,2.30,0.00,0.000,6,0.190,0.047,2689,2576,2218,0,0,0,0,0,0,25.97,26.10,28.83
$GC,11065,0.56,170.3,838.0,13.5,831,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2577,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11365,0.56,170.3,798.2,12.7,846,11368,0.00,1.85,0.00,0.000,4,0.000,0.056,2688,3775,2217,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11407,0.56,170.3,792.4,13.2,848,11412,0.00,1.85,0.00,0.000,6,0.000,0.023,2697,2481,2217,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11725,0.56,170.3,751.5,12.1,864,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2478,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12025,0.56,170.3,716.5,11.8,879,12031,0.00,2.03,0.00,0.000,4,0.000,0.055,2697,3773,2215,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12047,0.56,170.3,713.8,12.2,880,12051,0.10,1.85,0.00,0.000,6,0.205,0.022,2684,2493,2215,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12368,0.56,170.3,677.2,11.4,896,12372,0.00,2.00,0.00,0.000,4,0.000,0.031,2694,1104,2214,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12431,0.56,170.3,670.9,10.5,899,12436,0.00,2.25,0.00,0.000,6,0.000,0.044,2694,2571,2214,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12750,0.56,170.3,633.8,11.8,915,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2571,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13050,0.56,170.3,599.0,11.6,930,13059,0.00,2.20,0.00,0.000,4,0.000,0.031,2705,1099,2213,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,19373,end climb,SURFACE_DEPTH_REACHED
$STATE,19373,begin surface coast
$FINISH,0.6,0.999948
$STATE,19435,end surface coast,CONTROL_FINISHED_OK
$STATE,19435,begin surface
$SM_CCo,19511,0.00,0.000,0,0,630,563.70
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$IRIDIUM_FIX,1747.37,12422.23,120612,232356
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,22.0,91.555
$10V_AH,9.8,56.067
$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,19.300,169.550,554.800,0.000,0.000,25.681,39.015,236.436,0.000,0.000,13.102,4401.498,10867.208,678.292,3547.594,436.454,0.000,2322.382,0.000,2927.322,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,94.095,1701.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1195.679,2369.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,130909,1760
$CAP_FILE_SIZE,204585,0
$CFSIZE,260165632,178171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136, 99.1,1
$GPS,130612,101525,1754.521,12420.187,39,1.8,39,-2.0