version: 66.10
glider: 176
mission: 5
dive: 449
start: 6 16 112 8 35 12
data:
$ID,176
$MISSION,5
$DIVE,449
$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,-8182.9224
$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
$GPS1,160612,082724,1758.676,12410.301,26,1.1,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.8
$GPS2,160612,083444,1758.740,12410.257,10,1.7,10,-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,282.1,208978,-14.0,-8.684
$D_GRID,4746
$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,16,-0.56,-170.3,0.0,0.0,0,75,0.00,0.00,-56.92,0.000,2,0.000,0.000,192,2693,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.56,-170.3,3.2,-7.7,10,122,8.75,2.22,-28.58,0.000,4,0.230,0.041,2334,1206,3625,0,0,0,0,0,0,25.02,26.27,26.73
$GC,241,-0.56,-170.3,44.0,-24.5,37,248,0.00,2.22,0.00,0.000,6,0.000,0.045,2333,2676,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,570,-0.56,-170.3,152.5,-25.1,98,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,886,-0.56,-170.3,218.4,-19.1,151,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2677,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1189,-0.56,-170.3,269.9,-17.2,181,1198,0.00,2.10,0.00,0.000,4,0.000,0.025,2333,1193,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1271,-0.56,-170.3,280.8,-10.2,189,1275,0.00,2.22,0.00,0.000,6,0.000,0.043,2332,2678,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1582,-0.56,-170.3,324.9,-15.1,220,1591,0.00,2.12,0.00,0.000,4,0.000,0.026,2332,1199,3624,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1616,-0.56,-170.3,329.6,-15.0,223,1624,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2674,3624,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1926,-0.56,-170.3,373.1,-13.5,254,1934,0.00,2.10,0.00,0.000,4,0.000,0.026,2332,1200,3622,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1999,-0.56,-170.3,382.0,-11.7,261,2008,0.00,2.20,0.00,0.000,6,0.000,0.043,2332,2669,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2308,-0.56,-170.3,420.4,-10.9,292,2318,0.00,2.10,0.00,0.000,4,0.000,0.024,2332,1195,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2344,-0.56,-170.3,424.0,-10.9,295,2351,0.00,2.22,0.00,0.000,6,0.000,0.044,2331,2671,3619,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2650,-0.56,-170.3,456.6,-10.7,326,2659,0.00,2.12,0.00,0.000,4,0.000,0.026,2332,1197,3616,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2694,-0.56,-170.3,460.8,-10.1,330,2702,0.00,2.28,-0.10,0.000,6,0.000,0.044,2330,2674,3640,0,0,0,0,0,0,28.83,26.20,25.70
$GC,3002,-0.56,-170.3,492.9,-10.5,361,3006,0.00,2.15,0.00,0.000,4,0.000,0.028,2331,1188,3637,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3054,-0.56,-170.3,498.0,-9.4,366,3063,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2669,3636,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3364,-0.56,-170.3,532.5,-11.5,397,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2669,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-0.56,-170.3,566.5,-10.7,427,3675,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1193,3630,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3720,-0.56,-170.3,571.7,-9.7,432,3728,0.00,2.28,0.00,0.000,6,0.000,0.044,2330,2667,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4028,-0.56,-170.3,600.2,-8.5,463,4034,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1196,3627,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4070,-0.56,-170.3,603.5,-8.1,465,4076,0.08,2.25,0.00,0.000,6,0.171,0.045,2345,2677,3626,0,0,0,0,0,0,26.04,26.15,28.83
$GC,4390,-0.56,-170.3,626.1,-7.2,481,4394,0.08,1.67,0.00,0.000,4,0.128,0.053,2278,3776,3623,0,0,0,0,0,0,26.56,26.01,28.83
$GC,4415,-0.56,-170.3,628.2,-7.8,482,4419,0.20,1.67,0.00,0.000,6,0.130,0.023,2343,2501,3623,0,0,0,0,0,0,26.01,26.52,28.83
$GC,4727,-0.56,-170.3,655.1,-8.6,498,4733,0.00,1.98,0.00,0.000,4,0.000,0.054,2334,3773,3620,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4750,-0.56,-170.3,656.9,-8.6,499,4753,0.00,1.70,0.00,0.000,6,0.000,0.024,2334,2511,3620,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5070,-0.56,-170.3,686.5,-9.3,515,5075,0.00,1.98,0.00,0.000,4,0.000,0.055,2331,3775,3617,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5096,-0.56,-170.3,688.5,-9.3,516,5099,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2534,3616,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5408,-0.56,-170.3,718.3,-9.1,532,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2509,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,-0.56,-170.3,742.5,-7.7,547,5715,0.00,1.90,0.00,0.000,4,0.000,0.027,2331,1188,3612,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5731,-0.56,-170.3,744.0,-7.6,548,5735,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2678,3613,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6044,-0.56,-170.3,766.6,-7.3,564,6048,0.00,2.15,0.00,0.000,4,0.000,0.027,2330,1194,3610,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6079,-0.56,-170.3,768.2,-7.4,565,6086,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2677,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6387,-0.56,-170.3,792.1,-7.8,581,6392,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1192,3608,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6415,-0.56,-170.3,793.6,-7.7,582,6424,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2668,3607,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6726,-0.56,-170.3,818.1,-7.6,598,6732,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1194,3606,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6754,-0.56,-170.3,819.8,-7.7,599,6758,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2667,3606,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7062,-0.56,-170.3,841.7,-6.8,614,7068,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1200,3603,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7101,-0.56,-170.3,844.4,-6.7,616,7107,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2666,3603,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7421,-0.56,-170.3,865.3,-6.7,632,7427,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1195,3601,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7462,-0.56,-170.3,868.0,-6.7,634,7468,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2671,3601,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7781,-0.56,-170.3,890.4,-7.4,650,7787,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1197,3600,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7810,-0.56,-170.3,891.8,-7.3,651,7814,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2666,3600,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8116,-0.56,-170.3,915.3,-7.6,666,8122,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1193,3599,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8156,-0.56,-170.3,918.3,-7.5,668,8162,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2671,3598,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8477,-0.56,-170.3,942.0,-7.6,684,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2671,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8777,-0.56,-170.3,963.8,-7.2,699,8782,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1196,3595,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8817,-0.56,-170.3,966.7,-7.3,701,8822,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2665,3595,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9138,-0.56,-170.3,989.9,-7.3,717,9143,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1199,3594,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9155,begin apogee
$GC,9162,-0.17,0.0,991.4,-7.3,718,9321,0.38,0.08,148.40,1.698,6,0.098,0.095,2466,2486,2928,0,0,0,0,0,0,25.84,24.41,22.63
$STATE,9322,end apogee,CONTROL_FINISHED_OK
$STATE,9322,begin climb
$GC,9324,0.56,170.3,999.3,0.0,726,9498,0.65,2.22,164.00,1.656,4,0.050,0.028,2727,1099,2233,0,0,0,0,0,0,25.01,24.14,22.15
$GC,9515,0.56,170.3,991.6,10.9,735,9523,0.15,2.42,0.00,0.000,6,0.164,0.047,2689,2571,2228,0,0,0,0,0,0,24.51,24.73,28.83
$GC,9823,0.56,170.3,946.0,13.9,751,9826,0.00,1.85,0.00,0.000,4,0.000,0.056,2689,3766,2222,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9876,0.56,170.3,939.2,15.0,753,9884,0.00,1.83,0.00,0.000,6,0.000,0.024,2698,2490,2222,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10185,0.56,170.3,892.3,14.3,769,10190,0.00,1.98,0.00,0.000,4,0.000,0.054,2698,3770,2220,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10211,0.56,170.3,889.5,14.3,770,10216,0.10,1.85,0.00,0.000,6,0.213,0.024,2685,2480,2220,0,0,0,0,0,0,25.96,26.36,28.83
$GC,10526,0.56,170.3,846.6,12.8,786,10531,0.00,1.98,0.00,0.000,4,0.000,0.028,2695,1096,2218,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10546,0.56,170.3,844.2,12.7,787,10550,0.00,2.28,0.00,0.000,6,0.000,0.047,2695,2569,2217,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10864,0.56,170.3,802.9,12.6,803,10869,0.00,2.17,0.00,0.000,4,0.000,0.029,2705,1098,2216,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10913,0.56,170.3,798.1,12.4,805,10918,0.08,2.28,0.00,0.000,6,0.183,0.047,2688,2568,2215,0,0,0,0,0,0,25.93,26.05,28.83
$GC,11219,0.56,170.3,760.2,12.2,820,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2568,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11519,0.56,170.3,725.0,11.6,835,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2568,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11820,0.56,170.3,691.1,10.6,850,11826,0.00,2.15,0.00,0.000,4,0.000,0.030,2699,1100,2214,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11886,0.56,170.3,685.0,10.4,853,11891,0.00,2.28,0.00,0.000,6,0.000,0.045,2699,2570,2213,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12194,0.56,170.3,646.7,13.0,868,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2569,2213,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18757,end climb,SURFACE_DEPTH_REACHED
$STATE,18758,begin surface coast
$FINISH,0.6,1.009498
$STATE,18800,end surface coast,CONTROL_FINISHED_OK
$STATE,18800,begin surface
$SM_CCo,18877,0.00,0.000,0,0,583,575.47
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$IRIDIUM_FIX,1749.63,12409.05,160612,030343
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.38
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,22.2,94.685
$10V_AH,9.7,57.853
$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,19.600,178.100,537.775,0.000,0.000,28.316,20.023,239.797,0.000,0.000,14.260,4267.592,10470.249,656.665,3459.781,429.228,0.000,2283.654,0.000,2817.875,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,96.390,1698.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1150.859,2313.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,126989,1693
$CAP_FILE_SIZE,201849,0
$CFSIZE,260165632,176660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 67.3,1
$GPS,160612,135101,1759.559,12408.595,42,1.0,42,-2.0