version: 66.10
glider: 176
mission: 5
dive: 456
start: 6 17 112 22 2 42
data:
$ID,176
$MISSION,5
$DIVE,456
$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,-6
$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,-8195.2988
$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
$GPS1,170612,215407,1803.522,12359.747,31,1.3,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.5
$GPS2,170612,220214,1803.565,12359.674,12,2.0,12,-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,268.2,188629,-14.0,-8.684
$D_GRID,4782
$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,-170.3,0.0,0.0,0,75,0.00,0.00,-57.28,0.000,2,0.000,0.000,187,2721,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.56,-170.3,3.5,-8.0,10,123,8.82,2.25,-25.15,0.000,4,0.234,0.040,2333,1188,3626,0,0,0,0,0,0,24.98,26.28,26.72
$GC,155,-0.56,-170.3,26.2,-34.3,20,162,0.08,2.25,0.00,0.000,6,0.203,0.045,2340,2675,3627,0,0,0,0,0,0,25.98,26.15,28.83
$GC,484,-0.56,-170.3,131.7,-27.0,81,491,0.00,1.65,0.00,0.000,4,0.000,0.050,2332,3780,3626,0,0,0,0,0,0,28.83,26.16,28.83
$GC,554,-0.56,-170.3,149.8,-19.3,91,561,0.00,1.65,0.00,0.000,6,0.000,0.022,2332,2555,3626,0,0,0,0,0,0,28.83,26.54,28.83
$GC,865,-0.56,-170.3,212.6,-20.0,146,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2553,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-0.56,-170.3,264.2,-15.2,176,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2553,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.56,-170.3,310.4,-15.0,207,1479,0.00,1.85,0.00,0.000,4,0.000,0.050,2323,3766,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1538,-0.56,-170.3,319.4,-13.9,213,1542,0.08,1.65,0.00,0.000,6,0.177,0.023,2343,2521,3624,0,0,0,0,0,0,26.31,26.55,28.83
$GC,1849,-0.56,-170.3,359.4,-11.9,244,1854,0.05,1.88,0.00,0.000,4,0.176,0.024,2284,1183,3623,0,0,0,0,0,0,26.60,26.39,28.83
$GC,1933,-0.56,-170.3,370.3,-13.5,252,1942,0.17,2.25,0.00,0.000,6,0.116,0.046,2341,2673,3623,0,0,0,0,0,0,25.89,26.17,28.83
$GC,2241,-0.56,-170.3,403.7,-10.1,283,2245,0.00,2.12,0.00,0.000,4,0.000,0.025,2341,1191,3620,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2264,-0.56,-170.3,405.8,-10.2,285,2274,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2670,3620,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2574,-0.56,-170.3,434.9,-8.9,316,2583,0.00,2.12,0.00,0.000,4,0.000,0.025,2337,1188,3618,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2627,-0.56,-170.3,439.1,-7.9,321,2637,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2670,3617,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2935,-0.56,-170.3,469.5,-10.7,352,2937,0.00,0.00,-0.08,0.000,6,0.000,0.000,2335,2671,3639,0,0,0,0,0,0,28.83,28.83,25.35
$GC,3236,-0.56,-170.3,500.9,-10.1,382,3245,0.00,2.12,0.00,0.000,4,0.000,0.026,2336,1187,3636,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3308,-0.56,-170.3,507.4,-8.5,389,3319,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2671,3635,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3618,-0.56,-170.3,535.5,-8.6,420,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2671,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-0.56,-170.3,560.2,-7.9,450,3929,0.00,2.12,0.00,0.000,4,0.000,0.025,2336,1189,3629,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3976,-0.56,-170.3,564.3,-7.5,455,3983,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2670,3629,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4283,-0.56,-170.3,591.3,-9.3,486,4292,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1193,3625,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4329,-0.56,-170.3,595.2,-9.2,490,4336,0.00,2.30,0.00,0.000,6,0.000,0.045,2335,2673,3625,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4646,-0.56,-170.3,625.4,-9.5,509,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2672,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4946,-0.56,-170.3,653.3,-9.2,524,4952,0.00,2.15,0.00,0.000,4,0.000,0.026,2335,1197,3620,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4990,-0.56,-170.3,656.8,-8.9,526,4994,0.00,2.25,0.00,0.000,6,0.000,0.046,2335,2669,3619,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5302,-0.56,-170.3,683.4,-8.2,542,5308,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1199,3617,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5330,-0.56,-170.3,685.0,-8.1,543,5334,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2667,3617,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5639,-0.56,-170.3,710.5,-8.2,558,5642,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1191,3614,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5680,-0.56,-170.3,714.1,-8.3,560,5684,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2667,3614,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6003,-0.56,-170.3,740.9,-8.5,576,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2668,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.56,-170.3,765.2,-7.9,591,6307,0.00,2.15,0.00,0.000,4,0.000,0.025,2335,1191,3610,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6342,-0.56,-170.3,768.4,-7.9,593,6347,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2673,3610,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6663,-0.56,-170.3,793.3,-8.0,609,6669,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1188,3608,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6690,-0.56,-170.3,794.9,-8.0,610,6694,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2666,3608,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6999,-0.56,-170.3,820.3,-8.1,625,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2667,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7298,-0.56,-170.3,844.6,-8.0,640,7303,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1198,3604,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7352,-0.56,-170.3,847.9,-8.0,642,7359,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2673,3604,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7660,-0.56,-170.3,872.0,-7.4,658,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2672,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7958,-0.56,-170.3,892.7,-6.7,673,7963,0.00,2.17,0.00,0.000,4,0.000,0.026,2334,1187,3601,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7991,-0.56,-170.3,894.0,-6.7,674,7998,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2671,3601,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8300,-0.56,-170.3,915.9,-7.1,690,8304,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1188,3599,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8321,-0.56,-170.3,917.6,-7.0,691,8327,0.00,2.33,0.00,0.000,6,0.000,0.047,2334,2675,3599,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8641,-0.56,-170.3,940.3,-7.3,707,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2675,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8945,-0.56,-170.3,962.5,-7.4,722,8950,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1198,3597,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8991,-0.56,-170.3,965.5,-7.5,724,8995,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2666,3597,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9300,-0.56,-170.3,988.3,-7.2,739,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2666,3595,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9336,begin apogee
$GC,9341,-0.17,0.0,991.1,-7.1,741,9500,0.38,0.10,149.00,1.695,6,0.100,0.067,2469,2583,2928,0,0,0,0,0,0,25.82,24.39,22.60
$STATE,9501,end apogee,CONTROL_FINISHED_OK
$STATE,9501,begin climb
$GC,9504,0.56,170.3,998.3,0.0,749,9680,0.62,2.40,164.07,1.653,4,0.050,0.030,2730,1110,2232,0,0,0,0,0,0,25.01,24.11,22.09
$GC,9723,0.56,170.3,983.8,13.7,760,9729,0.17,2.35,0.00,0.000,6,0.163,0.047,2684,2571,2226,0,0,0,0,0,0,24.92,25.20,28.83
$GC,10044,0.56,170.3,942.9,12.9,776,10048,0.00,1.83,0.00,0.000,4,0.000,0.055,2684,3771,2221,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10078,0.56,170.3,939.9,13.1,777,10085,0.00,1.88,0.00,0.000,6,0.000,0.024,2693,2500,2220,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10387,0.56,170.3,897.1,13.7,793,10392,0.00,1.98,0.00,0.000,4,0.000,0.055,2693,3768,2219,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10418,0.56,170.3,894.2,13.8,794,10427,0.08,1.85,0.00,0.000,6,0.226,0.023,2688,2475,2218,0,0,0,0,0,0,26.07,26.36,28.83
$GC,10725,0.56,170.3,851.8,12.9,810,10731,0.00,2.03,0.00,0.000,4,0.000,0.029,2698,1092,2217,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10749,0.56,170.3,849.2,12.8,811,10753,0.00,2.28,0.00,0.000,6,0.000,0.047,2698,2565,2216,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11061,0.56,170.3,805.1,14.6,827,11065,0.00,2.17,0.00,0.000,4,0.000,0.031,2709,1105,2216,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11110,0.56,170.3,799.5,13.8,829,11115,0.10,2.28,0.00,0.000,6,0.174,0.047,2684,2565,2214,0,0,0,0,0,0,25.84,26.03,28.83
$GC,11419,0.56,170.3,760.7,12.0,844,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2565,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11718,0.56,170.3,726.8,10.9,859,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2565,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12017,0.56,170.3,695.2,10.1,874,12023,0.00,2.15,0.00,0.000,4,0.000,0.029,2694,1106,2214,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12108,0.56,170.3,687.9,9.1,878,12118,0.00,2.28,0.00,0.000,6,0.000,0.045,2694,2576,2213,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12420,0.56,170.3,652.9,11.3,894,12426,0.00,2.17,0.00,0.000,4,0.000,0.030,2706,1104,2213,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12442,0.56,170.3,650.6,11.4,895,12447,0.08,2.25,0.00,0.000,6,0.184,0.044,2688,2568,2212,0,0,0,0,0,0,25.85,25.98,28.83
$GC,12755,0.56,170.3,615.1,11.5,911,12758,0.00,1.85,0.00,0.000,4,0.000,0.054,2688,3766,2212,0,0,0,0,0,0,28.83,25.84,28.83
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$GC,18997,1.02,546.9,30.2,7.0,1695,19024,0.12,2.25,20.65,0.192,4,0.090,0.031,2913,1109,697,0,0,0,0,0,0,26.52,26.17,25.17
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$STATE,19206,end climb,SURFACE_DEPTH_REACHED
$STATE,19206,begin surface coast
$FINISH,0.7,1.021548
$STATE,19246,end surface coast,CONTROL_FINISHED_OK
$STATE,19246,begin surface
$SM_CCo,19322,0.00,0.000,0,0,694,548.25
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$IRIDIUM_FIX,1754.17,12400.27,170612,161621
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,22.1,96.233
$10V_AH,9.8,58.735
$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,19.725,168.475,528.925,0.000,0.000,30.769,44.300,259.065,0.000,0.000,14.864,4354.280,10726.480,670.502,3581.447,445.068,0.000,2300.721,0.000,2909.281,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,86.445,1695.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.409,2368.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,130452,1735
$CAP_FILE_SIZE,204464,0
$CFSIZE,260165632,175919104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 46.6,1
$GPS,180612,032600,1803.964,12357.744,46,1.1,46,-2.0