version: 66.10
glider: 176
mission: 5
dive: 457
start: 6 18 112 3 36 17
data:
$ID,176
$MISSION,5
$DIVE,457
$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,-8196.5576
$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
$GPS1,180612,032600,1803.964,12357.744,46,1.1,46,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.7
$GPS2,180612,033550,1804.063,12357.697,11,1.3,11,-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,274.9,185039,-14.0,-8.684
$D_GRID,4713
$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,-170.3,0.0,0.0,0,83,0.00,0.00,-64.95,0.000,2,0.000,0.000,174,2712,2497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.56,-170.3,3.5,-5.2,8,124,8.85,2.25,-21.60,0.000,4,0.230,0.039,2333,1192,3628,0,0,0,0,0,0,25.04,26.29,26.72
$GC,187,-0.56,-170.3,33.6,-24.0,20,195,0.08,2.22,0.00,0.000,6,0.199,0.042,2339,2671,3628,0,0,0,0,0,0,26.03,26.19,28.83
$GC,517,-0.56,-170.3,141.0,-28.2,81,524,0.00,2.10,0.00,0.000,4,0.000,0.025,2341,1199,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,593,-0.56,-170.3,156.0,-14.5,92,600,0.00,2.20,0.00,0.000,6,0.000,0.041,2333,2675,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,920,-0.56,-170.3,221.5,-18.0,144,924,0.00,1.65,0.00,0.000,4,0.000,0.053,2328,3762,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,983,-0.56,-170.3,232.8,-17.3,150,991,0.00,1.65,0.00,0.000,6,0.000,0.023,2328,2576,3627,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1291,-0.56,-170.3,284.6,-16.9,181,1294,0.00,1.83,0.00,0.000,4,0.000,0.053,2320,3766,3627,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1312,-0.56,-170.3,288.2,-16.9,183,1316,0.10,1.62,0.00,0.000,6,0.161,0.023,2349,2551,3627,0,0,0,0,0,0,26.23,26.54,28.83
$GC,1625,-0.56,-170.3,327.4,-12.6,214,1634,0.08,1.90,0.00,0.000,4,0.129,0.021,2289,1179,3625,0,0,0,0,0,0,26.59,26.44,28.83
$GC,1690,-0.56,-170.3,336.5,-14.6,220,1698,0.15,2.28,0.00,0.000,6,0.113,0.043,2345,2672,3625,0,0,0,0,0,0,25.92,26.21,28.83
$GC,1999,-0.56,-170.3,374.6,-11.2,251,2008,0.08,2.10,0.00,0.000,4,0.128,0.022,2278,1183,3623,0,0,0,0,0,0,26.59,26.41,28.83
$GC,2051,-0.56,-170.3,381.7,-13.8,256,2060,0.20,2.25,0.00,0.000,6,0.134,0.045,2340,2667,3623,0,0,0,0,0,0,25.92,26.17,28.83
$GC,2362,-0.56,-170.3,415.0,-9.7,287,2370,0.00,2.10,0.00,0.000,4,0.000,0.024,2341,1186,3620,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2405,-0.56,-170.3,418.8,-8.9,291,2412,0.00,2.28,0.00,0.000,6,0.000,0.043,2335,2669,3620,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2713,-0.56,-170.3,448.4,-10.4,322,2722,0.00,2.12,0.00,0.000,4,0.000,0.024,2336,1187,3617,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2756,-0.56,-170.3,452.2,-8.9,326,2765,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2666,3617,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3064,-0.56,-170.3,483.2,-10.3,357,3069,0.00,2.15,-0.08,0.000,4,0.000,0.036,2336,1201,3643,0,0,0,0,0,0,28.83,26.37,25.47
$GC,3090,-0.56,-170.3,485.4,-10.2,359,3097,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2678,3643,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3397,-0.56,-170.3,516.0,-10.0,390,3406,0.00,2.15,0.00,0.000,4,0.000,0.024,2336,1185,3640,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3428,-0.56,-170.3,519.0,-9.4,393,3438,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2677,3640,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3738,-0.56,-170.3,549.1,-9.9,424,3747,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1186,3636,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3770,-0.56,-170.3,552.2,-9.8,427,3779,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2675,3636,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4080,-0.56,-170.3,579.7,-8.8,458,4084,0.00,2.15,0.00,0.000,4,0.000,0.025,2335,1185,3634,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4122,-0.56,-170.3,583.0,-8.1,462,4131,0.00,2.25,0.00,0.000,6,0.000,0.045,2335,2663,3634,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4434,-0.56,-170.3,608.6,-8.0,488,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2663,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.56,-170.3,631.8,-7.9,503,4737,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1188,3628,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4781,-0.56,-170.3,634.7,-7.6,505,4785,0.00,2.28,0.00,0.000,6,0.000,0.045,2335,2673,3627,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5087,-0.56,-170.3,660.7,-8.6,520,5092,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1186,3624,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5110,-0.56,-170.3,662.3,-8.6,521,5114,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2669,3624,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5423,-0.56,-170.3,690.4,-8.9,537,5427,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1185,3622,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5468,-0.56,-170.3,694.0,-8.9,539,5472,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2673,3621,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5780,-0.56,-170.3,720.1,-7.9,555,5786,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1185,3620,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5829,-0.56,-170.3,723.1,-7.8,557,5840,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2667,3619,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6140,-0.56,-170.3,748.0,-7.6,573,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2667,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6441,-0.56,-170.3,770.2,-7.4,588,6446,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1184,3615,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6482,-0.56,-170.3,773.1,-7.4,590,6486,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2674,3615,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6796,-0.56,-170.3,797.1,-7.9,606,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2674,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7097,-0.56,-170.3,820.8,-7.8,621,7101,0.00,2.17,0.00,0.000,4,0.000,0.025,2333,1186,3611,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7141,-0.56,-170.3,824.0,-7.7,623,7145,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2665,3611,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7453,-0.56,-170.3,847.5,-7.4,639,7457,0.00,2.15,0.00,0.000,4,0.000,0.024,2333,1185,3610,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7479,-0.56,-170.3,849.2,-7.4,640,7483,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2671,3609,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7791,-0.56,-170.3,872.5,-7.5,656,7797,0.00,2.15,0.00,0.000,4,0.000,0.024,2333,1186,3608,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7832,-0.56,-170.3,875.4,-7.4,658,7837,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2667,3608,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8153,-0.56,-170.3,899.0,-7.2,674,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2667,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,-0.56,-170.3,920.9,-7.1,689,8457,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1186,3604,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8486,-0.56,-170.3,922.4,-7.1,690,8493,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2670,3604,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8792,-0.56,-170.3,944.4,-6.9,706,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2671,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9091,-0.56,-170.3,965.3,-7.1,721,9097,0.00,2.17,0.00,0.000,4,0.000,0.024,2333,1175,3602,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9126,-0.56,-170.3,966.7,-7.0,722,9133,0.00,2.33,0.00,0.000,6,0.000,0.047,2333,2672,3601,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9432,-0.56,-170.3,987.9,-6.4,738,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2672,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9469,begin apogee
$GC,9475,-0.17,0.0,990.3,-6.0,740,9635,0.38,0.12,150.10,1.694,6,0.099,0.093,2469,2584,2928,0,0,0,0,0,0,25.84,24.48,22.62
$STATE,9636,end apogee,CONTROL_FINISHED_OK
$STATE,9636,begin climb
$GC,9638,0.56,170.3,995.8,0.0,748,9811,0.65,0.00,164.38,1.652,6,0.048,0.000,2720,2584,2233,0,0,0,0,0,0,25.01,28.83,22.13
$GC,10111,0.56,170.3,934.1,16.7,772,10118,0.12,2.20,0.00,0.000,4,0.183,0.027,2694,1104,2223,0,0,0,0,0,0,25.94,26.17,28.83
$GC,10139,0.56,170.3,931.0,16.5,773,10143,0.00,2.28,0.00,0.000,6,0.000,0.047,2694,2567,2221,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10447,0.56,170.3,887.5,13.5,788,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2568,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10746,0.56,170.3,847.6,13.4,803,10752,0.00,2.15,0.00,0.000,4,0.000,0.029,2705,1099,2218,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10848,0.56,170.3,835.5,11.6,808,10855,0.08,2.28,0.00,0.000,6,0.184,0.046,2688,2566,2216,0,0,0,0,0,0,25.96,26.08,28.83
$GC,11169,0.56,170.3,794.0,13.3,824,11173,0.00,2.17,0.00,0.000,4,0.000,0.031,2698,1106,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11193,0.56,170.3,791.0,13.0,825,11198,0.00,2.28,0.00,0.000,6,0.000,0.046,2698,2568,2215,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11507,0.56,170.3,748.2,13.9,841,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2568,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11806,0.56,170.3,709.1,13.0,856,11809,0.00,1.85,0.00,0.000,4,0.000,0.056,2698,3763,2215,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11839,0.56,170.3,706.1,13.3,857,11848,0.10,1.83,0.00,0.000,6,0.201,0.022,2684,2482,2214,0,0,0,0,0,0,25.96,26.34,28.83
$GC,12148,0.56,170.3,668.0,11.6,873,12153,0.00,2.00,0.00,0.000,4,0.000,0.031,2694,1102,2214,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12206,0.56,170.3,661.4,11.1,876,12212,0.00,2.25,0.00,0.000,6,0.000,0.045,2694,2567,2213,0,0,0,0,0,0,28.83,26.00,28.83
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$GC,14630,0.60,200.5,397.9,7.6,1089,14660,0.00,2.25,25.00,1.300,6,0.000,0.044,2705,2571,2110,0,0,0,0,0,0,28.83,25.96,23.69
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$STATE,19020,end climb,SURFACE_DEPTH_REACHED
$STATE,19020,begin surface coast
$FINISH,0.6,1.009975
$STATE,19051,end surface coast,CONTROL_FINISHED_OK
$STATE,19051,begin surface
$SM_CCo,19131,0.00,0.000,0,0,490,598.04
$SM_GC,1.46,6.78,2.38,0.00,0.030,0.033,0.000,176,2680,490,-7.17,-0.37,598.04,0,0,0,0,0,0,26.34,26.20,28.83
$IRIDIUM_FIX,1754.17,12402.15,170612,212127
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.1,96.454
$10V_AH,9.8,58.866
$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,19.875,181.400,555.125,0.000,0.000,55.101,70.305,248.722,0.250,0.000,14.144,4328.317,10633.849,699.926,3575.402,448.906,0.000,2334.558,0.000,2864.893,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,92.565,1693.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.983,2349.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,130417,1725
$CAP_FILE_SIZE,205908,0
$CFSIZE,260165632,175804416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 63.5,1
$GPS,180612,085606,1804.692,12355.943,28,1.0,28,-2.0