version: 66.10
glider: 176
mission: 5
dive: 458
start: 6 18 112 9 6 11
data:
$ID,176
$MISSION,5
$DIVE,458
$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,-8197.8154
$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
$GPS1,180612,085606,1804.692,12355.943,28,1.0,28,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.1
$GPS2,180612,090544,1804.784,12355.844,12,1.9,12,-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,274.6,181543,-14.0,-8.684
$D_GRID,4552
$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,-64.90,0.000,2,0.000,0.000,175,2688,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.56,-170.3,3.1,-5.8,11,130,8.75,2.22,-28.27,0.000,4,0.230,0.040,2331,1185,3625,0,0,0,0,0,0,25.09,26.29,26.74
$GC,188,-0.56,-170.3,28.9,-23.7,23,195,0.10,2.25,0.00,0.000,6,0.174,0.044,2347,2672,3626,0,0,0,0,0,0,25.98,26.17,28.83
$GC,519,-0.56,-170.3,128.9,-22.9,84,542,0.08,2.15,0.00,0.000,4,0.130,0.025,2289,1193,3625,0,0,0,0,0,0,26.59,26.37,28.83
$GC,656,-0.56,-170.3,157.4,-17.3,107,663,0.20,2.22,0.00,0.000,6,0.145,0.044,2339,2678,3625,0,0,0,0,0,0,25.91,26.25,28.83
$GC,974,-0.56,-170.3,218.3,-17.3,159,978,0.00,1.65,0.00,0.000,4,0.000,0.049,2332,3769,3625,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1025,-0.56,-170.3,226.2,-14.9,164,1028,0.00,1.62,0.00,0.000,6,0.000,0.022,2332,2539,3625,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1336,-0.56,-170.3,274.5,-16.9,195,1345,0.00,1.88,0.00,0.000,4,0.000,0.049,2325,3771,3624,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1387,-0.56,-170.3,283.1,-16.7,200,1391,0.05,1.65,0.00,0.000,6,0.220,0.022,2341,2528,3624,0,0,0,0,0,0,26.35,26.55,28.83
$GC,1698,-0.56,-170.3,322.3,-11.6,231,1702,0.00,1.88,0.00,0.000,4,0.000,0.027,2341,1193,3623,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1737,-0.56,-170.3,326.3,-11.1,234,1744,0.00,2.25,0.00,0.000,6,0.000,0.045,2335,2660,3623,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2045,-0.56,-170.3,361.5,-10.8,265,2048,0.00,1.70,0.00,0.000,4,0.000,0.054,2335,3772,3621,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2076,-0.56,-170.3,365.1,-11.2,268,2080,0.00,1.67,0.00,0.000,6,0.000,0.022,2335,2541,3620,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2387,-0.56,-170.3,400.4,-11.7,299,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2538,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.56,-170.3,430.6,-10.1,329,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2538,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,-0.56,-170.3,459.9,-9.2,360,3010,0.00,1.92,-0.08,0.000,4,0.000,0.038,2338,1193,3642,0,0,0,0,0,0,28.83,26.36,25.48
$GC,3043,-0.56,-170.3,463.7,-8.4,364,3052,0.00,2.25,0.00,0.000,6,0.000,0.046,2335,2669,3642,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3354,-0.56,-170.3,492.3,-10.0,395,3358,0.00,1.67,0.00,0.000,4,0.000,0.055,2334,3772,3639,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3376,-0.56,-170.3,494.7,-10.4,397,3380,0.00,1.70,0.00,0.000,6,0.000,0.023,2334,2541,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3688,-0.56,-170.3,527.3,-9.7,428,3691,0.00,1.92,0.00,0.000,4,0.000,0.026,2334,1187,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3735,-0.56,-170.3,531.6,-9.5,432,3744,0.00,2.25,0.00,0.000,6,0.000,0.047,2334,2667,3634,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4044,-0.56,-170.3,558.8,-8.4,463,4053,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1179,3631,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4078,-0.56,-170.3,561.5,-8.7,466,4087,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2665,3631,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4387,-0.56,-170.3,587.8,-7.8,497,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2665,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4697,-0.56,-170.3,610.8,-7.5,521,4703,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1188,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4749,-0.56,-170.3,613.6,-7.3,523,4756,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2675,3625,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5056,-0.56,-170.3,639.6,-8.6,539,5062,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1195,3622,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5105,-0.56,-170.3,643.1,-8.7,541,5109,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2675,3622,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5411,-0.56,-170.3,670.5,-8.5,556,5417,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1196,3619,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5439,-0.56,-170.3,672.3,-8.6,557,5443,0.00,2.28,0.00,0.000,6,0.000,0.046,2334,2675,3619,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5747,-0.56,-170.3,697.8,-7.7,572,5751,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1192,3616,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5772,-0.56,-170.3,699.7,-7.6,573,5776,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2669,3616,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6085,-0.56,-170.3,723.4,-7.5,589,6091,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1200,3614,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6124,-0.56,-170.3,726.5,-7.8,591,6130,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2669,3614,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6444,-0.56,-170.3,751.5,-7.8,607,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2669,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-0.56,-170.3,775.2,-7.8,622,6752,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1189,3609,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6799,-0.56,-170.3,778.3,-7.7,624,6806,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2669,3609,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7106,-0.56,-170.3,803.1,-7.6,640,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2669,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.56,-170.3,825.7,-7.4,655,7413,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1192,3606,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7446,-0.56,-170.3,828.5,-7.2,657,7452,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2672,3605,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7768,-0.56,-170.3,850.7,-6.8,673,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2672,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,-0.56,-170.3,869.9,-6.6,688,8072,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1196,3602,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8107,-0.56,-170.3,872.8,-6.7,690,8112,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2667,3602,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8428,-0.56,-170.3,893.6,-6.6,706,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2668,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.56,-170.3,913.4,-6.8,721,8730,0.00,2.15,0.00,0.000,4,0.000,0.025,2333,1186,3600,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8756,-0.56,-170.3,914.9,-6.8,722,8760,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2669,3600,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9064,-0.56,-170.3,937.1,-7.2,737,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2669,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9363,-0.56,-170.3,959.5,-7.6,752,9369,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1195,3597,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9396,-0.56,-170.3,961.0,-7.5,753,9404,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2665,3596,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9704,-0.56,-170.3,983.7,-6.9,769,9710,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1188,3596,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9736,-0.56,-170.3,985.1,-7.1,770,9743,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2671,3596,0,0,0,0,0,0,28.83,25.87,28.83
$STATE,9801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9801,begin apogee
$GC,9808,-0.17,0.0,990.7,-7.0,774,9966,0.38,0.15,149.27,1.705,6,0.100,0.084,2470,2589,2928,0,0,0,0,0,0,25.83,24.46,22.56
$STATE,9967,end apogee,CONTROL_FINISHED_OK
$STATE,9967,begin climb
$GC,9969,0.56,170.3,997.7,0.0,782,10146,0.62,2.40,164.85,1.658,4,0.048,0.029,2725,1111,2233,0,0,0,0,0,0,24.93,24.03,22.01
$GC,10182,0.56,170.3,984.0,14.0,792,10189,0.15,2.38,0.00,0.000,6,0.161,0.047,2687,2570,2227,0,0,0,0,0,0,24.79,25.02,28.83
$GC,10489,0.56,170.3,937.9,14.2,808,10494,0.00,2.20,0.00,0.000,4,0.000,0.031,2698,1101,2221,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10524,0.56,170.3,935.2,14.0,809,10532,0.00,2.28,0.00,0.000,6,0.000,0.046,2698,2572,2220,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10830,0.56,170.3,889.0,14.6,825,10833,0.00,1.85,0.00,0.000,4,0.000,0.056,2698,3772,2220,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10853,0.56,170.3,885.6,14.9,826,10858,0.05,1.85,0.00,0.000,6,0.187,0.024,2691,2500,2219,0,0,0,0,0,0,26.02,26.36,28.83
$GC,11173,0.56,170.3,842.1,13.0,842,11179,0.00,1.98,0.00,0.000,4,0.000,0.054,2691,3768,2218,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11193,0.56,170.3,839.5,13.0,843,11198,0.03,1.88,0.00,0.000,6,0.216,0.023,2692,2487,2217,0,0,0,0,0,0,26.15,26.35,28.83
$GC,11512,0.56,170.3,799.0,12.5,859,11518,0.00,2.03,0.00,0.000,4,0.000,0.031,2702,1099,2216,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11533,0.56,170.3,796.5,12.4,860,11538,0.05,2.28,0.00,0.000,6,0.213,0.047,2689,2566,2216,0,0,0,0,0,0,25.96,26.03,28.83
$GC,11851,0.56,170.3,758.1,11.8,876,11857,0.00,2.20,0.00,0.000,4,0.000,0.031,2695,1105,2215,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11872,0.56,170.3,755.9,11.7,877,11878,0.00,2.28,0.00,0.000,6,0.000,0.047,2695,2572,2215,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12191,0.56,170.3,717.3,12.1,893,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2572,2215,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19539,end climb,SURFACE_DEPTH_REACHED
$STATE,19540,begin surface coast
$FINISH,0.7,1.021191
$STATE,19633,end surface coast,CONTROL_FINISHED_OK
$STATE,19633,begin surface
$SM_CCo,19711,0.00,0.000,0,0,726,540.64
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$IRIDIUM_FIX,1758.70,12357.12,180612,080825
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.0,96.675
$10V_AH,9.8,58.999
$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
$DEVICE_SECS,18.800,174.975,537.575,0.000,0.000,60.578,60.456,241.498,0.250,0.000,15.390,4507.147,10984.235,641.292,3658.282,464.776,0.000,2343.960,0.000,2954.273,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,133999,1787
$CAP_FILE_SIZE,209808,0
$CFSIZE,260165632,175685632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 36.3,1
$GPS,180612,143554,1805.566,12353.675,24,1.0,42,-2.0