version: 66.10
glider: 176
mission: 5
dive: 471
start: 6 21 112 15 23 29
data:
$ID,176
$MISSION,5
$DIVE,471
$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,420
$T_MISSION,460
$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,165
$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,-8214.3613
$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,2620
$C_ROLL_CLIMB,2520
$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
$GPS1,210612,151431,1811.731,12338.052,39,1.3,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.6
$GPS2,210612,152302,1811.766,12338.195,11,1.3,11,-2.0
$SPEED_LIMITS,0.136,0.248
$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,265.3,148258,-13.0,-7.857
$D_GRID,5229
$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,-0.52,-160.6,0.0,0.0,0,78,0.00,0.00,-59.03,0.000,2,0.000,0.000,183,2670,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.52,-160.6,3.4,-6.6,10,126,8.77,2.20,-25.33,0.000,4,0.230,0.041,2348,1171,3585,0,0,0,0,0,0,25.03,26.27,26.73
$GC,228,-0.52,-160.6,39.9,-20.3,34,235,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2648,3586,0,0,0,0,0,0,28.83,26.16,28.83
$GC,557,-0.52,-160.6,133.8,-21.7,95,564,0.00,1.67,0.00,0.000,4,0.000,0.053,2340,3768,3586,0,0,0,0,0,0,28.83,26.13,28.83
$GC,593,-0.52,-160.6,141.4,-23.7,101,600,0.00,1.67,0.00,0.000,6,0.000,0.023,2339,2519,3585,0,0,0,0,0,0,28.83,26.53,28.83
$GC,925,-0.52,-160.6,206.9,-20.3,160,934,0.00,1.90,0.00,0.000,4,0.000,0.027,2340,1157,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,947,-0.52,-160.6,211.5,-20.8,162,956,0.05,2.22,0.00,0.000,6,0.228,0.042,2351,2638,3585,0,0,0,0,0,0,26.08,26.20,28.83
$GC,1257,-0.52,-160.6,255.7,-14.3,193,1261,0.00,2.08,0.00,0.000,4,0.000,0.024,2352,1165,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1333,-0.52,-160.6,263.7,-9.6,200,1341,0.00,2.22,0.00,0.000,6,0.000,0.041,2348,2652,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1639,-0.52,-160.6,302.0,-12.2,231,1647,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1164,3584,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1671,-0.52,-160.6,305.7,-11.7,234,1680,0.00,2.20,0.00,0.000,6,0.000,0.042,2348,2640,3584,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1982,-0.52,-160.6,338.9,-9.7,265,1991,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1158,3581,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2015,-0.52,-160.6,342.0,-9.5,268,2025,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2643,3582,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2326,-0.52,-160.6,373.2,-11.0,299,2334,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1159,3579,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2407,-0.52,-160.6,381.2,-9.3,307,2416,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2651,3579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2717,-0.52,-160.6,414.0,-10.8,338,2726,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1157,3576,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2769,-0.52,-160.6,419.1,-9.4,343,2778,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2644,3575,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3079,-0.52,-160.6,450.5,-10.2,374,3081,0.00,0.00,-0.08,0.000,6,0.000,0.000,2347,2644,3597,0,0,0,0,0,0,28.83,28.83,25.34
$GC,3379,-0.52,-160.6,477.5,-8.1,404,3389,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1164,3594,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3424,-0.52,-160.6,480.6,-7.5,408,3432,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2640,3594,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3731,-0.52,-160.6,503.0,-7.2,439,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2640,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4036,-0.52,-160.6,528.3,-9.5,469,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2640,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4344,-0.52,-160.6,558.1,-9.3,500,4353,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1159,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4386,-0.52,-160.6,562.0,-8.8,504,4396,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2637,3585,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4696,-0.52,-160.6,586.4,-7.3,535,4699,0.00,1.70,0.00,0.000,4,0.000,0.055,2344,3765,3582,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4738,-0.52,-160.6,589.4,-7.5,539,4742,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2502,3582,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5049,-0.52,-160.6,613.5,-8.2,562,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2471,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5351,-0.52,-160.6,640.5,-9.7,577,5356,0.00,2.00,0.00,0.000,4,0.000,0.054,2344,3765,3577,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5417,-0.52,-160.6,646.1,-9.5,580,5421,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2502,3576,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5729,-0.52,-160.6,674.9,-8.2,596,5733,0.00,2.03,0.00,0.000,4,0.000,0.055,2343,3769,3574,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5765,-0.52,-160.6,676.6,-8.1,597,5771,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2469,3573,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6072,-0.52,-160.6,696.9,-5.3,613,6077,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3772,3571,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6111,-0.52,-160.6,699.0,-5.2,615,6114,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2509,3571,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6433,-0.52,-160.6,714.7,-5.3,631,6439,0.00,1.98,0.00,0.000,4,0.000,0.055,2344,3761,3569,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6474,-0.52,-160.6,717.0,-5.5,633,6477,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2502,3569,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6797,-0.52,-160.6,739.0,-7.8,649,6802,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3765,3567,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6838,-0.52,-160.6,742.1,-7.8,651,6841,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2510,3566,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7155,-0.52,-160.6,766.6,-7.7,667,7161,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3765,3565,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7185,-0.52,-160.6,768.1,-7.5,668,7188,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2508,3564,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7495,-0.52,-160.6,792.9,-8.0,684,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2469,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7796,-0.52,-160.6,817.0,-7.9,699,7801,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3769,3562,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7857,-0.52,-160.6,821.8,-8.1,702,7860,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2510,3561,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8178,-0.52,-160.6,845.9,-7.2,718,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2478,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8480,-0.52,-160.6,867.2,-7.0,733,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2478,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8778,-0.52,-160.6,888.1,-6.8,748,8784,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3557,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8826,-0.52,-160.6,890.9,-6.8,750,8829,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2515,3557,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9140,-0.52,-160.6,910.6,-5.8,766,9145,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3764,3556,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9166,-0.52,-160.6,911.7,-5.7,767,9169,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2514,3556,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9479,-0.52,-160.6,928.1,-4.9,783,9484,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3761,3555,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9520,-0.52,-160.6,930.0,-4.9,785,9524,0.00,1.70,0.00,0.000,6,0.000,0.026,2344,2517,3554,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9842,-0.52,-160.6,946.2,-5.2,801,9847,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3770,3554,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9881,-0.52,-160.6,948.2,-5.2,803,9885,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2515,3554,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10204,-0.52,-160.6,965.8,-5.7,819,10209,0.00,1.90,0.00,0.000,4,0.000,0.028,2344,1170,3552,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10225,-0.52,-160.6,966.9,-5.8,820,10229,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3552,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10539,-0.52,-160.6,986.3,-6.3,836,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3552,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10597,begin apogee
$GC,10602,-0.17,0.0,990.1,-6.4,839,10750,0.32,0.12,139.68,1.698,6,0.099,0.094,2464,2558,2929,0,0,0,0,0,0,25.87,24.43,22.63
$STATE,10751,end apogee,CONTROL_FINISHED_OK
$STATE,10751,begin climb
$GC,10753,0.52,160.6,996.6,0.0,846,10917,0.60,2.08,156.23,1.657,4,0.048,0.058,2706,3766,2274,0,0,0,0,0,0,24.95,23.94,22.00
$GC,10975,0.52,160.6,982.3,14.4,858,10981,0.15,1.95,0.00,0.000,6,0.190,0.024,2680,2473,2269,0,0,0,0,0,0,25.04,25.47,28.83
$GC,11296,0.52,160.6,945.5,11.1,874,11302,0.00,2.03,0.00,0.000,4,0.000,0.031,2690,1071,2262,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11315,0.52,160.6,943.4,10.9,875,11321,0.05,2.28,0.00,0.000,6,0.210,0.047,2677,2540,2260,0,0,0,0,0,0,25.98,26.04,28.83
$GC,11636,0.52,160.6,908.4,10.9,891,11642,0.00,1.92,0.00,0.000,4,0.000,0.057,2677,3773,2259,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11708,0.52,160.6,900.9,12.1,894,11715,0.00,1.90,0.00,0.000,6,0.000,0.024,2687,2457,2259,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12015,0.52,160.6,860.1,13.0,910,12021,0.00,2.05,0.00,0.000,4,0.000,0.055,2687,3763,2257,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12049,0.52,160.6,857.1,13.7,911,12057,0.05,1.90,0.00,0.000,6,0.184,0.024,2680,2467,2258,0,0,0,0,0,0,25.99,26.32,28.83
$GC,12355,0.52,160.6,816.2,12.5,927,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2463,2257,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21212,end climb,SURFACE_DEPTH_REACHED
$STATE,21212,begin surface coast
$FINISH,0.8,1.013053
$STATE,21249,end surface coast,CONTROL_FINISHED_OK
$STATE,21249,begin surface
$SM_CCo,21327,0.00,0.000,0,0,787,525.43
$SM_GC,1.66,6.50,2.40,0.00,0.028,0.035,0.000,176,2655,787,-7.14,-0.23,525.43,0,0,0,0,0,0,26.41,26.27,28.83
$IRIDIUM_FIX,1803.24,12337.00,210612,090929
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.38
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.0,99.476
$10V_AH,9.8,60.846
$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
$DEVICE_SECS,19.025,197.675,527.900,0.000,0.000,26.901,48.707,270.075,0.250,0.000,14.300,4807.313,11843.671,732.276,3899.644,513.346,0.000,2528.674,0.000,3219.702,0.000,0.543,0.000
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$SENSOR_SECS,1300.985,2588.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,143863,1914
$CAP_FILE_SIZE,228205,0
$CFSIZE,260165632,174133248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194, 82.0,1
$GPS,210612,212024,1812.011,12337.937,41,1.0,59,-2.0