version: 66.10
glider: 176
mission: 5
dive: 472
start: 6 21 112 21 33 37
data:
$ID,176
$MISSION,5
$DIVE,472
$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,400
$T_MISSION,440
$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,-8215.6182
$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
$GPS1,210612,212024,1812.011,12337.937,41,1.0,59,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.4
$GPS2,210612,213307,1812.116,12338.112,12,1.1,17,-2.0
$SPEED_LIMITS,0.143,0.259
$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,269.7,147960,-13.2,-8.250
$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,-0.54,-170.3,0.0,0.0,0,72,0.00,0.00,-53.55,0.000,2,0.000,0.000,176,2663,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.54,-170.3,3.0,-6.1,9,125,8.77,2.20,-30.65,0.000,4,0.230,0.041,2341,1168,3626,0,0,0,0,0,0,25.02,26.26,26.74
$GC,194,-0.54,-170.3,33.3,-22.7,27,201,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2639,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,524,-0.54,-170.3,137.6,-27.3,88,547,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1167,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,620,-0.54,-170.3,156.6,-14.4,103,626,0.00,2.22,0.00,0.000,6,0.000,0.043,2333,2651,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,935,-0.54,-170.3,217.0,-18.5,156,939,0.00,2.12,0.00,0.000,4,0.000,0.026,2333,1162,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1008,-0.54,-170.3,227.3,-11.3,163,1017,0.00,2.20,0.00,0.000,6,0.000,0.043,2331,2636,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1317,-0.54,-170.3,276.0,-15.5,194,1327,0.05,2.10,0.00,0.000,4,0.247,0.024,2345,1166,3625,0,0,0,0,0,0,26.53,26.38,28.83
$GC,1399,-0.54,-170.3,285.9,-10.3,202,1408,0.00,2.22,0.00,0.000,6,0.000,0.042,2345,2648,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1710,-0.54,-170.3,322.6,-12.1,233,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2648,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,-0.54,-170.3,358.2,-11.4,263,2021,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1174,3621,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2065,-0.54,-170.3,363.4,-9.0,268,2075,0.00,2.20,0.00,0.000,6,0.000,0.042,2345,2646,3621,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2374,-0.54,-170.3,392.0,-9.0,299,2383,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1165,3618,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2447,-0.54,-170.3,398.4,-8.3,306,2455,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2645,3618,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2758,-0.54,-170.3,427.8,-9.0,337,2767,0.00,2.15,-0.10,0.000,4,0.000,0.036,2344,1164,3637,0,0,0,0,0,0,28.83,26.33,25.97
$GC,2801,-0.54,-170.3,431.6,-8.7,341,2810,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2644,3637,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3111,-0.54,-170.3,461.9,-10.3,372,3120,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1167,3634,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3145,-0.54,-170.3,465.2,-10.1,375,3153,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2636,3634,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3453,-0.54,-170.3,495.6,-9.0,406,3457,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1163,3631,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3485,-0.54,-170.3,498.5,-9.2,409,3494,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2646,3630,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3794,-0.54,-170.3,523.9,-8.2,440,3798,0.00,1.70,0.00,0.000,4,0.000,0.057,2339,3771,3627,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3819,-0.54,-170.3,525.4,-7.6,442,3825,0.00,1.70,0.00,0.000,6,0.000,0.023,2339,2514,3627,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4127,-0.54,-170.3,550.6,-8.0,473,4135,0.00,1.95,0.00,0.000,4,0.000,0.055,2333,3766,3623,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4169,-0.54,-170.3,554.0,-8.2,477,4172,0.00,1.70,0.00,0.000,6,0.000,0.023,2332,2525,3623,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4480,-0.54,-170.3,579.8,-8.6,508,4490,0.03,1.95,0.00,0.000,4,0.286,0.024,2348,1154,3620,0,0,0,0,0,0,26.53,26.32,28.83
$GC,4512,-0.54,-170.3,582.5,-8.6,511,4521,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2635,3620,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4834,-0.54,-170.3,609.0,-8.8,538,4838,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3775,3618,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4884,-0.54,-170.3,612.9,-8.8,540,4888,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2530,3617,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5195,-0.54,-170.3,642.3,-9.1,556,5201,0.00,1.95,0.00,0.000,4,0.000,0.026,2345,1158,3614,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5223,-0.54,-170.3,644.1,-9.1,557,5227,0.00,2.30,0.00,0.000,6,0.000,0.048,2345,2641,3614,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5532,-0.54,-170.3,670.4,-7.7,572,5536,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1165,3612,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5567,-0.54,-170.3,672.4,-7.8,573,5574,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2636,3612,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5876,-0.54,-170.3,694.5,-6.6,589,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2636,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6174,-0.54,-170.3,713.3,-6.4,604,6180,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1165,3607,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6227,-0.54,-170.3,715.9,-6.4,606,6234,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2644,3607,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6535,-0.54,-170.3,736.0,-6.4,622,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2645,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6834,-0.54,-170.3,755.5,-6.6,637,6838,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1167,3603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6879,-0.54,-170.3,758.4,-6.8,639,6884,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2641,3603,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7199,-0.54,-170.3,779.8,-6.5,655,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2641,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7498,-0.54,-170.3,799.3,-6.3,670,7503,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1164,3599,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7539,-0.54,-170.3,801.7,-6.2,672,7545,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2638,3598,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7858,-0.54,-170.3,820.4,-5.9,688,7864,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1157,3597,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7960,-0.54,-170.3,826.8,-6.3,693,7965,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2636,3596,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8278,-0.54,-170.3,846.1,-6.3,709,8282,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3769,3595,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8373,-0.54,-170.3,851.2,-6.3,713,8379,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2480,3595,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8682,-0.54,-170.3,874.2,-7.4,729,8687,0.00,1.88,0.00,0.000,4,0.000,0.026,2345,1158,3594,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8760,-0.54,-170.3,880.5,-7.9,733,8766,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2637,3594,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9082,-0.54,-170.3,904.7,-7.4,749,9085,0.00,1.73,0.00,0.000,4,0.000,0.056,2344,3766,3592,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9166,-0.54,-170.3,910.6,-7.2,753,9169,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2501,3591,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9485,-0.54,-170.3,933.3,-6.9,769,9490,0.00,1.98,0.00,0.000,4,0.000,0.056,2345,3763,3591,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9684,-0.54,-170.3,946.7,-6.6,779,9687,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2528,3590,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10008,-0.54,-170.3,966.4,-5.9,795,10014,0.00,1.95,0.00,0.000,4,0.000,0.057,2345,3774,3589,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10157,-0.54,-170.3,975.2,-6.2,802,10160,0.00,1.75,0.00,0.000,6,0.000,0.025,2345,2517,3588,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,10367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10367,begin apogee
$GC,10372,-0.17,0.0,990.2,-7.1,813,10532,0.32,0.05,148.07,1.698,6,0.079,0.053,2477,2460,2928,0,0,0,0,0,0,26.06,24.16,22.58
$STATE,10534,end apogee,CONTROL_FINISHED_OK
$STATE,10534,begin climb
$GC,10536,0.54,170.3,1000.0,0.0,821,10711,0.57,2.25,164.50,1.658,4,0.047,0.055,2713,3759,2234,0,0,0,0,0,0,25.03,23.94,22.00
$GC,10884,0.54,170.3,966.6,16.2,838,10889,0.08,1.92,0.00,0.000,6,0.177,0.026,2685,2473,2226,0,0,0,0,0,0,25.60,26.07,28.83
$GC,11198,0.54,170.3,931.2,10.3,854,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2468,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11497,0.54,170.3,898.2,11.5,869,11502,0.00,2.03,0.00,0.000,4,0.000,0.056,2685,3763,2220,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11526,0.54,170.3,895.5,12.0,870,11531,0.03,1.88,0.00,0.000,6,0.312,0.024,2684,2472,2220,0,0,0,0,0,0,26.13,26.32,28.83
$GC,11833,0.54,170.3,855.5,12.8,885,11838,0.00,2.03,0.00,0.000,4,0.000,0.055,2684,3762,2219,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11886,0.54,170.3,849.8,13.6,887,11894,0.00,1.88,0.00,0.000,6,0.000,0.024,2693,2463,2218,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12192,0.54,170.3,805.4,13.1,903,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2459,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12493,0.54,170.3,768.4,11.8,918,12499,0.00,2.03,0.00,0.000,4,0.000,0.055,2693,3758,2217,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12545,0.54,170.3,763.0,12.5,920,12552,0.10,1.88,0.00,0.000,6,0.203,0.024,2680,2467,2217,0,0,0,0,0,0,25.91,26.32,28.83
$GC,12852,0.54,170.3,727.7,10.8,936,12858,0.00,2.05,0.00,0.000,4,0.000,0.054,2680,3773,2216,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,19778,end climb,SURFACE_DEPTH_REACHED
$STATE,19778,begin surface coast
$FINISH,0.7,1.012600
$STATE,19822,end surface coast,CONTROL_FINISHED_OK
$STATE,19822,begin surface
$SM_CCo,19898,0.00,0.000,0,0,886,500.90
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$IRIDIUM_FIX,1805.50,12337.00,210612,212104
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,22.0,99.705
$10V_AH,9.8,60.983
$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,18.150,176.800,530.100,0.000,0.000,90.103,119.320,263.616,0.250,0.000,19.640,4388.083,11211.183,672.307,3862.110,491.626,0.000,2416.315,0.000,3063.755,0.000,0.543,0.000
$DEVICE_MAMPS,312.120,126.225,1697.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.612,2391.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,130450,1732
$CAP_FILE_SIZE,215102,0
$CFSIZE,260165632,174043136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201, 72.9,1
$GPS,220612,030624,1812.332,12337.920,38,1.2,38,-2.0